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10. SPECIAL ADJUSTMENT FUNCTIONS

10.4 Advanced vibration suppression control

(1) Operation

Vibration suppression control is used to further suppress machine end vibration, such as workpiece end
vibration and base shake. The motor side operation is adjusted for positioning so that the machine does not
shake.

t

t

Po

si

tio

n

Po

si

tio

n

Motor end
Machine end

Motor end
Machine end

Vibration suppression control OFF

(Normal control)

Vibration suppression control ON

When the advanced vibration suppression control (vibration suppression control tuning mode parameter

No. PB02) is executed, the vibration frequency at machine end can automatically be estimated to suppress

machine end vibration.

In the vibration suppression control tuning mode, this mode shifts to the manual mode after operation is

performed the predetermined number of times. The manual mode enables manual setting using the

vibration suppression control vibration frequency setting (parameter No. PB19) and vibration suppression

control resonance frequency setting (parameter No. PB20).

(2) Parameter

Select the operation of the vibration suppression control tuning mode (parameter 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.

POINT

The function is made valid when the auto tuning mode (parameter No. PA08)

is the auto tuning mode 2 ("0002") or manual mode ("0003").

The machine resonance frequency supported in the vibration suppression

control tuning mode is 1.0Hz to 100.0Hz. The function is not effective for
vibration outside this range.

Stop the motor before changing the vibration suppression control-related

parameters (parameter No. PB02, PB19, PB20, PB33, PB34). A failure to do
so will cause a shock.
For positioning operation during execution of vibration suppression control
tuning, provide a stop time to ensure a stop after full vibration damping.

Vibration suppression control tuning may not make normal estimation if the

residual vibration at the motor end is small.

Vibration suppression control tuning sets the optimum parameter with the

currently set control gains. When the response setting is increased, set
vibration suppression control tuning again.

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Summary of Contents for MELSERVO MR-J3-xT

Page 1: ...Instruction manual Distributor for Servo Amplifier MELSERVO MR J3 xT General Purpose AC Servo MELSERVO J3 series CC Link Bulit in positioning function model ...

Page 2: ...ct please feel free to call us Tel 49 0 6181 9704 0 You can find the latest information about us and our products at www epa de Sales department EPA GmbH Fliederstraße 8 D 63486 Bruchköbel Deutschland Germany Telefon Phone 49 0 6181 9704 0 Telefax Fax 49 0 6181 9704 99 E Mail info epa de Internet www epa de Author MITSUBISHI ELECTRIC CORPORATION Release 2 07 2006 Article MR J3 xT EPA Drives ...

Page 3: ...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 4: ...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 5: ...non freezing 0 to 40 non freezing During operation 32 to 131 non freezing 32 to 104 non freezing 20 to 65 non freezing 15 to 70 non freezing Ambient temperature In storage 4 to 149 non freezing 5 to 158 non freezing In operation 90 RH or less non condensing 80 RH or less non condensing Ambient humidity In storage 90 RH or less non condensing Ambience Indoors no direct sunlight Free from corrosive ...

Page 6: ... W 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 forced stop EMG and other protective circuits may not operate Servo Amplifier Control output signal Servo Amplifier...

Page 7: ...hanical 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 exte...

Page 8: ...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 9: ...ll 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 setting changes Home posi...

Page 10: ... equipment to comply 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 ...

Page 11: ...event 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 ter...

Page 12: ...es of the cables described in section 14 9 meet the following requirements To meet the other requirements follow Table 5 and Appendix C in EN60204 1 Ambient temperature 40 104 C F 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 bee...

Page 13: ...t 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 section fo...

Page 14: ...TH UL C UL STANDARD in the Servo Motor Instruction Manual Vol 2 7 About wiring protection For installation in United States branch circuit protection must be provided in accordance with the National Electrical Code and any applicable local codes For installation in Canada branch circuit protection must be provided in accordance with the Canada Electrical Code and any applicable provincial codes Ab...

Page 15: ... stress 2 3 2 4 Inspection items 2 4 2 5 Parts having service lives 2 4 3 CC LINK COMMUNICATION FUNCTIONS 3 1 to 3 56 3 1 Communication specifications 3 1 3 2 System configuration 3 2 3 2 1 Configuration example 3 2 3 2 2 Wiring method 3 3 3 2 3 Station number setting 3 5 3 2 4 Communication baud rate setting 3 6 3 2 5 Occupied station count setting 3 6 3 3 Functions 3 7 3 3 1 Function block diagr...

Page 16: ... on sequence 4 9 4 3 3 CNP1 CNP2 CNP3 wiring method 4 11 4 4 Connectors and signal arrangements 4 18 4 5 Signal device explanation 4 19 4 5 1 I O devices 4 19 4 5 2 Input signals 4 22 4 5 3 Output signals 4 22 4 5 4 Power supply 4 23 4 6 Detailed description of signals devices 4 23 4 6 1 Forward rotation start reverse rotation start temporary stop restart 4 23 4 6 2 Movement finish rough match in ...

Page 17: ...n 5 36 5 6 5 Stopper type home position return 5 37 5 6 6 Home position ignorance servo on position defined as home position 5 39 5 6 7 Dog type rear end reference home position return 5 40 5 6 8 Count type front end reference home position return 5 42 5 6 9 Dog cradle type home position return 5 44 5 6 10 Dog type first Z phase reference home position return 5 46 5 6 11 Dog type front end referen...

Page 18: ... 4 1 Parameter list 6 28 6 4 2 Detail list 6 29 7 MR Configurator 7 1 to 7 26 7 1 Specifications 7 1 7 2 System configuration 7 1 7 3 Station selection 7 3 7 4 Parameters 7 4 7 5 Point table 7 6 7 6 Device assignment method 7 8 7 7 Test operation 7 12 7 7 1 Jog operation 7 12 7 7 2 Positioning operation 7 14 7 7 3 Motor less operation 7 17 7 7 4 Output signal DO forced output 7 18 7 7 5 Single ste...

Page 19: ... 4 Interpolation mode 9 11 9 5 Differences between MELSERVO J2 Super and MELSERVO J3 in auto tuning 9 12 10 SPECIAL ADJUSTMENT FUNCTIONS 10 1 to 10 16 10 1 Function block diagram 10 1 10 2 Adaptive filter 10 1 10 3 Machine resonance suppression filter 10 4 10 4 Advanced vibration suppression control 10 6 10 5 Low pass filter 10 10 10 6 Gain changing function 10 10 10 6 1 Applications 10 10 10 6 2 ...

Page 20: ...14 38 14 7 Battery MR J3BAT 14 42 14 8 Heat sink outside mounting attachment MR J3ACN 14 43 14 9 Recommended wires 14 45 14 10 No fuse breakers fuses magnetic contactors 14 50 14 11 Power factor improving DC reactor 14 51 14 12 Power factor improving reactors 14 52 14 13 Relays recommended 14 53 14 14 Surge absorbers recommended 14 53 14 15 Noise reduction techniques 14 54 14 16 Leakage current br...

Page 21: ... 6 Disable enable of I O devices DIO 15 29 15 5 7 Input devices ON OFF test operation 15 30 15 5 8 Test operation mode 15 31 15 5 9 Alarm history 15 37 15 5 10 Current alarm 15 38 15 5 11 Point table 15 39 15 5 12 Servo amplifier group designation 15 45 15 5 13 Other commands 15 46 APPENDIX App 1 to App 5 App 1 Parameter list App 1 App 2 Signal layout recording paper App 3 App 3 Twin type connecto...

Page 22: ...8 MEMO ...

Page 23: ...de easier to use and higher in function by using it with the MR Configurator 1 1 1 Features of CC Link communication functions 1 Fast communication Fast communication can be made by cyclic transmission of not only bit data but also word data a The highest communication speed is 10Mbps b The broadcast polling system ensures as high as 3 9ms to 6 7ms even at the maximum link scan 10Mbps 2 Variable c...

Page 24: ...wer supply MR J3 70T or more Fan Electro magnetic brake Servo motor D C P Regenerative option NFB Power supply 3 phase or 1 phase 200 to 230VAC or 1 phase 100 to 120VAC MC L1 L2 L3 L11 L21 B2 Servo amplifier CN2 U V W U V W M B1 Current detection Note2 Note1 Regene rative TR P1 P2 Power factor improving DC reactor N DI O Control Servo on Start Failure etc Model adaptive control Current control Pos...

Page 25: ...odel adaptive control Speed control Current control Position control Position command creation Regenerative brake Control circuit power supply Fan CHARGE lamp Current detector Dynamic brake Point table No Auxiliary Dwell Position data Speed Acceleration time constant Deceleration time constant Servo motor Electro magnetic brake Encoder Current detection Overcurrent protection Voltage detection Bas...

Page 26: ...ntrol Speed control Position control Position command creation Regenerative brake Control circuit power supply Fan CHARGE lamp Current detector Point table No Auxiliary Dwell Position data Speed Acceleration time constant Deceleration time constant Encoder Current detection Overcurrent protection Voltage detection Base amplifier DI O Control Servo on Start Failure etc Controller Optional battery f...

Page 27: ...00 ms Deceleration time constant 0 to 20000 ms Dwell 0 to 20000 ms Auxiliary function 0 to 3 Refer to section 4 2 There are 31 points of point tables to be used when 1 station is occupied and 255 points when 2 stations are occupied 1 Operation using CC Link communication functions a Operation All signals can be controlled by CC Link communication Also each point table setting point table selection...

Page 28: ...ternal input signals of CN1A and CN1B The signals assigned to the external input signals cannot be used with the CC Link communication functions Output signals can be used with the CN6 connectors and CC Link communication functions simultaneously b Configuration CN2 CN6 CN1 CNP3 CNP3 CN2 CN6 CN1 External I O signal PLC CC Link master unit External I O signal Servo amplifier Axis 1 Servo amplifier ...

Page 29: ...cifying the point table No 255 points Position command input Set in point table 1 point feed length setting range 1 m to 999 999 mm Speed command input Set in point table Acceleration deceleration time is set in point table S pattern acceleration deceleration time constant is set in parameter No PC13 Point table number input System Signed absolute value command system incremental value command sys...

Page 30: ...e with respect to the front end of a proximity dog Home position address may be set Home position shift value may be set Home position return direction may be set Automatic at dog home position return return automatic stroke return function Dog cradle type Home position return is made with respect to the front end of a proximity dog by the first Z phase pulse Home position address may be set Home ...

Page 31: ...ation positioning can be executed continuously in accordance with several point tables Section 5 4 2 4 Home position return Dog type count type data setting type stopper type home position ignorance dog type rear end reference count type front end reference dog cradle type Section 5 6 High resolution encoder High resolution encoder of 262144 pulses rev is used as a servo motor encoder Absolute pos...

Page 32: ...ervo amplifier of 5kW or more Section 14 3 Regeneration converter Used when the regenerative option cannot provide enough regenerative power Can be used with the servo amplifier of 5kW or more Section 14 4 Alarm history clear Alarm history is cleared Parameter No PC18 I O signal selection Device setting Any input signal such as servo on SON can be assigned to any pin of CN6 connector Parameter No ...

Page 33: ...3 100T or less Built in positioning function 10 0 1 60 0 6 40 0 4 20 0 2 Rated output Symbol Rated output kW 200 2 100 1 70 0 75 Symbol Rated output kW 350 500 700 11k 15k 22k 3 5 5 7 11 15 22 None Note 1 3 phase or 1 phase 200 to 230VAC Note 1 1 phase 200V to 230V is supported by 750W or less 2 1 phase 100V to 120V is supported by 400W or less Symbol Power supply Note 2 1 1 phase 100 to 120VAC Po...

Page 34: ...HC UP HC LP MR J3 10T 1 053 13 053 13 MR J3 20T 1 23 23 MR J3 40T 1 43 43 MR J3 60T 51 52 52 MR J3 70T 73 73 72 MR J3 100T 81 102 102 MR J3 200T 121 201 152 202 103 153 152 152 MR J3 350T 301 352 203 202 202 MR J3 500T 421 502 353 503 352 502 302 MR J3 700T 702 MR J3 11KT MR J3 15KT MR J3 22KT Servo motors HA LP Servo amplifier 1000r min 1500r min 2000r min MR J3 500T 502 MR J3 700T 601 701M 702 M...

Page 35: ...or CNP1 Used to connect the input power supply USB communication connector CN5 Used to connect with the personal computer RS 422 cummunication connector CN5 Used to connect with the MR PRU03 parameter unit or personal computer Control circuit connector CNP2 Used to connect the control circuit power supply regenerative option I O signal connector CN6 Used to connect digital I O signals Motor power ...

Page 36: ...The 3 digit seven segment LED shows the servo status and alarm number Main circuit power supply connector CNP1 Connect the input power supply USB communication connector CN5 Used to connect the personal computer RS 422 cummunication connector CN5 Used to connect the MR PRU03 parameter unit or personal computer Control circuit connector CNP2 Used to connect the control circuit power supply regenera...

Page 37: ...he MR PRU03 parameter unit or personal computer Encoder connector CN2 Used to connect the servo motor encoder Battery connector CN4 Used to connect the battery for absolute position data backup Battery holder Contains the battery for absolute position data backup Name plate Protective earth PE terminal Ground terminal Select the CC Link communication baud rate Occupied station count switch SW1 L R...

Page 38: ...sed to connect the MR PRU03 parameter unit or personal computer Battery connector CN4 Used to connect the battery for absolute position data backup Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Battery holder Contains the battery for absolute position data backup Name plate Protective earth PE terminal Ground terminal Select the CC ...

Page 39: ...CC Link communication Display The 3 digit seven segment LED shows the servo status and alarm number USB communication connector CN5 Used to connect the personal computer RS 422 cummunication connector CN3 Used to connect the MR PRU03 parameter unit or personal computer I O signal connector CN6 Used to connect digital I O signals Encoder connector CN2 Used to connect the servo motor encoder Battery...

Page 40: ...g the front 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 700T or less 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 41: ... 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 Settining tab Push the setting tabs until they click ...

Page 42: ...l it to remove the front cover Reinstallation of the front cover Note1 Installation hook Note1 Note2 1 Fit the front cover installation hooks on the sockets of body cover A to D to reinstall it 2 Push the front cover until hearing the clicking noise of the installation hook Note 1 The fan cover can be locked with enclosed screws M4 40 2 If drilling approximately 4 of a hole on the front cover the ...

Page 43: ...ption Note1 Battery unit MR J3BAT Servo motor Personal computer MR Configurator Servo configuration software Line noise filter FR BLF01 Servo amplifier R S T Note3 3 phase or 1 phase 200V to 230VAC power supply No fuse breaker NFB or fuse 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...

Page 44: ... Note2 Line noise filter FR BLF01 Power factor improving DC reactor FR BEL Regenerative option Note1 Battery unit MR J3BAT Servo motor I O signal Personal computer MR Configurator Servo configuration software Servo amplifier L1 L2 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 ...

Page 45: ... filter FR BLF01 Note1 Battery unit MR J3BAT Servo motor I O signal Personal computer MR Configurator Servo configuration software Servo amplifier Note3 Power factor improving DC reactor FR BEL Note2 Regenerative option 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 ...

Page 46: ... Line noise filter FR BLF01 Power factor improving DC reactor FR BEL Note2 Note1 Battery unit MR J3BAT Servo motor I O signal Personal computer MR Configurator Servo configuration software Servo amplifier Regenerative option 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 ca...

Page 47: ...ise filter FR BLF01 Power factor improving DC reactor FR BEL Note2 Regenerative option Servo motor I O signal Personal computer MR Configurator Servo configuration software Servo amplifier Note1 Battery unit MR J3BAT Note2 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 cann...

Page 48: ... noise filter FR BLF01 Regenerative option Servo motor I O signal Personal computer MR Configurator Servo configuration software Servo amplifier Note1 Battery unit MR J3BAT Note2 Power factor improving DC reactor FR BEL Note2 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 c...

Page 49: ...rence MR J3 T occupied station count setting switch SW1 Remote register based point table No setting auxiliary function invalid OFF ON 2 stations occupied Parameter No PA30 Remote register based position data setting point table No speed setting auxiliary function invalid Remote register based position data speed data setting auxiliary function invalid Remote input based point table No setting aux...

Page 50: ...ng is started by making the start signal valid The auxiliary function cannot be used Incremental value command specifying system Remote input absolute value incremental value selection RY n 2 B Remote input absolute value incremental value selection RY n 2 B Continuous positioning operation is executed with position data handled as absolute values Positioning operation is executed once with positi...

Page 51: ...fier 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 such as ...

Page 52: ...l conditions When installing the servo amplifiers closely leave a clearance of 1mm between the adjacent servo amplifiers in consideration of mounting tolerances In this case bring the ambient temperature within 0 to 45 or use it at 75 or a smaller effective load ratio Leaving clearance 30mm or more 30mm or more 10mm or more 100mm or more Control box 30mm or more 100mm or more Control box 1mm 1mm 4...

Page 53: ...n 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 54: ... 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 Refe...

Page 55: ...onnection cable CC Link Ver 1 10 compliant cable Shielded 3 core twisted pair cable Transmission format Conforming to HDLC Remote station number 1 to 64 Communication speed 156Kbps 625Kbps 2 5Mbps 5Mbps 10Mbps Maximum overall cable length 1200m 900m 400m 160m 100m CC Link Note Cable length Interstation cable length 0 2m or more Number of servo amplifiers connected Max 42 when 1 station is occupied...

Page 56: ...T11 or Type A1SJ61QBT11 Control Communication Link system master local module to the main or extension base unit which is loaded with the PLC CPU used as the master station 2 Wiring Connect the PLC CC Link unit master station and the servo amplifier by a twisted pair cable 3 wire type PLC CC Link unit CC Link Ver 1 10 compliant cable ...

Page 57: ...aster unit 3 Example of connecting multiple servo units As the remote I O stations of CC Link servo amplifiers share the link system and can be controlled monitored using PLC user programs DB DA DG DB SLD FG DA DG DB SLD FG FG SLD DG DA Note 2 CC Link Ver 1 10 compliant cable MR J3 T option unit CC Link connector CN1 Note 1 Termination register MR J3 T option unit CC Link connector CN1 PLC CC Link...

Page 58: ...to the opening and tighten it with a flat blade screwdriver so that it will not come off Tightening torque 0 5 to 0 6N m When inserting the wire into the opening make sure that the terminal screw is fully loose Flat blade screwdriver Tip thickness 0 4 to 0 6mm 0 016 to 0 024in Full wide 2 5 to 3 5mm 0 098 to 0 138in Loosen Tighten CC Link connector CN1 To the preceding station or PLC To the next s...

Page 59: ...for MR J3 T 16 A 54 B 88 C 2304 A Number of remote I O stations 64 B Number of remote device stations 42 C Number of local stations 26 d When the number of units connected is 4 station numbers can be set as shown below CC Link master unit PLC remote I O station 1 station occupied Station No 1 Servo amplifier No 1 When 2 stations are occupied Remote device station Station No 2 Number of connected u...

Page 60: ...ps 1 2 3 4 5 to 9 625kbps 2 5Mbps 5Mbps 10Mbps Not used 0 initial value MODE 5 4 3 2 1 0 9 8 7 6 5 0 5 0 5 0 Servo amplifier 3 2 5 Occupied station count setting Set the number of occupied stations with the occupied station count switch SW1 on the servo amplifier front The usable I O signals and the number of connectable units change with the set number of occupied stations Refer to section 3 2 3 ...

Page 61: ...C scans 3 The FROM instruction from the buffer memory of the CC Link system master local unit is used to read data from the servo amplifier and the TO instruction is used to write data Some PLCs allow automatic refresh to be set to omit the FROM and TO instructions 1 QJ61B11N I O signal CPU Buffer memory 2 Buffer memory access 3 CC Link Ver 1 10 compliant cable Input Output Servo amplifier PLC CC ...

Page 62: ...ervo with the PLC programs 2 Operation mode changing a Operation mode changing conditions Change the operation mode after making sure that 1 The servo motor is at a stop 2 The forward rotation start RYn1 or reverse rotation start RYn2 is OFF b Operation mode changing method When changing from test operation to CC Link operation deselect test operation by switching power OFF ON Test operation mode ...

Page 63: ...tation stroke end LSP 3 RXn4 Limiting torque TLC RYn5 Reverse rotation stroke end LSN 4 RXn5 Reserved RYn6 Automatic manual selection MDO RXn6 Electromagnetic brake interlock MBR RYn7 Temporary stop Restart TSTP RXn7 Temporary stop PUS RYn8 Monitor output execution demand MOR RXn8 Monitoring MOF RYn9 Instruction code execution demand COR RXn9 Instruction code execution completion COF RYnA Point ta...

Page 64: ...Dynamic brake interlock DB RYnE Point table No selection 5 DI4 RXnE Position range output POT RYnF Clear CR RY n 1 0 to RY n 1 9 Reserved RXnF to RX n 1 9 Reserved RY n 2 0 Position instruction execution demand Note RX n 2 0 Position instruction execution completion RY n 2 1 Speed instruction execution demand Note RX n 2 1 Speed instruction execution completion RY n 2 2 Reserved RX n 2 2 Point tab...

Page 65: ...ommand data Point table No RWrn 6 Monitor 2 data upper 16 bit RWwn 7 Reserved RWrn 7 Reserved Note 1 n depends on the station number setting 2 Specify the code of the under 16 bit as the monitor code of 32 bit data 3 When the parameter No PC30 setting is 0 specify the point table No in RWwn 4 When the parameter No PC30 setting is 1 or 2 specify the position data in RWwn 4 RWwn 5 and turn ON Positi...

Page 66: ...eturn immediately starts a home position return Keeping RYn1 ON for JOG operation performs rotation in the forward rotation direction Forward rotation indicates the address increasing direction 2 In incremental value command system Turning RYn1 ON for automatic operation executes positioning once in the forward rotation direction on the basis of the position data set to the point table Turning RYn...

Page 67: ...k For use in CC Link make it usable in parameter No PD12 When starting operation turn RYn4 RYn5 to ON Turning it to OFF causes a sudden stop resulting in servo lock A stopping method can be changed in parameter No PD20 When not using the forward reverse rotation stroke end set Automatic ON in parameter No PD01 Note Input signal RYn4 RYn5 CCW direction 1 0 1 0 1 1 0 0 Operation CW direction Note 0 ...

Page 68: ...he processing corresponding to the instruction code stored in remote register RWwn 2 After completion of instruction code execution the answer code indicating normal or error is set to RWrn 2 At the same time RXn9 turns ON RYn9 RYn9 Point table No selection 1 The point table No and the home position return are selected by RYnA to RY n 2 5 RYnA RYnA Point table No selection 2 RYnB RYnB Point table ...

Page 69: ...op is rotated even one pulse by an external factor it develops torque in an attempt to compensate for a position shift When the shaft is locked mechanically after Movement finish RXnC is turned OFF for example turning Proportion control RY n 2 7 ON as soon as Movement finish RXnC turns OFF allows control of unnecessary torque developed in an attempt to compensate for a position shift When the shaf...

Page 70: ...led as an incremental value RY n 2 B Reset Keeping RY n 1 A or RY n 3 A ON for 50ms or longer allows an alarm to be deactivated Some alarms cannot be deactivated by Reset RY n 1 A or RY n 3 A Refer to section 11 4 1 If RY n 1 A or RY n 3 A is turned ON with no alarm occurring the base circuit will not be shut off When 1 is set in parameter No PD20 function selection D 1 the base circuit is shut of...

Page 71: ...s ready to start but turns OFF in any of the following cases 1 Servo on RYn0 is turned OFF 2 Forced stop EMG is turned OFF 3 Reset RY n 1 A or RY n 3 A is turned ON 4 Alarm occurs 5 Forward rotation stroke end RYn4 or Reverse rotation stroke end RYn5 is turned OFF 6 Home position return has not been made after product purchase 7 Home position return has not been made after occurrence of Absolute p...

Page 72: ...on completion Refer to Speed instruction execution demand RY n 2 0 RX n 2 0 Speed instruction execution completion Refer to Position instruction execution demand RY n 2 1 This device is required when using the external dynamic brake with a servo amplifier of 11kW or more Refer to section 14 6 This is not required with servo amplifiers of 7kW or less RX n 2 1 Point table No output 1 RX n 2 2 Point ...

Page 73: ...onitor code of the status indication item to be monitored to RWwn and turning RYn8 to ON sets data to RWrn RXn8 turns on at the same time When demanding 32 bit data specifying the lower 16 bit code No and turning RYn8 to ON sets the lower 16 bit data to RWwn and the upper 16 bit data to RWrn data is stored in the RXn8 RXn8 turns on at the same time Refer to section 3 5 3 for the item of the monito...

Page 74: ...it Set the point table No to be executed in the automatic operation mode when 2 stations are occupied When the point table No is set to RWwn 4 and RY n 2 0 is turned ON the point table No is set to the servo amplifier On completion of setting RX n 2 0 turns ON When the point table is not used set the position command data When the under 16 bits are set to RWwn 4 and the upper 16 bits to RWwn 5 and...

Page 75: ...a Data corresponding to the read code set to RWwn 2 is set When 2 stations are occupied Remote register Signal name Description RWrn Monitor 1 data under 16bit The lower 16 bits of the data of the monitor code set to RWwn are set RWrn 1 Monitor 1 data upper 16bit The upper 16 bits of the data of the monitor code set to RWwn are set A sign is set if there are no data in the upper 16 bits RWrn 2 Ans...

Page 76: ...tance under 16bit 16bit 0006h Command remaining distance upper 16bit 16bit 10 STM mm or 10 STM inch 0007h 0007h Not monitored 16bit 0008h 0008h Point table 16bit No 0009h 000Ah 000Ah Feedback pulse value under 16bit 16bit pulse 000Bh Feedback pulse value upper 16bit 16bit pulse 000Ch 000Dh 000Eh 000Eh Droop pulse value under 16bit 16bit pulse 000Fh Droop pulse value upper 16bit 16bit pulse 0010h 0...

Page 77: ...point table set in parameter No PA05 Travel multiplying factor 0300 1000 0200 100 0100 10 0000 1 0010h Current alarm warning reading Reads the alarm No or warning No occurring currently 0 Occurring alarm No warning No 0 0020h Alarm number in alarm history most recent alarm 0021h Alarm number in alarm history first recent alarm 0022h Alarm number in alarm history second recent alarm 0023h Alarm num...

Page 78: ...bitF 0042h Input signal status 2 Reads the statuses OFF ON of the input signals bit 0 to bit F indicate the OFF ON statuses of the corresponding input signals Refer to section 3 5 1 for the meanings of the abbreviations bitF bit0 bit0 bit4 bit8 bitC bit1 bit5 bit9 bitD bit2 bit6 bitA RES bitE bit3 bit7 bitB bitF 0050h Output signal status 0 Reads the statuses OFF ON of the Output signals bit 0 to ...

Page 79: ...inertia moment Reads the estimated ratio of load inertia moment to servo motor shaft inertia moment Return unit times Ratio of load inertia moment 00B0h Home position within 1 revolution position under 16bit CYC0 Reads the under 16 bits of the cycle counter value of the absolute home position Return unit pulses Cycle counter value 00B1h Home position within 1 revolution position upper 16bit Reads ...

Page 80: ...group name is stored 0301h to 03FFh Data form of parameter Reads the data format of each No of the parameter group read with code No 0200h The decimal value converted from the 2 lower digits of the code No corresponds to the parameter No If the instruction code is set outside the range set in parameter No PA19 an error code is returned and the data cannot be read The value set in the parameter No ...

Page 81: ... Auxiliary function of point table No 1 to 255 The decimal value converted from the 2 lower digits of the code No corresponds to the point table No The Auxiliary function set to the requested point table No is returned 2 Write instruction codes Set the data which was requested to be written with the instruction code 8010h to 91FFh Set the instruction code No corresponding to the item to Instructio...

Page 82: ...ing setting 8401h to 84FFh 8501h to 85FFh Position data RAM command of point table Writes the position data of point table No 1 to 255 to RAM These values are cleared when power is switched off A set of the upper and under bits makes position data When changing the data always set the data of both under and upper bits in order of under 16 bit data and upper 16 bit data 8400 to 841F Position data i...

Page 83: ...off The lower 16 bits are written in even code and the upper 16 bits in odd code 8B01h to 8BFF Position data in under 16 bits of point table No 1 to 255 8C01h to 8CFF Position data in upper 16 bits of point table No 1 to 255 Example Instruction code 8B13 Under 16 bits of point table No 19 Instruction code 8C13 Upper 16 bits of point table No 19 Convert the values into hexadecimal before making set...

Page 84: ...e No Convert the values into hexadecimal before making setting 3 5 5 Answer codes RWrn 2 If any of the monitor codes instruction codes position command data point table Nos speed command data point table Nos set to the remote register is outside the setting range the corresponding error code is set to Answer code RWwn 2 0000 is set if they are normal Error related to Monitor code 1 Monitor code 2 ...

Page 85: ...troke end reverse rotation stroke end and proximity dog are preset to be usable as the CN6 external input signals 0 Initial value BIN HEX Device name 0 0 Servo on SON 0 0 Reset RES Forward rotation stroke end LSP Reverse rotation stroke end LSN Reverse rotation start ST2 Internal torque limit selection TL1 Gain switch CDP Parameter No PD12 BIN 0 Used in CC Link BIN 1 Used as CN6 external input sig...

Page 86: ...IN 1 Used as CN6 external input signal 0 Initial value BIN HEX Device name 0 0 0 Temporary stop Restart TSTP 0 Initial value BIN HEX Device name 0 0 0 0 Automatic manual selection MD0 8 Initial value BIN HEX Device name 0 0 0 1 Proximity dog DOG 0 Parameter No PD14 ...

Page 87: ...a Data are all hexadecimal numbers At this time Monitoring RXn8 turns to ON at the same time Monitor data 1 RWrn Data demanded by Monitor 1 RWwn Monitor data 2 RWrn 1 Data demanded by Monitor 2 RWwn 1 For 32 bit data set the lower 16 bits of the monitor code to Monitor 1 RWwn and the upper 16 bits to Monitor 2 RWwn 1 and read them simultaneously The monitor data set to the remote register are alwa...

Page 88: ...ecimal numbers At this time Monitoring RXn8 turns to ON at the same time Monitor data 1 under 16 bit RWrn Lower 16 bits of data demanded by Monitor 1 RWwn Monitor data 1 upper 16 bit RWrn 1 Upper 16 bits of data demanded by Monitor 1 RWwn Monitor data 2 under 16 bit RWrn 5 Lower 16 bits of data demanded by Monitor 2 RWwn 1 Monitor data 2 upper 16 bit RWrn 6 Upper 16 bits of data demanded by Monito...

Page 89: ...ead code to Reading data RWrn 3 Data are all hexadecimal numbers At this time Instruction code execution completion RXn9 turns to ON at the same time Read the read data set to Reading data RWrn 3 while Instruction code execution completion RXn9 is ON The data set to Reading data RWrn 3 is held until the next read instruction code is set and Instruction code execution demand RYn9 is turned to ON If...

Page 90: ... to be executed to Writing data RWwn 3 in hexadecimal and turn Instruction code execution demand RYn9 to ON Turning instruction code execution completion to ON sets the data set in Wiring data RWwn 3 to the item corresponding to the write instruction code When write is executed Instruction code execution completion RXn9 turns to ON If the instruction code not in the specifications is set to Instru...

Page 91: ...0 to enable point table No setting operation Point table No RWwn 4 Position instruction execution completion RX n 2 0 Forward reverse rotation start RYn1 RYn2 Answer code RWrn 2 Position instruction demand RY n 2 0 Point table No designation 6ms ON OFF ON OFF ON OFF Note Data reserved Note This data is stored into RAM of the servo amplifier Hence the data is cleared when power is switched off Set ...

Page 92: ...ed Note This data is stored into RAM of the servo amplifier Hence the data is cleared when power is switched off Set the lower 16 bits of the position instruction data to Position instruction data under 16 bit RWwn 4 the upper 16 bits of the position instruction data to Position instruction data upper 16 bit RWwn 5 and point table for speed command No to point table No RWwn 6 and turn Position ins...

Page 93: ...ifier Hence the data is cleared when power is switched off Set the lower 16 bits of the position instruction data to Position instruction data under 16 bit RWwn 4 the upper 16 bits of the position instruction data to Position instruction data upper 16 bit RWwn 5 and speed instruction data to Speed instruction data RWwn 6 and turn Position instruction demand RY n 2 0 and Speed instruction demand RY...

Page 94: ...rs on the basis of the equipment makeup shown in section 3 7 1 3 7 1 System configuration example As shown below the CC Link system master local unit is loaded to run two servo amplifiers 1 station occupied 2 stations occupied PLC Power supply CPU Master station X Y00 to 1F Input module X20 to X2F Station No 1 Station No 2 Servo amplifier 1 station occupied Servo amplifier 2 stations occupied X20 ...

Page 95: ... station communication ready M31 M26 M21 M16 Note area is for one Set 0 or 1 as the bit is not used 15FH RX1F to RX10 RX2F to RX20 RX3F to RX30 RX7EF to RX7E0 RX7FF to RX7F0 Station 2 Station 64 RX1F to RX10 Servo amplifier status 1 station occupied M0 Ready RD M1 In position INP M2 Rough match CPO M3 Home position return completion ZP M4 Limiting torque TLC M5 M6 Electromagnetic brake interlock M...

Page 96: ...c manu al selection Point table selection 2 bit 1 Servo ON 1DEH 1DFH RY0F to RY00 RY1F to RY10 2 station 64 station RY2F to RY20 RY3F to RY30 RY7EF to RY7E0 RY7FF to RY7F0 Note area is for one servo amplifier Set 0 as the bit is not used RY0F to RY00 RY1F to RY10 Operation commands 1 station occupied M100 Servo on SON M101 Forward rotation start ST1 M102 Reverse rotation start ST2 M103 Proximity d...

Page 97: ...xadecimal The answer code at instruction code execution is set to D9 Outputs M0 for normal reply Sets monitor code H000A of feedback pulse value to RWW4 RWW5 Turns on Monitor output execution demand RY28 Reads data to RWR4 and RWR5 of buffer memory when answer code is normal reply Monitor stop Read setting Reads remote input RX20 to RX5F of buffer memory to M200 to M263 Stores answer code to D9 Wr...

Page 98: ... to RX5F to M200 to M263 Outputs M0 for normal reply Turns on instruction code execution demand RY29 Reads RWR7 of buffer memory to D1 when answer code is normal reply Turns off instruction code execution demand RY29 and proceeds to the next when instruction code execution completion RX29 turns on Writes parameter No PA04 read H0204 to RWW6 Turn off instruction code execution demand RY29 Writes M1...

Page 99: ...on code execution is set to D9 Reads RWR7 of buffer memory to D1 when answer code is normal reply Stores answer code to D9 Writes current alarm read H0010 to RWW6 Turns on instruction code execution demand RY29 Turns off instruction code execution demand RY29 Read setting Outputs M0 for normal reply Reads remote input RX20 to RX5F of buffer memory to M200 to M263 Writes M100 to M163 to remote outp...

Page 100: ...table No 1 hexadecimal Set data Description K100 Servo motor speed data of point table No 1 decimal The answer code at instruction code execution is set to D2 Reads remote input RX20 to RX5F of buffer memory to M200 to M263 Writes speed data H8D01 of point table No 1 to RWW6 and speed data K100 to RWW7 Turns on instruction code execution demand RY29 Reads RWR6 to D2 when instruction code execution...

Page 101: ...ction code execution is set to D2 Reads remote input of buffer memory RX20 to RX5F to M200 to M263 Writes parameter group No write H8200 to RWW6 and parameter group PC K2 to RWW7 Turns on instruction code execution demand RY29 Turns off instruction code execution demand RY29 and proceeds to the next when instruction code execution completion RX29 turns on Writes parameter No PC12 write H820C to RW...

Page 102: ...r memory b Deactivate the alarm of the servo amplifier of station 2 using the instruction code Code No Description H8010 Alarm reset command hexadecimal Set data Description H1EA5 Execution data hexadecimal The answer code at instruction code execution is set to D2 Writes alarm reset command H8010 to RWW6 and execution data H1EA5 to RWW7 Turns on instruction code execution demand RY29 Reads RWR6 t...

Page 103: ...ecimal Servo on command RY00 Forward rotation start RY01 Reverse rotation start RY02 Sets monitor code H0001 of current position lower 16 bits to RWW0 Sets monitor code H0002 of current position upper 16 bits to RWW1 Turns on monitor command RY08 Reads RWR0 or RWR1 to D120 D121 of buffer memory when Monitoring RX08 turns on CIRCUIT END Servo alarm Forward rotation JOG command Reverse rotation JOG ...

Page 104: ...ites position command data K100000 to RWW8 RWW9 and speed data K1000 to RWWA Turns on position instruction demand RY40 Reads RWR6 to D2 when position instruction execution completion RX40 and speed instruction execution completion RX41 turn on CIRCUIT END Operation command In position Turns on speed instruction demand RY41 Turns on forward rotation start command RY21 Command request time 10ms Turn...

Page 105: ...tomatic operation selection RY26 Position command selection RY4A Writes point table No K5 to RWW8 Turns on position instruction demand RY40 Reads RWR6 to D2 when position instruction execution completion RX40 turns on CIRCUIT END Turns on forward rotation start command RY21 Command request time 10ms Turns off forward rotation start command RY21 Turns off position instruction demand RY40 Incrementa...

Page 106: ...t The program will be described on the basis of the equipment makeup shown in section 3 8 1 3 8 3 3 8 1 System configuration example when 1 station is occupied As shown below the CC Link system master local unit is loaded to run one servo amplifier 1 station occupied PLC Power supply CPU Master station X Y00 to 1F Input module X30 to X3F Station No 1 Servo amplifier 1 station occupied ...

Page 107: ...ation JOG command Positioning start command In position Rough match Home position return completion Alarm reset command RY1A Alarm reset command RY1A reset Automatic operation selection RY06 Manual operation selection RY06 Home position return request Forward rotation start request Forward rotation start request reset Proximity dog command RY03 Home position return request reset Command request ti...

Page 108: ...toring RX08 turns on CIRCUIT END Point table No selection command bit1 Point table No selection command bit2 Point table No selection command bit3 Point table No selection command bit4 Bit 1 selection Bit 2 selection Bit 3 selection Bit 4 selection Bit 0 selection Writes M100 to M131 to remote output RY00 to RY2F of buffer memory 3 8 3 System configuration example when 2 stations are occupied As s...

Page 109: ...otation JOG command Reverse rotation JOG command Point table position instruction changing command Alarm reset command RY3A Alarm reset command RY3A reset Automatic operation selection RY06 Manual operation selection RY06 Home position return request Forward rotation start request Forward rotation start request reset Proximity dog command RY03 Home position return request reset Command request tim...

Page 110: ...00 to RWW4 RWW5 and speed data K100 to RWW6 Turns on position instruction demand RY20 Reads RWR2 to D2 when position instruction execution completion RX20 and speed instruction execution completion RX21 turn on Turns on speed instruction demand RY21 Command request time 10ms Turns off position instruction demand RY20 Turns off speed instruction demand RY21 Positioning start command Forward rotatio...

Page 111: ...t fault etc Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction Otherwise the signal is not output due to a fault disabling the forced stop EMG and other protective circuits RA DOCOM DICOM 24VDC Servo Amplifier Control output signal RA DOCOM DICOM 24VDC Con...

Page 112: ... must be used with the input cables of the power supply 1 For 3 phase 200 to 230VAC power supply to MR J3 10T to MR J3 350T RA NFB MC L1 L2 L3 ALM RA P1 P2 P DICOM DOCOM 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 DOCOM Forced stop 3 phase 200 to 230VAC Servo amplifier Note 1 Note 2 Note 4 Forced stop Servo motor Note 5 Motor Note 3 Encoder cable Encoder Trouble...

Page 113: ...or Note 3 Encoder cable Encoder Trouble Note 4 Forced stop Forced stop CN6 CN6 Note 4 Note 1 Always connect P1 P2 Factory wired When using the power factor improving DC reactor refer to section 14 11 2 Always connect P D Factory wired When using the regenerative option refer to section 14 2 3 For encoder cable use of the option cable is recommended Refer to section 14 1 for selection of the cable ...

Page 114: ...r Note 5 Motor Note 3 Encoder cable Encoder Trouble Note 4 Forced stop Forced stop CN6 CN6 Note 4 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 14 2 3 For encoder cable use of the option cable is recommended Refer to section 14 1 for selection of the cable 4 For t...

Page 115: ...le Encoder Trouble 24VDC Note 1 Note 2 Note 4 Note 4 Forced stop Forced stop Note 1 Always connect P1 P2 Factory wired When using the power factor improving DC reactor refer to section 14 11 2 Always connect P D Factory wired When using the regenerative option refer to section 14 2 3 For encoder cable use of the option cable is recommended Refer to section 14 1 for selection of the cable 4 For the...

Page 116: ...n Servo motor thermal relay Trouble Servo motor thermal relay RA2 Note 4 Forced stop Forced stop Note 1 Always connect P P1 Factory wired When using the power factor improving DC reactor refer to section 14 11 2 When using the regenerative option refer to section 14 2 3 For the encoder cable use of the option cable is recommended Refer to section 14 1 for selection of the cable 4 For the sink I O ...

Page 117: ...ircuits 3 The forced stop switch normally closed contact must be installed 4 Supply 24VDC 10 150mA current for interfaces from the outside 150mA is the value applicable when all I O signals are used The current capacity can be decreased by reducing the number of I O points Refer to section 4 8 2 1 that gives the current value necessary for the interface 5 When starting operation always turn on for...

Page 118: ... 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 500T 700T MR J3 500T and 700T 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 disconnect P terminal and C termin...

Page 119: ...he warning disappears and the servo amplifier will operate properly 3 The servo amplifier can accept the servo on RYn0 about 1 to 2s after the main circuit power supply is switched on Therefore when servo on RYn0 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 the servo amp...

Page 120: ... forced stop warning AE6 During ordinary operation do not use the external forced stop EMG to alternate stop and run The servo amplifier life may be shortened Also if the forward rotation start RYn1 and reverse rotation start RYn2 are on or a pulse train is input during a forced stop the servo motor will rotate as soon as the warning is reset During a forced stop always shut off the run command No...

Page 121: ...ded For CNP1 51241 0600 connector 56125 0118 terminal For CNP2 51240 0500 connector 56125 0118 terminal For CNP3 51241 0300 connector 56125 0118 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 122: ...y or Front axis Rear axis CNP2 Twin type connector for CNP2 2 MR J3 200T MR J3 350T a Servo amplifier power supply connectors Servo amplifier power supply connectors CNP3 CNP1 CNP2 Applicable cable example Cable finish OD to 5mm Applicable cable example Cable finish OD to 3 8mm Connector for CNP2 54927 0510 Molex Connector for CNP3 PC4 3 STF 7 62 CRWH phoenix contact Connector for CNP1 PC4 6 STF 7...

Page 123: ...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 type mm 2 AWG For 1 cable For 2 cables Crimping tool Maker 1 25 1 5 16 AI1 5 8BK AI TWIN2 1 5 8BK 2 0 2 5 14 AI2 5 8BU AI TWIN2 2 5 10BU CRIMPFOX ZA3 Phoenix Contact 2 CNP2 CNP2 is the same as MR J3 100T or smaller capacities Refer to 1 b o...

Page 124: ...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 connection lever 54932 0000 Molex Unit mm 3 4 M X J 5 4 9 3 2 20 6 10 4 9 6 5 Approx 3 4 7 7 7 App...

Page 125: ...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 126: ...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 127: ...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 128: ... layouts of the other servo amplifiers CN2 4 MRR 2 LG 8 MDR 6 1 P5 5 10 3 MR 7 MD 9 BAT CN1 CC Link communication CN3 MR PRU03 parameter module CN6 1 14 2 15 RD DICOM DOG ALM 3 16 LSP LSN ZP DOCOM 4 17 5 6 8 10 12 7 9 11 13 19 21 23 25 18 20 22 24 26 LB LA LZ LG LBR LAR LZR EMG PP NP CN5 USB connector Personal computer OPC The 3M make connector is shown When using any other connector refer to sect...

Page 129: ...er to section 4 8 2 for the I O interfaces symbols in the I O Division field in the table of the corresponding connector pins Pin type CN6 connector pin No I O division Device in initial status Parameter of change target device 1 Forced stop EMG 2 Proximity dog DOG No PD06 3 Forward rotation stroke end LSP No PD07 Input only pins 4 DI 1 Reverse rotation stroke end LSN No PD08 14 Ready RD No PD09 1...

Page 130: ... CN6 4 Note Automatic manual selection MD0 Temporary stop Restart TSTP Internal torque limit selection TL1 Proportion control PC Gain switch CDP Reset RES Clear CR Turn CR on to clear the position control counter droop pulses on its leading edge The pulse width should be 10ms or more When the parameter No PD22 setting is 1 the pulses are always cleared while CR is on Manual pulse generator multipl...

Page 131: ...ion return completion ZP CN6 16 Note For device details refer to section 3 5 1 2 In position INP Rough match CPO Limiting torque TLC Electromagnetic brake interlock MBR Temporary stop PUS Warning WNG Battery warning BWNG Movement finish MEND dynamic brake interlock DB Position range POT Point table No output 1 PT0 Point table No output 2 PT1 Point table No output 3 PT2 Point table No output 4 PT3 ...

Page 132: ...efault 4 5 2 Input signals Device Symbol Connector pin No Functions Applications PP CN6 6 Manual pulse generator NP CN6 19 Used to connect the manual pulse generator MR HDP01 Refer to section 14 18 4 5 3 Output signals Refer to section 4 8 2 for the output interfaces symbols in the I O Division field in the table of the corresponding connector pins Signal Symbol Connector pin No Functions Applicat...

Page 133: ... rotation start temporary stop restart 1 A forward rotation start RYn1 or a reverse rotation start RYn2 should make the sequence which can be used after the main circuit has been established These signals are invalid if it is switched on before the main circuit is established Normally it is interlocked with the ready signal RD 2 A start in the servo amplifier is made when a forward rotation start ...

Page 134: ...etween the position command generated in the servo amplifier and the movement finished RYnC This timing can be changed using parameter No PA10 in position range RYnC turns ON in the servo on status Forward rotation start RYn1 or reverse rotation start RYn2 Position command and servo motor speed 3ms or less In position range Servo motor speed Position command OFF ON OFF ON Movement finish RXnC Forw...

Page 135: ...start RYn1 or reverse rotation start RYn2 When more than 0 is set in parameter No PC11 3 In position The following timing chart shows the relationship between the signal and the feedback pulse of the servo motor This timing can be changed using parameter No PA10 in position range turns on Ryn1 in the servo on status Forward rotation 0r min ON OFF ON OFF Forward rotation start RYn1 or reverse rotat...

Page 136: ... 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 2 Torque limit value selection As shown below the forward torque limit parameter No PA11 or reverse torque limit parameter No PA12 can be chosen using the external torque limit selection RY n 2 6 Validated torque limit value Note ...

Page 137: ...1 Shut off the main circuit power as soon as an alarm occurs 2 Changes depending on the operating status 1 Overcurrent overload 1 or overload 2 If operation is repeated by switching control circuit power off then on to reset the overcurrent A32 overload 1 A50 or overload 2 A51 alarm after its occurrence without removing its cause the servo amplifier and servo motor may become faulty due to tempera...

Page 138: ...USB D GND VBUS D 1 2 3 5 CN5 ALM DOCOM 24VDC 3 2 4 7 8 MR MRR MD MDR LG E M CN2 16 ZP 23 LG Servo amplifier Isolated Differential line driver output 35mA or less Servo motor Encoder Forced stop Note 2 Note 1 Approx 5 6k Note 1 2 Note 1 Devices assigned to these pins can be changed in the parameter settings 2 For this sink I O interface For the source I O interface refer to section 4 8 3 ...

Page 139: ... source input DICOM VCES 1 0V ICEO 100 A TR 24VDC 10 5 6k For transistor Approx 5mA Switch 150mA Servo amplifier EMG etc 2 Digital output interface DO 1 A lamp relay or photocoupler can be driven Install a diode D for an inductive load or install an inrush current suppressing resistor R for a lamp load Permissible current 40mA or less inrush current 100mA or less A maximum of 2 6V voltage drop occ...

Page 140: ...ut 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 b 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 ...

Page 141: ...ce type Perform wiring according to the following interfaces 1 Digital input interface DI 1 EMG etc Servo amplifier Switch Approx 5mA DICOM VCES 1 0V ICEO 100 A 24VDC 10 150mA Approx 5 6k 2 Digital output interface DO 1 A maximum of 2 6V voltage drop occurs in the servo amplifier If polarity of diode is reversed servo amplifier will fail Servo amplifier ALM etc Load DOCOM 24VDC 10 150mA ...

Page 142: ...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 CN6 connector 3M connector Screw Screw Ground plate Cable 2 For CN2 connector 3M or Molex connector Screw Cable Ground plate ...

Page 143: ...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 14 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 144: ...n cable MR PWS1CBL2M A1 L MR PWS1CBL2M A2 L MR PWS1CBL2M A1 H MR PWS1CBL2M A2 H MR PWS2CBL03M A1 L MR PWS2CBL03M A2 L CNP3 AWG 19 red AWG 19 white AWG 19 black U V W Servo motor Servo amplifier Extension cable 50m or less 2m or less U V W M AWG 19 green yellow Note Relay connector for extension cable Note Relay connector for motor power supply cable Note Use of the following connectors is recommen...

Page 145: ...e interlock RXn6 Servo motor Forced stop EMG Note2 Servo amplifier U V W B1 B2 U V W 24VDC power supply for electromagnetic brake 50m or less M Note 1 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 interlock RXn6 Forced stop EMG Note2 24VDC power supply for electromagn...

Page 146: ...72 152 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 23PD B The connector for power is shared a c b HC LP202 302 CM10 R10P DDK CE05 2A24 10PD B MS3102A10SL 4P Encoder connector signal allotment CM10 R10P Power supply connector signal allotment MS3102A18 10P MS3102A22 22P CE05 2A32 17PD B Power supply connector signal all...

Page 147: ...Note For the motor with electromagnetic brake supply electromagnetic brake power 24VDC There is no polarity 3 HA LP series servo motor a Wiring diagrams Refer to section 14 9 for the cables used for wiring Servo motor Servo amplifier M U V W U V W L1 L2 L3 Fan BU BV BW Note3 MC Note2 B1 B2 24VDC power supply for electromagnetic brake RA3 24VDC power supply OHS2 OHS1 Servo motor thermal relay Note4...

Page 148: ...8 7 9 10 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 701M 11K2 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 Moter po...

Page 149: ...M6 screw Motor power supply terminal block U V W M8 screw U V W Terminal block signal arrangement U V W BU BV OHS1OHS2 BW Terminal box inside HA LP15K1 20K1 22K1M Earth terminal M6 screw Thermal sensor terminal block Cooling fan terminal block Moter power supply terminal block OHS1 OHS2 M4 screw BU BV BW M4 screw U V W M8 screw CM10 R10P Encoder connector U V W Terminal block signal arrangement BV...

Page 150: ...0Hz 54 60Hz Rated voltage V 0 12 50Hz 0 25 60Hz HA LP15K1 HA LP15K1M HA LP15K2 HA LP20K1 HA LP25K1 HA LP22K1M HA LP22K2 Item Description Voltage frequency Single phase 200 to 220VAC 50Hz Single phase 200 to 230VAC 60Hz Power consumption W 42 50Hz 54 60Hz Rated voltage V 0 30 50Hz 0 25 60Hz Cooling fan Note BU BV BW Motor thermal relay OHS1 OHS2 OHS1 OHS2 are opened when heat is generated to an abn...

Page 151: ... that the electromagnetic brake operates properly POINT Refer to the Servo Motor Instruction Manual Vol 2 for specifications such as the power supply capacity and operation delay time of the electromagnetic brake Note the following when the servo motor equipped with electromagnetic brake is used 1 Do not share the 24VDC interface power supply between the interface and electromagnetic brake Always ...

Page 152: ...id OFF ON OFF Servo on SON Electromagnetic brake operation delay time Tb Coasting 0 r min 95ms 95ms 2 Forced stop EMG ON OFF Servo motor speed Electromagnetic brake interlock RXn6 ON OFF Base circuit Invalid ON Valid OFF Forced stop EMG 10ms 210ms 210ms Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake Invalid ON Valid OFF Electromagnetic brake operation delay time Electromag...

Page 153: ...anges with the operating status 5 Only main circuit power supply off control circuit power supply remains on Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake Electromagnetic brake operation delay time Note 2 Forward rotation 0r min Electromagnetic brake interlock RXn6 Base circuit Servo motor speed ALM Main circuit power Trouble RX n 1 A or RX n 3 A Invalid ON ON No ON ON OF...

Page 154: ...de In this case the motor power supply cable pulled from the servo motor should be within 2m long Refer to section 14 9 for the wire used for the extension cable AWG20 AWG20 MR BKS1CBL2M A1 L MR BKS1CBL2M A2 L MR BKS1CBL2M A1 H MR BKS1CBL2M A2 H MR BKS2CBL03M A1 L MR BKS2CBL03M A2 L B1 B2 50m or less Extension cable To be fabricated Note 1 Trouble ALM Forced stop EMG Note 2 2m or less 24VDC power ...

Page 155: ...tor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 W V U M U V W CN2 L11 L1 L2 L3 L21 MC CN3 NFB Ensure to connect it to PE terminal of the servo amplifier Do not connect it directly to the protective earth of the control panel Programmable controller Servo amplifier Control box Line filt...

Page 156: ...4 46 4 SIGNALS AND WIRING MEMO ...

Page 157: ...Refer to section 5 1 2 Surrounding environment check Check the surrounding environment of the servo amplifier and servo motor Refer to section 5 1 3 Parameter setting Set the parameters as necessary such as the used control mode and regenerative option selection with the parameter unit or MR Configurator Refer to chapter 6 Test operation of servo motor alone in test operation mode For the test ope...

Page 158: ...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 159: ...ted across P1 P2 For 11kW or more P P1 Refer to section 14 11 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 CN6 connector This function can be used to perform a wiring check Refer to sect...

Page 160: ...ernal 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 the Forward rotation start RYn1 and Reverse rotation start RYn2 are off 2 Switch off the Servo on RYn0 3 Switch off the main circuit power supply and control circuit power supply 5 2 2 Stop In any of the following statuses the servo amplifier interrupts and stops the operation...

Page 161: ...ted to switch on the forward rotation RYn1 or reverse rotation RYn2 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 confirm that ...

Page 162: ... Generally operation can be performed by merely setting this parameter group In this parameter group set the following items Control mode selection select the 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 lim...

Page 163: ...eleration time constant Set the acceleration time constant Deceleration time constant Set the deceleration time constant Dwell Set the waiting time when performing automatic continuous operation Auxiliary function Set when performing automatic continuous operation Refer to section 5 4 2 for details of the point table 5 2 6 Actual operation Start actual operation after confirmation of normal operat...

Page 164: ...ion beginning Servo ON Not ready Note 3 Ready Note 3 Note 3 Flicker display Alarm reset or warning Note1 When alarm warning No is displayed Flicker display Flicker display When alarm occurs alarm code appears Servo amplifier power ON Only alarm and warning No are displayed but no station No is displayed If warning other than AE6 occurs during the servo on flickering the second place of decimal poi...

Page 165: ... alarm has occurred Note 2 A Alarm Warning The alarm No warning No that occurred is displayed Refer to section 11 4 8 8 8 CPU error CPU watchdog error has occurred Note 3 0 0 b JOG operation positioning operation programmed operation DO forced output single step feed d Note 1 C Note 4 Test operation mode Motor less operation Note 1 denotes any of numerals 00 to 16 and what it means is listed below...

Page 166: ...ss to the target address Setting range 0 to 999999 10 STM m STM feed length multiplication parameter No PA05 Current address Target address Position data target address current address 2 Point table a Point table setting Up to 255 point tables may be set Set the point tables using the MR Configurator Software the MR PRU03 parameter unit or CC Link write instruction code The following table lists w...

Page 167: ...ists the point table No selected in response to the remote input When 2 stations are occupied the point table No can be selected by remote register setting Refer to section 3 6 3 Remote input 0 OFF 1 ON 2 stations occupied 1 station occupied RY n 2 5 RY n 2 4 RY n 2 3 RYnE RYnD RYnC RYnB RYnA Selected point table No 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 2 0 0 0 0 0 0 1 1 3 0 0 0 0 0 1 0 0 4 1 1 1 1 1 ...

Page 168: ...e input of CC Link It cannot be used when the point table No is selected using the remote register of CC Link Set 0 in the auxiliary function to make the dwell invalid Set 1 in the auxiliary function and 0 in the dwell to perform continuous operation When the dwell is set the position command of the selected point table is completed and after the set dwell has elapsed the position command of the n...

Page 169: ...10 9999 99 to 9999 99 2 100 99999 9 to 99999 9 3 1000 999999 to 999999 c Operation Choosing the point table using RYnA to RynE RY n 2 3 to RY n 2 5 and turning RYn1 ON starts positioning to the position data at the preset speed acceleration time constant and deceleration time constant At this time reverse rotation start RYn2 is invalid Item Setting method Description Automatic operation mode selec...

Page 170: ...nal or the remote input of CC Link It cannot be used when the point table No is selected using the remote register of CC Link Set 0 in the auxiliary function to make the dwell invalid Set 1 in the auxiliary function and 0 in the dwell to perform continuous operation When the dwell is set the position command of the selected point table is completed and after the set dwell has elapsed the position ...

Page 171: ...9 9 3 1000 0 to 999999 c Operation Choosing the point table using RYnA to RynE RY n 2 3 to RY n 2 5 and turning RYn1 ON starts a motion in the forward rotation direction over the moving distance of the position data at the preset speed and acceleration time constant Turning RYn2 ON starts a motion in the reverse rotation direction according to the values set to the selected point table Item Settin...

Page 172: ...ment finish RXnC Point table No output RX n 2 2 to RX n 2 9 Ready RXn0 Trouble ALM 6ms or more 3ms or less Point table No 2 4ms or more Note 1 Reverse rotation start RYn2 is invalid in the absolute value command system 2 External input signal detection delays by the input filter setting time of parameter No PD19 Also make up a sequence that will change the point table selection earlier by the time...

Page 173: ...operation Automatic continuous positioning operation 1 or more 1 b Varied speed operation Speed during positioning operation can be changed by setting the auxiliary function of the point table Use the number of point tables equal to the number of speeds to be set By setting 1 to the auxiliary function operation is performed at the speed set in the next point table during positioning The position d...

Page 174: ...r speed r min Acceleration time constant ms Deceleration time constant ms Dwell ms Note 1 Auxiliary function 1 5 00 3000 100 150 0 1 2 3 00 2000 Invalid Invalid 0 3 3 10 00 1000 Invalid Invalid 0 1 4 6 00 500 Invalid Invalid 0 0 Note 2 Note 1 Always set 0 2 Always set 0 or 2 to the auxiliary function of the last point table among the consecutive point tables 0 When point table is used in absolute ...

Page 175: ... 0 1 2 7 00 2000 Invalid Invalid 0 1 3 8 00 1000 Invalid Invalid 0 0 Note 2 Note 1 Always set 0 2 Always set 0 or 2 to the auxiliary function of the last point table among the consecutive point tables 0 When point table is used in absolute value command system 1 When point table is used in incremental value command system ON OFF 0 5 00 12 00 1 0r min 7 00 1 8 00 Servo motor speed Reverse rotation ...

Page 176: ...0 100 150 0 1 2 6 00 2000 Invalid Invalid 0 1 3 3 00 1000 Invalid Invalid 0 0 Note 2 Note 1 Always set 0 2 Always set 0 to the auxiliary function of the last point table among the consecutive point tables ON OFF 0r min 0 5 00 11 00 14 00 1 5 00 6 00 3 00 1 Servo motor speed Position address Selected point table No Acceleration time constant of point table No 1 100 Deceleration time constant of poi...

Page 177: ...tor is rotating ON OFF ON OFF ON OFF 0r min OFF OFF ON ON OFF ON Forward rotation No n Servo motor speed Point table Forward rotation start RYn1 or reverse rotation start RYn2 Temporary stop Restart RYn7 Temporary stop RXn7 Rough match RXn2 In position RXn1 Movement finish RXnC Acceleration time constant of point table No n Deceleration time constant of point table No n Remaining distance No n Poi...

Page 178: ...PC30 2 Remote register based position speed specifying system is selected Position command data under 16 bit RWwn 4 Position data Position command data upper 16 bit RWwn 5 Set the under 16 bits of position data to RWwn 4 and the upper 16 bits to RWwn 5 Setting range 999999 to 999999 Servo motor speed Speed command data RWwn 6 Set the servo motor speed Set the position data to RWwn 4 RWwn 5 and the...

Page 179: ...ute value data 1 Absolute value data 2 Position data 2 Position data 1 Position speed specifying system selection RYn 2 A Incremental value absolute value selection RYn 2 B Position data RWwn 4 RWwn 5 6ms or more Note An external input signal is detected after a delay of the input filter setting time in parameter No PD19 Also configure a sequence that will change Point table selection earlier with...

Page 180: ...vo motor speed Speed command data RWwn 6 Set the servo motor speed Here Absolute value incremental value selection RY n 2 B is turned ON since the position data are handled as incremental values ON OFF ON OFF ON OF ON OFF ON OFF ON OFF 0r min ON ON OFF OFF ON OFF ON OFF ON 6ms or more Servo on RYn0 Ready RD Trouble ALM Automatic manual selection RYn6 In position RXn1 Rough match RXn2 Speed data RW...

Page 181: ...parameter No PA03 to select the incremental value command system In the incremental value command system the position data are handled as incremental values Hence Absolute value incremental value selection RY n 2 B is invalid Position data RWwn 4 RWwn 5 ON ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 0r min ON OFF OFF OFF ON OFF ON 6ms or more Servo on RYn0 Ready RD Trouble ALM Automatic manual selec...

Page 182: ...2 Set the speed of the servo motor Acceleration deceleration time constant Point table No 1 Use the acceleration deceleration time constants in point table No 1 2 Servo motor rotation direction Servo motor rotation direction Parameter No PA14 setting Forward rotation start RYn1 ON Reverse rotation start RYn2 ON 0 CCW rotation CW rotation 1 CW rotation CCW rotation Parameter No PA14 0 Parameter No ...

Page 183: ...o the purpose of use In this case the point table No selection 1 to 8 RYnA to RYnE RY n 2 3 to RY n 2 5 are invalid Item Setting method Description Manual operation mode selection Automatic manual selection RYn6 Turn RYn6 OFF Manual pulse generator multiplication Parameter No PA05 For more information refer to 3 of this section Servo motor rotation direction Parameter No PA14 Refer to 2 of this se...

Page 184: ...nals for setting devices Set the pulse generator multiplication 1 TP0 and the pulse generator multiplication 2 TP1 to the CN6 connector pins in the parameters of Nos PD06 to PD08 Note Pulse generator multiplication 2 TP1 Note Pulse generator multiplication 1 TP0 Multiplication ratio of servo motor rotation to manual pulse generator rotation Moving distance 0 0 Parameter No PA05 setting valid 0 1 1...

Page 185: ...allation the current position is retained if power is switched off Hence home position return is not required when power is switched on again This servo amplifier has the home position return methods given in this section Choose the most appropriate method for your machine structure and application This servo amplifier has the home position return automatic return function which executes home posi...

Page 186: ...machine and stopper strength must be increased Home position ignorance Servo on position as home position The position where servo is switched on is defined as a home position Dog type rear end reference The position where the axis which had started decelerating at the front end of a proximity dog has moved the after proximity dog moving distance and home position shift distance after it passed th...

Page 187: ...the direction in which the address is incremented from the current position or 1 to start home position return in the direction in which the address is decremented 0 Parameter No PC03 0 0 Home position return direction 0 Address increment direction 1 Address decrement direction c Choose the polarity at which the proximity dog is detected with parameter No PD16 Input polarity setting Set 0 to detec...

Page 188: ...ion return direction Dog input polarity Parameter No PD16 Refer to section 5 6 1 2 and choose dog input polarity Home position return speed Parameter No PC04 Set speed until detection of dog Creep speed Parameter No PC05 Set speed after detection of dog Home position shift distance Parameter No PC06 Set when shifting the home position starting at the first Z phase signal after passage of proximity...

Page 189: ...ter No PC07 3ms or less Reverse rotation start RYn2 0r min Automatic manual selection RYn0 Forward rotation Proximity dog The parameter No PC07 home position return position data setting value is the positioning address after the home position return is completed 4 Adjustment In dog type home position return adjust to ensure that the Z phase signal is generated during dog detection Locate the rear...

Page 190: ...RY n 2 5 RYnA to RYnE RY n 2 3 to RY n 2 5 are turned off Count type home position return Parameter No PC02 1 Count type home position return is selected Home position return direction Parameter No PC03 Refer to section 5 6 1 2 and choose home position return direction Dog input polarity Parameter No PD16 Refer to section 5 6 1 2 and choose dog input polarity Home position return speed Parameter N...

Page 191: ...r No PC06 Home position address Parameter No PC07 Home position return speed Parameter No PC04 Point table No 1 Acceleration time constant Home position Creep speed Parameter No PC05 Point table No 1 Deceleration time constant Moving distance after proximity dog Parameter No PC08 Reverse rotation start RYn2 Selected point table No Automatic manual selection RYn0 Proximity dog The parameter No PC07...

Page 192: ...ion return Parameter No PC02 2 Data setting type home position return is selected Home position return position data Parameter No PC07 Set the current position at home position return completion 2 Timing chart ON OFF ON OFF ON OFF 0 ON OFF ON OFF ON OFF Movement to the home position Operation for home position return Movement finish RXnC Rough match RXn2 Home position return completion ZP Servo mo...

Page 193: ...per type home position return is selected Home position return direction Parameter No PC03 Refer to section 5 6 1 2 and choose the home position return direction Home position return speed Parameter No PC04 Set the speed till contact with the stopper Stopper time Parameter No PC09 Time from when the part makes contact with the stopper to when home position return data is obtained to output home po...

Page 194: ...it value Stopper time Parameter No PC09 Point table No 1 Acceleration time constant Home position return speed Parameter No PC04 Reverse rotation start RYn2 0r min Forward rotation Selected point table No 3ms or less Stopper Note Note Turns ON when the torque reaches the value set to Forward torque limit parameter No PA11 Reverse torque limit parameter No PA12 Internal torque limit parameter No PC...

Page 195: ... RYnE RY n 2 3 to RY n 2 5 are turned off Home position ignorance Parameter No PC02 4 Home position ignorance is selected Home position return position data Parameter No PC07 Set the current position at home position return completion 2 Timing chart ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 0r min Movement finish RXnC Rough match RXn2 Home position return completion ZP Servo motor speed Home posit...

Page 196: ... Point table No selection 1 to 8 RYnA to RYnE RY n 2 3 to RY n 2 5 RYnA to RYnE RY n 2 3 to RY n 2 5 are turned off Dog type rear end reference home position return Parameter No PC02 5 Select the dog type rear end reference Home position return direction Parameter No PC03 Refer to section 5 6 1 2 and select the home position return direction Dog input polarity Parameter No PD16 Refer to section 5 ...

Page 197: ...rward rotation start RYn1 Home position return speed Creep speed Moving distance after proximity dog Home position shift distance 6ms or more 3ms or less Home position address Parameter No PC07 Reverse rotation start RYn2 Selected point table No Proximity dog Forward rotation 0r min The parameter No PC17 home position return position data setting value is the positioning address after the home pos...

Page 198: ... position return mode selection Point table No selection 1 to 8 RYnA to RYnE RY n 2 3 to RY n 2 5 RYnA to RYnE RY n 2 3 to RY n 2 5 are turned off Count type dog front end reference home position return Parameter No PC02 6 Select the count type dog front end reference Home position return direction Parameter No PC03 Refer to section 5 6 1 2 and select the home position return direction Dog input p...

Page 199: ...ition return completion ZP Servo motor speed Proximity dog DOG Forward rotation start RYn1 Reverse rotation start RYn2 3ms or less ON OFF ON OFF ON OFF ON OFF ON OFF Selected point table No ON OFF ON OFF Home position address Parameter No PC07 Proximity dog DOG Forward rotation 0r min The parameter No PC07 home position return position data setting value is the positioning address after the home p...

Page 200: ...elect the dog cradle type Home position return direction Parameter No PC03 Refer to section 5 6 1 2 and select the home position return direction Dog input polarity Parameter No PD16 Refer to section 5 6 1 2 and select the dog input polarity Home position return speed Parameter No PC04 Set the speed till the dog is detected Creep speed Parameter No PC05 Set the speed after the dog is detected Home...

Page 201: ...ore ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Movement finish RXnC Rough match RXn2 Home position return completion ZP Z phase Proximity dog DOG Automatic manual selection RYn6 Servo motor speed Forward rotation start RYn1 Reverse rotation start RYn2 Selected point table No The parameter No PC07 home position return position data setting value is the positioning address after the home posit...

Page 202: ...f Dog cradle type home position return Parameter No PC02 8 Select the dog cradle type Home position return direction Parameter No PC03 Refer to section 5 6 1 2 and select the home position return direction Dog input polarity Parameter No PD16 Refer to section 5 6 1 2 and select the dog input polarity Home position return speed Parameter No PC04 Set the speed till the dog is detected Creep speed Pa...

Page 203: ... Forward rotation start RYn1 Reverse rotation start RYn2 Selected point table No Forward rotation 0r min Reverse rotation 3ms or less 6ms or more Home position shift distance Home position address Parameter No PC07 Proximity dog Creep speed Home position return speed ON OFF ON OFF The parameter No PC07 home position return position data setting value is the positioning address after the home posit...

Page 204: ...g cradle type Home position return direction Parameter No PC03 Refer to section 5 6 1 2 and select the home position return direction Dog input polarity Parameter No PD16 Refer to section 5 6 1 2 and select the dog input polarity Home position return speed Parameter No PC04 Set the speed till the dog is detected Creep speed Parameter No PC05 Set the speed after the dog is detected Home position sh...

Page 205: ...1 Reverse rotation start RYn2 Selected point table No Forward rotation 0r min Reverse rotation 3ms or less 6ms or more Home position return speed ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Proximity dog Moving distance after proximity dog Home position shift distance The parameter No PC07 home position return position data setting value is the positioning address after the home position return is c...

Page 206: ...le type home position return Parameter No PC02 A Select the dog cradle type Home position return direction Parameter No PC03 Refer to section 5 6 1 2 and select the home position return direction Home position return speed Parameter No PC04 Set the speed till the dog is detected Creep speed Parameter No PC05 Set the speed after the dog is detected Home position shift distance Parameter No PC06 Set...

Page 207: ...Yn6 Servo motor speed Forward rotation start RYn1 Reverse rotation start RYn2 Selected point table No ON OFF 3ms or less 6ms or more Creep speed Home position return speed Home position shift distance ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF The parameter No PC07 home position return position data setting value is the positioning address after the home position return is completed ...

Page 208: ...a position before the proximity dog then executes home position return at this position 2 When the current position is beyond the proximity dog At a start a motion is made in the home position return direction and an automatic return is made on detection of the strok end LSP or LSN The motion stops past the front end of the proximity dog and home position return is resumed at that position If the ...

Page 209: ...n RYn6 Turn RYn6 ON Manual home position return mode selection Point table No selection 1 to 8 RYnA to RYnE RY n 2 3 to RY n 2 5 RYnA to RYnE RY n 2 3 to RY n 2 5 are turned off Home position return speed Parameter No PC04 Set the speed till the dog is detected Home position return acceleration deceleration time constants Point table No 1 Use the acceleration deceleration time constant of point ta...

Page 210: ...position display 1 Select roll feed display 2 Roll feed display function At start up the roll feed display function clears the status display of the current position and command position to zero 0 Start 0 Start 10 00 8 00 Servo motor speed Forward rotation 0r min Display of current position or command position 3 Operation procedure Changes are made only on the status display of the current positio...

Page 211: ...oning 2 Operation performed in incremental value command type positioning system 2 Specifications Item Description System Electronic battery backup system Battery 1 piece of lithium battery primary battery nominal 3 6V Type MR J3BAT Maximum revolution range Home position 32767 rev Note 1 Maximum speed at power failure 3000r min Note 2 Battery backup time Approx 10 000 hours battery life with power...

Page 212: ...Detection of position within one revolution Within one revolution counter High speed serial communication Speed control Position control 1 pulse rev Cumulative revolution counter Point table No selection etc Servo amplifier Servo motor Current position 5 Battery installation procedure WARNING Before starting battery installation procedure make sure that the charge lamp is off more than 15 minutes ...

Page 213: ...rvo amplifier of 3 5kW or less in the state to insert the battery it is not possible to wire for the earth Insert the battery after executing the earth wiring of the servo amplifier Insert connector into CN4 b For MR J3 500T or more Insert connector into CN4 ...

Page 214: ...eter No PA03 Absolute position detection system as indicated below to make the absolute position detection system valid Parameter No PA03 Selection of absolute position detection system 0 Incremental system 1 Absolute position detection system 1 ...

Page 215: ...tting parameters No PD Use these parameters when changing the I O devices of the servo amplifier Mainly setting the basic setting parameters No PA allows the setting of the basic parameters at the time of introduction 6 1 Basic setting parameters No PA 6 1 1 Parameter list No Symbol Name Initial Value Unit PA01 STY Control mode 0000h PA02 REG Regenerative option 0000h PA03 ABS Absolute position de...

Page 216: ...ing parameter settings With the setting of parameter No PA19 write can be disabled to prevent accidental changes The following table indicates the parameters which are enabled for reference and write by the setting of parameter No PA19 Operation can be performed for the parameters marked Parameter No PA19 Setting Setting Operation Basic Setting Parameters No PA Gain Filter Parameters No PB Extensi...

Page 217: ...hed off then on after setting Wrong setting may cause the regenerative option to burn If the regenerative option selected is not for use with the servo amplifier parameter error A37 occurs Set this parameter when using the regenerative option brake unit power regeneration converter or power regeneration common converter Selection of regenerative option 00 Regenerative option is not used For MR J3 ...

Page 218: ...rameter is made valid when power is switched off then on after setting or when the controller reset has been performed If this parameter is made valid the home position is not lost in the servo off or forced stop state and the operation can be resumed when the servo on RYn0 or forced stop EMG is deactivated Parameter No PA04 0 0 0 Servo on RYn0 off forced stop EMG off follow up for absolute value ...

Page 219: ...t the feed length multiplication and the manual pulse generator input multiplication 999999 to 999999 1000 0 0 Manual pulse generator multiplication factor 0 1 time 1 10 times 2 100 times 1 2 3 0 999 999 to 999 999 0 to 999 999 Absolute value command system Incremental value command system Position data input range mm 1 1 10 10 100 100 1000 9999 99 to 9999 99 0 to 9999 99 99999 9 to 99999 9 0 to 9...

Page 220: ...oder feedback pulses CMX CDV Deviation counter Motor Encoder Moving distance The following examples are used to explain how to calculate the electronic gear value POINT The following specification symbols are needed for electronic gear calculation Pb Ballscrew lead mm n Reduction ratio Pt Servo motor resolution pulse rev S Travel per servo motor revolution mm rev a Ballscrew setting example Machin...

Page 221: ...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 servo motor inertia...

Page 222: ... 137 1 8 23 0 24 154 4 9 25 9 25 173 9 10 29 2 26 195 9 11 32 9 27 220 6 12 37 0 28 248 5 13 41 7 29 279 9 14 47 0 30 315 3 15 52 9 31 355 1 16 Middle response 59 6 32 Middle response 400 0 6 1 10 In position range Parameter No Symbol Name Initial Value Unit Setting Range PA10 INP In position range 100 m 0 to 10000 Set the range where In position RXn1 and Movement finish RXnC are output in the com...

Page 223: ...en 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 When torque is output with the analog monitor output the smaller torque of the values in this parameter and parameter No PA12 reverse rotation torque limit is the maximum output voltage 8V 2 Reverse rotation torque limit parameter No PA12 Set this parameter on t...

Page 224: ...everse rotation CW 6 1 13 Encoder output pulse Parameter No Symbol Name Initial Value Unit Setting Range PA15 ENR Encoder output pulse 4000 pulse rev 1 to 65535 POINT This parameter is made valid when power is switched off then on after setting or when the controller reset has been performed Used to set the encoder pulses A phase B phase output by the servo amplifier Set the value 4 times greater ...

Page 225: ...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 226: ...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 0 00 PB22 For manufacturer setting 0 00 PB23 VFBF Low pass filter selection 0000h PB24 MVS Slight vibration suppression control selection 0000h PB25 For manufacturer setting 0000h PB26 CD...

Page 227: ...r tuning mode selection 0 0 0 0000h Setting Filter adjustment mode Automatically set parameter 0 Filter OFF Note 1 Filter tuning mode Parameter No PB13 Parameter No PB14 2 Manual mode Note Parameter No PB13 and PB14 are fixed to the initial values When this parameter is set to 1 the tuning is completed after positioning is done the predetermined number or times for the predetermined period of time...

Page 228: ...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 When this parameter is set to 1 the tuning is completed after positioning is done the predetermined number or times for the predetermined period of time and the setting changes to 2 When...

Page 229: ...sult of auto tuning is automatically used 37 rad s 1 to 1000 PB09 VG2 Speed loop gain Set this parameter when vibration occurs on machines of low rigidity or large backlash Higher setting increases the response level but is liable to generate vibration and or noise When auto tuning mode 1 2 manual mode and interpolation mode is selected the result of auto tuning is automatically used 823 rad s 20 ...

Page 230: ...5 NH2 Machine resonance suppression filter 2 Set the notch frequency of the machine resonance suppression filter 2 Set parameter No PB16 notch shape selection 2 to 1 to make this parameter valid 4500 Hz 100 to 4500 PB16 NHQ2 Notch shape selection 2 Select the shape of the machine resonance suppression filter 2 Notch depth selection Setting value Depth Gain 0 40dB Deep 1 14dB 2 8dB 3 4dB Shallow to...

Page 231: ...cy 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 0 00 PB22 For manufacturer setting Do not change this value by any means 0 00 PB23 V...

Page 232: ...conditions set in parameters No PB26 and PB27 Refer to section 10 6 1 ms 0 to 100 PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid This parameter is made valid when the auto tuning is invalid parameter No PA08 3 7 0 times 0 to 300 0 PB30 PG2B Gain changing positi...

Page 233: ...ng after the servo motor has stopped 100 0 Hz 0 1 to 100 0 PB34 VRF2B Gain changing vibration suppression control resonance frequency setting Set the resonance 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 changi...

Page 234: ...er setting 0000h PC16 MBR Electromagnetic brake sequence output 100 ms PC17 ZSP Zero speed 50 r min PC18 BPS Alarm history clear 0000h PC19 ENRS Encoder output pulse selection 0000h PC20 SNO Station number setting 0 station PC21 SOP RS 422 communication function selection 0000h PC22 COP1 Function selection C 1 0000h PC23 For manufacturer setting 0000h PC24 COP3 Function selection C 3 0000h PC25 Fo...

Page 235: ...1h Refer to Name and function column PC04 ZRF Home position return speed Used to set the servo motor speed for home position return Refer to section 5 6 500 r min 0 to permissible speed PC05 CRF Creep speed Used to set the creep speed after proximity dog detection Refer to section 5 6 10 r min 0 to permissible speed PC06 ZST Home position shift distance Used to set the shift distance starting at t...

Page 236: ...rn direction For the home position ignorance servo on position as home position this function compensates for the number of backlash pulses in the opposite direction to the first rotating direction after establishing the home position by switching ON the servo on RYn0 In the absolute position detection system this function compensates for the backlash pulse count in the direction opposite to the o...

Page 237: ... axis of servo amplifier If one station number is set to two or more stations normal communication cannot be made 0 station 0 to 31 PC21 SOP RS 422 communication function selection Select the communication I F and select the RS 422 communication conditions 0 0 RS 422 communication baud rate selection 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps 4 115200 bps RS 422 communication response delay ti...

Page 238: ...system This parameter is made valid when Position speed specification selection RY n 2 A is turned ON with 2 stations occupied Select how to receive the position command and speed command When 1 station is occupied selection of 0100 or 0002 will result in a parameter error Set value 0 1 2 Set the position data Specify the point table No Settheservomotorspeed Specify the point table No Position com...

Page 239: ...is value by any means 0000h PC37 LPPL PC38 LPPH Position range output address Used to set the address increment side position range output address Set the same sign to parameters No PC37 and PC38 Setting of different signs will result in a parameter error In parameters No PC37 to PC40 set the range where position range RXnE turns on Set address Upper 3 digits Lower 3 digits Parameter No PC37 Param...

Page 240: ...tern acceleration deceleration time constant parameter No PC13 a smooth start stop can be made When the S pattern time constant is set smooth positioning is executed as shown below Note that the time equivalent to the S pattern time constant setting increases until positioning RXnC is complete Servo motor speed 0 r min Acceleration time constant Rated speed Tb Ts Ta Ts Tb Deceleration time constan...

Page 241: ...ce reaches the value set in parameter No PC11 rough match output range The set remaining distance is 0 to 65535 10 STM m Servo motor speed ON OFF ON OFF Command remaining distance 10STM m set in parameter No PC11 Rough match RXn2 In position RXnC Command pulse Actual servo motor speed 6 3 6 Software limit A limit stop using a software limit parameter No PC31 to PC34 is made as in stroke end operat...

Page 242: ...vice selection 1 CN6 pin 14 0002h PD10 DO2 Input signal device selection 2 CN6 pin 15 0003h PD11 DO3 Input signal device selection 3 CN6 pin 16 0024h PD12 DIN1 External DI function selection 1 0C00h PD13 For manufacturer setting 0000h PD14 DIN3 External DI function selection 3 0800h PD15 For manufacturer setting 0000h PD16 DIAB Input polarity selection 0000h PD17 0000h PD18 For manufacturer settin...

Page 243: ...HEX Signal name 0 0 Initial value BIN HEX Proportion control PC Signal name Initial value BIN HEX Signal name Servo on SON 0 0 0 0 Forward rotation stroke end LSP 0 0 0 0 0 0 Reverse rotation stroke end LSN 0 BIN 0 Used in CC Link or as external input signal BIN 1 Automatic ON Initial value BIN HEX Signal name 0 0 0 0 Forced stop EMG For example to turn ON SON the setting is 4 0000h Refer to Name ...

Page 244: ...omatic ON selection 4 Select the input devices to be automatically turned ON part is for manufacturer setting Do not set the value by any means 0 0 Initial value BIN HEX Signal name Point table No selection 2 DI1 0 BIN 0 Used in CC Link or as external input signal BIN 1 Automatic ON 0 0 Point table No selection 1 DI0 Point table No selection 3 DI2 Point table No selection 4 DI3 0 0 Initial value B...

Page 245: ...l selection MD0 24 Manual pulse generator multiplication 1 TP0 25 Manual pulse generator multiplication 2 TP1 27 Temporary stop restart TSTP 2B Proximity dog DOG Note The other setting values than shown in this table are for manufacturer setting 002Bh Refer to Name and function column PD07 DI3 Input signal device selection 3 CN6 3 Any input device can be assigned to the CN6 3 pin The devices that ...

Page 246: ...selection CDPS 23 Rough match CPO 24 Home position return completion ZP 25 Position range POT 26 Temporary stop PUS 27 Movement finish MEND 38 Point table No output 1 PT0 39 Point table No output 2 PT1 3A Point table No output 3 PT2 3B Point table No output 4 PT3 3C Point table No output 5 PT4 3D Point table No output 6 PT5 3E Point table No output 7 PT6 3F Point table No output 8 PT7 Note The oth...

Page 247: ...he CN6 connector part is for manufacturer setting Do not set the value by any means 0 Initial value BIN HEX Signal name 0 0 Initial value BIN HEX Signal name Servo on SON 0 0 0 0 0 0 0 1 C Initial value BIN HEX Signal name Internal torque limit TL1 0 1 0 Forward rotation stroke end LSP 0 Initial value BIN HEX Signal name BIN 0 Used in CC Link BIN 1 Used in CN6 external input signal 0 0 0 0 Gain sw...

Page 248: ... 0 0 0800h Refer to Name and function column PD15 For manufacturer setting Do not change this value by any means 0000h PD16 DIAB Input polarity selection Used to set the proximity dog input polarity Refer to section 5 6 0 Proximity dog input polarity 0 OFF indicates detection of the dog 1 ON indicates detection of the dog 0 0 0000h Refer to Name and function column PD17 0000h PD18 For manufacturer...

Page 249: ...not switched off 1 Base circuit switched off As in the following parameter settings when the home position is lost by the forward rotation stroke end reverse rotation stroke end or the software limit detection the home position return completion ZP turns on by turning OFF ON the servo on RYn0 In this case there is no need to perform the home position return again 1 In absolute position detection s...

Page 250: ...ble RX n 1 A or RX n 3 A output status at warning occurrence 0 1 Setting Note Device status 0 1 0 1 RX n 1 A or RX n 3 A Warning occurred RXnA Remote output Output signal WNG ALM OFF ON OFF ON 0 1 0 1 RX n 1 A or RX n 3 A RXnA WNG ALM OFF ON OFF ON Remote output Output signal Warning occurred Note 0 OFF 1 ON 0000h PD25 0000h PD26 0000h PD27 0000h PD28 0000h PD29 0000h PD30 For manufacturer setting...

Page 251: ...sion 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 2000 Professi...

Page 252: ...of RS 422 to make multidrop connection To RS 232C connector RS 422 232C converter FA T RS40VS Mitsubishi Electric Engineering Personal computer Note 1 Note 2 Note 2 Note 2 Servo amplifier CN3 Servo amplifier CN3 Servo amplifier CN3 Note 3 Note 1 Refer to section 15 1 for cable wiring 2 The BMJ 8 Hakko Electric Machine Works is recommended as the branch connector 3 The final axis must be terminated...

Page 253: ...are made the following window appears a 1 Station number selection Choose the station number in the combo box a POINT This setting should be the same as the station number which has been set in the parameter in the servo amplifier used for communication 2 Closing of the station selection window Click the OK button to close the window ...

Page 254: ...e write a Click the parameter whose setting was changed and press the Write button to write the new parameter setting to the servo amplifier 2 Parameter value verify b Click the Verify button to verify all parameter values being displayed and the parameter values of the servo amplifier 3 Parameter value batch read c Click the Read All button to read and display all parameter values from the servo ...

Page 255: ...ifier Select a parameter to be changed enter a new value to Set value and click Enter 10 I O setting parameters k Used to change the I O device of the servo amplifier Select a parameter to be changed enter a new value to Set value and click Enter 11 Parameter block l Used to set the availability of parameter write 12 Parameter data file read Used to read and display the parameter values stored in ...

Page 256: ...e menu When the above choices are made the following window appears e c a b h d g f 1 Point table data write a Click the point table data changed and press the Write button to write the new point table data to the servo amplifier 2 Point table data verify b Click the Verify button to verify all data being displayed and the data of the servo amplifier 3 Point table data batch read c Click the Read ...

Page 257: ... data to be changed enter a new value into the Enter input field and press the enter key or Enter Data button 8 Point table data file read Used to read and display the point table data stored in the file Use the Project menu on the menu bar to read 9 Point table data storage Used to store all point table data being displayed on the window into the specified file Use the Project menu on the menu ba...

Page 258: ...signal the settings for the parameter No PD12 and PD14 are required after the device is assigned according to the device setting described below 1 How to open the setting screen Click Parameters on the menu bar and click Device setting in the menu Making selection displays the following window ...

Page 259: ...and displays all functions assigned to the pins from the servo amplifier 2 Write of function assignment b Click the Write button writes all pins that are assigned the functions to the servo amplifier 3 Verify of function assignment c Click the Verify button verifies the function assignment in the servo amplifier with the device information on the screen 4 Initial setting of function assignment d C...

Page 260: ...ointer to the place of the function to be assigned Drag and drop it as is to the pin you want to assign in the DIDO device setting window 1 Assignment checking automatic ON setting a Press this button to display the screen that shows the assignment list and enables auto ON setting Refer to 2 c of this section for more information 2 Quitting Click Close button to exit from the window b ...

Page 261: ...ment a Click Read button reads the functions set for auto ON from the interface unit and extension IO unit 2 Auto ON write of function assignment b Click Write button writes the functions currently set for auto ON to the interface unit and extension IO unit 3 Auto ON verify of function assignment c Click Verify button verifies the current auto ON setting in the interface unit and extension IO unit...

Page 262: ...ff Make automatic ON setting to turn on these devices or make device setting to assign them as external input signals and turn on across these signals and SG Refer to section 7 6 When an alarm occurs the JOG operation is automatically canceled Click Test on the menu bar and choose Jog on the menu Clicking displays the confirmation window for switching to the test operation mode Click the OK button...

Page 263: ...P LSN stroke end automatic ON setting g Put a check mark in the check box to automatically turn ON LSP LSN After selecting the check box the external signal LSP and the LSN signal are ignored 6 Servo motor software forced stop h Click the Software forced stop button to stop the servo motor rotation immediately When the Software forced stop button is enabled the Forward and Reverse buttons cannot b...

Page 264: ...ection 7 6 When an alarm occurs the positioning operation is automatically canceled Click Test on the menu bar and click Positioning on the menu Clicking displays the confirmation window for switching to the test operation mode Click the OK button to display the setting screen of the Positioning operation During the servo on the confirmation window indicating that the next operation is in the stop...

Page 265: ...5 Temporary stop of servo motor f Click the Pause button to stop the servo motor temporarily 6 Servo motor restart g Click the Restart button during the temporary stop to restart the rotations for the remaining move distance Enter a new value into the Motor speed input field and press the enter key 7 Move distance clear h Click the Remaining distance clear during the temporary stop to clear the re...

Page 266: ...tor rotation immediately When the Software forced stop button is enabled the Forward and Reverse buttons cannot be used Click the Software forced stop button again to make the Forward and Reverse buttons enabled 12 Positioning operation window closing m Click the Close button to cancel the positioning operation mode and close the window 13 Switching to CC Link operation mode To switch from the tes...

Page 267: ...uence of the host programmable controller PC can be checked without connection of a servo motor Click Test on the menu bar and click Operation w o Motor on the menu When the above choices are made the following window appears b a 1 Execution of motor less operation a Click Start to perform motor less operation 2 Termination of motor less operation b Click Close to close the window Note that just c...

Page 268: ...orced output on the menu Clicking displays the confirmation window for switching to the test operation mode Click the OK button to display the setting screen of the DO forced output During the servo on the confirmation window indicating that the next operation is in the stop status is displayed After confirming that the operation is in the stop status click the OK button to display the setting scr...

Page 269: ... servo amplifier 7 7 5 Single step feed POINT The servo motor will not operate if the forced stop EMG forward rotation stroke end LSP and reverse rotation stroke end LSN are off Make automatic ON setting to turn on these devices or make device setting to assign them as external input signals and turn on across these signals and SG Refer to section 7 6 When an alarm occurs the 1 step feed is automa...

Page 270: ...put field and press the enter key 2 Servo motor start b Click the Start button to rotate the servo motor 3 Temporary stop of servo motor c Press the Pause button to stop the servo motor temporarily 4 Servo motor stop c Click the Pause button again during a temporary stop of the servo motor to clear the remaining moving distance 5 Servo motor restart d Click the Restart button during the temporary ...

Page 271: ...s enabled the Start button cannot be used Click the Software forced stop button again to make the Start button enabled 8 Single step feed window closing g Click the Close button to cancel the single step feed mode and close the window 9 Switching to CC Link operation mode To switch from the test operation mode to the CC Link operation mode turn OFF the power of the servo amplifier ...

Page 272: ...arm occurrence the following message window appears The example given here is the window that indicates an occurrence of Encoder error 1 16 The current alarm can be displayed To display the current alarm click Alarm on the menu bar and click Display on the menu When the above choices are made the following window appears b a ...

Page 273: ...ton to reset the current alarm and clear alarms on the window The alarm at this time is stored as the latest alarm 3 Closing the current alarm window b Click the Close button to close the window 7 8 2 Batch display of data at alarm occurrence Monitor data during alarm occurrence is displayed To display monitor data click Alarm on the menu bar and click Amplifier data on the menu When the above cho...

Page 274: ...7 24 7 MR Configurator Click the Read button to read the monitor data at error occurrence from the servo amplifier Read results are displayed as follows ...

Page 275: ... made the following window appears b a 1 Alarm history display The most recent six alarms are displayed The smaller numbers indicate newer alarms 2 Alarm history clear a Click the Clear button to clear the alarm history stored in the servo amplifier 3 Closing of alarm history window b Click the Close button to close the window ...

Page 276: ...7 26 7 MR Configurator MEMO ...

Page 277: ...ER UNIT MR PRU03 POINT Do not use MR PRU03 parameter unit and MR Configurator together Perform simple data setting test operation parameter setting etc without MR Configurator by connecting the MR PRU03 parameter unit to the servo amplifier ...

Page 278: ...n at one step upper hierarchical level not the pervious screen Used to display the setting selection screen the initial screen of the monitor mode Scroll key Used to move the cursor across the screen or scroll the screen Press this key while holding down the SHIFT key to move to the previous or next screen Used to change parameter No or point table No Enter key Forward rotation key Used to start t...

Page 279: ...information Alarm mode Current alarm Alarm history Test operation mode Jog operation Positioning operation DO forced output Motor less operation Single step feed Functions Point table mode Point data Servo motor speed Acceleration deceleration time constant Dwell Auxiliary function Display section LCD system 16 characters 4 lines Ambient temperature 10 to 55 non freezing Ambient humidity 90 RH or ...

Page 280: ... amplifier CN3 PRU03 MON DATA PARAM ALM DGN TEST Fn SHIFT ESC 7 8 9 D E F 4 5 6 A B C 1 2 3 0 1STEP STOP RESET REV FWD Parameter unit MR PRU03 10BASE T cable etc EIA568 compliant cable 2 Cable internal wiring diagram GND TXD 7 1 2 3 4 5 6 10m or less 7 1 2 3 4 5 6 8 Parameter unit MR PRU03 connector side RXD RXD TXD GND NC Servo amplifier CN3 connector RJ45 connector LG RDP P5 SDN SDP RDN LG NC 5V...

Page 281: ...amplifier CN3 Servo amplifier CN3 Servo amplifier CN3 Note 3 Note 1 PRU 03 ８ Paremeter unit MR PRU03 Note 1 Note 1 Note 2 Note 2 Note 2 Note 1 The BMJ 8 Hakko Electric Machine Works is recommended as the branch connector 2 Use the 10BASE T cable EIA568 compliant etc 3 The final axis must be terminated between RDP pin No 3 and RDN pin No 6 on the receiving side servo amplifier with a 150 resistor ...

Page 282: ...DP RDN Note 2 Note 1 7 Axis n servo amplifier CN3 connector RJ45 connector Note 3 30m or less GND RDP SDN SDP RDN GND 5V NC Note 5 7 1 2 3 4 5 6 8 Note 6 Branch connector Note 6 Branch connector Note 6 Branch connector 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 s...

Page 283: ... procedure in each mode 8 5 1 Outline of screen transition ESC DATA PARAM ALM DGN Monitor mode Alarm Diagnosis mode Parameter mode Initializing Servo amplifier power ON Note MON TEST Test operation mode MR PRU03 parameter unit setting SHIFT Point table mode DATA PARAM Normal transition i e no communication error is detected Note If initialization communication fails a communication error is displa...

Page 284: ...on 3 1 ESC MR PRU03 parameter unit setting Press the keys to select and press the key to set Press the keys to select from 0 to 63 and press the key Press the key to select ON or the key to select OFF and press the key to set Version info PRU03 software number is displayed 1 0 Note Press the SHIFT key and ESC key together on any screen to return to the station number setting screen ...

Page 285: ...ance 4 Point table No 5 Cumulative feedback pulses 6 Servo motor speed 7 Droop pulses 8 9 10 13 Peak load ratio 14 Instantaneous torque 15 Within one revolution position 16 ABS counter 17 Load inertia moment ratio 18 Bus voltage 19 20 21 MON 11 Regenerative load ratio 12 Effective load ratio For manufacturer setting For manufacturer setting For manufacturer setting For manufacturer setting For man...

Page 286: ...maller The number of pulses displayed is in the encoder pulse unit 999999999 to 999999999 Regenerative load ratio Regn Load The ratio of regenerative power to permissible regenerative power is displayed in When regenerative option is used the ratio to the permissible regenerative power is displayed 0 to 100 Effective load ratio Effc Load The continuous effective load current is displayed The effec...

Page 287: ...ay mode selected Alarms are reset by the error reset command Press the 1 key to execute or the 0 key to cancel For six alarms including the latest alarm and five other alarms in alarm history 0 to 5 their alarm numbers and energization time elapsed before the alarm occurrence are displayed The alarm history can be cleared Refer to 2 in this section ON OFF status of DIDO is displayed ON OFF The par...

Page 288: ... which will occur during operation clear the alarm history before starting operation ALM DGN STOP RESET 1 Select ALM Hist For six alarms including the latest alarm and five other alarms in alarm history 0 to 5 their alarm numbers and energization time elapsed before the alarm occurrence are displayed The alarm history clear menu is displayed Select 1 to clear the alarm history ...

Page 289: ...umber is displayed e g To select the gain filter parameter press Write Write is completed The following message appears if switching power off or on is needed to enable the setting e g To select parameter No PB10 press 1 0 e g To set setting value 1234 press 1 2 3 4 The parameter number abbreviation and setting value are displayed Press the Fn key to display the range ...

Page 290: ... Auxiliary function display Select a point table No Position data display e g To set point table No 255 press Table read screen 4 5 6 7 8 9 1STEP 2 5 5 Select an item with the keys or numeric keys Enter e g To set setting value 0 press 0 Enter Note Press the Fn key to display the range Point table data is displayed POS SPD ACC DEC DWELL AUX Point data Servo motor speed Acceleration time constant D...

Page 291: ... after choosing 0 in parameter No PA03 Test operation cannot be performed if the servo on signal is not turned OFF Exiting test JOG operation positioning operation motor less operation DO forced stop single step feed can be performed in this mode The following shows how to set each operation When the servo motor equipped with electromagnetic brake is used make sure to program a sequence circuit wh...

Page 292: ...speed Servo motor speed in JOG operation is displayed Operation screen Acceleration deceleration time constant Acceleration deceleration time constant in JOG operation is displayed 4 0 0 e g 4000r min is set 0 4 0 0 e g 4000ms is set 0 Fn FWD REV This screen is also displayed when RESTORE is selected in the initial screen of the test operation mode with no test operation being performed Returns to...

Page 293: ... positioning operation is displayed Pulse unit Acceleration deceleration time constant in positioning operation is displayed 1 5 0 e g 1500r min is set 0 2 0 0 0 Move distance Move distance is displayed 1 0 0 e g To set move distance 10000 press 0 STOP RESET 0 Select a unit of pulse move distance 0 CMD in command pulse unit 1 ENC in encoder pulse unit ESC Test operation mode cancel Returns to the ...

Page 294: ... appears asking whether to execute motor less operation Motor less operation Being executed To cancel motor less operation turn ON the power of the servo amplifier and switch to the CC Link operation mode once b Status display You can monitor the status display even during motor less operation 4 DO forced output Each output signal can be forced on off independently of the servo status This functio...

Page 295: ... 5 Take off the key to stop immediately When stopped the remaining distance is cleared After the start press the key while holding down the key to stop temporarily Press the and keys to start Fn 1STEP STOP RESET Fn Fn e g To select point table No 255 press 8 6 Error Message List When using the MR PRU03 parameter unit the following error messages may be displayed When displayed refer to this sectio...

Page 296: ... external factor Reading settings specified for the parameter write disable parameter No PA19 was attempted In the test operation the ESC key was pressed while the Fn key was held down to switch the screen to the MR PRU03 parameter unit setting screen The ready cannot be turned ON due to alarm etc Operation mode can be switched to the test operation mode at servo on Station number change was attem...

Page 297: ...rameters Manually set parameters Auto tuning mode 1 initial value 0001 Always estimated GD2 parameter No PB06 PG2 parameter No PB08 PG1 parameter No PB07 VG2 parameter No PB09 VIC parameter No PB10 Response level setting of parameter No 2 Auto tuning mode 2 0002 PG2 parameter No PB08 PG1 parameter No PB07 VG2 parameter No PB09 VIC parameter No PB10 GD2 parameter No PB06 Response level setting of p...

Page 298: ...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 299: ...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 300: ...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 301: ...cedure is as follows END Yes No Yes No No Yes Auto tuning adjustment Acceleration deceleration repeated Load inertia moment ratio estimation value stable Auto tuning conditions not satisfied Estimation of load inertia moment ratio is difficult Adjust response level setting so that desired response is achieved on vibration free level Acceleration deceleration repeated Requested performance satisfie...

Page 302: ...ion 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 10 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 303: ... 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 304: ...on set the time constant of this integral control Increasing the setting lowers the response level However if the load inertia moment ratio is large or the mechanical system has any vibratory element the mechanical system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following expression Speed integral compensation setting ms 2000 to 3000 ...

Page 305: ...egral compensation 5 Increase the speed loop gain within the vibration and unusual noise free range and return slightly if vibration takes place Increase the speed loop gain 6 Decrease the speed integral compensation within the vibration free range and return slightly if vibration takes place Decrease the time constant of the speed integral compensation 7 Increase the position loop gain and return...

Page 306: ... element the mechanical system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following expression Speed integral compensation setting ms 2000 to 3000 Speed loop gain 2 setting 1 ratio of load inertia moment to servo motor inertia moment 2 setting 3 Model loop gain PG1 Parameter No PB07 This parameter determines the response level to a posi...

Page 307: ...he auto tuning mode Select the auto tuning mode 1 2 During operation increase the response level setting parameter No PA09 and return the setting if vibration occurs Adjustment in auto tuning mode 1 3 Check the values of model loop gain Check the upper setting limits 4 Set the interpolation mode parameter No PA08 0000 Select the interpolation mode 5 Set the model loop gain of all the axes to be in...

Page 308: ...ance 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 9 F 30...

Page 309: ...ve 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 Mechan...

Page 310: ...mode parameter No PB01 Filter tuning mode selection 0 0 0 Parameter No 60 Setting Filter adjustment mode Automatically set parameter 0 Filter OFF Note 1 Filter tuning mode Parameter No PB13 Parameter No PB14 2 Manual mode Note Parameter No PB19 and PB20 are fixed to the initial values ...

Page 311: ...er 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 execu...

Page 312: ... machine 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...

Page 313: ...ase 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 highe...

Page 314: ...parameter 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 ...

Page 315: ...hed 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 s...

Page 316: ...rator 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 vib...

Page 317: ...ncy 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 respons...

Page 318: ...ction parameter No PB23 Parameter No PB23 Low pass filter selection 0 Automatic setting initial value 1 Manual setting parameter No PB18 setting 10 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 10 6 1 Applications This function is used when 1 You want to i...

Page 319: ...r No PB30 GD2 Parameter No PB06 GD2B Parameter No PB29 PG2 Parameter No PB08 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 va...

Page 320: ... 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 ...

Page 321: ...changing condition in the first digit and second digit If you set 1 in the first digit here you can use the gain changing RY n 2 external input signal for gain changing Gain changing selection Under any of the following conditions the gains change on the basis of the parameter No PB29 to PB32 settings 0 Invalid 1 Gain changing RY n 2 is ON 2 Command frequency Parameter No PB27 setting 3 Droop puls...

Page 322: ... 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 323: ...PB30 PG2B Gain changing position loop gain 84 rad s PB31 VG2B Gain changing speed loop gain 4000 rad s PB32 VICB Gain changing speed integral compensation 50 ms PB26 CDP Gain changing 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 cha...

Page 324: ...10 16 10 SPECIAL ADJUSTMENT FUNCTIONS MEMO ...

Page 325: ... remove cause Section 14 4 Alarm occurs Refer to section 14 4 and remove cause Section 14 4 2 Switch on servo on RYn0 signal Servo motor shaft is not servo locked is free 1 Check the display to see if the servo amplifier is ready to operate 2 Check the external I O signal indication to see if the servo on RYn0 signal is ON 1 Servo on RYn0 is not input Wiring mistake 2 24VDC power is not supplied t...

Page 326: ... Lit at normal receive of refresh data Extinguished when data is not received for a given period of time SD Lit when send data is 0 RD Lit when the carrier of receive data is detected L ERR Lit when the data addressed to the host is in CRC or abort error Note Communication alarm display LED L RUN SD RD L ERR Operation Normal communication is made but a CRC error sometimes occurs due to noise Norma...

Page 327: ... AE3 Absolute position counter warning A15 Memory error 2 EEP ROM AE6 Servo emergency stop warning A16 Encoder error 1 At power on AE8 Cooling fan speed reduction warning A17 Board error AE9 Main circuit off warning A19 Memory error 3 Flash ROM AEC Overload warning 2 A1A Motor combination error Warnings AED Output watt excess warning A20 Encoder error 2 A24 Main circuit error A25 Absolute position...

Page 328: ...dicates the alarm No The servo motor comes to a stop Remove the cause of the alarm in accordance with this section The optional MR Configuration 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 supply voltage to drop at start ...

Page 329: ...r 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 A20 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 Sheathes of...

Page 330: ...removal of the built in regenerative resistor or regenerative option Change the servo amplifier 1 Input command pulse frequency exceeded the permissible instantaneous speed frequency Set command pulses correctly 2 Small acceleration deceleration time constant caused overshoot to be large Increase acceleration deceleration time constant 3 Servo system is instable to cause overshoot 1 Re set servo g...

Page 331: ...r 1 Servo amplifier fault caused the parameter setting to be rewritten Change the servo amplifier 2 Regenerative option not used with servo amplifier was selected in parameter No PA02 Set parameter No PA02 correctly A37 Parameter error Parameter setting is wrong 3 The number of write times to EEP ROM exceeded 100 000 due to parameter write etc Change the servo amplifier 1 Servo amplifier faulty Ch...

Page 332: ...servo off the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway Change the servo motor 1 Machine struck something 1 Review operation pattern 2 Install limit switches 2 Wrong connection of servo motor Servo amplifier s output terminals U V W do not match servo motor s input terminals U V W Connect correctly 3 Servo syste...

Page 333: ...nge communication cable 2 Communication cycle longer than regulated time Shorten the communication cycle A8A Serial communication time out error Communication stopped for longer than the specified time 3 Wrong protocol Correct protocol 1 The station number switch STATION NO setting is 0 or not less than 65 Set the station number to within the range 1 to 64 and switch power on 2 The baud rate switc...

Page 334: ...osition return speed creep speed moving distance after proximity dog Positioning operation was performed without home position setting 1 Positioning operation was performed without home position setting Perform home position setting Home position setting ended abnormally 2 Home position setting speed could not be decreased to creep speed 3 Limit switch was actuated during home position setting sta...

Page 335: ...ith the servo amplifier Change the battery AE0 Excessive regenerative warning There is a possibility that regenerative power may exceed permissible regenerative power of built in regenerative resistor or regenerative option Regenerative power increased to 85 or more of permissible regenerative power of built in regenerative resistor or regenerative option Checking method Call the status display an...

Page 336: ... warning The status in which the output wattage speed torque of the servo motor exceeded the rated output continued steadily Continuous operation was performed with the output wattage speed torque of the servo motor exceeding 150 of the rated output 1 Reduce the servo motor speed 2 Reduce the load 11 5 Point table error When a point table error occurs the parameter error A37 occurs After the param...

Page 337: ... power supply models For a single phase 100 to 120VAC power supply refer to the terminal signal layout Mass 0 8 kg 1 76 lb L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Screw size M4 Tightening torque 1 2 N m 10 6 lb in Terminal signal layout For 3 phase or 1 phase 200 to 230VAC L1 L2 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 For 1 phase 100 to 120VAC 6 Approx 40 2 M5 screw Moun...

Page 338: ... single phase 100 to 120VAC power supply refer to the terminal signal layout Mass 1 0 kg 2 21 lb L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal 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 or 1 phase 200 to 230VAC L1 L2 N P1 P2 CNP1 For 1 phase 100 to 120VAC 6 Approx 40 Mounting hole process drawing 2 M5 screw ...

Page 339: ...outing hole With MR J3BAT Rating plate Mass 1 4 kg 3 09 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 60 Approx 6 Approx 12 42 0 3 Approx 60 Mounting hole process drawing Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 lb in 3 M5 screw ...

Page 340: ...ole With MR J3BAT Rating plate FAN WIND DIRECTION Mass 2 3 kg 5 07 lb U V W CNP3 P C D L11 L21 CNP2 L1 L2 L3 N P1 P2 CNP1 Terminal signal layout PE terminal Screw size M4 Tightening torque 1 2 N m 10 6 lb in Approx 90 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 341: ...n 6 TE1 TE2 TE3 20 5 CN5 CN3 CN3 CN1A CN1A CN1B CN1B CN5 CN3 CN3 CN1A CN1A CN1B CN1B Mass 4 6 kg 10 1 lb V W TE2 N L11 L21 TE3 L1 L2 L3 P TE1 Terminal screw M4 Tightening 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 Tightening torque 0 8 N m Terminal screw M4 Tightening torque 1 2 N m Terminal screw M4 Tig...

Page 342: ...s 6 2 kg 13 7 lb V W TE2 N L11 L21 TE3 L1 L2 L3 P TE1 Terminal screw M4 Tightening torque 1 2 N m Terminal signal layout PE terminal C U P1 P2 Terminal screw M3 5 Tightening torque 0 8 N m Terminal screw M4 Tightening torque 1 2 N m Terminal screw M4 Tightening torque 1 2 N m Built in regenerative resistor lead terminal fixing screw Approx 6 Approx 6 Approx 172 160 0 5 Mounting hole process drawin...

Page 343: ...J3 22KT 19 0 42 236 0 5 Approx 260 4 M10 screw Approx 12 Approx 12 Mounting hole process drawing L1 L2 L3 U V W P1 P C N MR J3 11KT V W N L1 L2 L3 P Terminal signal layout C U P1 L11 L21 MR J3 15KT MR J3 22KT Screw size L11 L21 Tightening torque lb in N m Screw size M6 3 0 M8 6 0 M4 1 2 M4 1 2 M6 6 0 M8 6 0 MR J3 11KT MR J3 15KT MR J3 22KT Servo amplifier Screw size Tightening torque N m Ib in Mou...

Page 344: ... type of dimension Connector Shell kit A B C D E 10120 3000VE 10320 52F0 008 22 0 33 3 14 0 10 0 12 0 2 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 10120 3000VE 10320 52F0 008 22 0 33 3 14 0 10 0 12 0 27 4 ...

Page 345: ...fier make circumference temperature into 0 to 45 or use it at 75 or a smaller effective load ratio Servo amplifier Graph MR J3 10T 1 Fig 12 1 a MR J3 20T 1 MR J3 40T 1 MR J3 60T to MR J3 100T Fig 12 1 b MR J3 200T Mr J3 350T Fig 12 1 c MR J3 500T MR J3 700T Fig 12 1 d MR J3 11KT to MR J3 22KT Fig 12 1 e 1000 100 10 1 0 1 0 50 150 200 250 300 100 Note Load ratio Operation time s During operation Du...

Page 346: ...aracteristics4 10000 1000 100 10 1 0 100 200 300 During operation During servo lock Operation time s Note Load ratio e Electronic thermal relay protection characteristics5 Note If 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 ampli...

Page 347: ...rvo amplifier Servo 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 10T 1 HF KP053 13 0 3 25 15 0 5 HF MP23 0 5 25 15 0 5 MR J3 20T 1 HF KP23 0 5 25 15 0 5 HF MP43 0 9 35 15 0 7 MR J3 40T 1 HF KP43 0 9 35 15 0 7 HF SP52 1 0 40 15 0 8 HF SP51 1 0 40 15 0 8 MR J3 60T HC LP52 1 0 40 15 0 8 HF MP73 1 3 50 15 1 0 HF KP73 1 3 50...

Page 348: ...11 6 MR J3 11KT HA LP11K1M 16 0 530 45 11 0 HA LP15K2 22 0 640 45 13 0 HA LP15K1 22 0 640 45 13 0 MR J3 15KT HA LP15K1M 22 0 640 45 13 0 HA LP22K2 33 0 850 55 17 0 HA LP20K1 30 1 775 55 15 5 HA LP25K1 37 6 970 55 19 4 MR J3 22KT HA LP22K1M 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...

Page 349: ...nclosure Refer to Table 13 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 ...

Page 350: ...ivalent 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 contactor built in the external dynamic brake Speed r min 0 0 1000 2000 5 10 15 20 25 3000 4000...

Page 351: ...eries HC LP series Fig 13 5 Dynamic brake time constant2 Use the dynamic brake at the load inertia moment 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 Servo amplifier Load inertia moment ratio times MR J3 10T 1 MR J3 20T 1 MR J3...

Page 352: ...ss 253VAC is applied at the power supply capacity of 2500kVA and the wiring length of 1m Inrush Currents A0 p Servo Amplifier Main circuit power supply L1 L2 L3 Control circuit power supply L11 L21 MR J3 10T to 60T 30A Attenuated to approx 5A in 10ms MR J3 70T 100T 54A Attenuated to approx 12A in 10ms MR J3 200T 350T 120A Attenuated to approx 12A in 20ms MR J3 10T1 to 40T1 38A Attenuated to approx...

Page 353: ...s the cables and connectors used with this servo purchase the options indicated in this section 14 1 1 Combinations of cable connector sets Serevo motor HF MP HF KP 15 16 17 18 19 20 3 4 5 6 7 8 13 14 9 10 11 12 CN5 CN1 CN6 CN2 CN3 CNP1 CNP2 CNP3 CN4 Direct connection type cable length 10m or less IP65 Junction type cable length more than 10m IP20 To 24VDC power supply for electromagnetic brake Ba...

Page 354: ...vo motor HA LP Servo motor HC RP HC UP HC LP Servo motor HF SP Encoder connector Brake connector Power supply connector Encoder connector Brake connector Power supply connector Terminal box a b 24 25 26 27 28 29 30 26 34 30 35 36 26 24 25 24 25 ...

Page 355: ... 3 Motor power supply cable MR PWS1CBL M A1 L Cable length 2 5 10m IP65 Load side lead 4 Motor power supply cable MR PWS1CBL M A1 H Cable length 2 5 10m Power supply connector HF MP series HF KP series Refer to section 14 1 3 for details IP65 Load side lead Long flex life 5 Motor power supply cable MR PWS1CBL M A2 L Cable length 2 5 10m IP65 Opposite to load side lead 6 Motor power supply cable MR...

Page 356: ...CBL03M A2 L Cable length 0 3m Brake connector HF MP series HF KP series Refer to section 14 1 4 for details IP55 Opposite to load side lead 15 Encoder cable MR J3ENCBL M A1 L Cable length 2 5 10m IP65 Load side lead 16 Encoder cable MR J3ENCBL M A1 H Cable length 2 5 10m Encoder connector HF MP series HF KP series Refer to section 14 1 2 1 for details IP65 Opposite to load side lead Long flex life...

Page 357: ...t plug CM10 SP2S L Socket contact CM10 22SC S2 100 DDK For HF SP series IP67 28 Power supply connector set MR PWCNS4 Plug CE05 6A18 10SD B BSS Cable clamp CE3057 10A 1 D265 DDK Example of applicable cable Applicable wire size 2mm2 AWG14 to 3 5mm2 AWG12 Cable finish D 10 5 to 14 1mm For HF SP51 81 For HF SP52 152 IP67 29 Power supply connector set MR PWCNS5 Plug CE05 6A22 22D B BSS Cable clamp CE30...

Page 358: ...cable cable Applicable wire size 0 3mm2 AWG22 to 1 25mm2 AWG16 Cable finish 5 to 8 3mm For HC UP For HC LP For HC RP EN standard compliant IP65 IP67 35 Power supply connector set MR PWCNS1 Plug CE05 6A22 23SD B BSS Cable clamp CE3057 12A 2 D265 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 36 Power supply conn...

Page 359: ...amplifier 2 1 Servo motor HF MP HF KP MR J3ENCBL M A2 L MR J3ENCBL M A2 H 2 1 Servo motor HF MP HF KP MR J3ENCBL M A1 L MR J3ENCBL M A1 H or CN2 Cable Model 1 Servo Amplifier side Connector 2 Encoder side Connector MR J3ENCBL M A1 L Receptacle 36210 0100FD Shell kit 536310 3200 008 3M Connector set 54599 1019 Molex MR J3ENCBL M A1 H View seen from wiring side Note Signal layout 4 2 LG 8 6 1 P5 5 1...

Page 360: ...M 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 5...

Page 361: ...een from wiring side Note Signal layout 4 2 LG 8 MDR 6 1 P5 5 10 3 MR 7 MD 9 BAT MRR View seen from wiring side Note Signal layout 1 P5 3 MR 7 MD 9 BAT 4 2 LG 8 6 10 5 MRR MDR 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 170...

Page 362: ...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 363: ...ex Encoder side connector Housing 1 172161 9 Connector pin 170359 1 Tyco Electronics or equivalent Cable clamp MTI 0002 Toa Electric Industries 3 MR J3JCBL03M A1 L MR J3JCLB03M A2 L The servo amplifier and servo motor cannot be connected with these cables only The servo motor side encoder cable MR EKCBL M L H is required Cable Model Cable Length Protective Structure Flex Life Application MR J3JCBL...

Page 364: ...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 365: ...nnector MR J3ENSCBL M L Receptacle 36210 0100FD Shell kit 536310 3200 008 3M Connector set 54599 1019 Molex View seen from wiring side Note Signal layout 4 2 LG 8 6 1 P5 5 10 3 MR 7 9 BAT MRR or View seen from wiring side Note Signal layout 1 P5 3 MR 7 9 BAT 4 2 LG 8 6 10 5 MRR MR J3ENSCBL M H Note Keep open the pins shown with Especially pin 10 is provided for manufacturer adjustment If it is con...

Page 366: ...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 14 9 for the specifications of the used cable Parts Tool Description MR J3SCNS Option Connector set Serv...

Page 367: ... SP servo motor a Connection of servo amplifier and servo motor Servo amplifier 1 2 Servo motor Note Encoder cable MR J3BTCBL03M 3 Battery CN2 Note For the detector cable refer to 1 2 3 and 4 of this section Cable Model 1 For CN2 Connector 1 Junction Connector 2 For Battery Connector MR J3BTCBL03M Receptacle 36210 0100FD Shell kit 536310 3200 008 3M Or Connector set 54599 1019 Molex Plug 36110 300...

Page 368: ...o 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 369: ...P HF KP servo motor Opposite 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 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 mot...

Page 370: ...350T 100 300 500 MR J3 500T 130 300 500 MR J3 700T 170 300 500 Note Regenerative power W Servo amplifier External regenerative resistor Accessory MR RB5E 6 MR RB9P 4 5 MR RBB9F 3 MR J3 11KT 500 800 500 800 MR J3 15KT 850 1300 850 1300 MR J3 22KT 850 1300 850 1300 Note Values in parentheses assume the installation of a cooling fan 2 Selection of the regenerative option Use the following method when...

Page 371: ...nverse efficiency Capacitor charging J MR J3 10T 55 9 MR J3 10T1 55 4 MR J3 20T 70 9 MR J3 20T1 70 4 MR J3 40T 85 11 MR J3 40T1 85 10 MR J3 60T 85 11 MR J3 70T 80 18 MR J3 100T 80 18 MR J3 200T 85 40 MR J3 350T 85 40 MR J3 500T 90 45 MR J3 700T 90 70 MR J3 11KT 90 120 MR J3 15KT 90 170 MR J3 22KT 90 250 Inverse efficiency Efficiency including some efficiencies of the servo motor and servo amplifie...

Page 372: ...omer For the sizes of wires used for wiring refer to section 14 9 The regenerative option will generate heat of about 100 Fully examine heat dissipation installation position used cables etc before installing the option For wiring use flame resistant cables and keep them clear of the regenerative option body Always use twisted cables of max 5m length for connection with the servo amplifier a MR J3...

Page 373: ... thermal sensor G3 G4 is opened when the regenerative option overheats abnormally P P C G3 Note 2 5m or less G4 C Servo amplifier Always remove wiring across P C of servo amplifier built in regenerative resistor Regenerative option Fan Note 1 Note 1 When using the MR RB50 MR RB51 forcibly cool it with a cooling fan 1 0m3 min 92 or so 2 Make up a sequence which will switch off the magnetic contacto...

Page 374: ...ive resistor lead terminal fixing screw For the MR RB51 install the cooling fan as shown 82 5 40 82 5 133 Fan installation screw hole dimensions 2 M3 screw hole for fan installation Depth 10 or less Screw hole already machined Recommended fan Toyo Denki s TL396A or equivalent Fan Terminal block Thermal relay Installation surface Horizontal installation Vertical installation Top Bottom Unit mm ...

Page 375: ...r less Note The number of resistors connected in series depends on the resistor type The thermal sensor is not mounted on the attached regenerative resistor An abnormal heating of resistor may be generated at a regenerative circuit failure Install a thermal sensor near the resistor and establish a protective circuit to shut off the main circuit power supply when abnormal heating occurs The detecti...

Page 376: ...h fans improves regenerative 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...

Page 377: ...ass Regenerative option LA LB LC LD kg lb MR RB032 30 15 119 99 0 5 1 1 LA LB TE1 6 6 156 168 144 12 6 12 20 LD 1 6 LC MR RB 6 mounting hole G3 G4 P C 5 MR RB12 40 15 169 149 1 1 2 4 b MR RB30 MR RB31 MR RB32 Unit mm Terminal block P C G3 G4 Tightening torque 1 2 N m 10 lb in Terminal screw M4 Mounting screw Screw M6 Tightening torque 5 4 N m 47 8 lb in Mass Regenerative option kg lb MR RB30 MR RB...

Page 378: ...w On opposite side 12 5 17 Wind blows in the arrow direction G4 G3 C P Mounting screw Regenerative option MR RB50 Mass Screw M6 lb kg MR RB51 12 3 5 6 d MR RB5E MR RB9P MR RB9F G4 G3 C P Terminal block Terminal screw M5 Tightening torque 2 0 N m 17 lb in Tightening torque 13 2 N m 116 83 lb in Mounting screw Screw size M8 10 30 480 500 440 10 30 215 2 3 10 230 260 230 2 10 monutinghde TE1 G4G3 CP ...

Page 379: ...tical direction If they are installed in the horizontal direction or on a horizontal surface a heat dissipation effect reduces The temperature of the resistor unit casing rises to higher than 100 C 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 amplif...

Page 380: ...nnect P1 P2 For 11k to 22kW connect P P1 Factory wired When using the power factor improving DC reactor refer to section 14 11 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 than ...

Page 381: ... Main circuit terminals Operation display Note Ventilation 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 ...

Page 382: ...32 410 220 6 35 6 1 6 20 15 66 139 FR BR 30K 340 270 600 582 560 220 10 35 10 2 20 30 33 069 FR BR 55K 480 410 700 670 620 450 12 35 12 3 2 40 70 154 3 14 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 They are applied to the servo amplifiers of the 5kW to...

Page 383: ...mpers remain removed the FR RC will not operate EMG RA DOCOM DICOM ALM Trouble Note 3 5 DOCOM Forced stop 24VDC P2 P1 Note 4 Note 2 2 When using servo amplifiers of 5kW and 7kW always remove the lead of built in regenerative resistor connected to P terminal and C terminal 3 For sink input output interface Refer to section 4 8 3 for source input output interface 4 Always connect P1 P2 For 11k to 22...

Page 384: ... Ib FR RC 15K 270 200 450 432 195 10 10 8 3 2 87 19 41 888 FR RC 30K 340 270 600 582 195 10 10 8 3 2 90 31 68 343 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 following dimensions is mach...

Page 385: ...ing shows the restrictions on using the FR CV a Up to six servo amplifiers can be connected to one FR CV b FR CV capacity W Total of rated capacities W of servo amplifiers connected to FR CV2 c The total of used servo motor rated currents should be equal to or less than the applicable current A of the FR CV d Among the servo amplifiers connected to the FR CV the servo amplifier of the maximum capa...

Page 386: ... shut off main circuit power when the thermal relay operates 3 For the servo amplifier configure a sequence that will switch the servo on after the FR CV is ready 4 For the FR CV the RS0 signal turns off when it is put in a ready to operate status where the reset signal is input Configure a sequence that will make the servo inoperative when the RS0 signal is on 5 Configure a sequence that will mak...

Page 387: ...r 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 14 15 22 22 50 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 possible Power regeneration common converter Grounding wire size mm2 FR CV 7 5K TO FR CV 15K 14 FR CV 22K FR CV 30K ...

Page 388: ... 5 5kW Fourth unit 3 5mm assuming that the total of servo amplifier capacities is 2kW 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 5 Other precautions a Alwa...

Page 389: ...uctuation 5 Power supply Power supply capacity Note2 kVA 17 20 28 41 52 66 100 Protective structure JEM 1030 cooling system Open type IP00 forced cooling Ambient temperature 10 to 50 non freezing Ambient humidity 90 RH or less non condensing Environment Ambience Indoors without corrosive gas flammable gas oil mist dust and dirt Altitude vibration 1000m or less above sea level 5 9m s2 2 or less com...

Page 390: ... it has turned off the servo on signal at a power failure or failure For the braking time taken when the dynamic brake is operated refer to section 13 3 The brake unit is rated for a short duration Do not use it for high duty When the dynamic brake is used the power supply voltage is restricted as indicated below 3 Phase 170 to 220VAC 50Hz 3 Phase 170 to 242VAC 60Hz ...

Page 391: ...ample NFB MC L11 L21 U V W U V W M 13 U 14 V W a b RA1 MC SK MC ON OFF EMG L3 L2 L1 P P1 5 17 1 Plate DB DICOM DOCOM EMG SD RA1 24VDC External dynamic brake Note 2 Note 3 Power supply 3 phase 200 to 230VAC Operation ready Note 1 Servo amplifier Servo motor Note 1 Configure up the circuit to switch power off in the external sequence at servo alarm occurrence 2 Terminals 13 14 are normally open cont...

Page 392: ...e operation delay time Electro magnetic brake interlock MBR Base circuit ON OFF Servo motor speed 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 shortage occurs On...

Page 393: ... 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 394: ... with the Packing Standard 903 When a self certificate is necessary for battery safety tests contact our branch or representative For more information consult our branch or representative As of July 2006 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 manufacture...

Page 395: ...cut 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...

Page 396: ...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 397: ...r cable 2 Control power supply lead Note Note There is no L3 for 1 phase 100 to 120VAC power supply C P Brake unit or Return converter N Regenerative option 8 Brake unit lead or Return converter CN1 CC Link cable Refer to 3 in this section 4 Regenerative option lead Refer to 2 in this section The following table lists wire sizes The wires used assume that they are 600V vinyl wires and the wiring d...

Page 398: ...12 MR J3 350T 5 5 AWG10 5 5 AWG10 MR J3 500T 5 5 AWG10 b note 5 5 AWG10 b note 2 AWG14 MR J3 700T 8 AWG8 c note 8 AWG8 c note 3 5 AWG12 b MR J3 11KT Note2 14 AWG6 c 22 AWG4 d MR J3 15KT Note2 22 AWG4 d 30 AWG2 e MR J3 22KT Note2 50 AWG1 0 f 1 25 AWG16 60 AWG2 0 f 5 5 AWG10 a 1 25 AWG16 2 AWG14 1 25 AWG16 Note 1 For crimping terminals and applicable tools refer to Table 14 2 2 When connecting to th...

Page 399: ...able tool Maker name Body YPT 60 21 Dice TD 124 TD 112 a 32968 59239 Tyco Electronics Note 1 2 e 38 S6 Body YF 1 E 4 Head YET 60 1 Dice TD 124 TD 112 Japan Solderless Terminal b FVD8 5 Body YF 1 E 4 Head YNE 38 Dice DH 111 DH 121 R38 6S NOP60 NOM60 NICHIFU c FVD14 6 Body YF 1 E 4 Head YNE 38 Dice DH 112 DH 122 Japan Solderless Terminal Body YDT 60 21 Dice TD 125 TD 113 d FVD22 6 Body YF 1 E 4 Head...

Page 400: ... 0 88 7 2 Note 3 A14B2343 6P MR EKCBL M H 30 to 50 0 2mm2 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 ...

Page 401: ... we cannot guarantee the performance of CC Link Item Specifications Model Kurashige Kogyo make FANC SB 0 5mm2 3 Note Cable type Shielded twisted cable Conductor sectional area 0 5mm2 Conductor resistance 20 37 8 km or less Insulation resistance 10000 km or more Withstand voltage 500VDC 1 minute Capacitance 1kHz 60nF km or less Characteristic impedance 1MHz 100 15 Section Blue White Yellow DA DB Gr...

Page 402: ... 5A K5 10 MR J3 20T1 30A frame 10A 30A frame 10A K5 15 MR J3 40T 30A frame 10A 30A frame 5A K5 15 MR J3 60T 70T 100T 40T1 30A frame 15A 30A frame 10A K5 20 S N10 MR J3 200T 30A frame 20A 30A frame 15A K5 40 S N18 MR J3 350T 30A frame 30A 30A frame 30A K5 70 S N20 MR J3 500T 50A frame 50A 50A frame 40A K5 125 S N35 MR J3 700T 100A frame 75A 50A frame 50A K5 150 S N50 MR J3 11KT 100A frame 100A 100A...

Page 403: ...ss E A or less Terminal block screw size G 2 F L notch C or less Name plate Mounting leg Servo Amplifier P1 P2 Note1 FR BEL 5m or less Note2 Note 1 When using the power factor improving DC reactor disconnect the wiring across P P1 2 For 11kW or more the wiring across P P1 is connected Dimensions mm Servo Amplifier Power Factor Improving DC Reactor A B C D E F L G H Mounting Screw Size Mass kg lb U...

Page 404: ... S T X Y Z L1 L2 L3 MC W W1 C RXSY T Z H 5 D1 Installation screw D 5 Unit mm Note 1 phase 100 to120VAC NFB FR BAL Servo amplifier MR J3 T1 R S T X Y L1 Blank MC L2 Note For the 1 phase 200V to 230V power supply Connect the power supply to L1 L2 and leave L3 open Dimensions mm Servo amplifier Model W W1 H D D1 C Mounting screw size Terminal screw size Mass kg lb MR J3 10T 20T 10T1 FR BAL 0 4K 135 1...

Page 405: ... surge absorber is required for the electromagnetic brake Use the following surge absorber or equivalent When using the surge absorber perform insulation beforehand to prevent short circuit Maximum rating Permissible circuit voltage Surge immunity Energy immunity Rated power Maximum limit voltage Static capacity reference value Varistor voltage rating range V1mA AC Vma DC V A J W A V pF V 140 180 ...

Page 406: ...tion techniques Avoid laying power lines input and output cables and signal cables side by side or do not bundle them together Separate power lines from signal cables Use shielded twisted pair cables for connection with the encoder and for control signal transmission and connect the shield to the SD terminal Ground the servo amplifier servo motor etc together at one point refer to section 4 12 b R...

Page 407: ... 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 408: ... I O cables of the servo amplifier 3 Avoid laying the power lines I O cables of the servo amplifier and signal cables side by side or bundling them together 4 Use shielded wires for signal and power cables or put the cables in separate metal conduits 7 When the power supply of peripheral devices is connected to the power supply of the servo amplifier system noises produced by the servo amplifier m...

Page 409: ...installed 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 connectin...

Page 410: ... 11 3 6 C A 6 22 17 5 35 35 L or less 10 30 7 24 0 0 2 Note Screw hole for grounding Connect it to the earth plate of the control box 24 0 3 0 Unit mm B 0 3 2 5 hole installation hole 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 411: ... On the output side the 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 F...

Page 412: ...eakage current breaker Type Mitsubishi products K Models provided 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 14 1 Ig2 Leakage curre...

Page 413: ...J3 40T1 15 MR J3 500T 30 MR J3 700T 50 MR J3 11KT to MR J3 22KT 100 2 Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions 2mm2 5m 2mm2 5m Ig1 Ig2 Servo amplifier Iga M HF KP43 Igm NV MR J3 40T Use a leakage current breaker generally available Find the terms of Equation 14 2 from the diagram Ig1 20 1000 5 0 1 mA Ig2 20 1000 5 0 1 mA ...

Page 414: ...e HF3030A UN 5 5 5 12 13 MR J3 500B MR J3 700B Note HF3040A UN 1 5 6 0 13 23 MR J3 11KB to MR J3 22KB Note HF3100A UN 6 5 15 33 07 Note Soshin Electric A surge protector is separately required to use any of these EMC filters Refer to the EMC Installation Guidelines 2 Connection example L1 L2 L3 L11 L21 NFB 1 2 3 4 5 6 E EMC filter Servo amplifier Note Power supply MC Note For 1 phase 200V to 230VA...

Page 415: ... 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 HF3100A UN 2 6 5 8 M8 2 6 5 145 1 165 3 M6 380 1 400 5 160 3 M8 ...

Page 416: ...tions Voltage 4 5 to 13 2VDC Power supply Current consumption 60mA or less interface Output current max 20mA for open collector output Pulse signal form A phase B phase 2 signals of 90 phase difference Pulse resolution 100pulse rev Max speed 600r min moment 200r min normally Operating temperature range 10 to 60 Storage temperature range 30 to 80 2 Connection example PP NP OPC DICOM Plate 19 18 5 S...

Page 417: ...d signal A A phase pulse output 0V A B 5 to 12V B B phase pulse output 4 Installation φ72 0 2 φ 6 2 2 0 3 φ4 8 Equally spaced Panel cut 5 Outline drawing 8 89 7 6 M3 6 may only be installed 12V 0V A B 5V to 3 M4 stud L10 P C D72 equally spaced MANUAL TYPE SERIALNO 3 6 Packing t2 0 16 20 Unit mm 70 50 27 0 0 5 0 5 60 1 80 ...

Page 418: ...14 66 14 OPTIONS AND AUXILIARY EQUIPMENT MEMO ...

Page 419: ...DSV CABV Dia Trend RS 422 232C communication converter FA T RS40VS Mitsubishi Electric Engineering 10m 393 701in or less CN3 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 RS 422 232C converter Personal computer Note 1 Note 1 Note 1 Note 2 Servo amplifier CN3 Servo amplifier CN3 Servo amplifi...

Page 420: ...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 421: ...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 422: ...nication speed of the sending end master station Communication baud rate 0 9600 bps 1 19200 bps 2 38400 bps 3 57600 bps 4 115200 bps Parameter No PC21 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 423: ... the servo amplifier which 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 or group 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 or group 2 Tra...

Page 424: ...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 specify the stations Station number 0 1 2 3 4 5 6 7 8 9 10 11 12 ...

Page 425: ...r 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 15 3 4 Checksum The check sum is a ASCII code...

Page 426: ...n 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 Message Message Mess...

Page 427: ... 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 428: ... 9 0 A Regenerative load ratio 0 B Effective load ratio 0 C Peak load ratio 0 D Instantaneous torque 0 E Within one revolution position 0 F ABS counter 1 0 Load inertia moment ratio 1 1 Status display name and unit Bus voltage 16 8 0 Current position 8 1 Command position 8 2 Command remaining distance 8 3 Point table No 8 4 Cumulative feedback pulses 8 5 Servo motor speed 8 6 Droop pulses 8 7 8 8 ...

Page 429: ...ameter 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 parameters ...

Page 430: ...ion 0 2 Command remaining distance 0 3 Point table No 0 4 Cumulative feedback pulses 0 5 Servo motor speed 0 6 Droop pulses 0 7 0 8 0 9 0 A Regenerative load ratio 0 B Effective load ratio 0 C Peak load ratio 0 D Instantaneous torque 0 E Within one revolution position 0 F ABS counter 1 0 Load inertia moment ratio 1 1 Status display name and unit at alarm occurrence Bus voltage 16 0 0 Current posit...

Page 431: ... Frame length 5 8 0 1 to F F Deceleration time constant read The decimal equivalent of the data No value hexadecimal corresponds to the Point table No 8 10 Point table dwell Command 6 0 Command Data No Description Frame length 6 0 0 1 to F F Dwell read The decimal equivalent of the data No value hexadecimal corresponds to the Point table No 8 11 Point table auxiliary function Command 6 4 Command D...

Page 432: ...sic setting parameter No PA 0001 Gain filter parameter No PB 0002 Extension setting parameter No PC 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 6 0 9 2 6 1 Communication input device signal Refer to section 15 5 5 8 4 Alarm history Command 8 2 Command Data No Description Setting Range Frame length 8 2 2 0 ...

Page 433: ...ting range Frame length C B 0 1 to F F Auxiliary function write The decimal equivalent of the data No value hexadecimal corresponds to the Point table No 0 to 3 8 12 External input signal disable Command 9 0 Command Data No Description Setting range Frame length 9 0 0 0 Turns off the input devices external analog input signals and pulse train inputs with the exception of EMG LSP and LSN independen...

Page 434: ...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 rotation direction 1 Reverse rotation direction 0 Command pulse unit 1 Encoder pulse unit 0 0 0000 to 0001 4 4 0 Test operation positioning operation start command 1EA5 4 A 0 4 1 Used to make a tem...

Page 435: ...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 436: ...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 437: ... 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 438: ...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 in this section ...

Page 439: ...y 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 1 Read disable is transferred to the Read enable disable section and 000000 is transferred to the data section when the parameter that was read...

Page 440: ...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 441: ...bol Device name Symbol 0 Servo on SON 1 Forward rotation stroke end LSP 2 Reverse rotation stroke end LSN 3 4 Internal torque limit selection TL1 5 Proportion control PC 6 Reset RES 7 Clear CR 8 9 10 11 Forward rotation start ST1 12 Reverse rotation start ST2 13 14 15 16 17 Automatic manual selection MD0 18 Proximity dog DOG 19 20 21 22 23 Override selection OVR 24 Temporary stop Restart TSTP Poin...

Page 442: ... 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 Command of each bit is transmitted to the master station as hexadecimal data bit CN6 connector pin bit CN6 connector pin bit CN6 connector pin bit CN6 connector pin 0 1 8 16 24 1 2 9 17 25 2 3 10 18 26 3 11 19 27 4 12 20 28 5 13 21 29 6 14 22 30 7 15 23 31 ...

Page 443: ...Device name Symbol Device name Symbol 0 Servo on SON 1 Forward rotation stroke end LSP 2 Reverse rotation stroke end LSN 3 4 Internal torque limit selection TL1 5 Proportion control PC 6 Reset RES 7 Clear CR 8 9 10 11 Forward rotation start ST1 12 Reverse rotation start ST2 13 14 15 16 17 Automatic manual selection MD0 18 Proximity dog DOG 19 20 21 22 23 Override selection OVR 24 Temporary stop Re...

Page 444: ...and Data No 1 2 C 0 b Reply The slave station sends back the ON OFF statuses of the output pins b31 b0 0 OFF 1 ON b1 Command of each bit is transmitted to the master station as hexadecimal data bit CN6 connector pin bit CN6 connector pin bit CN6 connector pin bit CN6 connector pin 0 14 8 16 24 1 15 9 17 25 2 16 10 18 26 3 11 19 27 4 12 20 28 5 13 21 29 6 14 22 30 7 15 23 31 ...

Page 445: ...ymbol Device name Symbol 0 Ready RD 1 2 Zero speed ZSP 3 Limiting torque TLC 4 5 In position INP 6 7 Warning WNG 8 Trouble ALM 9 10 Electromagnetic brake interlock MBR 11 dynamic brake interlock DB 12 13 14 15 Battery warning BWNG 16 Rough match CPO 17 Home position return completion ZP 18 Position range output POT 19 Temporary stop PUS 20 21 22 23 24 Point table No output 1 PT0 25 Variable gain s...

Page 446: ...nsmitted to the slave station as hexadecimal data Data No 6 0 Data No 6 1 bit Device name Symbol Device name Symbol 0 Servo on SON 1 Forward rotation stroke end LSP 2 Reverse rotation stroke end LSN 3 4 Internal torque limit selection TL1 5 Proportion control PC 6 Reset RES 7 Clear CR 8 9 10 11 Forward rotation start ST1 12 Reverse rotation start ST2 13 14 15 16 17 Automatic manual selection MD0 1...

Page 447: ...ignal Status Input devices DI OFF 1 Disabling enabling the input devices DI external analog input signals and pulse train inputs with the exception of EMG LSP and LSN Transmit the following communication commands a Disable Command Data No Data 9 0 0 0 1EA5 b Enable Command Data No Data 9 0 1 0 1EA5 2 Disabling enabling the output devices DO Transmit the following communication commands a Disable C...

Page 448: ...name Symbol Device name Symbol 0 Servo on SON 1 Forward rotation stroke end LSP 2 Reverse rotation stroke end LSN 3 4 Internal torque limit selection TL1 5 Proportion control PC 6 Reset RES 7 Clear CR 8 9 10 11 Forward rotation start ST1 12 Reverse rotation start ST2 13 14 15 16 17 Automatic manual selection MD0 18 Proximity dog DOG 19 20 21 22 23 Override selection OVR 24 Temporary stop Restart T...

Page 449: ... operation mode a Preparation of test operation mode Set the test operation mode type in the following procedure 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 0004 DO forced output 8 B 0 0 0005 Single step feed 2 Confirmation of test operation ...

Page 450: ...d ON Command 8 B Data No 0 0 Data 0000 JOG operation 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 Start Select the JOG operation in th...

Page 451: ...rite 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 movement distance pulse in hexadecimal M...

Page 452: ...top Command Data No Data A 0 4 1 STOP Send the following command data No and data during a temporary stop to make a restart Command Data No Note Data A 0 4 1 GO Note indicates a blank Send the following command data No and data during a temporary stop to stop positioning operation and erase the remaining movement distance Command Data No Note Data A 0 4 1 CLR Note indicates a blank ...

Page 453: ...OFF by external input signal Turn ON Servo on SON to make the servo amplifier ready Command 8 B Data No 0 0 Data 0000 Single step feed cancel End Note Start Cancel the single step feed Command 9 2 Data No 0 0 Data 00000007 SON LSP LSN turned ON Command 8 B Data No 0 0 Data 0005 Single step feed Command 9 2 Data No 0 1 Data Write the point table No in hexadecimal Point table No setting Start Select...

Page 454: ... connector pin bit CN6 connector pin bit CN6 connector pin 0 14 8 16 24 1 15 9 17 25 2 16 10 18 26 3 11 19 27 4 12 20 28 5 13 21 29 6 14 22 30 7 15 23 31 c Canceling DO forced output Transmit command 8 B data No 0 0 data to cancel DO forced output Command Data No Transmission data Description 8 B 0 0 0000 Cancel DO forced output 6 Motorless operation a Performing motorless operation Transmit comma...

Page 455: ..._ 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 15 4 1 b Reply The alarm occurrence time is transferred in decimal Hexade...

Page 456: ... 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 15 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 po...

Page 457: ...h digit 5 Lower fifth digit 6 Lower sixth digit Display type 0 Used unchanged in hexadecimal 1 Conversion into decimal required Position data write type 0 Valid after write 1 Valid when power is switched on again after write 0 0 b Speed data Read the speed data of the point table 1 Transmission Transmit command 5 0 and any of data No 0 1 to F F corresponding to the point table to be read Refer to ...

Page 458: ...ed Deceleration time constant write type 0 Valid after write 1 Valid when power is switched on again after write 0 0 d Deceleration time constant Read the deceleration time constant of the point table 1 Transmission Transmit command 5 8 and any of data No 0 1 to F F corresponding to the point table to be read Refer to section 15 4 1 2 Reply The slave station sends back the deceleration time consta...

Page 459: ...ell write type 0 Valid after write 1 Valid when power is switched on again after write 0 0 f Auxiliary function Read the auxiliary function of the point table 1 Transmission Transmit command 6 4 and any of data No 0 1 to F F corresponding to the point table to be read Refer to section 15 4 1 2 Reply The slave station sends back the auxiliary function of the requested point table 0 Hexadecimal data...

Page 460: ...al point position which is different from the STM setting When the position data is changed frequently through communication set 1 to the write mode to change only the RAM data in the servo amplifier When changing data frequently once or more within one hour do not write it to the EEP ROM Write mode 0 EEP ROM RAM write 1 RAM write Decimal point position 0 No decimal point 1 Lower first digit 2 Low...

Page 461: ...sponding to the point table to be written to and the data Refer to section 15 4 2 Command Data No Data C 8 0 1 to F F See below 0 Hexadecimal data Write mode 0 EEP ROM RAM write 1 RAM write When the deceleration time is changed frequently through communication set 1 to the write mode to change only the RAM data in the servo amplifier When changing data frequently once or more within one hour do no...

Page 462: ...n to and the data Refer to section 15 4 2 Command Data No Data C B 0 1 to F F See below 0 Hexadecimal data Write mode 0 EEP ROM RAM write 1 RAM write When the auxiliary function constant is changed frequently through communication set 1 to the write mode to change only the RAM data in the servo amplifier When changing data frequently once or more within one hour do not write it to the EEP ROM ...

Page 463: ...Group c 4 Group d 5 Group e 6 Group f Response command enable Set whether data can be sent back or not in response to the read command of the master station 0 Response disable Data cannot be set back 1 Response enable Data can be set back 2 Group setting read Read the set group designation value from the slave station a Transmission Transmit command 1 F and data No 0 0 Command Data No 1 F 0 0 b Re...

Page 464: ...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 465: ...13 For manufacturer setting PB11 VDC Speed differential compensation PA14 POL Rotation direction selection PB12 For manufacturer setting PA15 ENR Encoder output pulses PB13 NH1 Machine resonance suppression filter 1 PA16 PB14 NHQ1 Notch form selection 1 to PB15 NH2 Machine resonance suppression filter 2 PA18 For manufacturer setting PB16 NHQ2 Notch form selection 2 PA19 BLK Parameter write inhibit...

Page 466: ...For manufacturer setting PC12 JOG Jog speed PD14 DIN3 External DI function selection 3 PD15 For manufacturer setting PC13 STC S pattern acceleration deceleration time constant PD16 DIAB Input polarity selection PC14 BKC Backlash compensation PD17 PC15 For manufacturer setting PD18 For manufacturer setting PD19 DIF Response level setting PC16 MBR Electromagnetic brake sequence output PD20 DOP1 Func...

Page 467: ...App 3 Appendix App 2 Signal layout recording paper CN6 1 14 2 15 DICOM 3 16 DOCOM 4 17 5 6 8 10 12 7 9 11 13 19 21 23 25 18 20 22 24 26 LB LA LZ LG LBR LAR LZR PP NP OPC ...

Page 468: ...dix App 3 Twin type connector outline drawing for 721 2105 026 000 WAGO Driver slot 5 25 5 Detecting hole Coding finger Latch 2 7 20 8 5 8 10 6 15 1 2 9 26 45 4 75 25 2 75 5 4 5 20 4 1 97 0 788 Wire inserting hole ...

Page 469: ...R J3 70T HC UP352 MR J3 500T HF SP52 MR J3 60T HC UP502 MR J3 500T HF SP102 MR J3 100T HC LP52 MR J3 60T HF SP152 MR J3 200T HC LP102 MR J3 100T HF SP202 MR J3 200T HC LP152 MR J3 200T HF SP352 MR J3 350T HC LP202 MR J3 350T HF SP502 MR J3 500T HC LP302 MR J3 500T HF SP702 MR J3 700T HF SP301 MR J3 350T HF SP51 MR J3 60T HF SP421 MR J3 500T HF SP81 MR J3 100T HA LP502 MR J3 500T HF SP121 MR J3 200...

Page 470: ...ed Note deleted On duration 5ms of RYn1 and RYn2 in diagram modified On duration 5ms of RYn1 and RYn2 in diagram modified On duration 5ms of RYn1 and RYn2 in diagram modified Diagram partly modified Parameter No 19 in diagram changed POINT added NOTE added POINT changed Restrictions changed POINT added Name of parameter No PB17 For manufacturer setting changed Name of parameter No PB17 For manufac...

Page 471: ...s Instruction Manual uses recycled paper MODEL MODEL CODE HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 J3 Series MR J3 T Servo Amplifier Instruction Manual CC Link B General Purpose AC Servo MODEL MR J3 T SERVO AMPLIFIER INSTRUCTION MANUAL CC Link Built in Positioning Function J3 Series B ...

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