Mitsubishi Electric MELSERVO MRJ2S-B Instruction Manual Download Page 116 | Manualshive

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Operation

Gain

4 - 30

4.6.4

Manual gain setting

If you are not satisfied with the adjustment of auto tuning, you can make simple manual
adjustment with three parameters.

Manual mode 1

In this mode, setting the three gains of position control gain 1 (PG1), speed control gain 2 (VG2)
and speed integral compensation (VIC) automatically sets the other gains to the optimum values
according to these gains. The setting of the inertia of mass ratio occurs in pr. 12.

S000872C

Fig. 4-9:

Manual mode 1

NOTE

If machine resonance occure, adaptive vibration suppression control (pr. 25) or machine
resonance suppression filter (pr. 18) may be used to suppress machine resonance.

GD2

PG2
VG1

PG1
VG2
VIC

User setting

Automatic setting

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Summary of Contents for MELSERVO MRJ2S-B

Page 1: ...MITSUBISHI ELECTRIC MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION MELSERVO Servo amplifier and motors Instruction Manual MR J2S B B4 Art No 168353 07 06 2006 Version A ...

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Page 3: ...Instruction Manual Servo amplifier MR J2S B B4 Art N0 168353 Version Changes Additions Corrections A 06 2006 pdp ...

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Page 5: ...g the programming and operation of the equipment described in this manual please contact your relevant sales office or department refer to back of cover Current information and answers to frequently asked questions are also available through the Internet www mitsubishi automation com MITSUBISHI ELECTRIC EUROPE B V reserves the right to make changes both to this manual and to the specifications and...

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Page 7: ...evices recommended by MITSUBISHI ELECTRIC EUROPE may be used Any other use or application of the products is deemed to be improper Relevant safety regulations All safety and accident prevention regulations relevant to your specific application must be observed in the system design installation setup maintenance servicing and testing of these products The regulations listed below are particularly i...

Page 8: ...quipment and property damage warnings Failure to observe the precautions described here can result in serious damage to the equipment or other property NOTE means that incorrect handling may lead to erroneous operation of the servo amplifier or servo motor However there is no risk to the health of the operators or of damage to the equipment or other property This note is also used to indicate an o...

Page 9: ...nless the components have a direct function for the end user As a servo amplifier together with a servo motor have to be installed with a controller and other mechanical parts in order to serve a useful purpose for the end user servo amplifiers do not possess this function Consequently they can be described as a complex component for which a conformity declaration or the CE mark is not required Th...

Page 10: ...s be installed in a shockproof housing fitted with a proper cover and protective equipment Devices with a permanent connection to the mains power supply must be integrated in the building installations with an all pole disconnection switch and a suitable fuse Ground the servo amplifier and servo motor securely Check power cables and lines connected to the equipment regularly for breaks and insulat...

Page 11: ...w the heat to be dissipated Never install servo amplifiers or servo motors or the optional brake unit close to easily flammable materials When using a servo system always observe strict compliance with electrical characteristics and physical dimensions In the event of a defect arising in the servo amplifier servo motor or optional brake resistor immediately switch the power off to the servo drive ...

Page 12: ... dirt etc IP54 Grounding To prevent an electric shock always connect the protective earth terminals of the servo amplifier to the protective earth of the control box Do not connect two or more ground cables to the same protective earth terminal S00500C S00501C NFB MC M Reinforced insulating transformer No fuse breaker Magnetic contactor Power supply Control power supply Servo amplifier Servo motor...

Page 13: ... insulated tubular cable sockets to the terminal strip of the servo amplifier Use only the connectors designed for it to attach the servo motor to the servo amplifier The connectors can be ordered as accessories S00502C Crimping terminal Insulating tube Cable ...

Page 14: ...VIII ...

Page 15: ...00V 1 23 1 7 2 Servo amplifier 400V 1 27 2 Installation 2 1 General environmental conditions 2 1 2 1 1 Installation of servo amplifiers 2 2 2 1 2 Installation of servo motors 2 4 3 Connection 3 1 Connection of servo amplifier 3 1 3 1 1 No fuse circuit breakers fuses magnetic contactors and cables 3 1 3 1 2 Control circuit and main circuit terminal block 3 2 3 1 3 Signal lines 3 5 3 1 4 Interfaces ...

Page 16: ... 4 6 5 Interpolation 4 33 4 6 6 Differences in auto tuning between MR J2 and MR J2S 4 34 5 Special adjustment functions 5 1 Filter functions 5 1 5 1 1 Machine resonance suppression filter 5 2 5 1 2 Adaptive vibration suppression control 5 4 5 1 3 Low pass filter 5 6 6 Absolute position detection system 6 1 General description 6 1 6 1 1 Specifications 6 1 6 1 2 System configuration 6 2 6 1 3 Commun...

Page 17: ...fier 10 3 10 1 3Specifications of electromagnetic brake 10 4 10 1 4Dynamic braking 10 6 10 2 Standard specifications 10 9 10 2 1Servo amplifier 10 9 10 2 2Servo motor 10 10 10 2 3Torque characteristics 10 13 11 EMC Directives 11 1 Requirements 11 1 12 Dimensions 12 1 Servo amplifiers 200V 12 1 12 2 Servo amplifiers 400V 12 7 12 3 Servo motors 12 10 12 3 1HC MFS and HC KFS series 12 10 12 3 2HC SFS...

Page 18: ...Contents XII ...

Page 19: ...ervo amplifier is equipped with a speed limitation feature The value for speed limitation can be varied and may be specified via an external analogue input or a parameter The RS232C or RS422 interface permits serial communications between the servo amplifier and a PC Using the Windows supported setup software functions such as parameter setting test runs status display amplifier setting etc can be...

Page 20: ...U V V W W M I I I CN2 CON1 24VDC EMG CN1A CN1B RS 232C D A CN3 Main circuit Servo amplifier Power supply 3 phase 200 230VAC 1 phase 230VAC Regenerative brake option Fan MR J2S 200B or more Control circuit power supply Regenerative brake Base amplifier Voltage detection Over current protection Servo motor Electro magnetic brake Encoder Current detection MR BAT Position command input Model position ...

Page 21: ...pply 24VDC Fan Servo amplifier Regenerative brake option Servo motor Encoder Electro magnetic brake Main circuit Control circuit power supply Regenerative brake Base amplifier Voltage detection Over current protection Current detection Modelposition control Model speed control Actualposition control Actual speed control Current control Virtual motor Virtual encoder I F Control Controller or servo ...

Page 22: ...er Regenerative brake option Servo motor Encoder Electro magnetic brake Main circuit Control circuit power supply Regenerative brake Base amplifier Voltage detection Over current protection Current detection Model position control Model speed control Actualposition control Actual speed control Current control Virtual motor Virtual encoder I F Control Controller or servo amplifier Servo amplifier o...

Page 23: ...UBISHI MR J2S 10A MELSERVO OPEN OPEN C N 1 A C N 2 E N C C N 3 C N 1 B MITSUBISHI MR J2S 500A MELSERVO OPEN C N 1 A C N 2 E N C C N 3 C N 1 B MITSUBISHI MR J2S 500A MELSERVO MR J2S 100B or less MR J2S 200B 350B MR J2S 500B MR J2S 700B MR J2 B Series Code Compatible servo motors HC KFS HC MFS HC SFS HC RFS 10 035 13 053 13 20 23 23 40 43 43 60 52 70 73 73 100 102 200 152 202 103 153 350 352 203 500...

Page 24: ...2S 500B4 Code Compatible servo motors HC SFS 60 524 100 1024 200 1524 2024 350 3524 500 5024 700 7024 MR J2S 700B4 Code Power supply 4 380 480VAC MITSUBISHI MODEL AC SERVO 600 W 3 2 A 3PH 1PH 200 230 V 50Hz 5 5 A 1PH 230 V 50 60 Hz 170 V 0 300 Hz 3 6 A TC3XXAAAAG52 3PH 1PH 200 230 V 60Hz POWER INPUT OUTPUT SERIAL MR J2S 60B MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN NB Model Capacity Applicable...

Page 25: ... designation of servo motors 200V HC MFS series HC SFS series HC KFS series HC RFS series HC MFS Motor series HC MFS HC KFS HC SFS HC RFS Code Rated speed r min Code Rated output W 05 50 10 1000 31 100 15 1500 2 200 20 2000 4 400 35 3500 5 500 50 5000 7 750 70 7000 Code Rated speed r min 2 2000 3 3000 Code Electromagnetic brake B ...

Page 26: ...vo motors 400V NOTE All motors conform to the following standards EN UL cUL Motor series HC SFS Code Rated output W Code Rated output W 5 500 35 3500 10 1000 50 5000 15 1500 70 7000 20 2000 Code Electro magnetic brake B Code Rated speed r min 2 2000 HC SFS 4 Code Power supply 4 400 V ...

Page 27: ...Model overview Introduction MELSERVO J2 Super 1 9 S00805C Fig 1 10 Rating plate MITSUBISHI AC SERVO MOTOR SERIAL DATE MITSUBISHI ELECTRIC CORPORATION HC MFS23 Model Serial number Production date ...

Page 28: ...ull the front cover toward you Reinstallation the front cover for MR J2S 200B and MR J2S 350B Insert the front cover hooks into the front cover sockets of the servo amplifier Press the front cover against the servo amplifier until the removing knob clicks m DANGER Prior to removing the front cover the power supply must be switched off and at least 10 minutes must then elapse This time interval is ...

Page 29: ...ving knob Pull the front cover toward you Reinstallation the front cover for MR J2S 500B MR J2S 350B4 and MR J2S 500B4 Insert the front cover hooks into the front cover sockets of the servo amplifier Press the front cover against the servo amplifier until the removing knob clicks Abb 1 13 Removal the front cover S000909C Abb 1 14 Reinstallation the front cover S000910C ...

Page 30: ...n the recess in the middle of the front cover and pull it off to the front Reinstallation the front cover for MR J2S 700B and MR J2S 700B4 Insert the front cover hooks into the front cover sockets of the servo amplifier Press the front cover against the servo amplifier until the removing knob clicks Abb 1 15 Removal the front cover S000911C Abb 1 16 Reinstallation the front cover S000912C ...

Page 31: ...or absolute position data backup Chap 6 Battery connector CON1 Used to connect the battery Section 6 1 4 Display The two digit seven segment LED shows the servo status and alarm number Section 4 3 Station number CS1 Switch to set the station number of the servo amplifier Section 3 9 Tab 1 1 Operating elements and their meaning 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 1 2 3 4 5 6 7 8 9 A B C D E F MR J2S ...

Page 32: ...er connector CN2 Used for connection of the servo motor encoder Section 3 1 3 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Main circuit terminal block TE1 Used to connect the input power supply and servo motor Section 3 1 2 Control circuit terminal block TE2 Used to connect the control circuit power supply and regenerative brake op...

Page 33: ... the battery optional for absolute position data backup Chap 6 Battery connector CON1 Used to connect the battery Section 6 1 4 Display The two digit seven segment LED shows the servo status and alarm number Section 4 3 Station number CS1 Switch to set the station number of the servo amplifier Section 3 9 Tab 1 3 Operating elements and their meaning 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 1 2 3 4 5 6 7 ...

Page 34: ...me plate Section 1 3 3 Encoder connector CN2 Used for connection of the servo motor encoder Section 3 1 3 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Main circuit terminal block TE1 Used to connect the input power supply and servo motor Section 3 1 2 Control circuit terminal block TE2 Used to connect the control circuit power supp...

Page 35: ...up Chap 6 Battery connector CON1 Used to connect the battery Section 6 1 4 Display The five digit seven segment LED shows the servo status and alarm number Section 4 3 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Station number CS1 Switch to set the station number of the servo amplifier Section 3 9 Tab 1 5 Operating elements and th...

Page 36: ...Used for connection of the servo motor encoder Section 3 1 3 Communication connector CN3 Used to connect a personal computer or output analog monitor data Section 3 1 3 Name plate Section 1 3 3 Regeneration connector Used to connect the regeneration brake option Control circuit terminal block CN4 Used to connect the control circuit power supply Section 3 1 2 Motor power supply connector CNP3 Used ...

Page 37: ...s the battery optional for absolute position data backup Chap 6 Battery connector CON1 Used to connect the battery Section 6 1 4 Display The five digit seven segment LED shows the servo status and alarm number Section 4 3 Station number CS1 Switch to set the station number of the servo amplifier Section 3 9 Tab 1 7 Operating elements and their meaning 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 1 2 3 4 5 6 ...

Page 38: ...3 3 Encoder connector CN2 Used for connection of the servo motor encoder Section 3 1 3 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Control circuit terminal block TE2 Used to connect the control circuit power supply Section 3 1 2 Main circuit terminal block TE1 Used to connect the input power supply regenerative brake option and se...

Page 39: ...ame Description Reference Encoder connector Cable for connection of encoders Section 7 1 3 Power supply connector brake Power supply cable U V W Earth cable Brake for motor with electromagnetic brake Section 3 2 Servo motor shaft Shaft of servo motor Section 2 1 2 Tab 1 9 Operating elements and their meaning ...

Page 40: ...er results Gain search function Personal computer changes gains automatically and searches for overshoot free gains in a short time Real time auto tuning Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies This function is more powerful on the MR J2 Super than on the MR J2 Section 4 6 3 Analog monitor output Servo status is output in terms of voltage in ...

Page 41: ...he control box S001003C Fig 1 26 Overview of the system configuration for MR J2S 100B or less NOTE A listing of options and auxillary equipment can be find in Tab 1 11 on page 1 26 Serco system controller or preceding axis servo amplifier Subsequent axis servo amplifier or termination connector Servo amplifier Power supply No fuse circuit breaker Magnetic contactor Personal computer optional Prote...

Page 42: ...ing of options and auxillary equipment can be find in Tab 1 11 on page 1 26 Serco system controller or preceding axis servo amplifier Subsequent axis servo amplifier or termination connector Servo amplifier Power supply No fuse circuit breaker Magnetic contactor Personal computer optional Protective earth terminal Regenerative brake option Servo motor Servo motor power supply Encoder cable ...

Page 43: ...auxillary equipment can be find in Tab 1 11 on page 1 26 Serco system controller or preceding axis servo amplifier Subsequent axis servo amplifier or termination connector No fuse circuit breaker Magnetic contactor Personal computer optional Protective earth terminal Regenerative brake option Servo motor Servo motor power supply Encoder cable CN2 L21 L11 L1 L2 L3 CN1A CN1B CN3 P C Power supply ...

Page 44: ...ption Section 7 1 1 Cables Section 7 1 2 Power factor improving reactor UE UA 400V 230V Section 7 2 1 Tab 1 11 Options and auxiliary equipment Serco system controller or preceding axis servo amplifier Subsequent axis servo amplifier or termination connector No fuse circuit breaker Magnetic contactor Personal computer optional Protective earth terminal Regenerative brake option Servo motor Servo mo...

Page 45: ...nd auxillary equipment can be find in Tab 1 12 on page 1 29 Power supply No fuse circuit breaker Magnetic contactor L1 L2 L3 Regenerative brake option P C CN4 Personal computer Serco system controller or preceding axis servo amplifier CN1A Servo amplifier CN1B CN3 Subsequent axis servo amplifier or termination connector Circuit protector Power supply 24VDC CN2 Protective earth terminal Encoder cab...

Page 46: ... equipment can be find in Tab 1 12 on page 1 29 Serco system controller or preceding axis servo amplifier Subsequent axis servo amplifier or termination connector CN1A Servo amplifier Magnetic contactor CN1B CN3 Personal computer Power supply 24VDC Circuit protector L1 L2 L3 Regenerative brake option P C CN2 Protective earth terminal Encoder cable Servo motor power supply Servo motor Power supply ...

Page 47: ...1 Regenerative brake option Section 7 1 1 Cables Section 7 1 2 Tab 1 12 Options and auxiliary equipment Serco system controller or preceding axis servo amplifier Subsequent axis servo amplifier or termination connector CN1A Servo amplifier Magnetic contactor CN1B CN3 Personal computer Power supply 24VDC Circuit protector P C CN2 Protective earth terminal Encoder cable Servo motor power supply Serv...

Page 48: ...Introduction System configuration 1 30 ...

Page 49: ...Servo motor Ambient temperature during operation 0 to 55 C non freezing 0 to 40 C non freezing Ambient humidity during operation Max 90 no condensation Max 80 no condensation Ambient temperature in storage 20 to 65 C 15 to 70 C Ambient humidity in storage Max 90 no condensation Max 90 no condensation Ambience Indoors no direct sunlight no corrosive gas no inflammable gas no oil mist no dust Altitu...

Page 50: ...l box prevent drill chips and wire fragments from entering the servo amplifier Prevent oil water metallic dust etc from entering the servo amplifier through openings in the control box or a fan installed on the ceiling S000520C Fig 2 1 Installation direction and clearances Servo amplifier Minimal installation clearance mm A B C D Servo amplifiers 200V 70 10 40 40 Servo amplifiers 400V 75 120 Tab 2...

Page 51: ...nt of some other operating agent The fan s in the forced cooling housing must be installed taking into account the provision of an optimum supply of cool air For details of the heat dissipation of control cabinets and housings please see the manufacturer s specifications When using heat generating equipment such as the regenerative brake option install them with full consideration of heat generati...

Page 52: ... or the like When removing the pulley use a pulley remover to protect the shaft or the motor from impact The orientation of the encoder on the servo motor cannot be changed b CAUTION Do not hold the cable shaft or encoder to carry the servo motor Otherwise a fault or injury may occur Securely fix the servo motor to the machine If fixed insecurely the servo motor will come off during operation lead...

Page 53: ...ns that may lead to excessive bending moments to the shaft and thus cause the shaft to break Servo motor L mm Permissible radial load N Permissible thrust load N HC MFS 053 13 25 88 59 23 43 30 245 98 73 40 392 147 HC KFS 053 13 25 88 59 23 43 73 30 245 98 HC SFS 52 to 152 55 980 490 524 to 1524 202 to 702 79 2058 980 2024 to 7024 HC RFS 103 to 203 45 686 196 353 503 63 980 392 Tab 2 4 Permitted r...

Page 54: ...m s2 2 5g Y 49m s2 5g refer fig 2 6 HC SFS502 702 HC SFS5024 7024 X 24 5m s2 2 5g Y 29 4m s2 3g refer fig 2 6 Fig 2 5 Vibration resistance of the servo motors S000518C Fig 2 6 Vibration directions on the servo motor S000519C Fig 2 7 Graphic representation of the vibration amplitudes of the servo motor X Y Servo motor 3500 3000 2500 2000 1500 1000 500 20 30 40 50 60 80 100 200 Speed r min Vibration...

Page 55: ...event any pressure build up in the gear box The following table presents an overview of the minimum clearances between the oil level and the servo motor shaft centre Servo motor Height above oil level mm HC SFS 52 to 152 20 524 to 1524 202 to 702 25 2024 to 7024 HC RFS 103 to 503 20 Tab 2 5 Minimum clearances between the oil level and the servo motor shaft centre S000525C Fig 2 8 Arrangement b CAU...

Page 56: ...vo motor does not pass through oil or water Due to the effects of capillarity oil or water could get into the motor via the cables When the servo motor is to be installed with the shaft end at top provide measures so that it is not exposed to oil and water entering from the machine side gear box etc S000526C Fig 2 9 Installing the servo motor horizontally and vertically showing cable trap S000527C...

Page 57: ... cable lengths of the motor and encoder cables The flexing service life of encoder cables is presented in fig 2 12 The useful service life of the encoder cable MR JCCBLmM L will be at an end after flexing 5000 times with a flexing radius of 60 mm In practice you should plan to have a certain safety margin For installation on a machine where the servo motor will move the flexing radius should be ma...

Page 58: ...Installation General environmental conditions 2 10 ...

Page 59: ...erminals An incorrect voltage can lead to damage to the servo amplifier Servo amplifier Injection Dimensions mm No fuse ciruit breaker Fuse Magnetic contactor L1 L2 L3 L11 L21 U V W Electro magnetic brake Servo amplifier 200V MR J2S 10B NF30 5 A 16 A S N10 1 5 1 5 1 5 1 5 MR J2S 20B NF30 5 A 16 A S N10 1 5 1 5 1 5 1 5 MR J2S 40B NF30 10 A 16 A S N10 1 5 1 5 1 5 1 5 MR J2S 60B NF30 15 A 16 A S N10 ...

Page 60: ...MR J2S 500B S000921C S001225C S000925C MR J2S 700B S000922C S001226C S000927C Tab 3 2 Terminals of servo amplifier 200V TE1 TE2 PE L L P C D L1 U L2 V L3 W TE2 TE1 Front of device Back of device L L P C D L1 U L2 V L3 W TE2 TE1 L N L P C D Front of device Back of device TE2 TE1 PE L11L21 D P C N L1 L2 L3 U V W TE2 TE1 TE1 TE2 PE L1 L2 L3 C P N U V W L11 L21 TE2 TE1 Mounting screw for interna brake...

Page 61: ...S 700B4 S000922C S001229C S000927C Tab 3 3 Terminals of servo amplifier 400V CHARGE OPEN C N 1 A C N 2 E N C C N 1 B C N 3 L1 24V L11 0V L21 U L2 V L3 W N D C P CNP3 PE CNP2 CNP1 L1 L2 L3 U V W 24 V L11 0 V L21 P C N D CNP1 CNP3 CN4 CNP2 TE1 TE2 PE L1 L2 L3 C P N U V W 24 V L11 0 V L21 TE2 TE1 Mounting screw for interna brake resistor cable in the event it is not used TE1 TE2 PE 24 V L11 0 V L21 T...

Page 62: ... U V W PE Protective earth Connect this terminal to the protective earth PE terminals of the servo motor and control box for grounding Tab 3 4 Signal overview MR J2S 60B to MR J2S 700B Terminal Signal Description L1 L2 L3 Main circuit power supply The rated voltage range is 3 phase 380 to 480V AC 50 60Hz 24V L11 0V L21 Control circuit power supply Connect a 24VDC source here Make sure that the plu...

Page 63: ...m the soldering tag side 2 LG MD LG MDR P5 P5 P5 LG LG MR MRR BAT 1 12 11 4 3 14 13 6 5 16 15 8 7 18 17 10 9 20 19 2 1 12 11 4 3 14 13 6 5 16 15 8 7 18 17 10 9 20 19 2 1 12 11 4 3 14 13 6 5 16 15 8 7 18 17 10 9 20 19 2 RXD RD LG RD TXD MO2 LG LA LZ LB LZR LBR LAR LG MBR SG COM VDD 1 12 11 4 MO1 3 14 13 6 5 16 15 8 7 18 17 10 9 20 19 EM1 RD TD EMG EMG TD LG LG LG LG BT LG RD TD EMG EMG TD LG BT LG ...

Page 64: ... Electromagnetic brake interlock MBR CN3 13 With switched off signal Servo ON MBR SG is opened DO1 Encoder A phase pulse Differential outputs LA LAR CN3 6 CN3 16 Outputs pulses per servo motor revolution set in parameter No 38 In forward rotation of the servo motor the encoder B phase pulse lags the encoder A phase pulse by a phase angle of π 2 DO2 Encoder B phase pulse Differential outputs LB LBR...

Page 65: ... external periphery to the interface described in section 3 1 3 is covered in the following Digital input interface DI 1 Give a signal with a relay or open collector transistor S001007C Fig 3 2 External device connection VD D Tr COM 4 7kΩ EM 1 SG 24VDC approx 5mA UCES 1V I 100µA CEO Servo amplifier ...

Page 66: ... resistor R for a lamp load Permissable current 40mA inrush current 100mA Inductive Load Lamp connection S001008C Fig 3 3 Inductive load connection b CAUTION When connecting an inductive load be sure to observe the correct polarity of the recovery diode D Connecting it backwards could cause the servo amplifier to be damaged S001009C Fig 3 4 Lamp connection VDD MBR SG 24 V DC Tr D Servo amplifier V...

Page 67: ...le S000554C Fig 3 6 Time response of the output signals S000556C Fig 3 7 Example for an interface SD SD LG 150 Ω 1 2k Ω LA LB LZ LA LB LZ LAR LBR LZR LAR LBR LZR AM26LS32 or equivalent Servo amplifier High speed photocoupler Servo amplifier A R B T π 2 R Z R P 400 s µ n LZ LZR signal varies 3 8T on its leading edge A MO1 MO2 LG 10k Ω SD Servo amplifier Output 10V 1mA ...

Page 68: ...hen it must be connected via an external voltage source of 24VDC b CAUTION Ground the servo amplifier and servo motor securely To prevent an electric shock always connect the protective earth terminal PE of the servo amplifier marked with with the protective earth of the control box Connect the cables to the servo amplifier and servo motor with the right terminals and the correct phases U V W Othe...

Page 69: ...er supply connector Red Phase U White Phase V Black Phase W Green yellow Protective earth 1 3 4 2 1 4 5 6 2 3 MRR MDR LG 2 5 8 BAT SHD 3 6 9 MR MD P5 1 4 7 Power supply connector MR PWCNK1 Pin Signal Cable color 1 U Red 2 V White 3 W Black 4 Protective earth Green Yellow Power supply connector MR PWCNK2 Pin Signal Cable color 1 U Red 2 V White 3 W Black 4 Protective earth Green Yellow 5 B1 6 B2 Wi...

Page 70: ...SFS102 HC SFS152 HC SFS202 MR PWCNS2 MR BKCN HC SFS352 HC SFS502 HC SFS702 MR PWCNS3 HC RFS103 MR PWCNS1 In the power supply connector HC RFS153 HC RFS203 HC RFS353 MR PWCNS2 HC RFS503 Servo motor 400V HC SFS524 MR PWCNS1 MR J2CNS Set In the power supply connector HC SFS1024 HC SFS1524 HC SFS2024 MR PWCNS2 MR BKCN HC SFS3524 HC SFS5024 HC SFS7024 MR PWCNS3 Tab 3 10 Power supply and encoder interfa...

Page 71: ...agnetic brake A B G H E B D C F A G D B E C F A A N B M C L G D K T P E J S R F H B C A D Power supply connector MR PWCNS1 Pin Signal A U B V C W D Protective earth E F G B1 H B2 Power supply connector MR PWCNS2 Pin Signal A U B V C W D Protective earth E B1 F B2 G Power supply connector MR PWCNS3 Pin Signal A U B V C W D Protective earth Encoder MR J2CNS Set Pin Signal Pin Signal A MD K B MDR L C...

Page 72: ...al circuit and common S000976C Fig 3 13 Internal circuit and common VDD COM EM1 SG MBR 24 V DC LAR etc LA etc LG SD LG MO1 MO2 RXD TXD CN2 SD LG MRR MR Digital input interface Servo amplifier Differential output 35mA max Analog output RS232C Input encoder ...

Page 73: ... DANGER Ground the servo amplifier and servo motor securely To prevent an electric shock always connect the protective earth terminal PE of the servo amplifier marked with with the protective earth of the control box S000983C Fig 3 14 Grounding L1 L2 CN2 CN1A MC L3 L11 L21 M W V U Encoder W V U Protective earth Controller Connect to PE terminal Line filter Servo motor Servo amplifier Power supply ...

Page 74: ...in circuit power supply or before switching on the main circuit power supply If the main circuit power supply is not on the display shows the corresponding warning However by switching on the main circuit power supply the warning disappears and the servo amplifier will operate properly The servo amplifier can accept the servo ON command within 3s the 3 phase power supply is switched on m DANGER Wh...

Page 75: ... after detection of alarm occurrence on the controller side S000977C Fig 3 15 1 phase connection of servo amplifier S000978C Fig 3 16 3 phase connection of servo amplifier L1 L2 MC L3 VDD SG COM EM1 L11 L21 MC SK Emergency stop ON MC RA Controller emergency stop Emergency stop Power supply 230V 50Hz Servo amplifier L1 L2 MC L3 VDD SG COM EM1 L11 L21 MC SK Emergency stop ON MC RA Controller emergen...

Page 76: ... L1 P L2 C M C L3 D 24 V L11 0 V L21 M C SK EM1 COM SG VDD Emergency stop Power supply 400V 50Hz RA Emergency stop OFF ON MC Servo amplifier L1 L2 L3 Transformer Power supply 24VDC Circuit protector L1 L2 M C L3 24 V L11 0 V L21 M C SK EM1 COM SG VDD Emergency stop Power supply 400V 50Hz RA Emergency stop OFF ON MC Servo amplifier L1 L2 L3 Transformer Power supply 24VDC Circuit protector ...

Page 77: ...t and brought to a stop as soon as possible Simultaneously the EMERGENCY OFF message E6 appears on the display During ordinary operation do not use emergency stop circuit to alternate stop and run S000979C Fig 3 19 Timing chart for switching on the power supply S000980C Fig 3 20 Emergency stop circuit 3s 60m s 60m s 10m s Main circuit and control circuit Base circuit Servo ON command from controll...

Page 78: ...ure safety and reset the alarm before restarting operation S000975C Fig 3 21 Alarm occurence timing chart 1 s 50 ms 60 ms ON OFF ON OFF Valid Invalid ON OFF ON OFF Main circuit and control circuit Base circuit Dynamic brake Servo ON command from controller Alarm Reset command from controller OFF ON OFF ON OFF ALARM Remove cause of trouble Brake operation Power OFF Power ON Brake operation ...

Page 79: ...he electromagnetic brake circuit so that it is activated not only by the interface unit signals but also by a emergency stop b CAUTION The electromagnetic brake is only intended for holding a static load e g from vertical lifting axes The braking effect and frequent switching of the EMERGENCY OFF function will result in the destruction of the brake after only a few cycles S000982C Fig 3 22 Connect...

Page 80: ...command from controller ON OFF S000802E Fig 3 24 Emergency stop command from controller or external emergency stop EM1 ON OFF Servo motor speed Base circuit Electromagnetic brake MBR Servo ON command from controller Electromagnetic brake operation delay time Coasting 0r min ON OFF Invalid ON Valid OFF ON OFF Servo motor speed Base circuit Electromagnetic brake MBR Emergency stop command from contr...

Page 81: ...ircuit power supply and control circuit power supply This time depends on the operation status of servo amplifier When the main circuit power supply is off in a motor stop status and the control circuit power supply is on the main circuit off warning E9 occurs and the alarm ALM does not turn off ON OFF Invalid ON Valid OFF No ON Yes OFF ON OFF 10 to 100 ms Electromagnetic brake operation delay tim...

Page 82: ...BR LZ LZR SD CS1 CS1 CS1 SG P5 P5 LG LG MR MR MRR MRR MD MD MDR MDR BAT BAT SD SD CNT CNT LG P5 LG P5 LG MR MRR MD MDR BAT LG SD MR BAT CON1 TE2 CN1A MC M M L1 I I I 24 V DC EMG B2 B1 A A RA 24 V DC EMG B2 B1 1 2 3 4 5 6 CN1B CN1A CN1B CN1A CN1B A B C D G H S R C D A B F G N M ENCODER ENCODER P N Power supply Optional brake resistor connection of a brake unit to servo amplifiers with 500A or more ...

Page 83: ...1A MC M L1 I I I 24 V DC EM G B2 B1 A A RA A B C D G H C N 1B C N 1A C N 1B C N 1A C N 1 B S R C D A B F G N M E N C O D E R P N Power supply Optional brake resistor connection of a brake unit to servo amplifiers with 350B4 or more is shown on the left Encoder A phase pulse Encoder B phase pulse Encoder Z phase pulse PC Make up a sequence which switches off the MC at alarm occurence or emergency s...

Page 84: ...the connector pull to enhance noise resistence is recommended Motor side wiring after the second axis has been omitted Up to 8 axes n 0 7 can be connected MR H B series servo amplifiers can be connected to the same bus however it requires a different cable For termination the connector CN1B of the last servo amplifier must be fitted with the terminating resistance MR A TM Only for motors with elec...

Page 85: ...switch to F when executing the test operation mode using the setup software NOTE The station number set to CS1 should be the same as the one set to the servo system controller Abb 3 30 Station number setting switch S000972C Setting Description Abb 3 31 Station number setting 0 Station 1 1 Station 2 2 Station 3 3 Station 4 4 Station 5 5 Station 6 6 Station 7 7 Station 8 8 9 A B C D E F Test operati...

Page 86: ...Connection Station number setting 3 28 ...

Page 87: ...minals L1 L2 L3 of the servo motor Ground the servo amplifier and servo motor securely When using a regenerative brake option or brake unit always remove the lead across the terminals D and P for the servo amplifier MR J2S 350B or less and MR J2S 200B4 or less disconnect the cable connections to the internal brake resistor between the terminals P and C for the servo amplifier MR J2S 500B or more a...

Page 88: ...nd CN1B should connected with the bus cable connected to the subsequent axis servo amplifier or with the termination connector MR A TM Station number The station number setting of CS1 should be the same as that of the servo system controller refer section 3 9 Parameter Check the parameter setting on the servo system controller screen or using the setup software Environment Before starting operatio...

Page 89: ...according to the structure and specifications of the machine After setting the above parameters switch power off once Then switch power on again to make the set parameter values valid m DANGER Do not operate the switches with wet hands You may get an electric shock Do not operate the controller with the front cover removed There is the risk of getting an electric shock from live parts During power...

Page 90: ... it to a stop When the servo motor is equipped with an electromagnetic brake refer to section 3 7 Operation Stopping condition Servo system controller Servo OFF command The base circuit is shut off and the servo motor coasts Emergency stop command The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop The controller emergency stop warning E7 occurs Servo ampli...

Page 91: ...equence Servo amplifier power ON Servo system controller power ON Ready ON Servo ON Ordinary operation Servo system controller power OFF Servo system controller power ON During emergency stop and forced stop or Emergency stop and forced stop reset The segments of b1 c1 and d1 indicate the station number station 1 in this example NOTE Ready ON servo ON Ready ON servo OFF Ready OFF servo OFF Initial...

Page 92: ... changes Ab AC Ad Ab The servo system controller is faulty AC Initializing Communication started between the servo system controller and servo amplifier Ad Initializing The initial parameters from the servo system controller were received AE Initialize completion Initial data communication with the serco system controller was completed b Ready OFF The ready off signal from the servo system control...

Page 93: ...ystem controller is connected or not Exercise control on the jog operation screen of the setup software b CAUTION The test operation mode is designed for servo operation confirmation and not for machine operation confirmation Do not use this mode with the machine Always use the servo motor alone If an operation fault occurred use the forced stop EM1 to make a stop NOTE For full information of this...

Page 94: ...rns combined without using the servo system controller This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not Exercise control on the programmed operation screen of the setup software Name Initial value Setting range Travel pulse 131072 0 to 9999999 Speed r min 200 0 to 5175 Acceleration deceleration time constant ms 1...

Page 95: ... not occur for operation without servo motor Encoder error 1 16 Encoder error 2 20 Absolute position erasure 25 Battery cable breakage warning 92 All other alarms and warnings occur as when the servo motor is connected Forced output signal Output signals can be switched on off forcibly independently of the servo status Use this function for output signal wiring check etc Exercise control on the fo...

Page 96: ...ervo system controller the test operation mode screen is displayed on the personal computer but no function is performed Switch servo amplifier power on When initialization is over the display shows the following screen Perform operation with the personal computer Motor less operation Switch off the servo amplifier Perform motor less operation with the personal computer The display shows the follo...

Page 97: ...settings of parameter No 40 NOTES In the maker setting parameters do not set any values other than the initial values Setting may not be made to some parameters and ranges depending on the model or version of the servo system controller For details refer to the servo system controller user s manual Setting Function Operation from controller Operation from setup software 0000 Initial value Read Par...

Page 98: ...12 GD2 Ratio of load inertia moment to servo motor inertia moment 7 0 Times 13 PG1 Position control gain 1 35 rad s 14 VG1 Speed control gain 1 177 rad s 15 PG2 Position control gain 2 35 rad s 16 VG2 Speed control gains 2 817 rad s 17 VIC Speed integral compensation 48 ms 18 NCH Machine resonance suppression filter 0000 19 FFC Feed forward gain 0 20 INP In position range 100 Pulse 21 MBR Electrom...

Page 99: ...ripheral software of the motion controller Function No Symbol Name Initial value Unit Customer setting Expansion parameters 27 MO1 Analog output 1 offset 0 mV 28 MO2 Analog output 2 offset 0 mV 29 Reserved 0001 30 ZSP Zero speed 50 r min 31 ERZ Error excessive alarm level 80 0 1 r 32 OP5 Function selection 5 0000 33 OP6 Function selection 6 0000 34 VPI PI PID control switch over position droop 0 P...

Page 100: ...Reserved Do not change this parameter 5 1 Reserved Do not change this parameter Tab 4 13 Parameter list details 1 0 0 0 Positioning 0 Standard incremental 1 Absolute position detection system 0 0 0 0 Regenerative selection brake option 00 No brake resistor 01 FR RC FR BU 05 MR RFH220 40 08 MR RFH400 13 09 MR RFH400 13 0B MR RFH400 6 7 0C MR RFH400 6 7 10 MR RFH75 40 11 MR RFH75 40 Servo amplifier ...

Page 101: ...esolution is set automatically 7 POL 0 Refer description Rotation direction selection Used to select the rotation direction of the servo motor 0 Forward rotation with the increase of the address 1 Reverse rotation with the increase of the address 8 ATU 0001 Refer description Auto tuning Used to select the gain adjustment mode of auto tuning Setting Adjustment method Description 0 Interpolation mod...

Page 102: ...roller side is made valid 11 TLN 300 0 500 Reverse rotation torque limit Assume that the maximum rated torque is 100 Use the parameter to limit the torque in the forward rotation driving mode and forward rotation regenerative mode In other than the test operation mode on the setup software the torque limit value on the servo system controller side is made valid 12 GD2 7 0 0 300 0 Ratio of load ine...

Page 103: ...G2 817 rad s 20 5000 Speed control gain 2 Set this parameter to increase position response to load disturbance Higher setting increases the response level but is liable to generate vibrations If auto tuning 1 or 2 or interpolation mode pr 8 is selected then this parameter will optimise itself automatically If auto tuning 1 or 2 or interpolation mode is de selected then the revolution speed control...

Page 104: ...s 0 1000 Electromagnetic brake sequence output Used to set a time delay from when the electromagnetic brake interlock signal MBR turns off until the base circuit is shut off 22 MOD 0100 Refer description Analog monitor output MO1 The settings corresponds to MO2 MO2 Setting Servo amplifier 200V Servo amplifier 400V 0 Servo motor speed 8V max speed 1 Torque 8V maxi torque 2 Servo motor speed 8V max ...

Page 105: ...lid signal output or status display can be provided as if the servo motor is running actually in response to the servo system controller command without the servo motor being connected Control of operation without servo motor occurs via the setup software 0 Low pass filter 0 valid 1 invalid When the filter is activated the following limit frequency results Limit frequency VG2 10 2π 1 GD2 0 1 Adapt...

Page 106: ...selection 5 Used to select PI PID control switch over 33 OP6 0000 Refer description Function selection 6 Used to select the serial communication baud rate serial communication response delay time setting and encoder output pulse setting Tab 4 13 Parameter list details 7 0 0 0 PI PID control switch over selection 0 PI control is always valid 1 For position control the switch over is dependent on co...

Page 107: ...n of the motor at the simulated encoder output The number of A phase and B phase pulses actually output is 1 4 times greater than the preset number of pulses Therefore set the value 4 times greater than the desired pulses You can use parameter No 33 to adjust the output pulse The maximum output frequency is 1 3Mpps after multiplication by 4 Setting example With pr 33 the direct pulse output is sel...

Page 108: ...r writing refer topage 4 11 Setting Function Operation from controller Operation from setup software 0000 Initial value Read Parameter No 1 to No 39 Parameter No 1 to No 11 and No 40 Write 000A Read Parameter No 1 to No 39 Parameter No 40 Write 000C Read Parameter No 1 to No 39 Parameter No 1 to No 40 Write Parameter No 1 to No 11 and No 40 000E Read Parameter No 1 to No 39 Parameter No 1 to No 40...

Page 109: ...stimated GD2 parameter No 12 PG1 parameter No 13 VG1 parameter No 14 PG2 parameter No 15 VG2 parameter No 16 VIC parameter No 17 Response characteristic in parameter No 9 Auto tuning 2 0003 As set in parameter No 12 PG1 parameter No 13 VG1 Pparameter No 14 PG2 parameter No 15 VG2 parameter No 16 VIC parameter No 17 GD2 parameter No 12 Response characteristic in parameter No 9 Manual mode 1 0004 VG...

Page 110: ...e 1 Manual mode 2 END Usage Used when you want to match the position gain PG1 between 2 or more axes Allows adjustment by merely changing the response level setting First use this mode to make adjustment Used when the conditions of auto tuning mode 1 are not met and the inertia ratio could not be estimated properly The manual mode permits adjustment easily with three gains if you were not satisfie...

Page 111: ...to the machine characteristic This simple adjustment is suitable for a machine which has large machine resonance and does not require much settling time Automatically gain search For automatic gain setting the optimum gain is determined taking into account the shortest possible control time You can automatically set gains which make positioning setting time shortest Machine simulation Response at ...

Page 112: ...e rated torque Under operating conditions which will impose sudden disturbance torque during acceleration deceleration or on a machine which is extremely loose auto tuning may not function properly either In such cases use the auto tuning mode 2 or manual mode 1 or 2 to make gain adjustment Auto tuning 2 Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1 Si...

Page 113: ...ains are automatically set on the basis of the internal gain table The auto tuning results are saved in the E PROM of the servo amplifier every 6 minutes since power on At power on auto tuning is performed with the value of each control gain saved in the E PROM being used as an initial value S000987C Fig 4 6 Block diagram of auto tuning NOTE If sudden disturbance torque is imposed during operation...

Page 114: ...ng procedure S000869C Fig 4 7 Adjustment procedure by auto tuning Auto tuning Acceleration deceleration repeated Mass inertia ratio estimation Adjust response level setting so that desired response is achieved on vibration free level Acceleration deceleration repeated Requested performance satisfied To manual mode END Yes Yes No No Choose the auto tuning mode 2 parameter No 8 0003 and set the load...

Page 115: ...ecause of machine resonance beyond 100Hz adaptive vibration suppression control parameter No 25 or machine resonance suppression filter parameter No 18 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase S000988C Fig 4 8 Parameter 2 setting Value Machine characteristic Response level Machine resonance Usage 1 Low 15Hz 2 20Hz 3 25...

Page 116: ...peed control gain 2 VG2 and speed integral compensation VIC automatically sets the other gains to the optimum values according to these gains The setting of the inertia of mass ratio occurs in pr 12 S000872C Fig 4 9 Manual mode 1 NOTE If machine resonance occure adaptive vibration suppression control pr 25 or machine resonance suppression filter pr 18 may be used to suppress machine resonance GD2 ...

Page 117: ...annot be increased due to mechanical system resonance and the desired response cannot be achieved used the low pass filter parameter No 25 or the machine resonance suppression filter parameter No 18 for executing steps and The response level of the revolution speed control loop is specified via the gain factor VG2 pr 16 Increasing this value enhances response but a too high value will make the mec...

Page 118: ...ter parameter No 18 for executing steps to While checking the settling characteristic and rotational status fine adjust each gain The response level of the position control loop is specified via the gain factor PG1 pr 6 Increasing position control gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling The position cont...

Page 119: ... step d corresponds to the upper limiting value of the gain factor for position control loop1 Set pr 13 to the same value as that for the axis to be interpolated The value set for pr 14 in step corresponds to the upper limiting value of the gain factor for speed control loop1 Check the rotation and set pr 14 of the axis to be interpolated to a value that is at least three times the value set in st...

Page 120: ... Response level setting parameter No 9 MR J2 MR J2 Super Response level Machine resonance Response level Machine resonance 1 15Hz 1 20Hz 2 20Hz 3 25Hz 4 30Hz 5 35Hz 2 40Hz 6 45Hz 7 55Hz 3 60Hz 8 70Hz 4 80Hz 9 85Hz 5 100Hz A 105Hz B 130Hz C 160Hz D 200Hz E 240Hz F 300Hz Tab 4 23 Response level comparison NOTE Because of a slight difference in gain adjustment pattern response may not be the same if ...

Page 121: ...election parameter No 9 Gain adjustment mode Auto tuning selection Description MR J2 MR J2 Super Interpolation mode 0 0 Position control gain 1 PG1 is fixed Auto tuning Auto tuning 1 1 1 For speed and position control Auto tuning 2 3 No estimation of load inertia moment ratio Response level setting valid Auto tuning invalid Manual mode 1 4 Simple manual adjustment Manual mode 2 2 2 Manual adjustme...

Page 122: ...Operation Gain 4 36 ...

Page 123: ... pass filter If a mechanical system has a natural resonance point increasing the servo system response level may cause the mechanical system to produce resonance vibration or unusual noise at that resonance frequency As a result vibrations or higher levels of noise arise The filter functions serve to suppress any such resonance that may appear S000990C Fig 5 1 Filter function block diagram Pr 18 P...

Page 124: ...ency and notch frequency S000876C Fig 5 2 Mode of operation of the filter for the suppression of machine resonance NOTE The machine resonance suppression filter is a delay factor for the servo system Hence vibration may increase if you set a wrong resonance frequency or a too deep notch Mechanical system response level Filter curve Resonance point Frequency Frequency Notch frequency ...

Page 125: ...notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration The machine characteristic can be grasped beforehand by the machine analyzer on the setup software This allows the required notch frequency and attenuation to be determined 0 Frequency Hz Setting Fre quency Setting Fre quency Setting Fre quency Setting Fre quency 00 08 562 5 10 281 3 1...

Page 126: ...ive vibration suppression control can respond to is about 150 to 500Hz Adaptive vibration suppression control has no effect on the resonance frequency outside this range Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics or which has too large resonance Under operating conditions in which sudden disturbance torque is impo...

Page 127: ...gain the most recently saved values are used as a start The fourth digit of parameter 25 is used for adaptive vibration suppression control sensitivity setting Selection of large sensitivity detects smaller machine resonance and generates a filter to suppress machine vibration However since a phase delay will also increase the response of the servo system may not increase 0 0 Adaptive vibration su...

Page 128: ...ss filter is automatically adjusted to the value in the following expression Parameter Set the operation of the low pass filter at the second digit of parameter 25 S000626C Fig 5 6 Low pass filter setting NOTE In a mechanical system where rigidity is extremely high and resonance is difficult to occur setting the low pass filter to be invalid may increase the servo system response to shorten the se...

Page 129: ...r cable disconnected Battery replacement should be finished within this period b CAUTION If an absolute position erase alarm 25 has occurred always perform home position setting again Not doing so can cause runaway Item Description System Electronic battery backup system Battery Lithium battery A6BAT or MR BAT Maximum revolution range Reference position 32767 rev Maximum speed at power failure 500...

Page 130: ...ed on thereafter If a power failure or a fault occurs restoration is easy Also the absolute position data which is battery backed by the super capacitor in the encoder can be retained within the specified period cumulative revolution counter value retaining time if the cable is unplugged or broken for data holding time refer tab 6 1 S000994 Fig 6 1 System configuration S000995C Fig 6 2 Communicati...

Page 131: ...internal circuits of the servo amplifier may be damaged by static electricity Always take the following precautions Ground human body and work bench Do not touch the conductive areas such as connector pins and electrical parts directly by hand S000997C Fig 6 3 Battery installation for MR J2S 350B or less S001256C Fig 6 4 Battery installation for MR J2S 500B MR J2S 700B MR J2S 700B4 or less Operati...

Page 132: ... General description 6 4 6 1 5 Parameter setting Set 0001 in parameter No 1 to make the absolute position detection system valid S000996C Fig 6 5 Parameter No 1 1 0 0 0 Absolute position detection 0 incremental system 1 absolute system ...

Page 133: ... For this function please follow the instruction which are given below Clicking Diagnostics in the menu By clicking Absolute Encoder Data in the sub menu Diagnostics the absolute encoder data display window appears Click the Close button to close the absolute encoder data display window Abb 6 6 Open the menu Diagnostics S000999T S001000T Fig 6 7 Absolute encoder data display window ...

Page 134: ...Absolute position detection system General description 6 6 ...

Page 135: ...re that the charge lamp is off more than 10 minutes after power off then confirm the voltage with a tester or the like Otherwise you may get an electric shock b CAUTION Use the specified auxiliary equipment and options Unspecified ones may lead to a fault or overheating of the amplifier or regenerative brake resistor ...

Page 136: ... Regenerative power W Built in regenerative brake resistor MR RFH75 40 40Ω MR RFH220 40 40Ω MR RFH400 13 13Ω MR RFH400 6 7 6 7Ω MR J2S 10B 150 MR J2S 20B 10 150 MR J2S 40B 10 150 MR J2S 60B 10 150 MR J2S 70B 20 150 400 MR J2S 100B 20 150 400 MR J2S 200B 100 600 MR J2S 350B 100 600 MR J2S 500B 130 600 MR J2S 700B 170 600 Tab 7 1 Allowable combinations of brake unit servo amplifier 200V Servo amplif...

Page 137: ...d in tab 10 4 tab 10 5 and tab 10 6 in section 10 2 2 For the servo motor with a load the permissible duty changes according to the inertia moment of the load and can be calculated by the following formula From the permissible duty find whether the regenerative brake option is required or not Select the regenerative brake option out of the combinations in tab 7 1 or tab 7 2 permissible duty permis...

Page 138: ...Absolute value of the sum total of negative energies Tab 7 3 Equations for calculating torque and energy in operation M TF TU t1 t2 t3 t4 No tf 1 cycle up generative regenerative Time Time Generated torque Servo motor speed Unbalance torque Friction torque T1 JL JM N0 9 55 10 4 1 TPsa1 TU TF E1 0 1047 2 N0 T1 TPsa1 T2 TU TF E2 0 1047 N0 T2 t1 T3 JL JM N0 9 55 10 4 1 TPsd1 TU TF E3 0 1047 2 N0 T3 T...

Page 139: ...ve brake option is calculated as follows Calculate the power consumption of the regenerative brake option on the basis of the energy ER and single cycle operation period tf s to select the necessary regenerative brake option Servo amplifier Efficiency regenerative mode Capacitor charging J Servo amplifier 200V MR J2S 10B 55 9 MR J2S 20B 70 9 MR J2S 40B 85 11 MR J2S 60B 85 11 MR J2S 70B 80 18 MR J2...

Page 140: ...vo amplifiers MR J2S 350B or less and MR J2S 200B4 or less always remove the wiring from across P D and fit the regenerative brake option across P C S000635C Abb 7 2 Parameter No 2 setting S000636C Fig 7 3 Brake unit connection for servo amplifiers MR J2S 350B or less and MR J2S 200B4 or less Regenerative selection brake option 00 No brake resistor 01 FR RC FR BU 05 MR RFH220 40 08 MR RFH400 13 09...

Page 141: ...plifier using the accessory screw refer fig 7 5 S000928C Fig 7 4 Brake unit connection for servo amplifiers MR J2S 500B MR J2S 700B and MR J2S 350B4 to MR J2S 700B4 S000930C Fig 7 5 Mounting method of built in regenerative brake resistor NOTE For dimensions of regenerative brake resistor option refer to chap 12 P C P C x x Always remove built in regenerative brake resistor Servo amplifier MR J2S 5...

Page 142: ...mplifier bus cable MR J2HBUS M Cable length in 0 5 1 5m Bus end connector MR A TM CN3 Personal computer communications cable MR CPCATCBL3M Cable length 3m Power supply connector set for HC KFS HC MFS series motor MR PWCNK1 Power supply connector set for HC KFS HC MFS series motor with electromagnetic brake MR PWCNK2 Power supply connector set for HC SFS52 102 252 HC SFS524 1024 1524 HC RFS103 153 ...

Page 143: ...P5 LG P5 LG LG LG MR MRR MD MDR BAT LG LG SD 19 11 20 12 18 2 LG LG 7 17 6 16 9 1 LG Plate Encoder Encoder Encoder Servo amplifier Servo amplifier Servo amplifier MR JCCBL2M L MR JCCBL5M L MR JCCBL2M H MR JCCBL5M H MR JCCBL10M L MR JCCBL20M L MR JCCBL30M L MR JCCBL10M H MR JCCBL20M H MR JCCBL30M H P5 LG P5 LG MR MRR P5 LG BAT 19 11 20 12 7 17 18 2 9 S R C R C D 5 3 F N SD Plate LG 1 G S 11 20 R 18...

Page 144: ...soperation or explosion S000993C Fig 7 9 Connection diagram of bus cable NOTE The maximum bus cable legth is 30m 1 1 1 1 LG LG RD RD TD TD LG LG EM G EM G BAT SD 11 11 11 11 2 2 2 2 12 12 12 12 4 3 3 4 14 13 13 14 5 4 4 5 15 14 14 15 6 5 5 7 16 15 15 6 6 16 16 7 7 17 17 8 8 18 18 9 9 19 19 10 10 20 20 Plate Plate 17 20 Plate MR J2BUS M A MR J2BUS M ...

Page 145: ... 60 2 02A 2 69A 3 26A 4 27A 2 5mm 2 5mm 103W 167W MT 1 7 60 1 7kVA 60 2 61A 3 89A 4 27A 6 2A 2 5mm 2 5mm 110W 199W MT 2 5 60 2 5kVA 60 3 80A 5 42A 6 28A 8 78A 2 5mm 2 5mm 155W 282W MT 3 5 60 5 5kVA 60 5 30A 8 41A 8 78A 13 80A 4mm 4mm 170W 330W MT 5 5 60 5 5kVA 60 8 26A 13 80A 4mm 243W MT 7 5 60 7 5kVA 60 11 25A 18 82A 4mm 190W MT 11 60 11kVA 60 16 40A 27 61A 4mm 280W Tab 7 6 Transformer NOTE For d...

Page 146: ...Accessories Special accessories 7 12 ...

Page 147: ...for misalignment 8 2 Life The following parts must be changed periodically as listed below If any part is found faulty it must be changed immediately even when it has not yet reached the end of its life which depends on the operating method and environmental conditions For parts replacement please contact your sales representative Part name Life guideline Servo amplifier Main circuit capacitor 10 ...

Page 148: ...Maintenance and Inspection Life 8 2 ...

Page 149: ...ON RESET command CPU reset Alarms 10 Undervoltage 12 Memory error 1 13 Clock error 15 Memory error 2 16 Encoder error 1 17 Board error 19 Memory error 2 1A Motor combination error 20 Encoder error 2 24 Main ciruit error 25 Absolute position erase 30 Regenerative error 31 Overspeed 32 Overcurrent 33 Overvoltage 34 CRC error 35 Command frequency error 36 Transfer error 37 Parameter error 45 Main cir...

Page 150: ...mand CPU reset Alarme 92 Open battery cable warning Removing the cause of occurrence deactivates the alarm automatically 96 Home position setting warning 9F Battery warning E0 Excessive regenerative warning E1 Overload warning E3 Absolute position counter warning E4 Parameter warning E6 Servo forced stop warning E7 Controller emergency stop warning E9 Main circuit off warning EE SSCNET error warni...

Page 151: ...rol circuit power off then on to reset the alarm the servo amplifier servo motor and regenerative brake resistor may become faulty m DANGER Brief interruption in power If there is a loss of power lasting for longer than 60 ms then power loss alarm 10 is issued If the loss of power continues for longer than another 20 ms then the control loop is switched off If in this situation the voltage comes u...

Page 152: ...horted Repair or change cable 17 Board error 2 CPU parts fault Faulty parts in the servo amplifier Checking method Alarm 17 or 19 occurs if power is switched on after CN1A CN1B and CN3 connectors are disconnected Change the servo amplifier 19 Memory error 3 ROM memory fault 1A Motor combination error Wrong combination of servo amplifier and servo motor Wrong combination of servo amplifier and serv...

Page 153: ... exceeded Checking method Call the status display and check the regenerative load ratio 1 Increase the cycle time 2 Use the regenerative brake option of larger capacity 3 Reduce the load 4 Power supply voltage rose above 260V servo amplifier 200V and 535V servo amplifier 400V or more respecively Connect the units to the correct power supply 5 Built in regenerative brake resistor or regenerative br...

Page 154: ...ative brake option 1 Change servo amplifier 2 Change regenerative brake option 4 The regenerative transistor is broken Change servo amplifier 5 Power supply voltage high Connect the units to the correct power supply 34 CRC error Bus cable is faulty 1 Bus cable disconnected Connect bus cable correctly 2 Bus cable fault Change the bus cable 3 Noise entered bus cable Ensure correct cable laying and s...

Page 155: ...ent temperature of servomotor is over 40 C When planning the system ensure that the ambient temperature is always between 0 and 40 C 2 Servo motor is overloaded 1 Reduce load 2 Extended cycle time 3 Use servo motor that provide larger output 3 Thermal protector in encoder is faulty Change servo motor 50 Overload 1 Overload of servo amplifier Load ratio 300 2 5s Load ratio 200 100s 1 The output cur...

Page 156: ...ions 1 Acceleration deceleration time constant is too small Increase the acceleration deceleration time constant 2 Torque limit value is too small Increase the torque limit value 3 Motor cannot be started due to torque shortage caused by power supply voltage drop 1 Improve the impedance of the power supply 2 Use servo motor which provides larger output 4 Position control gain 1 parameter No 13 val...

Page 157: ... personal computer 1 Communication cable fault Open cable or short circuit Repair or change the cable 2 Personal computer faulty Change the personal computer 88 Watchdog CPU parts faulty Fault of parts in servo amplifier Checking method Alarm 88 occurs if power is switched on after CN1A CN1B and CN3 connectors are disconnected Change the servo amplifier Tab 9 2 Failure corrective action 6 ...

Page 158: ...arm 30 Regenerative power increased to 85 or more of permissible regenerative power of built in regenerative brake resistor or regenerative brake option Checking method Call the status display and check regenerative load ratio 1 Increase the cycle time 2 Change regenerative brake option for the one with larger capacity 3 Reduce load E1 Overload warning Pre warning alarm 50 51 Load increased to 85 ...

Page 159: ...the diagrams the area underneath the solid or dotted lines represents the normal working range The dotted line represents the load curve when the servo motor has stopped In a machine like the one for vertical lift application where unbalanced torque will be produced it is recommended to use the machine so that the unbalanced torque is 70 or less of the rated torque S000932C Fig 10 1 Load diagrams ...

Page 160: ...s Characteristics 10 2 S000953C Fig 10 3 Load diagrams MR J2S 500B MR J2S 700B MR J2S 500B4 and MR J2S 700B4 1 10 100 1000 10000 0 50 100 150 200 250 30 Load ratio Operation time s Rotation Servo lock HC SFS HC RFS ...

Page 161: ...0 15 MR J2S 100B HC SFS102 50 15 MR J2S 200B HC SFS152 90 20 HC SFS202 90 20 HC RFS103 50 15 HC RFS153 90 20 MR J2S 350B HC SFS352 130 20 HC RFS203 90 20 MR J2S 500B HC SFS502 195 25 HC RFS353 135 25 HC RFS503 195 25 MR J2S 700B HC SFS702 300 25 Servo amplifier 400V MR J2S 60B4 HC SFS524 40 15 MR J2S 100B4 HC SFS1024 50 15 MR J2S 200B4 HC SFS1524 90 20 HC SFS2024 90 20 MR J2S 350B4 HC SFS3524 130 ...

Page 162: ...d and braking by spring power Rated voltage 24VDC 0 10 Rated current at 20 C A 0 26 0 33 0 42 0 8 1 4 0 8 0 96 0 26 0 33 0 42 Resistance of the excitation coil at 20 C Ω 91 73 57 29 16 8 30 25 91 73 57 Capacity W 6 3 7 9 10 19 34 19 23 6 3 7 9 10 Inrush current A 0 18 0 18 0 2 0 2 0 4 0 25 0 24 0 18 0 18 0 2 Cutoff current A 0 06 0 11 0 12 0 08 0 2 0 085 0 10 0 06 0 11 0 12 Static friction torque ...

Page 163: ...annot be used Prepare the following power supply for use with the electromagnetic brake only Examples for the connection of the brake are shown in the following diagrams S000656C Fig 10 4 Brake unit connection 28VAC 24VDC T T VAR VAR 28VAC Electromagnetic brake Electromagnetic brake Electromagnetic brake T Transformer VAR Surge absorber a b c ...

Page 164: ...ntrol section There is internal relay delay time of about 30ms s S000657C Fig 10 5 Dynamic brake operation diagram b CAUTION Use the dynamic brake for the servo amplifiers MR J2S 10B to MR J2S 200B and MR J2S 60B4 to MR J2S 200B4 only up to a maximum ratio of the mass moment of inertia of 30 for the servo amplifiers MR J2S 350B and MR J2S 350B4 up to an inertia of mass ratio of 16 and for the serv...

Page 165: ...stant HC MFS S000959C Fig 10 7 Dynamic brake time constant HC KFS 0 0 002 0 004 0 006 0 008 0 010 0 012 0 014 0 016 0 018 0 020 0 500 1000 1500 2000 2500 3000 23 73 053 43 13 Time constant τ s Speed r min 2 4 6 8 10 12 14 16 0 0 500 1000 1500 2500 3000 2000 23 43 13 Time constant τ s Speed r min ...

Page 166: ...ime constant HC RFS 0 0 005 0 010 0 015 0 020 0 025 0 030 0 035 0 040 0 045 0 500 2000 1500 1000 702 7024 352 3524 202 2024 502 5024 152 1524 102 1024 52 524 Time constant τ s Speed r min 0 0 002 0 004 0 006 0 008 0 010 0 012 0 014 0 016 0 018 0 500 1500 2500 3000 1000 2000 103 153 353 503 203 Time constant τ s Speed r min ...

Page 167: ... 60Hz 24VDC Permissible voltage fluctuation 1 170 253VAC 50Hz 60Hz 20 4 27 6VDC Permissible frequency fluctuation 5 Power supply capacity 50W 25W Control system Sine wave PWM control Dynamic brake Built in Protective functions Overcurrent shut off regenerative overvoltage shut off overload shut off electronic thermal relay servo motor overheat protection encoder fault protection regenerative fault...

Page 168: ...ent J kg cm2 0 019 0 03 0 088 0 143 0 6 0 053 0 084 0 42 0 67 1 51 Recommended ratio of load inertia moment to servo motor shaft inertia moment 30 10 Regenerative brake duty cycle per minute Servo amplifier s built in regenerative brake resistor 1010 400 220 190 MR RFH75 40 2400 2200 940 Power supply capacity kVA 0 3 0 3 0 5 0 9 1 3 0 3 0 3 0 5 0 9 1 3 Rated current A 0 85 1 5 2 8 5 1 0 83 0 83 1 ...

Page 169: ... 20 0 42 5 82 101 160 1 5 1 9 2 3 8 6 12 Recommended ratio of load inertia moment to servo motor shaft inertia moment 15 5 Regenerative brake duty cycle per minute Servo amplifier s built in regenerative brake resistor 56 54 136 64 31 39 32 1090 860 710 174 125 MR RFH75 40 560 270 MR RFH220 40 1680 810 MR RFH400 13 680 320 158 150 95 MR RFH 400 6 7 5450 4300 3550 669 479 MR RFH 400 6 7 Power suppl...

Page 170: ...024 Applicable servo amplifier MR J2S 60B4 100B4 200B4 200B4 350B4 500B4 700B4 Rated output kW 0 5 1 0 1 5 2 0 3 5 5 0 7 Rated torque Nm 2 39 4 78 7 16 9 55 16 7 23 9 33 4 Rated speed r min 2000 Maximum speed r min 3000 2500 2000 Instantaneous permissible speed r min 3450 2850 2300 Maximum torque Nm 7 16 14 4 21 6 28 5 50 1 71 6 100 Inertia moment J kg cm2 6 6 13 7 20 0 42 5 82 101 160 Recommended...

Page 171: ...e Nm Peak running range Peak running range Peak running range Peak running range Peak running range Speed r min Speed r min Speed r min Speed r min Speed r min Continuous running range Continuous running range Continuous running range Continuous running range Continuous running range HC KFS13 B HC KFS053 B HC KFS43 B HC KFS23 B HC KFS73 B Torque Nm Torque Nm Torque Nm Torque Nm Torque Nm Peak runn...

Page 172: ...Speed r min Speed r min Speed r min Torque Nm Torque Nm Peak running range Peakrunning range Continuous running range Continuous running range Continuous running range Continuous running range Continuous running range Continuous running range Continuous running range HC RFS103 B HC RFS353 B HC RFS153 B HC RFS503 B HC RFS203 B Torque Nm Torque Nm Torque Nm Peak running range Peak running range Peak...

Page 173: ... Torque Nm Torque Nm Torque Nm Torque Nm Peak running range Peak running range Peak running range Peak running range Peakrunning range Speed r min Speed r min Speed r min Speed r min Speed r min Speed r min Speed r min Torque Nm Torque Nm Peak running range Peakrunning range Continuous running range Continuous running range Continuous running range Continuous running range Continuous running range...

Page 174: ...Specifications Standard specifications 10 16 ...

Page 175: ...binet For the external interference affecting the servo amplifier EN 50082 2 Installation instructions The servo amplifier is designed for installation in the control cabinet The control cabinet must be well earthed The motor lead must be screened The screening must be applied on both sides high frequency and well conducting Maximum length 30 m All cables that carry power must be laid well separat...

Page 176: ...EMC Directives Requirements 11 2 ...

Page 177: ...J2S 10B and MR J2S 20B S000938C Fig 12 1 Outline drawing Model Weight kg MR J2S 10B 0 7 MR J2S 20B Tab 12 1 Dimensioning S000665C Fig 12 2 Terminals 70 135 20 TE2 4 C N 1 A C N 2 E N C C N 3 C N 1 B TE1 OPEN 50 6 L1 U L2 V L3 W 6 ø6 168 156 7 6 PE OPEN 6 Unit mm L1 U TE1 L2 V L3 W D TE2 C P L21 L11 PE ...

Page 178: ...C Fig 12 3 Outline drawing Model Weight kg MR J2S 40B 1 1 MR J2S 60B Tab 12 2 Dimensioning S000665C Fig 12 4 Terminals TE1 C N 1 A C N 2 E N C C N 3 C N 1 B OPEN 70 135 20 TE2 4 PE OPEN 70 22 168 156 6 6 7 L1 U L2 V L3 W ø6 6 Unit mm L1 U TE1 L2 V L3 W D TE2 C P L21 L11 PE ...

Page 179: ...0940C Fig 12 5 Outline drawing Model Weight kg MR J2S 70B 1 7 MR J2S 100B Tab 12 3 Dimensioning S000667C Fig 12 6 Terminals TE1 C N 1 A C N 2 E N C C N 3 C N 1 B OPEN 6 PE OPEN 70 22 ø6 6 168 156 6 6 22 42 6 7 L1 U L2 V L3 W TE2 70 20 190 Unit mm L1 U TE1 L2 V L3 W D TE2 C P L21 L11 N PE ...

Page 180: ...S000941C Fig 12 7 Outline drawing Model Weight kg MR J2S 200B 2 0 MR J2S 350B Tab 12 4 Dimensioning S000669C Fig 12 8 Terminals 70 195 20 6 90 168 156 6 78 6 OPEN C N 1 A C N 2 E N C C N 3 C N 1 B OPEN TE2 TE1 3 M4 PE Unit mm L1 TE1 L2 L3 U V W L11 TE2 L21 D P C N PE ...

Page 181: ... S000942C Fig 12 9 Outline drawing Model Weight kg MR J2S 500B 4 9 Tab 12 5 Dimensioning S000951C Fig 12 10 Terminals 130 250 235 7 5 118 6 6 6 2 x ø6 OP E N OP E N C N 1 A C N 2 E N C C N 3 C N 1 B TE1 TE1 OP E N 200 5 70 Unit mm L1 L2 L1 L2 L3 C P N U V W TE1 TE2 PE ...

Page 182: ...943C Fig 12 11 Outline drawing Model Weight kg MR J2S 700B 7 2 Tab 12 6 Dimensioning S000952C Fig 12 12 Terminals 180 35 0 3 3 5 7 5 160 10 10 6 2 x ø6 TE1 TE2 62 138 200 6 70 C N 1 A C N 2 E N C C N 3 C N 1 B Unit mm L1 L2 L3 C P N U V W L1 L2 TE1 TE2 PE ...

Page 183: ...12 13 Outline drawing Model Weight kg MR J2S 60B4 2 1 MR J2S 100B4 MR J2S 200B4 2 2 Tab 12 7 Dimensioning S001218C Fig 12 14 Terminals 70 195 168 156 6 90 78 ø 6 6 6 6 CH AR GE O PE N C N 1 A C N 2 E N C C N 1 B C N 3 L1 24 V L1 1 0V L2 1 U L2 V L3 W N D C P Unit mm L1 L2 L3 U V W 24V L11 0V L21 P C N D CNP1 CNP3 CN4 PE CNP2 ...

Page 184: ...ig 12 15 Outline drawing Model Weight kg MR J2S 350B4 5 MR J2S 500B4 Tab 12 8 Dimensioning S001219C Fig 12 16 Terminals 130 250 235 7 5 118 6 6 6 2 x ø6 OP E N OP E N C N 1 A C N 2 E N C C N 3 C N 1 B TE1 TE1 OP E N 200 5 70 Unit mm L1 24V L11 0V L21 L2 L3 C P N U V W TE1 TE2 PE ...

Page 185: ...4 S000943C Fig 12 17 Outline drawing Model Weight kg MR J2S 700B4 7 2 Tab 12 9 Dimensioning S001248C Fig 12 18 Terminals 180 350 3 35 7 5 160 10 10 6 2 x ø6 TE1 TE2 62 138 200 6 70 C N 1 A C N 2 E N C C N 3 C N 1 B Unit mm L1 L2 L3 C P N U V W TE1 TE2 PE 24V L11 0V L21 ...

Page 186: ...B 50 81 5 109 5 29 5 0 4 0 75 HC KFS053 B HC MFS13 B 100 96 5 124 5 44 5 0 53 0 89 HC KFS13 B Tab 12 10 Dimensioning NOTE The figures in brackets apply to models of motor with electromagnetic brake 42 40 25 2 6 8 L 40 5 65 5 9 9 KL A A A 25 20 5 2 5 2 x ø4 5 45 21 5 ø3 0h7 35 7 ø 8h6 2 8 7 ø46 1 3 4 2 1 4 5 6 2 3 Unit mm Encoder cable 0 3m Power supply lead 0 3m red Phase U white Phase V black Pha...

Page 187: ... 49 1 0 99 1 6 HC KFS23 B HC MFS43 B 400 124 5 156 5 72 1 1 45 2 1 HC KFS43 B Tab 12 11 Dimensioning NOTE The figures in brackets apply to models of motor with electromagnetic brake 4 x ø5 8 20 42 8 45 30 3 7 L ø 50h 7 25 2 3 8 4 41 2 7 ø1 4h6 KL 68 10 6 9 9 ø70 A 62 60 A A 1 3 4 2 1 4 5 6 2 3 Unit mm Encoder cable 0 3m Power supply lead 0 3m red Phase U white Phase V black Phase W green yellow Ea...

Page 188: ...FS73 B Tab 12 12 Dimensioning NOTE The figures in brackets apply to models of motor with electromagnetic brake 82 80 4 x ø6 6 20 19 5 58 1 45 40 3 8 142 177 5 ø 70h 7 25 2 48 7 39 2 7 ø 19 h6 86 7 72 11 9 9 ø90 A A A 1 3 4 2 1 4 5 6 2 3 Unit mm Encoder cable 0 3 m Power supply lead 0 3 m red Phase U white Phase V black Phase W green yellow Earth ...

Page 189: ...B HCSFS524 B 0 5 120 153 51 5 5 0 7 5 HC SFS102 B HC SFS1024 B 1 0 145 178 76 5 7 0 9 5 HC SFS152 B HC SFS1524 B 1 5 170 203 101 5 9 0 11 5 Tab 12 13 Dimensioning NOTE The figures in brackets apply to models of motor with electromagnetic brake 81 5 ø 24h 6 ø 110h 7 111 19 5 L 55 45 12 3 KL 41 130 G F E H D C B A ø145 ø165 Unit mm Power supply connector pin assignment Encoder connector Power supply...

Page 190: ...42 46 19 25 HC SFS502 B HC SFS5024 B 5 0 208 256 131 5 142 46 23 29 HC SFS702 B HC SFS7024 B 7 0 292 340 210 5 150 58 32 38 Tab 12 14 Dimensioning NOTE The figures in brackets apply to models of motor with electromagnetic brake D A C B 1 2 39 5 19 5 69 KL L 79 75 ø 35 ø 11 4 3 18 3 45 KB K A B W V U ø 2 3 0 ø200 117 176 G F E D C A A B W V U Unit mm Encoder connector Power supply connector Brake c...

Page 191: ...g HC RFS103 B 1 0 147 185 71 3 9 6 0 HC RFS153 B 1 5 172 210 96 5 0 7 0 HC RFS203 B 2 0 197 235 121 6 2 8 3 Tab 12 15 Dimensioning NOTE The figures in brackets apply to models of motor with electromagnetic brake 19 5 81 5 39 5 L 45 10 3 40 KL ø 24h6 ø 95 h7 U G A B C H D E F V W 41 9 6 ø135 ø115 100 45 4 x ø9 Unit mm Power supply connector pin Encoder connector Power supply connector ...

Page 192: ...5 217 254 148 12 15 HC RFS503 B 5 0 274 311 205 17 21 Tab 12 16 Dimensioning NOTE The figures in brackets apply to models of motor with electromagnetic brake 39 5 19 5 8 1 5 12 3 L 63 46 1 2 0 58 KL ø 2 8 h 6 ø 1 1 0 h 7 U G A B C D E F V W ø145 ø165 130 45 4 x ø9 Unit mm Power supply connector pin assignment Encoder connector Power supply connector ...

Page 193: ...ve power W Resistor Ω L mm I mm Weight kg MR RFH75 40 150 40 90 79 0 16 MR RFH220 40 400 40 200 189 0 42 MR RFH400 13 600 13 320 309 0 73 MR RFH400 6 7 600 6 7 320 309 0 73 MR PWR T 150 270 150 270 90 79 0 18 MR PWR T 400 120 400 120 200 189 0 4 MR PWR T 600 80 600 80 320 309 0 64 MR PWR T 600 47 600 47 320 309 0 64 MR PWR T 600 26 600 26 320 309 0 64 Tab 12 17 Dimensioning 20 27 L I 12 12 7 4 6 3...

Page 194: ...7 60 2 61 3 89 4 27 6 28 2 5 2 5 110 199 219 125 163 136 201 91 7 12 10 7 MT 2 5 60 2 5 60 3 80 5 42 6 28 8 78 2 5 2 5 155 282 267 115 202 176 249 80 7 12 16 5 MT 3 5 60 5 5 60 5 30 8 41 8 78 13 80 4 4 170 330 267 139 202 176 249 104 7 12 22 0 MT 5 5 60 5 5 60 8 26 13 80 4 243 267 139 202 176 249 104 7 12 22 0 MT 7 5 60 7 5 60 11 25 18 82 4 190 316 160 245 200 292 112 10 16 28 MT 11 60 11 60 16 40...

Page 195: ... 19 Connector MR J2S 500B MR J2S 700B 1 15 Holder MR J2S 200B4 and less 1 17 Holder MR J2S 350B and less 1 13 Holder MR J2S 350B4 to MR J2S 700B4 1 19 Holder MR J2S 500B MR J2S 700B 1 15 Installation 6 3 Block diagram Servo amplifiers 200V 1 2 Servo amplifiers 400V 1 3 Bus cable 7 10 C Cable 3 1 Coding switch Station number setting 3 27 D Dimensions Brake resistor 12 17 Servo amplifier 200V 12 1 S...

Page 196: ... 8 1 Motor connector 3 11 Motor less operation 4 9 N No fuse circuit breaker 3 1 O Operation 4 1 Option Cables 7 8 Regenerative brake 7 2 Output signals 3 6 P Parameter Adjustment parameters 4 12 Basic parameters 4 12 Expansion parameters 4 13 Positioning operation 4 8 Procedure before operation 4 1 Program operation 4 8 Protective earth 3 10 R Regenerative brake resistor Installation 7 6 Response...

Page 197: ...eristics 10 13 Specifications electromagnetic brake 10 4 Servo amplifier 10 9 Servo motor 10 10 Transformer 7 11 Station number Setting 3 27 System configuration for MR J2S 100B and less 1 23 for MR J2S 200B MR J2S 350B 1 24 for MR J2S 200B4 and less 1 27 for MR J2S 350B4 MR J2S 500B4 1 28 for MR J2S 500B 1 25 for MR J2S 700B 1 26 for MR J2S 700B4 1 29 T Test operation mode 4 7 Transformer Dimensi...

Page 198: ...Index iv ...

Page 199: ......

Page 200: ...371 784 2281 e mail utu utu lv UAB UTU POWEL LITHUANIA Savanoriu Pr 187 LT 02300 Vilnius Phone 370 0 5 232 3101 Fax 370 0 5 232 2980 e mail powel utu lt EUROPEAN REPRESENTATIVES INTEHSIS SRL MOLDOVA Bld Traian 23 1 MD 2060 Kishinev Phone 373 0 22 66 4242 Fax 373 0 22 66 4280 e mail intehsis mdl net Beijer Electronics AS NORWAY Teglverksveien 1 NO 3002 Drammen Phone 47 0 32 24 30 00 Fax 47 0 32 84 ...

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