Mitsubishi Electric MR-J3-B-RJ006 Instruction Manual Download Page 126

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5. PARAMETERS

5.2 Gain/filter parameters (No.PB

)

POINT

The gain/filter parameter (No.PB

) is the same as that of MR-J3 B servo

amplifier.
For details, refer to the MR-J3- B Servo Amplifier Instruction Manual.

Parameter whose symbol is preceded by * is made valid with the following

conditions.

* : Set the parameter value, switch power off once after setting, and then switch

it on again, or perform the controller reset.

No. Symbol

Name

Initial

value Unit

Reference

PB01

FILT Adaptive tuning mode (Adaptive filter ) 0000h

PB02 VRFT Vibration suppression control filter tuning mode

(Advanced vibration suppression control)

0000h

PB03

For manufacturer setting

PB04

FFC

Feed forward gain

PB05

For manufacturer setting

500

PB06

GD2 Ratio of load inertia moment to servo motor inertia moment

7.0

Multi-

plier

( 1)

PB07

PG1 Model loop gain

rad/s

PB08 PG2 Position

loop

gain

rad/s

PB09

VG2 Speed loop gain

823

rad/s

PB10

VIC

Speed integral compensation

33.7

PB11

VDC Speed differential compensation

980

PB12

For manufacturer setting

PB13

NH1

Machine resonance suppression filter 1

4500

B14

NHQ1 Notch form selection 1

0000h

PB15

NH2

Machine resonance suppression filter 2

4500

PB16 NHQ2 Notch form selection 2

0000h

PB17 Automatic

setting

parameter

PB18 LPF Low-pass

filter

3141 rad/s

PB19 VRF1 Vibration suppression control vibration frequency setting

100.0

PB20 VRF2 Vibration suppression control resonance frequency setting

100.0

PB21

For manufacturer setting

0.00

PB22

0.00

PB23 VFBF Low-pass

filter

selection

0000h

PB24 *MVS Slight vibration suppression control selection

0000h

PB25

For manufacturer setting

0000h

PB26 *CDP Gain

changing

selection

0000h

PB27 CDL Gain

changing

condition

PB28 CDT Gain

changing

time

constant

PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment

7.0

Multi-

plier

( 1)

PB30 PG2B Gain changing position loop gain

rad/s

PB31 VG2B Gain changing speed loop gain

823

rad/s

PB32 VICB Gain changing speed integral compensation

33.7

PB33 VRF1B Gain changing vibration suppression control vibration frequency setting

100.0

PB34 VRF2B Gain changing vibration suppression control resonance frequency setting

100.0

PB35

For manufacturer setting

0.00

PB36

0.00

PB37

100

PB38

0.0

PB39

0.0

Chapter 5 of the

MR-J3- B Servo

Amplifier Instruction

Manual

Summary of Contents for MR-J3-B-RJ006

Page 1: ... Printed in Japan Specifications subject to change without notice This Instruction Manual uses recycled paper J3 Series MR J3 B RJ006 Servo Amplifier Instruction Manual General Purpose AC Servo MODEL MR J3 B RJ006 SERVO AMPLIFIER INSTRUCTION MANUAL SSCNET Fully Closed Loop Control J3 Series C ...

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

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

Page 4: ...he following environmental conditions Conditions Environment Servo amplifier Servo motor 0 to 55 non freezing 0 to 40 non freezing In 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 ...

Page 5: ...ower terminal U V W to the servo motor power input terminal U V W directly Do not let a magnetic contactor etc intervene U Servo motor M V W U V 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 speci...

Page 6: ...hanical structure e g where a ball screw and the servo motor are coupled via a timing belt the electromagnetic brake may not hold the motor shaft To ensure safety install a stopper on the machine side 5 Corrective actions CAUTION 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 ext...

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

Page 8: ...cidents or losses could occur if the product fails install appropriate backup or failsafe functions in the system EEP ROM life The number of write times to the EEP ROM which stores parameter settings etc is limited to 100 000 If the total number of the following operations exceeds 100 000 the servo amplifier and or converter unit may fail when the EEP ROM reaches the end of its useful life Write t...

Page 9: ...vo incorporated machines and 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 wit...

Page 10: ...rced insulating transformer is required in the power input section b When supplying interface power from external use a 24VDC power supply which has been insulation reinforced in I O 5 Grounding a To prevent 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 pr...

Page 11: ...ain power supply and servo amplifier Note Type A AC and pulse detectable Type B Both AC and DC detectable b The sizes of the cables described in section 11 11 of the MR J3 B Servo Amplifier Instruction Manual 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 surfac...

Page 12: ...ir flow 4 in 10 16 cm above the servo amplifier or provide cooling of at least equivalent capability 3 Short circuit rating SCCR Short Circuit Current Rating This servo amplifier conforms to the circuit whose peak current is limited to 100kA 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 Capa...

Page 13: ...ith the Canada Electrical Code and any applicable provincial codes About the manuals This Instruction Manual and the following Servo Amplifier Servo Motor Instruction Manuals are required if you use the General Purpose AC servo MR J3 B for the first time Always purchase them and use the MR J3 B safely Relevant manuals Manual name Manual No MELSERVO J3 Series MR J3 B Servo Amplifier Instruction Man...

Page 14: ...plifier Instruction Manual as well However the following items are not described in this Instruction Manual For details of these items refer to the MR J3 B Servo Amplifier Instruction Manual Item MR J3 B Servo Amplifier Instruction Manual INSTALLATION CHAPTER 2 STARTUP CHAPTER 4 GENERAL GAIN ADJUSTMENT CHAPTER 6 SPECIAL ADJUSTMENT FUNCTIONS CHAPTER 7 CHARACTERISTICS CHAPTER 10 OPTIONS AND AUXILIAR...

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

Page 16: ... 2 15 2 5 Internal connection diagram 2 16 2 6 Treatment of cable shield external conductor 2 17 3 LOAD SIDE ENCODER 3 1 to 3 32 3 1 Compatible linear encoder list 3 1 3 2 Mitsubishi serial interface compatible linear encoder 3 2 3 2 1 Linear scales manufactured by Mitutoyo Corporation absolute type 3 2 3 2 2 Linear encoder manufactured by Heidenhain Corporation 3 11 3 2 3 Linear encoder manufactu...

Page 17: ...stem 4 16 4 6 About MR Configurator 4 17 5 PARAMETERS 5 1 to 5 20 5 1 Basic setting parameters No PA 5 1 5 1 1 Parameter list 5 2 5 1 2 Parameter write inhibit 5 3 5 1 3 Selecting a control mode 5 4 5 1 4 Using absolute position detection system 5 4 5 1 5 In position range 5 5 5 1 6 Encoder output pulse 5 5 5 2 Gain filter parameters No PB 5 7 5 3 Extension setting parameters No PC 5 9 5 3 1 Param...

Page 18: ...3 App 2 Signal layout recording paper App 2 App 3 Change of connector sets to the RoHS compatible products App 3 App 4 MR J3 200B RJ006 servo amplifiers manufactured before March 2008 App 4 ...

Page 19: ...4 MEMO ...

Page 20: ...anual Items changed from those of the standard model MR J3 B a The Mitsubishi serial interface compatible or ABZ phase pulse train interface compatible linear encoder is used to detect the position feedback signal of the load side encoder b In addition to the fully closed loop control that feeds back the position signal of the load side encoder a dual feedback control that feeds back a signal comp...

Page 21: ...ormed In this case fully closed loop control is performed when the motor is at a stop and semi closed loop control is performed when the motor is operating to improve control performance When 4500 is set as the filter value of parameter No PE08 fully closed loop control is always performed The following table shows the functions of each control mode Control mode Description Feature Position is con...

Page 22: ...der interface Pulse train inter face Minimum phase differential 200ns Control System Sine wave PWM control current control system Dynamic brake Built in External option Built in Protective functions Overcurrent shut off regenerative overvoltage shut off overload shut off electronic thermal relay servo motor overheat protection encoder error protection regenerative brake error protection undervolta...

Page 23: ...nal option Protective functions Overcurrent shut off regenerative overvoltage shut off overload shut off electronic thermal relay servo motor overheat protection encoder error protection regenerative brake error protection undervoltage instantaneous power failure protection overspeed protection excessive error protection Structure Self cooled open IP00 Force cooling open IP00 Note 2 0 to 55 non fr...

Page 24: ...lyzer results MR Configurator is necessary for this function Gain search function Personal computer changes gains automatically and searches for overshoot free gains in a short time MR Configurator is necessary for this function Slight vibration suppression control Suppresses vibration of 1 pulse produced at a servo motor stop Auto tuning Automatically adjusts the gain to optimum value if load app...

Page 25: ... command Semi closed loop control fully closed loop control switching bit OFF ON Refer to section 5 5 2 Dual feedback control Semi closed loop control 0001 to 4499 Fully closed loop system Fully closed loop dual feedback filter Parameter No PE08 Semi closed loop system 1 0 1 1 5 2 Dual feedback filter equivalent block diagram A dual feedback filter equivalent block diagram on the dual feedback con...

Page 26: ...inition 1 Rating plate MR J3 10B RJ006 AC SERVO POWER INPUT OUTPUT SERIAL 100W 0 9A 3PH 1PH200 230V 50Hz 1 3A 1PH 200 230V 50 60Hz 170V 0 360Hz 1 1A 3PH 1PH200 230V 60Hz A34230001 Model Capacity Applicable power supply Serial number Rated output current ...

Page 27: ...to 120VAC Power supply Fully closed loop control symbol Symbol Rated output kW 350 500 700 11k 15k 22k 3 5 5 7 11 15 22 Symbol Standard regeneration brake resistor 11kW to 2kW 0 1kW to 7kW Built in No built in for 0 1kW Standard attachment No attachment RJ006 RZ006 4 3 phase 380 to 480VAC Rating plate MR J3 200B 4 RJ006 MR J3 100B RJ006 or less Rating plate Rating plate MR J3 350B4 RJ006 500B 4 RJ...

Page 28: ... 202 103 153 152 152 MR J3 350B RJ006 301 352 203 202 202 MR J3 500B RJ006 421 502 353 503 352 502 302 MR J3 700B RJ006 702 Servo motors HA LP Servo amplifier 1000r min 1500r min 2000r min MR J3 500B RJ006 502 MR J3 700B RJ006 601 701M 702 MR J3 11KB RJ006 801 12K1 11K1M 11K2 MR J3 15KB RJ006 15K1 15K1M 15K2 MR J3 22KB RJ006 20K1 25K1 22K1M 22K2 Servo motors HA LP Servo amplifier HF SP 1000r min 1...

Page 29: ...n SSCNET cable connector CN1A Used to connect the servo system controller or the front axis servo amplifier SSCNET cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Servo motor power connector CNP3 Connect the servo motor Encoder connector CN2 Used to connect the servo motor encoder Charge lamp Lit to indicate that the main circuit is charged While th...

Page 30: ... to connect the servo system controller or the front axis servo amplifier SSCNET cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Servo motor power connector CNP3 Connect the servo motor Encoder connector CN2 Used to connect the servo motor encoder Load side encoder connector CN2L Connect the load side encoder 1 Refer to the MR J3 B Servo Amplifier I...

Page 31: ...plifier SSCNET cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Servo motor power connector CNP3 Connect the servo motor Encoder connector CN2 Used to connect the servo motor encoder Load side encoder connector CN2L Connect the load side encoder 1 Refer to the MR J3 B Servo Amplifier Instruction Manual Refer to the MR J3 B Servo Amplifier Instruction...

Page 32: ...e front axis servo amplifier SSCNET cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Servo motor power connector CNP3 Connect the servo motor Encoder connector CN2 Used to connect the servo motor encoder Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Connector for manufacturer setting C...

Page 33: ...tem controller or the front axis servo amplifier SSCNET cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Encoder connector CN2 Used to connect the servo motor encoder Load side encoder connector CN2L Connect the load side encoder SW2 2 1 Refer to the MR J3 B Servo Amplifier Instruction Manual Section 2 3 Section 2 4 Refer to the MR J3 B Servo Amplifi...

Page 34: ...ector CN3 Used to connect digital I O signals More over an analog monitor is output SSCNET cable connector CN1A Used to connect the servo system controller or the front axis servo amplifier SSCNET cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Encoder connector CN2 Used to connect the servo motor encoder Load side encoder connector CN2L Connect the...

Page 35: ... O signal connector CN3 Used to connect digital I O signals More over an analog monitor is output SSCNET cable connector CN1A Used to connect the servo system controller or the front axis servo amplifier SSCNET cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Encoder connector CN2 Used to connect the servo motor encoder Load side encoder connector CN...

Page 36: ...t the voltage between P and N is safe with a voltage tester and others Otherwise an electric shock may occur In addition always confirm from the front of the servo amplifier whether the charge lamp is off or not 1 For MR J3 350B4 RJ006 MR J3 500B 4 RJ006 MR J3 700B 4 RJ006 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 ...

Page 37: ...N Reinstallation of the front cover Front cover setting tab A A Insert the front cover setting tabs into the sockets of servo amplifier 2 places Pull up the cover supporting at point A Setting tab Push the setting tabs until they click ...

Page 38: ...ll it to remove the front cover Reinstallation of the front cover A B C D Note 1 Note 2 Installation hook Note 1 1 Fit the front cover installation hooks on the sockets of body cover A to D to reinstall it 2 Push the front cover until you hear the clicking noise of the installation hook Note 1 The cooling fan cover can be locked with enclosed screws M4 40 2 By drilling approximately 4 of a hole on...

Page 39: ... terminal block MR Configurator Personal computer Servo system controller or Front axis servo amplifier CN1B Rear servo amplifier CN1A or Cap CN3 Note 2 Power supply Servo amplifier Note 1 Note 1 The AC reactor can also be used In this case the DC reactor cannot be used When not using DC reactor short P1 and P2 2 A 1 phase 200V to 230VAC power supply may be used with the servo amplifier of MR J3 7...

Page 40: ... Servo system controller or Front axis servo amplifier CN1B Servo amplifier Note 2 Load side encoder CN5 CN3 CN1A CN1B CN2 CN2L R S Rear servo amplifier CN1A or Cap Servo motor L1 L2 U V W P C L21 L11 Note 1 Note 1 The power factor improving DC reactor cannot be used 2 For the configuration of the ABZ phase pulse train interface or serial communication specification linear encoder rotary encoder r...

Page 41: ...onal computer MR Configurator Servo system controller or Front axis servo amplifier CN1B Rear servo amplifier CN1A or Cap CN3 CN1A CN1B CN2 CN2L R S T Note 3 Load side encoder Note 1 Note 1 Note 1 The AC reactor can also be used In this case the DC reactor cannot be used When not using DC reactor short P1 and P2 2 Refer to section 1 3 for the power supply specification 3 For the configuration of t...

Page 42: ...mplifier CN1A or Cap CN1A CN1B CN2L C P Regenerative option P2 Note 3 Load side encoder Note 1 Note 4 Note 1 The AC reactor can also be used In this case the DC reactor cannot be used When not using DC reactor short P1 and P2 2 Refer to section 1 3 for the power supply specification 3 For the configuration of the ABZ phase pulse train interface or serial communication specification linear encoder ...

Page 43: ...L Regenerative option Servo amplifier Note 3 Load side encoder R S T Personal computer Line noise filter FR BLF Servo motor L1 L3 L2 U P1 P2 V W Note 3 Power supply L21 L11 Note 1 Note 1 The AC reactor can be also used In this case the DC reactor cannot be used When not using DC reactor short P1 and P2 2 For the configuration of the ABZ phase pulse train interface or serial communication specifica...

Page 44: ...ilter FR BSF01 Note 1 Power factor improving DC reactor FR BEL H Regenerative option Note 3 Power supply Servo amplifier Note 2 Load side encoder R S T U V W P P1 P2 C L21 L11 L1 L2 L3 Note 1 Note 1 The AC reactor can be also used In this case the DC reactor cannot be used When not using DC reactor short P1 and P2 2 For the configuration of the ABZ phase pulse train interface or serial communicati...

Page 45: ...factor improving DC reactor FR BEL H Regenerative option Servo motor Note 3 Power supply Servo amplifier Note 2 Load side encoder R S T L11 L21 L3 L2 L1 U V W P C P1 P2 Note 1 Note 1 Note 1 The AC reactor can be also used In this case the DC reactor cannot be used When not using DC reactor short P1 and P2 2 For the configuration of the ABZ phase pulse train interface or serial communication specif...

Page 46: ...ontactor MC Line noise filter FR BSF01 Power factor improving DC reactor FR BEL H Note 1 Regenerative option Servo motor Servo amplifier V U Note 3 Power supply P1 P P C L3 L2 L1 L21 L11 Note 1 Note 1 The AC reactor can also be used In this case the DC reactor cannot be used When not using DC reactor short P1 and P2 2 For the configuration of the ABZ phase pulse train interface or serial communica...

Page 47: ...e or serial interface Motor encoder signal Head Servo motor Table Servo amplifier SSCNET SSCNET controller Note Applicable for the absolute position system when an absolute position linear encoder is used In that case a battery MR J3BAT is not required 2 For a rotary encoder Load side encoder signal ABZ phase pulse train interface Rotary encoder Note Driving part To the rear servo amplifier Servo ...

Page 48: ... injury Connect cables to correct terminals to prevent a burst fault etc Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction Otherwise the signal is not output due to a fault disabling the forced stop EM1 and other protective circuits RA DOCOM DICOM 24VDC R...

Page 49: ... amplifier malfunctions Use the trouble signal to switch main circuit power supply off Otherwise a regenerative transistor fault or the like may overheat the regenerative resistor causing a fire During power on do not open or close the motor power line Otherwise a malfunction or faulty may occur POINT Even if alarm has occurred do not switch off the control circuit power supply When the control ci...

Page 50: ...sing the regenerative option refer to chapter 11 of the MR J3 B Servo Amplifier Instruction Manual 3 For the encoder cable use of the option cable is recommended Refer to chapter 11 of the MR J3 B Servo Amplifier Instruction Manual for selection of the cable 4 If deactivating output of trouble ALM with parameter change configure up the power supply circuit which switches off the magnetic contactor...

Page 51: ...sing the regenerative option refer to chapter 11 of the MR J3 B Servo Amplifier Instruction Manual 3 For the encoder cable use of the option cable is recommended Refer to chapter 11 of the MR J3 B Servo Amplifier Instruction Manual for selection of the cable 4 If deactivating output of trouble ALM with parameter change configure up the power supply circuit which switches off the magnetic contactor...

Page 52: ...f the MR J3 B Servo Amplifier Instruction Manual 3 For the encoder cable use of the option cable is recommended Refer to chapter 11 of the MR J3 B Servo Amplifier Instruction Manual for selection of the cable 4 If deactivating output of trouble ALM with parameter change configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the contro...

Page 53: ...e MR J3 B Servo Amplifier Instruction Manual 3 For the encoder cable use of the option cable is recommended Refer to chapter 11 of the MR J3 B Servo Amplifier Instruction Manual for selection of the cable 4 If deactivating output of trouble ALM with parameter change configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller...

Page 54: ...For the encoder cable use of the option cable is recommended Refer to chapter 11 of the MR J3 B Servo Amplifier Instruction Manual for selection of the cable 4 If deactivating output of trouble ALM with parameter change configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side 5 For the sink I O interface For the sour...

Page 55: ... option cable is recommended Refer to chapter 11 of the MR J3 B Servo Amplifier Instruction Manual for selection of the cable 4 If deactivating output of trouble ALM with parameter change configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side 5 For the sink I O interface For the source I O interface refer to sectio...

Page 56: ...motor thermal relay BU BV BW MC SK MC ON OFF Servo motor thermal relay RA3 CN2L Controller forced stop RA2 Note 4 Alarm RA1 Forced stop Servo motor Servo amplifier Encoder cable Load side encoder cable Encoder Load side encoder Dynamic break Option 3 phase 200 to 230 VAC Note 3 Note 6 Note 1 Note 2 Note 7 Note 5 EM1 ALM RA1 24VDC CN3 CN3 Forced stop Trouble Note 4 DOCOM DOCOM DICOM Note 5 Note 8 ...

Page 57: ...nection between the servo amplifier and servo motor For the selection of the cable refer to chapter 11 of the MR J3 B Servo Amplifier Instruction Manual 4 If deactivating output of trouble ALM with parameter change configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side 5 For the sink I O interface For the source I ...

Page 58: ... 4 Alarm RA1 Controller forced stop RA2 Forced stop Servo motor Servo amplifier Encoder cable Load side encoder cable Encoder Load side encoder Cooling fan 24VDC power supply Regenerative resistor 3 phase 380 to 480 VAC Note 3 Note 6 Note 1 Note 2 Note 7 Note 8 Note 10 Stepdown transformer Note 9 Cooling fan power supply Dynamic break Option EM1 ALM RA1 24VDC CN3 CN3 Forced stop Note 5 Note 5 Trou...

Page 59: ...o motor For the selection of the cable refer to chapter 11 of the MR J3 B Servo Amplifier Instruction Manual 4 If deactivating output of trouble ALM with parameter change configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side 5 For the sink I O interface For the source I O interface refer to chapter 3 of the MR J3 ...

Page 60: ...1 In position CN3 Note 12 CN1A CN1B MR J3 B RJ006 2 axis Note 7 Note 9 Cap Note 1 CN1B SW1 2 1 SW2 SW1 2 1 SW2 Between electrodes 11 LG Control common Note 8 Note 8 CN1A CN1B Note 7 SW1 2 1 SW2 Note 8 CN1A CN1B Note 7 SW1 2 1 SW2 Note 8 Note 13 14 24VDC Power supply Note 10 Note 3 4 Forced stop Note 14 DICOM EM1 DOCOM 3 axis n axis Note 6 SSCNET cable option Note 6 SSCNET cable option Analog monit...

Page 61: ...uent axes is omitted 8 Up to eight axes n 1 to 8 may be connected Refer to section 3 13 of the MR J3 B Servo Amplifier Instruction Manual for setting of axis selection 9 Make sure to put a cap on the unused CN1A CN1B 10 Supply 24VDC 10 150mA current for interfaces from the outside 150mA is the value applicable when all I O signals are used The current capacity can be decreased by reducing the numb...

Page 62: ...ames of the CN2 CN2L and CN3 connectors are connected to the PE earth terminal in the servo amplifier CN1A Connector for the front axis of CN1A SSCNET cable CN1B Connector for the rear axis of CN1B SSCNET cable 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 DI1 MO1 DICOM LG DOCOM DICOM LZ DI2 MO2 EM1 LG MBR LBR LA LB LZR LAR ALM DI3 INP CN2 Note CN2L When using a serial encoder Note CN2L When ...

Page 63: ...MRR2 2 LG CN2 Load side encoder Servo amplifier Forced stop Approx 5 6k Servo motor D DICOM DOCOM 10VDC Note 1 Note 2 Note 2 Note 3 Note 1 Signal can be assigned for these pins with host controller setting For contents of signals refer to the instruction manual of host controller 2 For the sink I O interface For the source I O interface refer to section 3 7 of the MR J3 B Servo Amplifier Instructi...

Page 64: ...ductor of the cable to the ground plate as shown in this section and fix it to the connector shell Sheath External conductor Strip the sheath Core External conductor Sheath Pull back the external conductor to cover the sheath 1 For CN3 connector 3M connector Screw Screw Ground plate Cable 2 For CN2 and CN2L connector 3M or Molex connector Screw Cable Ground plate ...

Page 65: ...2 18 2 SIGNALS AND WIRING MEMO ...

Page 66: ...m 1 6m s 70000mm 2 wire type LIDA485 APE391M 30040mm Mitsubishi serial interface compatibility Incremental type Heidenhain Corporation LIDA487 APE391M 0 005 m 20 4096 m 4 0m s 6040mm 4 wire type ABZ phase differential output Incremental type Not specified Rermissible resolution range Encoder dependent Encoder dependent Differential 3 pair type Note 1 Varies depending on the setting of the interpol...

Page 67: ...on freezing 0 to 50 32 to 122 non freezing Operating humidity range 20 to 80 RH non condensing Storage temperature range 20 to 70 4 to 158 non freezing Storage humidity range 20 to 80 RH non condensing Dust tightness water tightness IP53 or equivalent in the indication method given in the instruction manual of the linear scales manufactured by Mitutoyo Corporation IP65 or equivalent Detection head...

Page 68: ...itutoyo Home position Output cable AT343A Mitutoyo AT543A Head cable Decreasing direction Increasing direction Mitutoyo ST741A ST743A Home position Increasing direction Decreasing direction Output cable Output cable Increasing direction Decreasing direction ...

Page 69: ...g length L1 Full length L2 L3 L4 Number of mounting blocks pcs Model Effective measurement length L0 Maximum moving length L1 Full length L2 L3 L4 Number of mounting blocks pcs AT343A 100 100 120 230 65 100 AT343A 1100 1100 1160 1270 635 275 AT343A 150 150 170 280 65 150 AT343A 1200 1200 1260 1370 685 300 AT343A 200 200 220 330 65 200 AT343A 1300 1300 1360 1470 735 325 AT343A 250 250 270 380 65 25...

Page 70: ... 25 Small sized round plane washer spring washer Dedicated plate spring is used 2 point diagonal line M6 pass through 8 spot facing depth 5 Hexagon socket head bolt M4 x 25 Small sized round plane washer spring washer M6 pass through Hexagon socket head bolt M4 16 Model Effective measurement length L0 L1 L2 L3 L4 L5 P N pcs Model Effective measurement length L0 L1 L2 L3 L4 L5 P N pcs AT543A 100 SC...

Page 71: ... 240 230 3 ST741A 1900A ST743A 1900A 1900 1910 1980 990 180 ST741A 500A ST743A 500A 500 510 580 290 80 ST741A 2000A ST743A 2000A 2000 2010 2080 1040 8 230 11 ST741A 600A ST743A 600A 600 610 680 340 130 ST741A 2100A ST743A 2100A 2100 2110 2180 1090 80 ST741A 700A ST743A 700A 700 710 780 390 180 ST741A 2200A ST743A 2200A 2200 2210 2280 1140 130 ST741A 800A ST743A 800A 800 810 880 440 2 230 5 ST741A ...

Page 72: ...ails contact with Mitutoyo Corporation 2 Production of load side encoder cable Produce the load side encoder cable using MR EKCBL M H 10m or less or MR ECNM as shown below The load side encoder cable can be produced as the length of max 30m The following diagram shows a connecting example of more than 5m to 10m View seen from wiring side 1 P5 3 MR2 7 9 4 MRR2 2 LG 8 6 10 5 4 MRR2 2 LG 8 6 1 P5 5 1...

Page 73: ...ad side encoder cable Produce the load side encoder cable using MR EKCBL M H 10m or less or MR ECNM as shown below The load side encoder cable can be produced as the length of max 30m The following diagram shows a connecting example of more than 5m to 10m View seen from wiring side 1 P5 3 MR2 7 9 4 MRR2 2 LG 8 6 10 5 4 MRR2 2 LG 8 6 1 P5 5 10 3 MR2 7 9 View seen from wiring side Pin layout is one ...

Page 74: ...ared by the customer Note 1 Part No 06ACF117A 5m Part No 06ACF117B 10m When producing a load side encoder cable 2 Connector set MR J3CN2 Option manufactured by Mitsubishi Electric Corporation Refer to section 3 4 3 Junction connector This should be prepared by the customer D SUB female 15 Pin shell HDAB 15S Plug case HDA CTH manufactured by HIROSE ELECTRIC CO LTD Accessories for linear encoder Cab...

Page 75: ...n MR J3CN2 Receptacle 36210 0100PL Shell kit 36310 3200 008 3M Pin layout is one of the following View seen from wiring side P5 LG 1 2 MR2 MRR2 3 4 3 SD Plate 15 1 LG FG P5 7 8 RQ RQ 4 2 LG P5 Servo amplifier side Linear encoder side Note Shell HDAB 15S Shield cover HDA CTH HIROSE ELECTRIC or equivalent P5 4 2 LG 8 6 1 LG 5 9 3 RQ 7 RQ 10 11 12 13 14 15 P5 FG View seen from wiring side Note The fo...

Page 76: ...se speed 2 0m s 3 0m s Maximum response speed 2 0m s 3 0m s Operating temperature range 0 to 50 32 to 122 non freezing Storage temperature range 20 to 70 4 to 158 non freezing Dust tightness water tightness IP53 when mounted according to the manual of the linear encoder manufactured by Heidenhain Corporation IP64 when filled with compressed air Vibration resistance 100m s2 DINIEC 68 2 6 without mo...

Page 77: ...70 4 to 158 non freezing Dust tightness water tightness IP50 Vibration resistance 100m s2 IEC 60 068 2 6 55 to 2000Hz 100m s2 Shock resistance 500m s2 IEC 60 068 2 27 11ms 200m s2 Output signal Serial communication compatible Z phase information included Note Output cable Head cable standard accessory 3m Serial interface conversion unit option manufactured by Heidenhain APE391M 0 5m Load side enco...

Page 78: ...NHAIN CORPORATION a LC491M Absolute type Unit mm 2 Without mounting spur With mounting spur F Machine guide P Measurement point for adjustment K Dimensional tolerance for machine installation D Compressed air filling port S Measurement length starting point pos 20mm mounting spur DIN ISO 8015 ISO 2768 m H ...

Page 79: ...5 K K 0 1 0 03 F 0 1 0 2 F 2 P P4 P3 5 P1 A B S D D A A A B F 0 2 K P a a a a F 0 1 M5 2 0 3 37 0 3 13 6 7 40 0 2 25 35 25 0 2 7 0 2 40 ML 2 ML 7 76 0 2 88 ML 2 65 0 2 ML 119 5 Tolerancing ISO 8015 ISO 2768 mH 18 5 1 35 60 100 0 2 n 100 0 2 2 7 ML 2 30 0 2 6 0 1 2 0 3 ML Pn 840mm P1 P2 1740mm P1 P3 3040mm P1 P4 4240mm P1 P5 Example of scanning head installation F Machine guide P Measurement point ...

Page 80: ...easurement point for adjustment R Home position S Measurement length starting point A Selecting magnet for limit switch T Tape holder M Scanning head installation surface Example of scanning head installation F Machine guide Adjustment Max tilt angle for operation ...

Page 81: ...491M LC192M When using an optional cable 1 Option manufactured by Heidenhain Corporation This should be prepared by the customer Note When producing a load side encoder cable 2 Connector set MR J3CN2 Option manufactured by Mitsubishi Electric Corporation Refer to section 3 4 3 Junction connector This should be prepared by the customer 17 pin coupling female 291697 26 manufactured by Heidenhain Cor...

Page 82: ...View seen from wiring side Connector 17 pin coupling 291697 26 female manufactured by Heidenhain Corporation P5 LG 1 2 7 Servo amplifier side Linear encoder side 10 0V 5V MD2 MDR2 7 8 Plate FG 14 17 SD SD 1 4 0V Sensor 5V Sensor MR2 MRR2 3 4 8 9 RQ RQ Note Note The following table shows the cable size to be used and the number of paired connections of LG and P5 Wiring length Number of LG and P5 co...

Page 83: ...e load side encoder cable using MR J3CN2 or a junction connector as shown below The load side encoder cable can be produced as the length of max 30m The following diagram shows a connecting example of more than 5m to 10m 1 P5 3 MR2 7 9 4 MRR2 2 LG 8 6 10 5 MD2 MDR2 4 MRR2 2 LG 8 6 1 P5 5 10 3 MR2 7 9 MD2 MDR2 Connector set 54599 1019 Molex View seen from wiring side Connector set option MR J3CN2 R...

Page 84: ... freezing 20 to 50 4 to 122 non freezing 20 to 65 4 to 149 non freezing 10 to 60 14 to 140 non freezing Dust tightness water tightness No protective structure IP50 PL101R IP64 PL101RH No protective structure IP53 in accordance with the mounting in the manual of the linear encoder manufactured by Sony Manufacturing systems Corporation Vibration resistance 9 6m s2 5 to 800Hz 20m s2 50 to 2000Hz 9 6m...

Page 85: ... reference mark Increasing direction SONY SL700 SONY PL101 R RH SH13 For using PL101 R RH SL700 For using SH13 Decreasing direction Decreasing direction Increasing direction 3 Outline drawing a SL710 Unit mm ML P x n 1 200 20 D 2 9 25 20 SL710 P 200 P x n 1 or 2 Mount the scale on a non magnetic material When mounting it on a magnetic material provide a non magnetic layer of 3mm or more Effective ...

Page 86: ...n mark Head cable length 1000 20 12 Scanning unit 2 12 56 80 40 Z 4 8 4 6 26 513 Home position Effective measurement length L Left side measurement end Right side measurement end M4 depth 10 3 3 3 74 M4 depth 10 12 3 6 4 5 20 2 5 8 2 spot facing depth 5 Air intake M5 5 5 Depth 5 Middle support B mounting side face Middle support A mounting side face 21 10 5 10 5 22 5 5 6 6 19 15 26 43 5 7 5 13 2 5...

Page 87: ...710 PL101 R RH SL710 PL101 R RH 2 Head cable Stabilized power supply 5V MJ830 12 to 14V MJ831 Head cable Cable Linear encoder Load side encoder cable Note Head cable Interpolator This should be prepared by the customer SL710 PL101 R RH Accessories for linear encoder Cable Length PL101 R 0 3m PL101 RH 3m SH13 1 Connector set MR J3CN2 Option manufactured by Mitsubishi Electric Corporation Refer to s...

Page 88: ...nector set 54599 1019 Molex View seen from wiring side Connector set option MR J3CN2 Receptacle 36210 0100PL Shell kit 36310 3200 008 3M Pin layout is one of the following View seen from wiring side LG 2 Servo amplifier side Interpolator side SD Plate 12 0V SHD MR2 MRR2 3 4 4 5 MRR MR 7 AWG28 AWG28 AWG28 Note Connector 10114 3000PE 10314 52F0 008 3M or equivalent Note Connect the LG of the servo a...

Page 89: ...0 RH non condensing Storage temperature range 20 to 70 4 to 158 non freezing Dust tightness water tightness IP50 Vibration resistance 100m s2 55 to 2000HZ Shock resistance 1000m s2 1 2sin 11ms Output signal Serial communication compatibility Z phase data included serial communication of reference mark data is also is made Note 3 Output cable N 15 PIN Dtype Dtype plug 0 5m manufactured by Renishaw ...

Page 90: ...e is the same as that of the Q limit switch The arrow indicates the forward moving direction of the read head relative to the scale Scale mounting surface Clearance detail Pitch tolerance 1 0 0 8 0 8 0 1 7 6 27 13 9 3 11 6 16 17 15 5 6 10 5 10 3 23 5 14 6 14 6 44 38 10 6 5 2 2 4 7 7 14 5 22 4 2 3 4 Load side encoder cable 1 Cable structure Prepare a cable based on the following structure diagram R...

Page 91: ...kit 36310 3200 008 3M Pin layout is one of the following View seen from wiring side Connector D SUB female 15 pin P5 LG 1 2 Servo amplifier side Linear encoder side SD Plate SD Q P 8 2 LG P5 MR2 MR 3 4 10 1 MRR MR Note 1 Limit switch output Case 15 Inner 5 6 Note2 Note 1 A limit switch output signal can be connected For details contact with Renishaw Inc 2 The following table shows the cable size t...

Page 92: ...d in the differential line driver output It cannot be provided in the collector output The phase differences of the A and B phase pulses and the pulse width of the Z phase pulse need to be 200ns or more The load side encoder without the Z phase cannot make a home position return LA LAR LB LBR LZ LZR Load side encoder Equivalent to AM26LS31 LAR LBR LZR LA LB LZ Phase difference 200ns or more 1 puls...

Page 93: ...rvo amplifier side ABZ phase differential output load side encoder 10 SD Plate 5V 3 4 5 6 9 PA PAR PB PBR 0V A phase A phase B phase Z phase Z phase Note 1 30m or less Note 2 Shield PSE Note 3 Note 1 For the load side encoder without Z phase set parameter No PC27 to 1 2 Securely connect a shield cable to the plate ground plate in the connector 3 The following table shows the cable size to be used ...

Page 94: ... and then turn off the load side encoder P5 LG 1 2 PZ PZR 7 8 Connector on the servo amplifier side ABZ phase differential output load side encoder 10 SD Plate 5V 3 4 5 6 9 PA PAR PB PBR 0V A phase A phase B phase B phase Z phase Z phase Note 1 30m or less Note 2 Shield 5VDC external power supply PSEL Note 1 For the load side encoder without Z phase set parameter No PC27 to 1 2 Securely connect a ...

Page 95: ...rvo motor apply 3 4 1 MR EKCBL M H 1 Model explanations Model 2 5 10 2 5 10 Symbol Cable length m Long flex life 2 Cable structure The table shows this optional cable structure Characteristics of one core Protective structure Flex life Length m Core size mm2 Number of cores Structure Wires mm Conductor resistance mm Insulation coating OD d mm Note 1 Note 2 Finishing OD mm Wire model IP20 Long flex...

Page 96: ...n 10 is provided for manufacturer adjustment If it is connected with any other pin the servo amplifier cannot operate normally Housing 1 172161 9 Connector pin 170359 1 Tyco Electronics or equivalent Cable clamp MTI 0002 Toa Electric Industries RQ 1 2 3 RQ 4 5 6 P5 7 8 9 LG SHD Signal layout View seen from wiring side 3 Internal wiring diagram P5 LG 1 2 MR2 MRR2 3 4 3 7 Servo amplifier side Encode...

Page 97: ...ing 1 172161 9 Connector pin 170359 1 Tyco Electronics or equivalent Cable clamp MTI 0002 Toa Electric Industries 3 4 3 MR J3CN2 The following shows the details of this connector set Connector set option MR J3CN2 Receptacle 36210 0100PL Shell kit 36310 3200 008 3M 1 3 7 9 4 2 8 6 10 5 4 2 8 6 1 5 10 3 7 9 Connector set 54599 1019 Molex View seen from wiring side View seen from wiring side Pin layo...

Page 98: ...ction of fully closed loop system function Refer to section 4 1 2 Selection of load side encoder communication system Refer to section 4 1 3 Setting of load side encoder elecronic gear Refer to section 4 1 5 Setting of load side encoder polarity Refer to section 4 1 4 Confirmation of load side encoder position data Refer to section 4 1 6 Positioning operation check by controller Refer to section 4...

Page 99: ...oder is set as the absolute position encoder 1 Control mode selection Select a control mode Control mode selection 0 Semi closed loop system 1 Fully closed loop system Parameter No PA01 0 0 0 0 1 Set value Control mode Control unit Semi closed loop system Fully closed loop system Motor side resolution unit Load side resolution unit 2 Semi closed loop control fully closed loop control selection Sel...

Page 100: ...selection is not related to parameter No PA14 rotation direction selection Make sure to set the parameter according to the relationships between servo motor and linear encoder rotary encoder Do not set a wrong value in the encoder direction of parameter No PC27 encoder pulse count polarity selection During the positioning operation a fully closed loop control error 42 may occur 1 Parameter setting...

Page 101: ...olution Parameter No PE05 Parameter No PE35 Number of motor encoder pulses per servo motor revolution Select the load side encoder so that the number of load side encoder pulses per servo motor revolution is within the following range 4096 2 12 Number of load side encoder pulses per servo motor revolution 67108864 2 26 1 When the servo motor is directly coupled with a ball screw and the linear enc...

Page 102: ...y encoder resolution 5000pulse rev 20000 pulse rev after multiplication by 4 Servo motor Rotary encoder 5000pulse rev Driving part Pulley diameter d1 30mm Pulley diameter d2 20mm When the pulley diameters or reduction ratios differ consider that in calculation For the rotary encoder make calculation using the number of pulses multiplied by 4 20000 30 262144 20 1 1875 3 16384 2 1 4 1 1 Parameter No...

Page 103: ...me position reference mark Z phase is passed through by moving the load side encoder 3 Confirmation of load side encoder feedback direction Setting of load side encoder polarity Confirm that the directions of the feedback pulse accumulation of motor encoder after gear and the load side feedback pulse accumulation are matched by moving the device load side encoder manually in the servo off status I...

Page 104: ... Control mode Vibration Settling time 0 Semi closed loop 1 to 4499 Dual feedback Hard to occur to Easy to occur Longer to Shorter 4500 Fully closed loop Increasing the dual feedback filter setting shortens the settling time but increases motor vibration since the motor is more likely to be influenced by the load side encoder vibration The maximum setting of the dual feedback filter should be less ...

Page 105: ...og signal turns off 4 2 2 Load side encoder types and home position return methods 1 About proximity dog type home position return using absolute linear encoder When an absolute linear encoder is used the home position reference position is the position per servo motor revolution to the linear encoder home position absolute position data 0 In the case of a proximity dog type home position return t...

Page 106: ...sition where the linear encoder home position reference mark does not exist in the home position return direction a home position return error occurs in the controller the error definition changes depending on the controller type When starting a home position return at the position where the linear encoder home position reference mark does not exist in the home position return direction move the a...

Page 107: ... position Machine position Servo amplifier power on position Equivalent to one servo motor revolution The home position reference position is set relative to the Z phase position of the load side encoder that is passed through first after power on of the servo amplifier In Case A and Case B where the power on position differs as shown below the power on position must be noted since the axis cannot...

Page 108: ...y encoder of a serial communication servo motor The home position for when using the rotary encoder of a serial communication servo motor for the load side encoder is at the load side Z phase position Home position ON OFF Load side encoder Z phase signal Home position reference position Machine position Servo amplifier power on position Equivalent to one load side revolution 5 About data setting t...

Page 109: ...conditions Parameter valid conditions Settings Motion controller Positioning module Setting item Controller reset Power OFF ON Q17 DCPU Q17 HCPU QD75MH Command resolution Load side encoder resolution unit MR J3 B RJ006 Fully closed loop servo amplifier setting MR J3 B fully closed loop Motor setting Automatic setting Serial encoder cable selection parameter No PC26 PC27 Home position setting condi...

Page 110: ... Ball screw lead linear encoder resolution 20mm 0 05 m 400000pulse 400000pulse 20mm 400000 20000 Number of pulses per revolution pulse AP Movement amount per revolution AL 2 When using a rotary encoder unit setting deg Servo motor Rotary encoder AP AL Position feedback deg Command deg Speed feedback r min AL AP Electronic gear User Controller Servo amplifier Load side resolution unit Load side res...

Page 111: ...ction selection 0 Invalid 1 Speed difference error detection 2 Position difference error detection 3 Speed difference error position deviation error detection 0 Parameter No PE03 0 0 2 Fully closed loop control error detection function 1 Motor side feedback speed r min 2 Motor side feedback position pulse Load side equivalent value 3 Load side end feedback speed r min 4 Load side end feedbacl posi...

Page 112: ...ired c Detecting multiple difference errors When setting parameter No PE03 as shown below multiple difference errors can be detected For the error detection method refer to a b in this section Parameter No PE03 Set value Speed difference error detection Position difference error detection 1 2 3 4 4 2 Auto tuning function The auto tuning function is the same as that of the MR J3 B servo amplifier F...

Page 113: ...output Usable Same as the MR J3 B servo amplifier function Test operation Motor less operation Unusable Not supported 4 5 Absolute position detection system under fully closed loop system POINT When using a rotary encoder the absolute position system cannot be configured An Absolute type linear encoder is necessary to configure an absolute position detection system under fully closed loop control ...

Page 114: ...rse r min Motor side droop pulses Droop pulses of the difference counter between a motor side position and a command are displayed The symbol is indicated for reverse pulse Cumulative command pulses Position command input pulses are counted and displayed Click Clear to reset the value to 0 The symbol is indicated for reverse command pulse Command pulse frequency The frequency of position command i...

Page 115: ...age The voltage across P N of main circuit converter is displayed V Load side cumulative feedback pulses Feedback pulses from the load side encoder are counted and displayed When the set value exceeds 999999999 it starts with 0 Click Clear to reset the value to 0 The symbol is indicated for reverse pulse Load side droop pulses Droop pulses of the difference counter between a load side position and...

Page 116: ...es of the difference counter between a motor side position and a command are displayed The symbol is indicated for reverse pulse c Cumu Com pulses Position command input pulses are counted and displayed Click Clear to reset the value to 0 The symbol is indicated for reverse command pulse d Load side cumu feedback pulses Feedback pulses from the load side encoder are counted and displayed When the ...

Page 117: ...rol fully closed loop control switching the Z phase pass status of the load side encoder is displayed j Fully closed loop changing device Only if the fully closed loop system is Semi closed loop control fully closed loop control switching the device is displayed The state of the semi closed loop control fully closed loop control switching bit and the inside state during selection are displayed k M...

Page 118: ...error detection or Position Speed speed deviation error position deviation error for the fully closed loop control error detection function 4 Position deviation error detection system Parameter No PE03 Select Standard always position difference detection system or Slip detection stopping position difference detection system for a detection condition regarding the fully closed loop control error an...

Page 119: ...4 22 4 OPERATION AND FUNCTIONS MEMO ...

Page 120: ...manually Extension setting parameters No PC When changing settings such as analog monitor output signal or encoder electromagnetic brake sequence output use these parameters I O setting parameters No PD Use these parameters when changing the I O signals of the servo amplifier Extension control parameters No PE Use this parameter when selecting a function in the fully closed loop system When using ...

Page 121: ...07 For manufacturer setting 1 PA08 ATU Auto tuning 0001h PA09 RSP Auto tuning response 12 Chapter 5 of the MR J3 B Servo Amplifier Instruction Manual PA10 INP In position range 100 pulse Section 5 1 5 PA11 1000 0 PA12 1000 0 PA13 For manufacturer setting 0000h PA14 POL Rotation direction selection 0 Chapter 5 of the MR J3 B Servo Amplifier Instruction Manual PA15 ENR Encoder output pulses 4000 pul...

Page 122: ...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 Extension s...

Page 123: ...ntroller command Refer to section 1 5 Control mode selection 0 Semi closed loop system 1 Fully closed loop system Parameter No PA01 0 0 0 5 1 4 Using absolute position detection system Parameter No Symbol Name Initial value Unit Setting range PA03 ABS Absolute position detection system 0000h Refer to the text POINT This parameter is made valid when power is switched off then on after setting or wh...

Page 124: ...NR2 Encoder output pulse 2 0 0 to 65535 POINT This parameter is made valid when power is switched off then on after setting or when the controller reset has been performed Used to set the encoder pulses A phase B phase output by the servo amplifier Set the value 4 times greater than the A phase B phase pulses You can use parameter No PC03 to choose the output pulse setting or output division ratio...

Page 125: ...ion is divided by the set value Output pulse pulses rev Resolution per servo motor revolution Set value For instance set 8 to Parameter No PA15 the actually output A B phase pulses are as indicated below A B phase output pulses 8192 pulse 8 262144 4 1 3 For output electronic gear ratio setting Set 3 in parameter No PC03 The resolution per servo motor revolution is set by parameter No PA15 PA16 Out...

Page 126: ... filter 1 4500 Hz B14 NHQ1 Notch form selection 1 0000h PB15 NH2 Machine resonance suppression filter 2 4500 Hz PB16 NHQ2 Notch form selection 2 0000h PB17 Automatic setting parameter PB18 LPF Low pass filter 3141 rad s PB19 VRF1 Vibration suppression control vibration frequency setting 100 0 Hz PB20 VRF2 Vibration suppression control resonance frequency setting 100 0 Hz PB21 For manufacturer sett...

Page 127: ...8 5 PARAMETERS No Symbol Name Initial value Unit Reference PB40 For manufacturer setting 0 0 PB41 1125 PB42 1125 PB43 0004h PB44 0 0 PB45 0000h Chapter 5 of the MR J3 B Servo Amplifier Instruction Manual ...

Page 128: ...er Instruction Manual PC06 For manufacturer setting 0000h PC07 ZSP Zero speed 50 r min Chapter 5 of the MR J3 B Servo Amplifier Instruction Manual PC08 For manufacturer setting 0 PC09 MOD1 Analog monitor output 1 0000h PC10 MOD2 Analog monitor output 2 0001h Section 5 3 2 PC11 MO1 Analog monitor 1 offset 0 mV PC12 MO2 Analog monitor 2 offset 0 mV Chapter 5 of the MR J3 B Servo Amplifier Instructio...

Page 129: ...Servo motor rotation direction Set value 0 1 Encoder output pulse setting selection Note 0 Output pulse designation When parameter No PC03 is set to 1 the parameter error 37 occurs 1 Division ratio setting 3 AB phase pulse electronic gear setting The electronic gear is set in parameter No PA15 PA16 0 A phase B phase A phase B phase A phase B phase Set value 0 Motor encoder Semi closed loop system ...

Page 130: ... Load side droop pulses 10V 1000 pulses Note 12 Load side droop pulses 10V 10000 pulses Note Load side droop pulses 10V 100000 pulses Note 14 Load side droop pulses 10V 1000000 pulses Note 15 Motor side load side position difference 10V 100000 pulses 16 Motor side Eload side speed difference 8V Max speed 13 Setting Item Analog monitor 1 MO1 output selection Note Output in the load side encoder uni...

Page 131: ...rity of the encoder connected to the CN2L connector and the Z phase connection judgement of the ABZ phase input interface encoder are selected Selection of encoder pulse count polarity 0 Encoder pulse increasing direction on the servo motor CCW 1 Encoder pulse decreasing direction on the servo motor CCW Selection of ABZ phase input interface encoder Z phase connection judgement function Alarm judg...

Page 132: ...r 2 MO2 999 to 999 2 Set content The servo amplifier is factory set to output the servo motor speed to analog monitor 1 MO1 and the torque to analog monitor MO2 The setting can be changed as listed below by changing the parameter No PC14 and PC12 value Refer to 3 for the measurement point Setting Output item Description Setting Output item Description 00 Servo motor speed Max speed CW direction CC...

Page 133: ... V 10 V 11 Machine side droop pulses Note 1 10V 1000 pulses 1000 pulse CW direction CCW direction 1000 pulse 0 10 V 10 V 12 Load side droop pulses Note 1 10V 10000 pulses 10000 pulse CW direction CCW direction 10000 pulse 0 10 V 10 V 13 Load side droop pulses Note 1 10V 100000 pulses 100000 pulse CW direction CCW direction 100000 pulse 0 10 V 10 V 14 Load side droop pulses Note 1 10V 1M pulses 1M ...

Page 134: ...vo motor Encoder Current feedback Position feedback M Position command Differential Differential Dual filter Motor side droop pulses Load side droop pulses Motorside load side position difference Load side encoder Full closed loop Differential Motorside load side speed difference Differential Semi closed loop Servo motor speed Torque Motor side feedback pulses Load side resolution unit Load side f...

Page 135: ...0h PD05 0000h PD06 0000h PD07 D01 Output signal device selection 1 CN3 pin 13 0005h PD08 D02 Output signal device selection 2 CN3 pin 9 0004h PD09 D03 Output signal device selection 3 CN3 pin 15 0003h PD10 For manufacturer setting 0000h PD11 0004h PD12 0000h PD13 0000h PD14 D0P3 Function selection D 3 0000h PD15 For manufacturer setting 0000h PD16 0000h PD17 0000h PD18 0000h PD19 0000h PD20 0000h ...

Page 136: ...se electronic gear denominator 1 1 PE06 BC1 Fully closed loop control speed deviation error detection level 400 r min PE07 BC2 Fully closed loop control postion deviation error detection level 100 kpulse PE08 DUF Fully closed loop dual feedback filter 10 rad s PE09 For manufacturer setting 0000h PE10 FCT3 Fully closed loop selection 3 0000h PE11 For manufacturer setting 0 PE12 40 PE13 FFFEh PE14 0...

Page 137: ...ition deviation error detection 0 Position deviation error detection system selection Selects a detection condition regarding the fully closed loop control error and the position deviation error of the detection function 0 Standard position deviation detection system constant detection 1 Position deviation detection system at stop detected with command set to 0 Fully closed loop control error rese...

Page 138: ... Used to set the band of the dual feedback filter For the dual feedback filter refer to section 1 5 2 10 rad s 0 to 4500 PE09 For manufacturer setting Do not change this value by any means 0000h PE10 FCT3 Fully closed loop Selection 3 Used to set the monitor information of the controller Droop pulse monitor setting for controller display Sets the encoder to be used for the droop pulse monitor for ...

Page 139: ... servo motor revolution is converted to the resolution of the load side encoder When the set value is 0 it is identified as 1 inside 1 0 to 32767 PE35 FBD2 Fully closed loop control feedback pulse electronic gear 2 denominator Used to set the denominator of the electronic gear to the motor encoder pulse Set the electronic gear so that the number of pulses for one servo motor revolution is converte...

Page 140: ...ome position setting error OFF ON Error reset CPU reset E0 Excessive regeneration warning 10 Undervoltage E1 Overload warning 1 12 Memory error 1 RAM E4 Parameter warning 13 Clock error E6 Servo forced stop warning 15 Memory error 2 EEP ROM E7 Controller emergency stop warning 16 Encoder error 1 At power on E8 Cooling fan speed reduction warning 17 Board error E9 Main circuit off warning 19 Memory...

Page 141: ...anging condition until the alarm occurs the servo amplifier calculates this specified time automatically Regenerative error 30 Overload 1 50 Overload 2 51 The alarm can be deactivated by switching power off then on or by the error reset command CPU reset from the servo system controller For details refer to section 8 1 When an alarm occurs the trouble ALM switches off and the dynamic brake is oper...

Page 142: ... range by the controller Change the parameter value to within the setting range 37 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 A fully closed loop control error has occurred 1 The resolution of the load side encoder differs from the setting value Review the settings of parameter No PE04 PE0...

Page 143: ...ector is disconnected Connect correctly 2 Faulty of the load side encoder cable Repair or change the cable 3 Wrong wiring of the load side encoder cable Review the wiring connection 4 The power supply voltage dropped For the load side encoder with the external power supply input Check the power supply capacity and voltage 5 For the serial interface encoder the load side encoder cable type 2 wire 4...

Page 144: ...t4 CPU error Transducer error CPU error Bit3 Capacitive error ABS detection error ABS data error Bit2 Photoelectric error Hardware error INC data error Bit1 Photoelectric capaciti ve data mismatch Initialization error Encoder warning Scale level error INC ABS data mismatch error Level error Bit0 Initialization error Overspeed error Initialization error As an example the following describes the det...

Page 145: ...6 6 6 TROUBLESHOOTING MEMO ...

Page 146: ... D P C D L11 L21 L1 L2 L3 N P1 P2 6 mounting hole Note Note Note This data applies to the 3 phase or 1 phase 200 to 230VAC power supply models For a single phase 100 to 120VAC power supply refer to the terminal signal layout Mass 0 8 kg 1 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 ...

Page 147: ...ly models For a single phase 100 to 120VAC power supply refer to the terminal signal layout Mass 1 0 kg 2 21 lb L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal 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 Mounting hole p...

Page 148: ...L2 U V W 6 mounting hole Cooling fan wind direction Mass 1 4 kg 3 09 lb L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Screw size M4 Tightening torque 1 2 N m 10 6 lb in Terminal signal layout Approx 6 Approx 12 42 0 3 Approx 60 Mounting hole process drawing 3 M5 screw Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 Ib in ...

Page 149: ...ole 60 12 195 Approx 80 6 Mass 1 7 kg 3 75 lb L1 L2 L3 N P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Screw size M4 Tightening torque 1 2 N m 10 6 lb in Terminal signal layout P1 Approx 60 42 0 3 Approx 12 Approx 6 Mounting hole process drawing 3 M5 screw Mounting screw Screw size M5 Tightening torque 3 24 N m ...

Page 150: ...fer to appendix 4 Unit mm Cooling fan wind direction CNP2 CNP3 CNP1 Approx 80 195 Approx 25 5 6 6 78 6 45 90 85 6 mounting hole 6 Mass 2 1 kg 4 63 lb U V W CNP3 P C D L11 L21 CNP2 L1 L2 L3 N P1 P2 CNP1 Screw size M4 Tightening torque 1 2 N m Terminal signal layout PE terminal Approx 90 78 0 3 Approx 6 Approx 6 3 M5 screw Mounting hole process drawing Mounting screw Screw size M5 Tightening torque ...

Page 151: ...nd direction Approx 80 Mass 2 3 kg 5 07 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 Approx 90 78 0 3 Approx 6 Approx 6 Mounting hole process drawing 3 M5 screw Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 Ib in ...

Page 152: ... PE terminal C U P1 P2 Built in regenerative resistor lead terminal fixing screw Terminal screw M3 5 Note Tightening torque 0 8 N m Terminal screw M4 Tightening torque 1 2 N m Terminal screw M4 Tightening torque 1 2 N m Note Screw size is M3 5 for the control circuit terminal block TE2 of the servo amplifier manufactured in April 2007 or later Screw size is M3 for the control terminal block TE2 of...

Page 153: ... P1 P2 Terminal screw M3 5 Note Tightening torque 0 8 N m Terminal screw M4 Tightening torque 1 2 N m Terminal screw M4 Tightening torque 1 2 N m Built in regenerative resistor lead terminal fixing screw Note Screw size is M3 5 for the control circuit terminal block TE2 of the servo amplifier manufactured in April 2007 or later Screw size is M3 for the control terminal block TE2 of the servo ampli...

Page 154: ...ervo amplifier Mass lb MR J3 11KB 4 RJ006 18 0 40 MR J3 15KB 4 RJ006 18 0 40 MR J3 22KB 4 RJ006 19 0 42 MR J3 22KB 4 RJ006 L1 L2 L3 U V W P1 P C N L11 L21 M6 3 0 M8 6 0 M4 1 2 M4 1 2 V W N L1 L2 L3 P C U P1 L11 L21 Mounting screw MR J3 11KB 4 RJ006 MR J3 15KB 4 RJ006 MR J3 22KB 4 RJ006 Tightening torque N m lb in M10 26 5 234 5 Servo amplifier MR J3 11KB 4 RJ006 MR J3 15KB 4 RJ006 Tightening torqu...

Page 155: ...7 10 7 OUTLINE DRAWINGS MEMO ...

Page 156: ...egral compensation PA13 PB11 VDC Speed differential compensation PA14 POL Rotation direction selection PB12 For manufacturer setting PA15 ENR Encoder output pulses PB13 NH1 Machine resonance suppression filter 1 PA16 ENR2 Encoder output pulses PB14 NHQ1 Notch form selection 1 PA17 For manufacturer setting PB15 NH2 Machine resonance suppression filter 2 PA18 PB16 NHQ2 Notch form selection 2 PA19 BL...

Page 157: ...o Symbol Name PE01 FCT Fully closed loop selection 1 PE02 For manufacturer setting PC18 to PC20 For manufacturer setting PE03 FCT2 Fully closed loop selection 2 PC21 BPS Alarm history clear PE04 FBN Fully closed loop feedback pulse electronic gear numerator 1 PE05 FBD Fully closed loop feedback pulse electronic gear denominator 1 PE06 BC1 Fully closed loop control speed deviation error detection l...

Page 158: ...nector sets may be mixed based on availability Only the components of the connector set that have changed are listed below Model Current product RoHS compatible product MR J3SCNS MR ECNM Amplifier connector 3M or equivalent of 3M 36210 0100JL Receptacle Note Amplifier connector 3M or equivalent of 3M 36210 0100PL Receptacle Note RoHS compatible 36210 0100FD may be packed with current connector set...

Page 159: ...al I O signals More over an analog monitor is output Control circuit connector CNP2 Connect the control circuit power supply regenerative option SSCNET cable connector CN1A Used to connect the servo system controller or the front axis servo amplifier SSCNET cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Servo motor power connector CNP3 Connect the ...

Page 160: ...tor improving DC reactor FR BEL Regenerative option Servo amplifier Note 2 Load side encoder R S T Personal computer Line noise filter FR BSF01 Servo motor L1 L3 L2 U P1 P2 V W Note 3 Power supply L21 L11 Note 1 Note 1 The AC reactor can be also used In this case the DC reactor cannot be used When not using DC reactor short P1 and P2 2 For the configuration of the ABZ phase pulse train interface o...

Page 161: ...oling fan wind direction Approx 80 Mass 2 3 kg 5 07 lb L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Screw size M4 Tightening torque 1 2 N m 10 6 lb in Terminal signal layout 3 M5 screw Approx 90 78 0 3 Approx 6 Mounting hole process drawing Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 lb in Approx 6 ...

Page 162: ... added Servo motor HF SP4 added Servo amplifiers MR J3 60B4 RJ006 to MR J3 22KB4 RJ006 added Servo motor HF SP4 added 400V class servo amplifier added Part added in table Servo amplifiers MR J3 60B4 RJ006 to MR J3 700B4 RJ006 added in table Note added Drawings of MR J3 60B4 RJ006 MR J3 100B4 RJ006 and MR J3 200B4 RJ006 added Servo amplifiers MR J3 60B4 RJ006 to MR J3 700B4 RJ006 added in table 2 M...

Page 163: ...table Connector pin layout figure changed Connector pin layout figure changed POINT sentence added Connector pin layout figure changed Connector pin layout figure changed POINT sentence added Connector pin layout figure changed Error of formula for electronic gear setting method corrected Error of name for parameter No PB17 corrected Name for parameter No PC01 and sentence in Function column parti...

Page 164: ... J3 200B4 RJ006 Note 4 added to 3 Otherwise the servo motor may misoperate resulting in injury changed to Otherwise the servo motor may operate unexpected resulting in injury N of CNP1 changed to N in wiring diagram P of CNP2 changed to P in wiring diagram Always connect P and D in Note 2 changed to Always connect P and D Description changed to a description with the following signal assignment fo...

Page 165: ...SH NA 030056 C ...

Page 166: ... Printed in Japan Specifications subject to change without notice This Instruction Manual uses recycled paper J3 Series MR J3 B RJ006 Servo Amplifier Instruction Manual General Purpose AC Servo MODEL MR J3 B RJ006 SERVO AMPLIFIER INSTRUCTION MANUAL SSCNET Fully Closed Loop Control J3 Series C ...

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Mitsubishi Electric MR-J3-B-RJ006, Instruction Manual

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