Mitsubishi Electric MR-J4 Instruction Manual Download Page 326 | Manualshive

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7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 37

7.7 Super trace control

(1) Summary

In the normal position control, droop pulses are generated against the position control command from
the controller. Using the feed forward gain sets droop pulses at a constant speed to almost 0. However,
droop pulses generated during acceleration/deceleration cannot be suppressed.
With the ideal model in the servo amplifier, the super trace control enables to set constant speed and
uniform acceleration/deceleration droop pulses to almost 0 that cannot be coped with by the feed
forward gain.

Control

Position command (the same command)

Droop pulses

Normal

control

Time

Servo motor speed

Time

Droop pulses

Droop pulses are always generated.

Feed

forward gain

Time

Servo motor speed

Time

Droop pulses

Droop pulses are generated during acceleration/
deceleration.

Super trace

control

Time

Servo motor speed

Time

Droop pulses

Droop pulses are almost 0 including the time of
acceleration or deceleration.

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Summary of Contents for MR-J4

Page 1: ...al uses recycled paper MODEL MODEL CODE General Purpose AC Servo MR J4 _A_ RJ MR J4 03A6 RJ SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL MR J4 _A_ RJ MR J4 03A6 RJ General Purpose Interface AC Servo 1CW804 MR J4 A INSTRUCTIONMANUAL K K SERVO AMPLIFIER INSTRUCTION MANUAL ...

Page 2: ... 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 done and what must be done are ind...

Page 3: ...tective earth PE terminal marked of the servo amplifier to the protective earth PE of the cabinet To avoid an electric shock insulate the connections of the power supply terminals 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 smoke or a fire Alwa...

Page 4: ...ment Do not install or operate the servo amplifier and servo motor which have been damaged or have any parts missing Do not block the intake and exhaust areas of the servo amplifier Otherwise it may cause a malfunction Do not drop or strike the servo amplifier and servo motor Isolate them from all impact loads When you keep or use the equipment please fulfill the following environment Items Enviro...

Page 5: ... in the specified direction Otherwise the emergency stop and other protective circuits may not operate DOCOM Control output signal Servo amplifier RA For sink output interface 24 V DC DOCOM Control output signal 24 V DC Servo amplifier RA For source output interface When the cable is not tightened enough to the terminal block the cable or terminal block may generate heat because of the poor contac...

Page 6: ...gure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch Servo motor Electromagnetic brake B RA Contacts must be opened with the EMG stop switch Contacts must be opened when ALM Malfunction or MBR Electromagnetic brake interlock turns off 24 V DC When any alarm has occurred eliminate its cause ensure safety and deactivate the alarm before restarting operati...

Page 7: ...o use this servo Ensure to prepare them to use the servo safely When using the MR J4 03A6 refer to chapter 18 Relevant manuals Manual name Manual No MR J4 _A_ RJ Servo Amplifier Instruction Manual Positioning Mode Note 5 SH NA 030143 MR J4 DU_ RJ MR CR55K_ INSTRUCTION MANUAL Note 6 SH NA 030153 MR J4 Servo Amplifier Instruction Manual Troubleshooting SH NA 030109 MELSERVO Servo Motor Instruction M...

Page 8: ...omary units are not shown in this manual Convert the values if necessary according to the following table Quantity SI metric unit U S customary unit Mass 1 kg 2 2046 lb Length 1 mm 0 03937 inch Torque 1 N m 141 6 oz inch Moment of inertia 1 10 4 kg m2 5 4675 oz inch2 Load thrust load axial load 1 N 0 2248 lbf Temperature N C 9 5 32 N F ...

Page 9: ...A 8 MEMO ...

Page 10: ...3 1 1 200 V class 3 3 3 1 2 400 V class 3 8 3 1 3 100 V class 3 11 3 2 I O signal connection example 3 12 3 2 1 Position control mode 3 12 3 2 2 Speed control mode 3 15 3 2 3 Torque control mode 3 18 3 3 Explanation of power supply system 3 21 3 3 1 Signal explanations 3 21 3 3 2 Power on sequence 3 22 3 3 3 Wiring CNP1 CNP2 and CNP3 3 23 3 4 Connectors and pin assignment 3 27 3 5 Signal device ex...

Page 11: ... 6 4 2 1 Power on and off procedures 4 6 4 2 2 Stop 4 7 4 2 3 Test operation 4 8 4 2 4 Parameter setting 4 9 4 2 5 Actual operation 4 9 4 2 6 Trouble at start up 4 9 4 3 Startup in speed control mode 4 12 4 3 1 Power on and off procedures 4 12 4 3 2 Stop 4 13 4 3 3 Test operation 4 14 4 3 4 Parameter setting 4 15 4 3 5 Actual operation 4 15 4 3 6 Trouble at start up 4 15 4 4 Startup in torque cont...

Page 12: ... to 6 24 6 1 Different adjustment methods 6 1 6 1 1 Adjustment on a single servo amplifier 6 1 6 1 2 Adjustment using MR Configurator2 6 2 6 2 One touch tuning 6 3 6 2 1 One touch tuning flowchart 6 3 6 2 2 Display transition and operation procedure of one touch tuning 6 5 6 2 3 Caution for one touch tuning 6 13 6 3 Auto tuning 6 14 6 3 1 Auto tuning mode 6 14 6 3 2 Auto tuning mode basis 6 15 6 3...

Page 13: ...Cable bending life 10 12 10 5 Inrush currents at power on of main circuit and control circuit 10 13 11 OPTIONS AND AUXILIARY EQUIPMENT 11 1 to 11 116 11 1 Cable connector sets 11 1 11 1 1 Combinations of cable connector sets 11 2 11 1 2 MR D05UDL3M B STO cable 11 6 11 1 3 Battery cable junction battery cable 11 7 11 2 Regenerative options 11 8 11 2 1 Combination and regenerative power 11 8 11 2 2 ...

Page 14: ...STEM 12 1 to 12 30 12 1 Summary 12 1 12 1 1 Features 12 1 12 1 2 Restrictions 12 2 12 1 3 Structure 12 2 12 1 4 Parameter setting 12 3 12 1 5 Confirmation of absolute position detection data 12 3 12 2 Battery 12 4 12 2 1 Using MR BAT6V1SET battery or MR BAT6V1SET A battery 12 4 12 2 2 Using MR BAT6V1BJ battery for junction battery cable 12 5 12 2 3 Using MR BT6VCASE battery case 12 6 12 3 Standard...

Page 15: ...recautions for using RS 422 RS 232C USB communication function 14 3 14 2 Communication specifications 14 4 14 2 1 Outline of communication 14 4 14 2 2 Parameter setting 14 4 14 3 Protocol 14 5 14 3 1 Transmission data configuration 14 5 14 3 2 Character codes 14 6 14 3 3 Error codes 14 7 14 3 4 Checksum 14 7 14 3 5 Time out processing 14 7 14 3 6 Retry processing 14 8 14 3 7 Initialization 14 8 14...

Page 16: ... 16 1 16 1 2 Configuration including peripheral equipment 16 2 16 2 Signals and wiring 16 3 16 3 Operation and functions 16 4 16 3 1 Startup procedure 16 5 16 3 2 Magnetic pole detection 16 6 16 3 3 Function 16 12 16 4 Absolute position detection system 16 14 16 5 Characteristics 16 15 16 5 1 Overload protection characteristics 16 15 16 5 2 Power supply capacity and generated loss 16 17 16 5 3 Dyn...

Page 17: ...t power supply control circuit power supply 18 22 18 3 4 Power on sequence 18 22 18 3 5 I O signal connection example 18 23 18 3 6 Connectors and pin assignment 18 31 18 3 7 Signal device explanations 18 34 18 3 8 Alarm occurrence timing chart 18 38 18 3 9 Interfaces Internal connection diagram 18 40 18 3 10 Grounding 18 42 18 4 Startup 18 43 18 4 1 Startup procedure 18 44 18 4 2 Troubleshooting w...

Page 18: ...ufacturer for reference App 1 App 2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods App 1 App 3 Symbol for the new EU Battery Directive App 3 App 4 Compliance with global standards App 4 App 5 MR J3 D05 Safety logic unit App 19 App 6 EC declaration of conformity App 37 App 7 Analog monitor App 39 App 8 Two wire type encoder cable ...

Page 19: ...10 MEMO ...

Page 20: ... line control and tension control With one touch tuning and real time auto tuning you can automatically adjust the servo gains according to the machine The tough drive function and the drive recorder function which are well received in the MELSERVO JN series have been improved The MR J4 servo amplifier supports the improved functions Additionally the preventive maintenance support function detects...

Page 21: ... Z phase differential output method CN2L Note 5 Fully closed loop system Two wire type CN2 Note 2 3 4 CN2L Four wire type A B Z phase differential output method Note 1 The MR J4THCBL03M branch cable is necessary 2 The MR J4FCCBL03M branch cable is necessary 3 When the communication method of the servo motor encoder is four wire type MR J4 _A_ cannot be used Use an MR J4 _A_ RJ 4 This is used with ...

Page 22: ...vercurrent protection Voltage detection Note 2 Power supply MC MCCB Base amplifier STO circuit Position command input Servo amplifier U V W U V W P3 P4 Diode stack Relay P B RA 24 V DC B1 B2 Battery for absolute position detection system CN4 STO switch Model speed Model torque M CN2 CN8 Control circuit power Model position control Model speed control Servo motor CHARGE lamp Regene rative TR Curren...

Page 23: ... more have a cooling fan 4 The MR J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit They are different from P1 and P2 of the MR J3 servo amplifiers 5 This is for the MR J4 _A RJ servo amplifier The MR J4 _A servo amplifier does not have the CN2L connector 6 The power factor improving AC reactor can also be used In this case the power factor improving DC rea...

Page 24: ...n control Model speed control Virtual motor Virtual encoder Model position Model speed Model torque Current control Actual position control Actual speed control Analog monitor two channel Controller Personal computer Analog two channel DI O control Servo on Input command pulse Start Malfunction etc CN2L External encoder Note 3 Note 4 Note 1 For the power supply specifications refer to section 1 3 ...

Page 25: ...t Malfunction etc Step down circuit Electromagnetic brake Note 1 For the power supply specifications refer to section 1 3 2 The MR J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit They are different from P1 and P2 of the MR J3 servo amplifiers 3 This is for the MR J4 _A RJ servo amplifier The MR J4 _A servo amplifier does not have the CN2L connector 4 Use ...

Page 26: ...ge lamp Regene rative TR Current detector Regenerative option CN5 CN3 CN6 Analog monitor 2 channels I F USB RS 422 RS 485 RS 422 RS 485 D A A D USB Controller Personal computer Analog 2 channels DI O control Servo on Input command pulse Start Malfunction etc CN1 Step down circuit External encoder Note 4 Electromagnetic brake CN2L Note 1 Refer to section 1 3 for the power supply specification 2 Ser...

Page 27: ...ive TR Current detector Regenerative option CN5 CN3 CN6 Analog monitor 2 channels I F USB RS 422 RS 485 RS 422 RS 485 D A A D USB Controller Personal computer Analog 2 channels DI O control Servo on Input command pulse Start Malfunction etc CN1 Step down circuit External encoder Note 3 Note 4 Power factor improving DC reactor Electromagnetic brake CN2L Note 1 Refer to section 1 3 for the power sup...

Page 28: ...e 3 Note 5 Power factor improving DC reactor Electromagnetic brake CN2L Note 1 Refer to section 1 3 for the power supply specification 2 MR J4 servo amplifier has P3 and P4 in the upstream of the inrush current suppression circuit They are different from P1 and P2 of MR J3 servo amplifiers 3 This is for MR J4 _A4 RJ servo amplifier MR J4 _A4 servo amplifier does not have CN2L connector 4 Use an ex...

Page 29: ...l circuit power Model position control Model speed control Servo motor Regene rative TR Current encoder Regenerative option CN5 CN3 CN6 Analog monitor two channel I F USB RS 422 RS 485 RS 422 RS 485 D A A D USB Controller Personal computer Analog two channel DI O control Servo on Input command pulse Start Malfunction etc CN1 Step down circuit CN2L External encoder Note 3 L2 L1 MC MCCB Diode stack ...

Page 30: ...ts Command pulse multiplying factor Electronic gear A 1 to 16777215 B 1 to 16777215 1 10 A B 4000 In position range setting 0 pulse to 65535 pulses command pulse unit Error excessive 3 revolutions Torque limit Set by parameter setting or external analog input 0 V DC to 10 V DC maximum torque Speed control mode Speed control range Analog speed command 1 2000 Internal speed command 1 5000 Analog spe...

Page 31: ...rcuit to self diagnose 4 Except for the terminal block 5 The rated current is 2 9 A when the servo amplifier is used with a UL or CSA compliant servo motor 6 1 Mpulse s or lower commands are supported in the initial setting When inputting commands over 1 Mpulse s and 4 Mpulses s or lower change the setting in Pr PA13 7 RS 422 communication is supported by servo amplifier with software version A3 8...

Page 32: ...ition range setting 0 pulse to 65535 pulses command pulse unit Error excessive 3 revolutions Torque limit Set by parameter setting or external analog input 0 V DC to 10 V DC maximum torque Speed control mode Speed control range Analog speed command 1 2000 internal speed command 1 5000 Analog speed command input 0 to 10 V DC rated speed The speed at 10 V is changeable with Pr PC12 Speed fluctuation...

Page 33: ... a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to self diagnose 3 Except for the terminal block 4 1 Mpulse s or lower commands are supported in the initial setting When inputting commands over 1 Mpulse s and 4 Mpulses s or lower change the setting in Pr PA13 5 MR J4 _A4 servo amplifier is compatible only with two wire type MR J4 ...

Page 34: ... Error excessive 3 revolutions Torque limit Set by parameter setting or external analog input 0 V DC to 10 V DC maximum torque Speed control mode Speed control range Analog speed command 1 2000 Internal speed command 1 5000 Analog speed command input 0 to 10 V DC rated speed The speed at 10 V is changeable with Pr PC12 Speed fluctuation ratio 0 01 or less load fluctuation 0 to 100 0 power fluctuat...

Page 35: ...educing the number of I O points 2 When closely mounting the servo amplifier of 3 5 kW or less operate them at the ambient temperatures of 0 C to 45 C or at 75 or smaller effective load ratio 3 Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to self diagnose 4 1 Mpulse s or lower commands are supported in the initial ...

Page 36: ... 36P CSS0 LM H3P7A 24P ASS0 LM K2P2A 02M 1SS1 LM U2PBF 22M 1SS0 TM RFM012E20 TM RFM012G20 TM RFM040J10 MR J4 100A RJ 81 102 103 53 TM RFM018E20 MR J4 200A RJ 121 201 152 202 152 103 153 153 203 73 103 LM H3P3D 48P CSS0 LM H3P7B 48P ASS0 LM H3P7C 72P ASS0 LM FP2B 06M 1SS0 LM K2P1C 03M 2SS1 LM U2P2B 40M 2SS0 MR J4 350A RJ 301 352 202 203 353 153 203 LM H3P7D 96P ASS0 LM K2P2C 07M 1SS1 LM K2P3C 14M 1...

Page 37: ...A4 RJ 5024 5034 3534 MR J4 700A4 RJ 7024 6014 701M4 7034 5034 MR J4 11KA4 RJ 8014 12K14 11K1M4 9034 MR J4 15KA4 RJ 15K14 15K1M4 MR J4 22KA4 RJ 20K14 25K14 22K1M4 LM FP5H 60M 1SS0 3 100 V class Servo amplifier Rotary servo motor Linear servo motor primary side Direct drive motor HG KR HG MR MR J4 10A1 RJ 053 13 053 13 MR J4 20A1 RJ 23 23 LM U2PAB 05M 0SS0 LM U2PBB 07M 1SS0 TM RFM002C20 MR J4 40A1 R...

Page 38: ...n 3 6 6 High resolution encoder High resolution encoder of 4194304 pulses rev is used as the encoder of the rotary servo motor compatible with the MELSERVO J4 series Absolute position detection system Merely setting a home position once makes home position return unnecessary at every power on Chapter 12 Gain switching function You can switch gains during rotation and during stop and can use an inp...

Page 39: ...oltage is automatically offset to stop the servo motor if it does not come to a stop when VC Analog speed command or VLA Analog speed limit is 0 V Section 4 5 4 Alarm code output If an alarm has occurred the corresponding alarm number is outputted in 3 bit code Chapter 8 Test operation mode Jog operation positioning operation motor less operation DO forced output and program operation MR Configura...

Page 40: ...nction This function calculates the power running energy and the regenerative power from the data in the servo amplifier such as speed and current Power consumption and others are displayed on MR Configurator2 Machine diagnosis function From the data in the servo amplifier this function estimates the friction and vibrational component of the drive system in the equipment and recognizes an error in...

Page 41: ...Series Rated output General purpose interface Special specification Symbol Rated output kW 10 0 1 20 0 2 40 0 4 60 0 6 70 0 75 100 1 200 2 350 3 5 500 5 700 7 11K 11 15K 15 22K 22 Symbol Special specification None Standard RJ Fully closed loop control four wire type load side encoder A B Z phase input compatible Positioning mode compatible MR J4 _A_ without regenerative resistor Note 1 MR J4 _A_ R...

Page 42: ...7 I O signal connector CN1 Used to connect digital I O signals Section 3 2 Section 3 4 8 Note 2 Encoder connector CN2 Used to connect the servo motor encoder or external encoder Refer to table 1 1 for the compatible external encoders Section 3 4 Servo Motor Instruction Manual Vol 3 9 Battery connector CN4 Used to connect the battery for absolute position data backup Chapter 12 10 Battery holder In...

Page 43: ...for the MR J4 _A RJ servo amplifier The MR J4 _A servo amplifier does not have the CN2L connector 2 External encoder is a term for linear encoder used in the linear servo system and load side encoder used in the fully closed loop system in this manual ...

Page 44: ...ion 1 6 3 Servo motor power supply connector CNP3 Connect the servo motor Section 3 1 Section 3 3 4 Control circuit power supply connector CNP2 Connect the control circuit power supply and regenerative option 5 Charge lamp When the main circuit is charged this will light up While this lamp is lit do not reconnect the cables 6 Protective earth PE terminal Grounding terminal Section 3 1 Section 3 3 ...

Page 45: ...r supply 3 Battery holder Install the the battery for absolute position data backup Section 12 2 4 Rating plate Section 1 6 5 Regenerative option power factor improving reactor terminal block TE3 Used to connect a regenerative option or a power factor improving DC reactor Section 3 1 Section 3 3 6 Servo motor power supply terminal block TE4 Connect the servo motor 7 Charge lamp When the main circu...

Page 46: ... 3 1 Section 3 3 2 Main circuit terminal block TE1 Used to connect the input power supply regenerative option and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal Grounding terminal 5 Battery holder Install the the battery for absolute position data backup Section 12 2 6 Rating plate Section 1 6 7 Charge lamp When the ...

Page 47: ...eactor and a regenerative option Section 3 1 Section 3 3 2 Main circuit terminal block TE1 1 Used to connect the input power supply and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal Grounding terminal 5 Battery holder Install the the battery for absolute position data backup Section 12 2 6 Rating plate Section 1 6 7...

Page 48: ...and a regenerative option Section 3 1 Section 3 3 2 Main circuit terminal block TE1 1 Used to connect the input power supply and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal Grounding terminal 5 Battery holder Install the the battery for absolute position data backup Section 12 2 6 Rating plate Section 1 6 7 Charge...

Page 49: ...nect digital I O signals Section 3 2 Section 3 4 8 Note 2 Encoder connector CN2 Used to connect the servo motor encoder or external encoder Refer to table 1 1 for the compatible external encoders Section 3 4 Servo Motor Instruction Manual Vol 3 9 Battery connector CN4 Used to connect the battery for absolute position data backup Chapter 12 10 Battery holder Install the battery for absolute positio...

Page 50: ...s is for MR J4 _A4 RJ servo amplifier MR J4 _A4 servo amplifier does not have CN2L connector 2 External encoder is a term for linear encoder used in the linear servo system and load side encoder used in the fully closed loop system in this manual ...

Page 51: ... Section 1 6 3 Control circuit power supply connector CNP2 Connect the control circuit power supply and regenerative option Section 3 1 Section 3 3 4 Servo motor power output connector CNP3 Connect the servo motor 5 Charge lamp When the main circuit is charged this will light While this lamp is lit do not reconnect the cables 6 Protective earth PE terminal Grounding terminal Section 3 1 Section 3 ...

Page 52: ... block TE1 Used to connect the input power supply and servo motor 3 Battery holder Install the battery for absolute position data backup Section 12 2 4 Rating plate Section 1 6 5 Regenerative option power factor improving reactor terminal block TE3 Used to connect a regenerative option and a power factor improving DC reactor Section 3 1 Section 3 3 6 Charge lamp When the main circuit is charged th...

Page 53: ...tion 3 1 Section 3 3 2 Main circuit terminal block TE1 Used to connect the input power supply regenerative option and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal Grounding terminal 5 Battery holder Install the battery for absolute position data backup Section 12 2 6 Rating plate Section 1 6 7 Charge lamp When the ...

Page 54: ... DC reactor and a regenerative option Section 3 1 Section 3 3 2 Main circuit terminal block TE1 1 Used to connect the input power supply and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal Grounding terminal 5 Battery holder Install the battery for absolute position data backup Section 12 2 6 Rating plate Section 1 6 ...

Page 55: ...ctor and a regenerative option Section 3 1 Section 3 3 2 Main circuit terminal block TE1 1 Used to connect the input power supply and servo motor 3 Control circuit terminal block TE2 Used to connect the control circuit power supply 4 Protective earth PE terminal Grounding terminal 5 Battery holder Install the battery for absolute position data backup Section 12 2 6 Rating plate Section 1 6 7 Charg...

Page 56: ... encoder Refer to table 1 1 for the compatible external encoders Section 3 4 Servo Motor Instruction Manual Vol 3 9 Battery connector CN4 Used to connect the battery for absolute position data backup Chapter 12 10 Battery holder Install the the battery for absolute position data backup Section 12 2 11 Protective earth PE terminal Grounding terminal Section 3 1 Section 3 3 12 Main circuit power sup...

Page 57: ...ock may occur In addition when confirming whether the charge lamp is off or not always confirm it from the front of the servo amplifier The following shows how to remove and reinstall the front cover of MR J4 700A RJ to MR J4 22KA RJ and MR J4 500A4 RJ to MR J4 22KA4 RJ The diagram shows MR J4 700A Removal of the front cover A A 1 Hold the ends of lower side of the front cover with both hands 2 Pu...

Page 58: ...e front cover Front cover setting tab A A 1 Insert the front cover setting tabs into the sockets of the servo amplifier 2 places 2 Push down the cover supporting at point A Setting tab 3 Press the cover against the terminal box until the setting tabs click ...

Page 59: ... J4 200A RJ or less The diagram shows MR J4 20A RJ CN4 CN5 P C L11 L21 P3 P4 MR Configurator2 CN3 CN6 CN8 CN1 D Note 5 CN2 W V U L1 L2 L3 R S T CN2L Note 4 Line noise filter FR BSF01 Regenerative option Servo motor Personal computer Note 3 Magnetic contactor MC Power factor improving DC reactor FR HEL Molded case circuit breaker MCCB To safety relay or MR J3 D05 safety logic unit Junction terminal...

Page 60: ...ain circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 4 This is for the MR J4 _A RJ servo amplifier The MR J4 _A servo amplifier does not have the CN2L connector When using an MR J4 _A RJ servo amplifie...

Page 61: ...When not using the power factor improving DC reactor short P3 and P4 2 For the power supply specifications refer to section 1 3 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor ...

Page 62: ...n not using the power factor improving DC reactor short P3 and P4 2 For the power supply specifications refer to section 1 3 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 4 T...

Page 63: ...r cannot be used When not using the power factor improving DC reactor short P3 and P4 2 For the power supply specifications refer to section 1 3 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the ma...

Page 64: ... reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 For the power supply specifications refer to section 1 3 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off...

Page 65: ...r cannot be used When not using the power factor improving DC reactor short P3 and P4 2 For the power supply specifications refer to section 1 3 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the ma...

Page 66: ...factor improving DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 Refer to section 1 3 for the power supply specification 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow th...

Page 67: ... used When not using the power factor improving DC reactor short P3 and P4 2 Refer to section 1 3 for the power supply specification 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic conta...

Page 68: ...DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 Refer to section 1 3 for the power supply specification 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn of...

Page 69: ...C reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 Refer to section 1 3 for the power supply specification 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off...

Page 70: ...oving DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 Refer to section 1 3 for the power supply specification 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to t...

Page 71: ...C reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 Refer to section 1 3 for the power supply specification 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off...

Page 72: ...mproving AC reactor FR HAL D Note 5 Note 1 The power factor improving DC reactor cannot be used 2 For power supply specifications refer to section 1 3 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off ...

Page 73: ...1 FUNCTIONS AND CONFIGURATION 1 54 MEMO ...

Page 74: ...op or strike the servo amplifier Isolate it from all impact loads Do not install or operate the servo amplifier which have been damaged or have any parts missing When the equipment has been stored for an extended period of time contact your local sales office When handling the servo amplifier be careful about the edged parts such as corners of the servo amplifier The servo amplifier must be instal...

Page 75: ...erwise it may cause a malfunction 1 Installation clearances of the servo amplifier a Installation of one servo amplifier 40 mm or more 10 mm or more Servo amplifier Cabinet Cabinet 80 mm or more Wiring allowance Top Bottom 10 mm or more Note 2 40 mm or more Note 1 Note 1 For 11 kW to 22 kW servo amplifiers the clearance between the bottom and ground will be 120 mm or more 2 For the MR J4 500A RJ t...

Page 76: ...nt servo amplifiers in consideration of mounting tolerances In this case keep the ambient temperature within 0 C to 45 C or use the servo amplifier with 75 or less of the effective load ratio 100 mm or more 30 mm or more 30 mm or more Cabinet Top Bottom 100 mm or more 1 mm 30 mm or more 40 mm or more Cabinet 1 mm Leaving clearance Mounting closely 40 mm or more Note 1 10 mm or more Note 2 Note 1 F...

Page 77: ...lamping the cable must be fully examined so that bending stress and cable s own weight stress are not applied to the cable connection 2 For use in any application where the servo motor moves fix the cables encoder power supply and brake with having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part Use the optional encoder cabl...

Page 78: ...act your local sales office CAUTION Do not perform insulation resistance test on the servo amplifier Otherwise it may cause a malfunction Do not disassemble and or repair the equipment on customer side It is recommended that the following points periodically be checked 1 Check for loose terminal block screws Retighten any loose screws 2 Check the cables and the like for scratches or cracks Inspect...

Page 79: ...ing conditions The capacitor will reach the end of its life in 10 years of continuous operation in normal air conditioned environment 40 C surrounding air temperature or less 2 Relays Contact faults will occur due to contact wear arisen from switching currents Relays reach the end of their lives when the power has been turned on and forced stop by EM1 Forced stop 1 has occurred 100 000 times in to...

Page 80: ...t Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuits may not operate DOCOM Control output signal Servo amplifier RA For sink output interface 24 V DC DOCOM Control output signal 24 V DC Servo amplifier RA For source output interface Use a...

Page 81: ...ltage exceeds the upper limit of the specification the servo amplifier will break down The servo amplifier has a built in surge absorber varistor to reduce noise and to suppress lightning surge The varistor can break down due to its aged deterioration To prevent a fire use a molded case circuit breaker or fuse for input power supply Connecting a servo motor of the wrong axis to U V W or CN2 of the...

Page 82: ...ing cables refer to Servo Motor Instruction Manual Vol 3 4 This diagram shows sink I O interface For source I O interface refer to section 3 9 3 5 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 6 Use a magnetic contactor with an operation delay time interval between current being applied to the coil until closure of contacts of 80 ms or less Depending on the m...

Page 83: ...egenerative option refer to section 11 2 3 For the encoder cable use of the option cable is recommended For selecting cables refer to Servo Motor Instruction Manual Vol 3 4 This diagram shows sink I O interface For source I O interface refer to section 3 9 3 5 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 6 Use a magnetic contactor with an operation delay tim...

Page 84: ...l Vol 3 4 This diagram shows sink I O interface For source I O interface refer to section 3 9 3 5 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 6 Use a magnetic contactor with an operation delay time interval between current being applied to the coil until closure of contacts of 80 ms or less Depending on the main circuit voltage and operation pattern bus vol...

Page 85: ...s diagram shows sink I O interface For source I O interface refer to section 3 9 3 5 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 6 Use a magnetic contactor with an operation delay time interval between current being applied to the coil until closure of contacts of 80 ms or less Depending on the main circuit voltage and operation pattern bus voltage decrease...

Page 86: ... voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 7 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 8 When not using the ST...

Page 87: ... 4 This diagram is for sink I O interface For source I O interface refer to section 3 9 3 5 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 6 Use a magnetic contactor with an operation delay time interval between current being applied to the coil until closure of contacts of 80 ms or less Depending on the main circuit voltage and operation pattern bus voltage d...

Page 88: ...O interface For source I O interface refer to section 3 9 3 5 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 6 Use a magnetic contactor with an operation delay time interval between current being applied to the coil until closure of contacts of 80 ms or less Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause th...

Page 89: ...voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 7 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 8 When not using the STO function attach the short circuit...

Page 90: ... 5 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 6 Use a magnetic contactor with an operation delay time interval between current being applied to the coil until closure of contacts of 80 ms or less Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake de...

Page 91: ...1 35 9 3 36 CLEARCOM 12 15 16 14 13 11 CLEAR RDYCOM READY PULSE F PULSE F PG0 PG0 COM PULSE R PULSE R 18 10 17 9 DOCOM CR RD PP PG NP NG LZ LZR 8 Note 11 Note 7 CN1 Positioning module RD75D Note 4 24 V DC Note 4 24 V DC In position Control common SD RA1 RA2 RA3 RA4 Plate Note 1 2 m or less 10 m or less Upper limit setting 42 15 19 17 18 43 44 21 1 27 SD EM2 SON RES PC TL LSP LSN DICOM P15R TLA LG ...

Page 92: ...he same signal name are connected in the servo amplifier 8 This length applies to the command pulse train input in the differential line driver type It is 2 m or less in the open collector type 9 Use SW1DNC MRC2 _ Refer to section 11 7 10 Controller or parameter units can also be connected via the CN3 connector enabling RS 422 RS 485 communication Note that using the USB communication function CN5...

Page 93: ...e Note 1 2 m or less 10 m or less Upper limit setting Note 7 CN1 Forced stop 2 Servo on Reset Proportion control External torque limit selection Forward rotation stroke end Reverse rotation stroke end Note 3 5 Note 5 Note 10 USB cable option Note 9 MR Configurator2 Analog torque limit 10 V maximum torque Personal computer Note 12 Short circuit connector Packed with the servo amplifier Note 13 Main...

Page 94: ...ble option CN5 Analog torque limit 10 V maximum torque Note 9 MR Configurator2 Personal computer Note 4 24 V DC Note 4 24 V DC RA1 RA2 RA3 RA4 RA5 42 15 19 17 18 43 44 20 41 16 EM2 SON RES ST1 ST2 LSP LSN DICOM SP1 SP2 Reverse rotation stroke end Forced stop 2 Servo on Reset Speed selection 1 Forward rotation start Speed selection 2 Reverse rotation start Forward rotation stroke end Note 3 5 Note ...

Page 95: ...SN Reverse rotation stroke end Normally closed contact 6 ALM Malfunction turns on in normal alarm free condition Normally closed contact 7 The pins with the same signal name are connected in the servo amplifier 8 TLA will be available when TL External torque limit selection is enabled with Pr PD03 to Pr PD22 Refer to section 3 6 1 5 9 Use SW1DNC MRC2 _ Refer to section 11 7 10 Controller or parame...

Page 96: ...2 m or less 2 m or less 10 m or less 2 m or less Upper limit setting Upper limit setting Note 10 USB cable option CN5 Analog torque limit 10 V maximum torque Note 9 MR Configurator2 Personal computer Note 4 13 24 V DC Note 4 13 24 V DC Reverse rotation stroke end Forced stop 2 Servo on Reset Speed selection 1 Forward rotation start Speed selection 2 Reverse rotation start Forward rotation stroke e...

Page 97: ... Control common Encoder Z phase pulse open collector Note 6 CN1 49 RD Ready Encoder Z phase pulse differential line driver 8 LZ LZR Note 6 CN1 20 47 DICOM 21 DICOM DOCOM Personal computer Note 8 USB cable option CN5 27 1 2 m or less Upper limit setting 28 2 Plate Upper limit setting TC SD VLA LG P15R Analog torque command 8 V maximum torque Analog speed limit 0 to 10 V rated speed Note 7 MR Config...

Page 98: ... both for input signals and output signals 5 ALM Malfunction turns on in normal alarm free condition Normally closed contact 6 The pins with the same signal name are connected in the servo amplifier 7 Use SW1DNC MRC2 _ Refer to section 11 7 8 Controller or parameter units can also be connected via the CN3 connector enabling RS 422 RS 485 communication Note that using the USB communication function...

Page 99: ...ial line driver Note 6 CN1 Personal computer Note 8 USB cable option CN5 2 m or less Upper limit setting Plate Upper limit setting Analog torque command 8 V maximum torque Analog speed limit 0 to 10 V rated speed Note 7 MR Configurator2 Plate 10 m or less Forced stop 2 Servo on Reset Forward rotation selection Reverse rotation selection Note 3 Speed selection 2 Speed selection 1 Note 9 Short circu...

Page 100: ...ervo amplifiers Refer to section 11 11 for details P C D Regenerative option 1 200 V class 100 V class 1 MR J4 500A RJ or less and MR J4 40A1 RJ or less When using a servo amplifier built in regenerative resistor connect P and D factory wired When using a regenerative option disconnect P and D and connect the regenerative option to P and C 2 MR J4 700A RJ to MR J4 22KA RJ MR J4 700A RJ to MR J4 22...

Page 101: ... 2 Power on sequence POINT The voltage of analog monitor output output signal etc may be unstable at power on 1 Power on procedure 1 Always use a magnetic contactor for the main circuit power supply wiring L1 L2 L3 as shown in above section 3 1 Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs 2 Switch on the control circuit power supply L11 and L21 ...

Page 102: ...and direct drive motor 3 3 3 Wiring CNP1 CNP2 and CNP3 POINT For the wire sizes used for wiring refer to section 11 9 MR J4 500A RJ or more and MR J4 500A4 RJ or more do not have these connectors Use the servo amplifier power connector for wiring CNP1 CNP2 and CNP3 1 Connector a MR J4 10A RJ to MR J4 100A RJ CNP2 CNP1 CNP3 Servo amplifier Table 3 1 Connector and applicable wire Connector Receptacl...

Page 103: ...or shorter 11 5 J FAT OT EXL JST CNP3 03JFAT SAXGFK XL CNP2 05JFAT SAXGDK H5 0 AWG18 to 14 3 9 mm or shorter 9 c MR J4 60A4 RJ to MR J4 350A4 RJ CNP2 CNP1 Note CNP3 Servo amplifier Note A pin for preventing improper connection is inserted to N of CNP1 connector Table 3 3 Connector and applicable wire Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufa cturer Size Insu...

Page 104: ...G18 to 14 3 9 mm or shorter 9 J FAT OT JST CNP2 05JFAT SAXGDK H5 0 CNP3 03JFAT SAXGDK H7 5 2 Cable connection procedure a Fabrication on cable insulator Refer to table 3 1 to 3 4 for stripped length of cable insulator The appropriate stripped length of cables depends on their type etc Set the length considering their status Insulator Core Stripped length Twist strands lightly and straighten them a...

Page 105: ...50A4 RJ AWG 16 AI1 5 10BK AI TWIN2 1 5 10BK AWG 14 AI2 5 10BU MR J4 10A1 RJ to MR J4 40A1 RJ AWG16 AI1 5 10BK AI TWIN2 1 5 10BK AWG14 AI2 5 10BU b Inserting wire Insert the open tool as follows and push down it to open the spring While the open tool is pushed down insert the stripped wire into the wire insertion hole Check the insertion depth so that the wire insulator does not get caught by the s...

Page 106: ...nectors are as viewed from the cable connector wiring section For the STO I O signal connector CN8 refer to chapter 13 For the CN1 connector securely connect the external conductive portion of the shielded cable to the ground plate and fix it to the connector shell Screw Screw Ground plate Cable ...

Page 107: ... phase pulse encoder PZR PZ The frames of the CN1 connectors are connected to the protective earth terminal in the servo amplifier CN5 USB connector refer to section 11 7 CN3 RS 422 RS 485 connector refer to chapter 14 The 3M make connector is shown CN8 For the STO I O signal connector refer to section 13 2 Battery connector refer to section 11 8 CN4 BAT Note 1 The MR J4 _A_ RJ servo amplifiers ha...

Page 108: ...P2 PP2 Note 7 Note 7 Note 7 PP2 Pr PD43 Pr PD44 Note 5 Note 8 38 I NP2 NP2 Note 7 Note 7 Note 7 NP2 Pr PD45 Pr PD46 Note 5 39 40 41 I CR CR SP1 SP1 SP1 SP1 SP1 SP1 CR Pr PD13 Pr PD14 42 I EM2 EM2 EM2 EM2 EM2 EM2 43 I LSP LSP LSP LSP LSP Pr PD17 Pr PD18 44 I LSN LSN LSN LSN LSN Pr PD19 Pr PD20 45 I LOP LOP LOP LOP LOP LOP Pr PD21 Pr PD22 46 DOCOM DOCOM DOCOM DOCOM DOCOM DOCOM 47 DOCOM DOCOM DOCOM D...

Page 109: ...ff without the forced stop deceleration 2 _ _ _ EM2 MBR Electromagnetic brake interlock turns off after the forced stop deceleration MBR Electromagnetic brake interlock turns off after the forced stop deceleration EM2 and EM1 are mutually exclusive EM2 has the same function as EM1 in the torque control mode Forced stop 1 EM1 CN1 42 When using EM1 set Pr PA04 to 0 _ _ _ to enable EM1 Turn EM1 off o...

Page 110: ... be used during normal operation It can be used during the magnetic pole detection in the linear servo motor control mode and the DD motor control mode Also when the magnetic pole detection in the torque control mode is completed this signal will be disabled External torque limit selection TL CN1 18 Turning off TL will enable Pr PA11 Forward torque limit and Pr PA12 Reverse torque limit and turnin...

Page 111: ...command speed for operation DI 1 Speed selection 2 SP2 CN1 16 Note Input device Speed command DI 1 SP3 SP2 SP1 Speed selection 3 SP3 0 0 0 VC Analog speed command DI 1 0 0 1 Pr PC05 Internal speed command 1 0 1 0 Pr PC06 Internal speed command 2 0 1 1 Pr PC07 Internal speed command 3 1 0 0 Pr PC08 Internal speed command 4 1 0 1 Pr PC09 Internal speed command 5 1 1 0 Pr PC10 Internal speed command ...

Page 112: ...on at the same time to make the torque less than the rated by TLA Analog torque limit DI 1 Clear CR CN1 41 Turn CR on to clear the position control counter droop pulses on its leading edge The pulse width should be 10 ms or longer The delay amount set in Pr PB03 Position command acceleration deceleration time constant is also cleared When _ _ _1 is set to Pr PD32 the pulses are always cleared whil...

Page 113: ...eleration time constant 2 Pr PC31 Deceleration time constant 2 Note 0 Off 1 On ABS transfer mode ABSM CN1 17 This is an ABS transfer mode request device When _ _ _ 1 is set in Pr PA03 and absolute position detection system by DIO is selected CN1 17 pin will become ABSM Refer to chapter 12 DI 1 ABS request ABSR CN1 18 This is an ABS request device When _ _ _ 1 is set in Pr PA03 and absolute positio...

Page 114: ...ailure occurs DO 1 Ready RD CN1 49 Enabling servo on to make the servo amplifier ready to operate will turn on RD DO 1 In position INP CN1 22 CN1 24 When the number of droop pulses is in the preset in position range INP will turn on The in position range can be changed using Pr PA10 When the in position range is increased INP may be on during low speed rotation INP turns on when servo on turns on ...

Page 115: ...L 92 Battery cable disconnection warning or AL 9F Battery warning has occurred When the battery warning is not occurring turning on the power will turn off BWNG after 2 5 s to 3 5 s DO 1 Alarm code ACD0 CN1 24 To use these signals set _ _ _ 1 in Pr PD34 This signal is outputted when an alarm occurs When an alarm is not occurring respective ordinary signals are outputted For details of the alarm co...

Page 116: ... Refer to section 3 6 2 1 If a value equal to or larger than the permissible speed is inputted to VC the value is clamped at the permissible speed Resolution 14 bits or equivalent For MR J4 _A_ RJ 100 W or more servo amplifiers setting Pr PC60 to _ _ 1 _ increases the analog input resolution to 16 bits This function is available with servo amplifiers manufactured in November 2014 or later Analog i...

Page 117: ...One pulse is outputted per servo motor revolution This turns on when the zero point position is reached negative logic The minimum pulse width is about 400 μs For home position return using this pulse set the creep speed to 100 r min or less DO 2 Encoder Z phase pulse open collector OP CN1 33 The encoder zero point signal is outputted in the open collector type DO 2 Analog monitor 1 MO1 CN6 3 This...

Page 118: ...upply of 24 V DC to this terminal when using CN1 10 pin and CN1 35 pin by DI CN1 10 pin and CN1 35 pin are available for MR J4 _A_ RJ servo amplifiers manufactured in November 2014 or later Digital I F common DOCOM CN1 46 CN1 47 Common terminal of input signal such as EM2 of the servo amplifier This is separated from LG For sink interface connect of 24 V DC external power supply For source interfa...

Page 119: ...module Signal type Command pulse logic setting Positioning module fixed MR J4 _A_ RJ servo amplifier Pr PA13 setting Open collector Differential line driver Negative logic Negative logic _ _ 1 _ 1 Pulse train input a Input pulse waveform selection You can input command pulses in any of three different forms and can choose positive or negative logic Set the command pulse train form in Pr PA13 Refer...

Page 120: ...ver type Connect as follows PP NP Servo amplifier PG NG SD Approximately 100Ω Approximately 100Ω Note Note Pulse train input interface is comprised of a photocoupler If a resistor is connected to the pulse train signal line it may malfunction due to reduction in current The following section explains about the case where the negative logic and the forward reverse rotation pulse trains are set to _...

Page 121: ...es 3 RD Ready RD Ready ON OFF ON OFF Alarm No alarm SON Servo on Alarm 100 ms or shorter 10 ms or shorter 10 ms or shorter 4 Electronic gear switching The combination of CM1 and CM2 enables you to select four different electronic gear numerators set in the parameters As soon as CM1 CM2 is turned on or off the numerator of the electronic gear changes Therefore if a shock occurs at switching use the...

Page 122: ...pending on products At the voltage of less than 0 05 V torque may vary as it may not be limited sufficiently Therefore use this function at the voltage of 0 05 V or more Note 5 Connection example Japan resistor RRS10 or equivalent TLA applied voltage vs torque limit value TLA applied voltage V Maximum torque Torque 0 0 0 05 TL DICOM P15R TLA LG SD Servo amplifier 2 kΩ 2 kΩ 24 V DC Note This diagra...

Page 123: ...Pr PA11 Pr PA12 Pr PA11 Pr PA12 TLA Pr PA11 Pr PA12 TLA TLA 1 0 Pr PC35 Pr PA11 Pr PA12 Pr PA11 Pr PA12 Pr PC35 Pr PA11 Pr PA12 Pr PC35 Pr PC35 1 1 TLA Pr PC35 Pr PC35 Pr PC35 TLA Pr PC35 TLA TLA Note 0 Off 1 On c TLC Limiting torque TLC turns on when the servo motor torque reaches the torque limited using the forward rotation torque limit reverse rotation torque limit or analog torque limit ...

Page 124: ...otation direction according to ST1 Forward rotation start and ST2 Reverse rotation start combination Note 1 Input device Note 2 Rotation direction ST2 ST1 VC Analog speed command Internal speed command Polarity 0 V Polarity 0 0 Stop servo lock Stop servo lock Stop servo lock Stop servo lock 0 1 CCW Stop no servo lock CW CCW 1 0 CW CCW CW 1 1 Stop servo lock Stop servo lock Stop servo lock Stop ser...

Page 125: ...C Analog speed command 0 0 1 Pr PC05 Internal speed command 1 0 1 0 Pr PC06 Internal speed command 2 0 1 1 Pr PC07 Internal speed command 3 1 0 0 Pr PC08 Internal speed command 4 1 0 1 Pr PC09 Internal speed command 5 1 1 0 Pr PC10 Internal speed command 6 1 1 1 Pr PC11 Internal speed command 7 Note 0 Off 1 On You can change the speed during rotation To accelerate decelerate set acceleration decel...

Page 126: ...e indicates the torque generation directions determined by RS1 Forward rotation selection and RS2 Reverse rotation selection when TC Analog torque command is used Note Input device Rotation direction RS2 RS1 TC Analog torque command Polarity 0 V Polarity 0 0 Torque is not generated Torque is not generated Torque is not generated 0 1 CCW Forward rotation in power running mode reverse rotation in re...

Page 127: ...applied voltage of VLA Analog speed limit A relation between VLA Analog speed limit applied voltage and the servo motor speed is as follows The speed limit direction and torque command direction are the same direction When the servo motor speed reaches the speed limit value torque control may become unstable Make the set value more than 100 r min greater than the desired speed limit value Speed r ...

Page 128: ...3 Speed selection 3 as follows Note Input device Speed limit SP3 SP2 SP1 0 0 0 VLA Analog speed limit 0 0 1 Pr PC05 Internal speed limit 1 0 1 0 Pr PC06 Internal speed limit 2 0 1 1 Pr PC07 Internal speed limit 3 1 0 0 Pr PC08 Internal speed limit 4 1 0 1 Pr PC09 Internal speed limit 5 1 1 0 Pr PC10 Internal speed limit 6 1 1 1 Pr PC11 Internal speed limit 7 Note 0 Off 1 On When the internal speed...

Page 129: ...e zero speed status To ensure safety switch modes after the servo motor has stopped When position control mode is switched to speed control mode droop pulses will be reset If LOP is switched on off at the speed higher than the zero speed the control mode cannot be changed regardless of the speed The following shows a switching timing chart Zero speed level Position control mode ON OFF ON OFF LOP C...

Page 130: ...d selection 2 as follows Note Input device Speed command value SP2 SP1 0 0 VC Analog speed command 0 1 Pr PC05 Internal speed command 1 1 0 Pr PC06 Internal speed command 2 1 1 Pr PC07 Internal speed command 3 Note 0 Off 1 On To select VC Analog speed command and a speed command value of internal speed commands 1 to 7 enable SP3 Speed selection 3 with Pr PD03 to Pr PD22 Note Input device Speed com...

Page 131: ... torque command ON OFF 10V 0 Note Load torque Speed control mode Torque control mode Speed control mode Forward rotation in driving mode Note When ST1 Forward rotation start and ST2 Reverse rotation start are switched off as soon as a mode is switched to the speed control the servo motor comes to a stop according to the deceleration time constant A shock may occur at switching control modes 2 Spee...

Page 132: ...t using SP1 Speed selection 1 as follows Note Input device Speed command value SP1 0 VLA Analog speed limit 1 Pr PC05 Internal speed limit 1 Note 0 Off 1 On You can change the speed during rotation To accelerate decelerate set acceleration deceleration time constant in Pr PC01 or Pr PC02 When the internal speed limit 1 is used to command a speed the speed does not vary with the ambient temperature...

Page 133: ...rol mode droop pulses will be reset If LOP is switched on off at the speed higher than the zero speed the control mode cannot be changed regardless of the speed The following shows a switching timing chart Zero speed level Torque control mode Position control mode Position control mode Servo motor speed TC Analog torque command ZSP Zero speed detection LOP Control switching 0V OFF ON OFF ON 10V No...

Page 134: ...eleration function In this case when an alarm occurs the servo motor will stop with the dynamic brake 3 7 1 Forced stop deceleration function When EM2 is turned off dynamic brake will start to stop the servo motor after forced stop deceleration During this sequence the display shows AL E6 Servo forced stop warning During normal operation do not use EM2 Forced stop 2 to alternate stop and drive The...

Page 135: ...ecelerate according to Pr PC51 Forced stop deceleration time constant Once the motor speed is below Pr PC17 Zero speed after completion of the deceleration command base power is cut and the dynamic brake activates Base circuit Energy supply to the servo motor 0 r min Servo motor speed MBR Electromagnetic brake interlock ON OFF Enabled ON OFF Deceleration time Command Rated speed Ordinary operation...

Page 136: ...rake interlock ON OFF Enabled Base circuit Energy supply to the servo motor 0 r min Servo motor speed ON OFF Enabled EM2 Forced stop 2 ON OFF Pr PC16 When EM2 Forced stop 2 turns off or an alarm occurs during driving the servo motor will decelerate based on the deceleration time constant MBR Electromagnetic brake interlock will turn off and then after the delay time set in Pr PC16 the servo amplif...

Page 137: ...d is zero speed or less 1 Timing chart MBR Electromagnetic brake interlock ON OFF Enabled Base circuit Energy supply to the servo motor ON OFF Actual operation of electromagnetic brake Disabled Enabled Position Travel distance ON OFF Enabled EM2 Forced stop 2 Set the base circuit shut off delay time Pr PC16 2 Adjustment Set the freefall prevention compensation amount in Pr PC54 While the servo mot...

Page 138: ...unction set 2 _ _ _ initial value in Pr PA04 1 When the forced stop deceleration function is enabled Command is not received Alarm occurrence Alarm No No alarm Note 2 Note 1 Model speed command 0 and equal to or less than zero speed MBR Electromagnetic brake interlock ON OFF ON no alarm OFF alarm Base circuit Energy supply to the servo motor ON OFF Servo amplifier display 0 r min Servo motor speed...

Page 139: ... amplifier display 0 r min Servo motor speed ALM Malfunction No alarm Alarm No Braking by the dynamic brake Dynamic brake Braking by the electromagnetic brake Operation delay time of the electromagnetic brake Alarm occurrence 3 8 2 When you do not use the forced stop deceleration function POINT To disable the function set 0 _ _ _ in Pr PA04 The operation status during an alarm is the same as secti...

Page 140: ...R LG E USB P S T D GND D 2 3 5 CN5 RA RA M 3 Note 4 6 CN2L 2 4 7 8 MR2 MRR2 MX2 MXR2 LG External encoder Differential line driver output 35 mA or less Open collector output Case Isolated 15 V DC Analog monitor Servo amplifier Encoder Servo motor Note 3 Note 1 Note 1 Note 1 Note 1 Note 1 Note 1 Note 1 10 V DC 24 V DC Note 5 Encoder 10 V DC SON SON SON CN1 15 SP2 SP2 16 PC ST1 RS2 17 TL ST2 RS1 18 R...

Page 141: ...or source input interface 3 This diagram shows sink I O interface For source I O interface refer to section 3 9 3 4 This is for MR J4 _A_RJ servo amplifier The MR J4 _A_ servo amplifier does not have the CN2L connector 5 The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience However they can be configured by one 6 Refer to table 1 1 for conne...

Page 142: ... is the input terminal Transmit signals from sink open collector type transistor output relay switch etc The following is a connection diagram for sink input Refer to section 3 9 3 for source input Approximately 5 mA TR 24 V DC 10 500 mA Switch For transistor EM2 etc Servo amplifier DICOM VCES 1 0 V ICEO 100 µA Approximately 6 2 kΩ The following is for when CN1 10 pin and CN1 35 pin are used as di...

Page 143: ...ode is reversed servo amplifier will malfunction Servo amplifier ALM etc Load DOCOM Note If the voltage drop maximum of 2 6 V interferes with the relay operation apply high voltage maximum of 26 4 V from external source 3 Pulse train input interface DI 2 Give a pulse train signal in the differential line driver type or open collector type a Differential line driver type 1 Interface SD PG NG PP NP ...

Page 144: ...nput interface is comprised of a photocoupler If a resistor is connected to the pulse train signal line it may malfunction due to reduction in current 2 Input pulse condition 0 9 0 1 tc tLH tc tHL tF PP NP tLH tHL 0 2 s tc 2 s tF 3 s 4 Encoder output pulse DO 2 a Open collector type Interface Maximum sink current 35 mA Photocoupler Servo amplifier OP LG SD Servo amplifier OP LG SD 5 V DC to 24 V D...

Page 145: ...LAR LBR LZR SD LG High speed photocoupler Servo amplifier LAR LBR LZR SD LA LB LZ 2 Output pulse 2 T 400 s or more Time cycle T is determined by the settings of Pr PA15 and Pr PC19 LA LAR LB LBR LZ LZR OP Servo motor CCW rotation 5 Analog input Input impedance 10 kΩ to 12 kΩ VC etc LG P15R SD Approx 10 kΩ 15 V DC Upper limit setting 2 kΩ 2 kΩ Servo amplifier ...

Page 146: ...relay switch etc Additionally the CN1 10 and CN1 35 pins cannot be used for source inputs 24 V DC 10 500 mA Switch For transistor EM2 etc Servo amplifier DICOM TR Approximately 5 mA VCES 1 0 V ICEO 100 µA Approximately 6 2 kΩ 2 Digital output interface DO 1 This is a circuit in which the emitter side of the output transistor is the output terminal When the output transistor is turned on the curren...

Page 147: ...kΩ Servo amplifier PP2 PG VCES 1 0 V ICEO 100 μA Note Approx 20 mA Approx 20 mA Note NP2 SD NG VCES 1 0 V ICEO 100 μA 24 V DC 10 300 mA Note Pulse train input interface is comprised of a photocoupler If a resistor is connected to the pulse train signal line it may malfunction due to reduction in current 2 Input pulse condition 0 9 0 1 tc tLH tc tHL tF PP2 NP2 tLH tHL 0 2 µs tc 2 µs tF 3 µs ...

Page 148: ...lfunction When using EM2 Forced stop 2 use MBR Electromagnetic brake interlock for operating the electromagnetic brake Operating the electromagnetic brake without using MBR during deceleration to a stop will saturate servo motor torques at the maximum value due to brake torque of the electromagnetic brake This can result in delay of the deceleration to a stop from a set value POINT Refer to Servo ...

Page 149: ...cking with the emergency stop switch 2 Do not use the 24 V DC interface power supply for the electromagnetic brake 2 Setting a Enable MBR Electromagnetic brake interlock with Pr PD23 to Pr PD26 Pr PD28 and Pr PD47 b In Pr PC16 Electromagnetic brake sequence output set a delay time Tb from MBR Electromagnetic brake interlock off to base circuit shut off at a servo off as in the timing chart in sect...

Page 150: ...in Base circuit Servo motor speed Coasting Operation delay time of the electromagnetic brake Ready on command from controller ON OFF Release Activate Operation command from controller Electromagnetic brake Release delay time and external relay etc Note 2 Note 3 0 r min Servo on command from controller ON OFF Tb Pr PC16 Electromagnetic brake sequence output Note 1 ON Electromagnetic brake is not ac...

Page 151: ... command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor c Alarm occurrence The operation status during an alarm is the same as section 3 8 d Both main and control circuit power supplies off MBR Electromagnetic brake interlock Note 2 ON OFF Base circuit ON OFF Alarm AL 10 Undervoltage No alarm Alarm Approx 10 ms Dynamic brake Dynamic brake Electr...

Page 152: ... the servo motor Note 1 ON Electromagnetic brake is not activated OFF Electromagnetic brake has been activated 2 Variable according to the operation status 2 When you do not use the forced stop deceleration function POINT To disable the function set 0 _ _ _ in Pr PA04 a SON Servo on on off It is the same as 1 a in this section b EM1 Forced stop 1 on off Dynamic brake Dynamic brake Electromagnetic ...

Page 153: ... supply on Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake Operation delay time of the electromagnetic brake MBR Electromagnetic brake interlock Note 2 Base circuit Alarm AL 10 Undervoltage No alarm Alarm Servo motor speed Approx 10 ms Note 1 ON OFF ON OFF Main circuit power supply ON OFF 0 r min Note 1 Variable according to the operation status 2 ON Electromagnetic brake i...

Page 154: ...plifier may be affected by the switching noise due to di dt and dv dt of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 Ensure to connect the wire to the PE terminal of the servo amplifier Do not connect the wire directly to the grounding of the cabinet Line filter Note Pow...

Page 155: ...3 SIGNALS AND WIRING 3 76 MEMO ...

Page 156: ...sistor servo motor etc may be hot while power is on or for some time after power off Take safety measures e g provide covers to prevent accidental contact of hands and parts cables etc with them During operation never touch the rotor of the servo motor Otherwise it may cause injury POINT When you use a linear servo motor replace the following left words to the right words Load to motor inertia rat...

Page 157: ...et the parameters as necessary such as the used operation mode and regenerative option selection Refer to chapter 5 and sections 4 2 4 4 3 4 and 4 4 4 For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible check whether the servo motor rotates correctly Refer to sections 4 2 3 4 3 3 and 4 4 3 For the test operation with the servo moto...

Page 158: ...nnection of servo amplifier and servo motor 1 The servo amplifier power output U V and W should match in phase with the servo motor power input terminals U V and W Servo amplifier Servo motor M U V W U V W 2 The power supplied to the servo amplifier should not be connected to the power outputs U V and W To do so will fail the connected servo amplifier and servo motor Servo amplifier Servo motor M ...

Page 159: ...nd C terminal should not be connected Brake unit or power regeneration converter should be connected to P terminal and N terminal Refer to section 11 3 to 11 4 A twisted cable should be used when wiring is over 5 m and under 10 m using a brake unit Refer to section 11 3 d When you use a power regeneration common converter For 5 kW or less servo amplifiers the lead wire between P terminal and D ter...

Page 160: ...neration common converter for 11 kW or more servo amplifiers Power regeneration common converter should be connected to P4 terminal and N terminal Refer to section 11 5 e The power factor improving DC reactor should be connected between P3 and P4 Refer to section 11 11 Note Power factor improving DC reactor Servo amplifier P3 P4 Note Always disconnect between P3 and P4 3 100 V class The lead wire ...

Page 161: ...vo on 2 Make sure that a command pulse train is not input 3 Switch on the main circuit power supply and control circuit power supply When main circuit power control circuit power is switched on the display shows C Cumulative feedback pulses and in 2 s later shows data In the absolute position detection system first power on results in AL 25 Absolute position erased and the servo system cannot be s...

Page 162: ... stop Refer to chapter 8 Note EM2 Forced stop 2 off The servo motor decelerates to a stop with the command AL E6 Servo forced stop warning occurs EM2 has the same function as EM1 in the torque control mode Refer to section 3 5 for EM1 STO STO1 STO2 off The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop LSP Forward rotation stroke end of LSN Reverse rotat...

Page 163: ...ady switches on 2 Switch on LSP Forward rotation stroke end and LSN Reverse rotation stroke end 3 When a pulse train is input from the controller the servo motor starts rotating Give a low speed command at first and check the rotation direction etc of the servo motor If the machine does not operate in the intended direction check the input signal In this step connect the servo motor with the machi...

Page 164: ...adjust or change the parameter values extremely as it will make operation unstable POINT Using the optional MR Configurator2 you can refer to reason for rotation failure etc The following faults may occur at start up If any of such faults occurs take the corresponding action 1 Troubleshooting No Start up sequence Fault Investigation Possible cause Reference 1 Power on The 5 digit 7 segment LED is ...

Page 165: ...tting of Pr PA13 Chapter 5 Servo motor run in reverse direction 1 Mistake in wiring to controller 2 Mistake in setting of Pr PA14 4 Gain adjustment Rotation ripples speed fluctuations are large at low speed Make gain adjustment in the following procedure 1 Increase the auto tuning response level 2 Repeat acceleration and deceleration three times or more to complete auto tuning Gain adjustment faul...

Page 166: ...e stop position M in the above diagram Also Causes A B and C indicate the causes of position mismatch For example Cause A indicates that noise entered the wiring between the controller and servo amplifier causing command input pulses to be miscounted In a normal status without position shift there are the following relationships 1 Q P Output counter Cumulative command pulses 2 When Pr PA21 is 0 _ ...

Page 167: ...t was switched on Cause C 3 When C ℓ M Mechanical slip occurred between the servo motor and machine Cause B 4 3 Startup in speed control mode Make a startup in accordance with section 4 1 This section provides the methods specific to the speed control mode 4 3 1 Power on and off procedures 1 Power on Switch power on in the following procedure Always follow this procedure at power on 1 Switch off S...

Page 168: ...motor decelerates to a stop with the command AL E6 Servo forced stop warning occurs EM2 has the same function as EM1 in the torque control mode Refer to section 3 5 for EM1 STO STO1 STO2 off The base circuit is shut off and the dynamic brake operates to bring the servo motor to a stop LSP Forward rotation stroke end of LSN Reverse rotation stroke end off It will bring the motor to a sudden stop an...

Page 169: ...se rotation stroke end 3 When VC Analog speed command is input from the controller and ST1 Forward rotation start or ST2 Reverse rotation start is switched on the servo motor starts rotating Give a low speed command at first and check the rotation direction etc of the servo motor If the machine does not operate in the intended direction check the input signal In this step connect the servo motor w...

Page 170: ...eter settings 4 3 6 Trouble at start up CAUTION Never adjust or change the parameter values extremely as it will make operation unstable POINT Using the optional MR Configurator2 you can refer to reason for rotation failure etc The following faults may occur at start up If any of such faults occurs take the corresponding action No Start up sequence Fault Investigation Possible cause Reference 1 Po...

Page 171: ...eed commands 1 to 7 Pr PC05 to Pr PC11 Set value is 0 Section 5 2 3 Check the forward rotation torque limit Pr PA11 and the reverse rotation torque limit Pr PA12 Torque limit level is too low as compared to the load torque Section 5 2 1 When TLA Analog torque limit is usable check the input voltage on the status display Torque limit level is too low as compared to the load torque Section 4 5 3 4 G...

Page 172: ...ds the running of the servo motor and brings it to a stop Refer to section 3 10 for the servo motor with an electromagnetic brake Operation command Stopping condition Switch off SON Servo on The base circuit is shut off and the servo motor coasts Alarm occurrence The servo motor decelerates to a stop with the command With some alarms however the dynamic brake operates to bring the servo motor to a...

Page 173: ... RD Ready switches on 2 When TC Analog speed command is input from the controller and RS1 Forward rotation start or RS2 Reverse rotation start is switched on the servo motor starts rotating Give a low torque command at first and check the rotation direction etc of the servo motor If the machine does not operate in the intended direction check the input signal In this step connect the servo motor w...

Page 174: ...30M H MR EKCBL40M H MR EKCBL50M H When using this servo in the torque control mode change Pr PA01 setting to select the torque control mode In the torque control mode the servo can be used by merely changing the basic setting parameters Pr PA _ _ and extension setting parameters Pr PC _ _ mainly As necessary set other parameters 4 4 5 Actual operation Start actual operation after confirmation of n...

Page 175: ...ervo on Alarm occurs Refer to chapter 8 and remove cause Chapter 8 Note Servo motor shaft is free Call the external I O signal display section 4 5 7 and check the on off status of the input signal 1 SON Servo on is not input wiring mistake 2 24 V DC power is not supplied to DICOM Section 4 5 7 3 Switch on RS1 Forward rotation start or RS2 Reverse rotation start Servo motor does not rotate Call the...

Page 176: ...T MODE UP DOWN SET Display mode change Low High switching Push this button together with the SET button for 3 s or more to switch to the one touch tuning mode Display data scrolling Display data scrolling Display data determination Data clear Push this button together with the MODE button for 3 s or more to switch to the one touch tuning mode Decimal LED Displays the decimal points alarm presence ...

Page 177: ...lect this when performing the one touch tuning Section 6 2 Sequence display external signal display output signal DO forced output test operation software version display VC automatic offset servo motor series ID display servo motor type ID display servo motor encoder ID display drive recorder enabled disabled display Section 4 5 4 Current alarm display alarm history display parameter error number...

Page 178: ...load ratio Cumulative feedback pulses Effective load ratio Peak load ratio Instantaneous torque Within one revolution position 1 pulse unit Servo motor speed Linear servo motor speed Within one revolution position 1000 pulse unit Droop pulses ABS counter Cumulative command pulses Load to motor inertia ratio Command pulse frequency Bus voltage Encoder inside temperature Settling time Oscillation de...

Page 179: ...r information 2 Load side encoder cumulative feedback pulses Load side encoder droop pulses Load side encoder information 1 1 pulse unit Load side encoder information 1 100000 pulses unit Load side encoder information 2 Cumulative feedback pulses Note The displays in the frames are the standard control modes in one cycle with some displays omitted ...

Page 180: ...it total power consumption 2 increment of 100 kWh Electrical angle high Electrical angle low Electrical angle high Cumulative feedback pulses Z phase counter low Z phase counter high Note The displays in the frames are the standard control modes in one cycle with some displays omitted ...

Page 181: ...yed data Servo amplifier display Servo motor speed Forward rotation at 2500 r min Reverse rotation at 3000 r min Reverse rotation is indicated by Load to motor inertia ratio 7 00 times ABS counter 11252 rev 12566 rev Lit Negative value is indicated by the lit decimal points in the upper four digits ...

Page 182: ...se s The frequency of position command input pulses is counted and displayed The value displayed is not multiplied by the electronic gear CMX CDV Analog speed command voltage Analog speed limit voltage F V 1 Torque control mode Input voltage of VLA Analog speed limit voltage is displayed 2 Speed control mode Input voltage of VC Analog speed command voltage is displayed Analog torque command voltag...

Page 183: ...side encoder Droop pulses FE pulse Droop pulses of the deviation counter between a load side encoder and a command are displayed When the count exceeds 99999 it starts from 0 Negative value is indicated by the lit decimal points in the upper four digits The display shows the average droop pulses of 128 samplings at the rate of 444 μs Load side encoder information 1 1 pulse unit FCY1 pulse The Z ph...

Page 184: ...yed in the initial status changes with the control mode as follows Control mode Status display Position Cumulative feedback pulses Position speed Cumulative feedback pulses servo motor speed Speed Servo motor speed Speed torque Servo motor speed analog torque command voltage Torque Analog torque command voltage Torque position Analog torque command voltage cumulative feedback pulses ...

Page 185: ...tput signals Output signal DO forced output This allows digital output signal to be switched on off forcibly For details refer to section 4 5 8 Test operation mode JOG operation JOG operation can be performed when there is no command from an external controller For details refer to section 4 5 9 2 Positioning operation Positioning operation can be performed when there is no command from an externa...

Page 186: ...n cannot be used if the input voltage of VC or VLA is 0 4 V or less or 0 4 V or more Note Servo motor series ID Push the SET button to show the series ID of the servo motor currently connected For indication details refer to the Servo Motor Instruction Manual Vol 3 Servo motor type ID Push the SET button to show the type ID of the servo motor currently connected For indication details refer to the...

Page 187: ...tory Indicates that the last alarm is AL 50 1 Thermal overload error 1 during operation Indicates the second last alarm is AL 33 1 Main circuit voltage error Indicates the third last alarm is AL 10 1 Voltage drop in the control circuit power Indicates that there is no tenth alarm in the past Indicates that there is no eleventh alarm in the past Indicates that there is no twelfth alarm in the past ...

Page 188: ...r the alarm history 5 Push UP or DOWN to move to the next history 4 5 6 Parameter mode 1 Parameter mode transition After selecting the corresponding parameter mode with the MODE button pushing the UP or DOWN button changes the display as shown below Pr PB01 Pr PA02 Pr PA01 I O setting parameters Pr PD01 Pr PD02 Pr PD47 Pr PD48 Pr PC01 Pr PC02 Pr PC79 Extension setting parameters Pr PC80 Pr PB02 Pr...

Page 189: ...nged Use UP or DOWN _ _ _ 2 Speed control mode To shift to the next parameter press the UP or DOWN button When changing the Pr PA01 setting change its set value then switch power off once and switch it on again to enable the new value b Parameters of 6 or more digits The following example gives the operation procedure to change the electronic gear numerator to 123456 with Pr PA06 Electronic gear n...

Page 190: ... lit CN1 16 CN1 41 CN1 22 CN1 48 CN1 19 CN1 15 CN1 44 CN1 43 CN1 23 CN1 25 CN1 49 CN1 24 Light on on Light off off CN1 18 CN1 17 CN1 33 CN1 45 CN1 10 Note 1 3 CN1 37 Note 2 3 CN1 42 CN1 35 Note 1 3 CN1 38 Note 2 3 CN1 14 Note 1 CN1 13 Note 1 Note 1 This is used with MR J4 _A_ RJ servo amplifiers with software version B3 or later 2 This is available for MR J4 _A_ RJ servo amplifiers manufactured in...

Page 191: ...ignal O output signal 2 P position control mode S speed control mode T torque control mode P S position speed control switching mode S T speed torque control switching mode T P torque position switching mode 3 Output devices are not assigned by default Assign the output devices with Pr PD47 as necessary 4 This is used with MR J4 _A_ RJ servo amplifiers with software version B3 or later 5 This is u...

Page 192: ...ZSP CN1 23 TLC CN1 25 INP CN1 22 b Speed control mode Light on on Light off off SP2 CN1 16 ST1 CN1 17 ST2 CN1 18 LOP CN1 45 EM2 CN1 42 Input signal Output signals OP CN1 33 ALM CN1 48 SP1 CN1 41 RES CN1 19 SON CN1 15 LSN CN1 44 LSP CN1 43 RD CN1 49 SA CN1 24 ZSP CN1 23 TLC CN1 25 SA CN1 22 c Torque control mode Light on on Light off off SP2 CN1 16 RS2 CN1 17 RS1 CN1 18 LOP CN1 45 EM2 CN1 42 Input ...

Page 193: ...Using the MODE button show the diagnostic screen Switch on off the signal below the lit segment Indicates on off of output signal Definitions of on off are the same as those for the external I O signals Light on on light off off Press the UP button three times Press the SET button for 2 s or more CN1 33 CN1 48 CN1 22 CN1 25 CN1 23 CN1 24 CN1 49 Press the MODE button once Press the UP button once C...

Page 194: ...detection system by DIO Pr PA03 _ _ _1 MR Configurator2 is required to perform positioning operation Test operation cannot be performed if SON Servo on is not turned off 1 Mode switching Call the display screen shown after power on Select JOG operation or motor less operation in the following procedure Using the MODE button show the diagnostic screen Press UP four times Press SET for longer than 2...

Page 195: ...art CCW rotation Release to stop DOWN Press to start CW rotation Release to stop If the USB cable is disconnected during JOG operation using the MR Configurator2 the servo motor decelerates to a stop b Status display Press the MODE button in the JOG operation ready status to call the status display screen When the JOG operation is performed using the UP or DOWN button the servo status is displayed...

Page 196: ...ed input field b Acceleration deceleration time constant ms Enter the acceleration deceleration time constant into the Accel decel time input field c Travel distance pulse Enter the travel distance into the Travel distance input field d LSP LSN are automatically turned on When setting the external stroke signal to automatic on click the check box to enable it When it is not selected turn on LSP an...

Page 197: ...time settings which are set by referring to the above table click the check box of Make the aging function enabled h Forward reverse the servo motor Click the Forward button to rotate the servo motor in the forward rotation direction Click the Reverse button to rotate the servo motor in the reverse rotation direction i Pause the servo motor Click the Pause button during servo motor rotation to tem...

Page 198: ...ng operation can be performed in two or more operation patterns combined without using a controller Use this operation with the forced stop reset This operation may be used independently of whether servo on or servo off and whether a controller is connected or not Exercise control on the program operation screen of MR Configurator2 For full information refer to the MR Configurator2 Installation Gu...

Page 199: ...4 STARTUP 4 44 MEMO ...

Page 200: ...evice selection 7 Pr PE03 Fully closed loop function selection 2 Pr PE04 Fully closed loop control Feedback pulse electronic gear 1 Numerator Pr PE05 Fully closed loop control Feedback pulse electronic gear 1 Denominator Pr PE06 Fully closed loop control Speed deviation error detection level Pr PE07 Fully closed loop control Position deviation error detection level Pr PE08 Fully closed loop dual f...

Page 201: ...D P S T PA01 STY Operation mode 1000h PA02 REG Regenerative option 0000h PA03 ABS Absolute position detection system 0000h PA04 AOP1 Function selection A 1 2000h PA05 FBP Number of command input pulses per revolution 10000 PA06 CMX Electronic gear numerator command pulse multiplication numerator 1 PA07 CDV Electronic gear denominator command pulse multiplication denominator 1 PA08 ATU Auto tuning ...

Page 202: ... rad s PB09 VG2 Speed loop gain 823 rad s PB10 VIC Speed integral compensation 33 7 ms PB11 VDC Speed differential compensation 980 PB12 OVA Overshoot amount compensation 0 PB13 NH1 Machine resonance suppression filter 1 4500 Hz PB14 NHQ1 Notch shape selection 1 0000h PB15 NH2 Machine resonance suppression filter 2 4500 Hz PB16 NHQ2 Notch shape selection 2 0000h PB17 NHF Shaft resonance suppressio...

Page 203: ... filter 3 4500 Hz PB47 NHQ3 Notch shape selection 3 0000h PB48 NH4 Machine resonance suppression filter 4 4500 Hz PB49 NHQ4 Notch shape selection 4 0000h PB50 NH5 Machine resonance suppression filter 5 4500 Hz PB51 NHQ5 Notch shape selection 5 0000h PB52 VRF21 Vibration suppression control 2 Vibration frequency 100 0 Hz PB53 VRF22 Vibration suppression control 2 Resonance frequency 100 0 Hz PB54 V...

Page 204: ...ximum speed PC13 TLC Analog torque thrust command maximum output 100 0 PC14 MOD1 Analog monitor 1 output 0000h PC15 MOD2 Analog monitor 2 output 0001h PC16 MBR Electromagnetic brake sequence output 0 ms PC17 ZSP Zero speed 50 r min mm s PC18 BPS Alarm history clear 0000h PC19 ENRS Encoder output pulse selection 0000h PC20 SNO Station No setting 0 station PC21 SOP RS 422 communication function sele...

Page 205: ...cturer setting 0 PC47 0 PC48 0 PC49 0 PC50 0000h PC51 RSBR Forced stop deceleration time constant 100 ms PC52 For manufacturer setting 0 PC53 0 PC54 RSUP1 Vertical axis freefall prevention compensation amount 0 0 0001rev 0 01mm PC55 For manufacturer setting 0 PC56 100 PC57 0000h PC58 0 PC59 0000h PC60 COPD Function selection C D 0000h PC61 For manufacturer setting 0000h PC62 0000h PC63 0000h PC64 ...

Page 206: ...DI8H Input device selection 8H 0A00h PD19 DI9L Input device selection 9L 0B0Bh PD20 DI9H Input device selection 9H 0B00h PD21 DI10L Input device selection 10L 2323h PD22 DI10H Input device selection 10H 2B23h PD23 DO1 Output device selection 1 0004h PD24 DO2 Output device selection 2 000Ch PD25 DO3 Output device selection 3 0004h PD26 DO4 Output device selection 4 0007h PD27 For manufacturer setti...

Page 207: ...d loop control Position 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 function selection 3 0000h PE11 For manufacturer setting 0000h PE12 0000h PE13 0000h PE14 0111h PE15 20 PE16 0000h PE17 0000h PE18 0000h PE19 0000h PE20 0000h PE21 0000h PE22 0000h PE23 0000h PE24 0000h PE25 0000...

Page 208: ...ve side compensation value selection 0 0 01 PE46 LMFLT Lost motion filter setting 0 0 1 ms PE47 TOF Torque offset 0 0 01 PE48 LMOP Lost motion compensation function selection 0000h PE49 LMCD Lost motion compensation timing 0 0 1 ms PE50 LMCT Lost motion compensation non sensitive band 0 pulse kpulse PE51 For manufacturer setting 0000h PE52 0000h PE53 0000h PE54 0000h PE55 0000h PE56 0000h PE57 000...

Page 209: ...20 0000h PF21 DRT Drive recorder switching time setting 0 s PF22 For manufacturer setting 200 PF23 OSCL1 Vibration tough drive Oscillation detection level 50 PF24 OSCL2 Vibration tough drive function selection 0000h PF25 CVAT SEMI F47 function Instantaneous power failure detection time 200 ms PF26 For manufacturer setting 0 PF27 0 PF28 0 PF29 0000h PF30 0 PF31 FRIC Machine diagnosis function Frict...

Page 210: ...ion error detection level 100 PL08 LIT3 Linear servo motor DD motor function selection 3 0010h PL09 LPWM Magnetic pole detection voltage level 30 PL10 For manufacturer setting 5 PL11 100 PL12 500 PL13 0000h PL14 0000h PL15 20 PL16 0 PL17 LTSTS Magnetic pole detection Minute position detection method Function selection 0000h PL18 IDLV Magnetic pole detection Minute position detection method Identif...

Page 211: ...ntrol mode 4 Torque control mode 5 Torque control mode and position control mode 0h _ _ x _ Operation mode selection 0 Standard control mode 1 Fully closed loop control mode 4 Linear servo motor control mode 6 DD motor control mode Setting other than above will trigger AL 37 Parameter error The linear servo system direct drive servo system and fully closed loop system are available for the MR J4 _...

Page 212: ...e FR RC H or FR CV H select Mode 2 _ _ _ 1 of Undervoltage alarm detection mode selection in Pr PC27 02 MR RB032 03 MR RB12 04 MR RB32 05 MR RB30 06 MR RB50 Cooling fan is required 08 MR RB31 09 MR RB51 Cooling fan is required 0B MR RB3N 0C MR RB5N Cooling fan is required 80 MR RB1H 4 81 MR RB3M 4 Cooling fan is required 82 MR RB3G 4 Cooling fan is required 83 MR RB5G 4 Cooling fan is required 84 ...

Page 213: ...unction disabled with EM1 2 Forced stop deceleration function enabled with EM2 Refer to table 5 1 for details 2h Table 5 1 Deceleration method Setting value EM2 EM1 Deceleration method EM2 or EM1 is off Alarm occurred 0 _ _ _ EM1 MBR Electromagnetic brake interlock turns off without the forced stop deceleration MBR Electromagnetic brake interlock turns off without the forced stop deceleration 2 _ ...

Page 214: ...e constants CDV FBP Command pulse train Pt 0 initial value CMX Deviation counter Electronic gear Pr PA06 Pr PA07 Number of command input pulses per revolution Pr PA05 1000 to 1000000 Servo motor Encoder M X16 1 CDV CMX 2 Electronic gear selection x _ _ _ Pr PA21 Pt servo motor resolution 4194304 pulses rev X32 CDV CMX 3 Note 1 Note This parameter is supported with software version B4 or later Alwa...

Page 215: ...djustment mode Automatically adjusted parameter _ _ _ 0 2 gain adjustment mode 1 interpolation mode Pr PB06 Load to motor inertia ratio Pr PB08 Position loop gain Pr PB09 Speed loop gain Pr PB10 Speed integral compensation _ _ _ 1 Auto tuning mode 1 Pr PB06 Load to motor inertia ratio Pr PB07 Model loop gain Pr PB08 Position loop gain Pr PB09 Speed loop gain Pr PB10 Speed integral compensation _ _...

Page 216: ...mit positive direction thrust limit value or Pr PA12 Reverse rotation torque limit negative direction thrust limit value will be the maximum output voltage 8 V Set the parameter on the assumption that the maximum torque or thrust is 100 0 The parameter is for limiting the torque of the servo motor in the CCW power running or CW regeneration or limiting the thrust of the linear servo motor in the p...

Page 217: ...series MELSEC Q series MELSEC L series MELSEC F series Refer to table 5 3 for settings 0h _ x _ _ Command input pulse train filter selection Selecting proper filter enables to enhance noise tolerance 0 Command input pulse train is 4 Mpulses s or less 1 Command input pulse train is 1 Mpulse s or less 2 Command input pulse train is 500 kpulses s or less 3 Command input pulse train is 200 kpulses s o...

Page 218: ...ection pulse train Reverse rotation pulse train negative direction pulse train NP PP _ _ 11h Signed pulse train PP L H NP _ _ 12h A phase pulse train B phase pulse train PP NP _ _ 00h Positive logic Forward rotation pulse train positive direction pulse train Reverse rotation pulse train negative direction pulse train NP PP _ _ 01h Signed pulse train L H PP NP _ _ 02h A phase pulse train B phase pu...

Page 219: ...3 LM F series Negative direction Positive direction Secondary side Primary side LM U2 series Negative direction Positive direction Table Primary side Secondary side LM K2 series Setting range 0 1 PA15 ENR Encoder output pulses Set the encoder output pulses from the servo amplifier by using the number of output pulses per revolution dividing ratio or electronic gear ratio after multiplication by 4 ...

Page 220: ...PBB 07M 1SS0 B201h LM U2 LM U2PBD 15M 1SS0 00B4h B401h LM U2PBF 22M 1SS0 2601h LM U2P2B 40M 2SS0 2201h LM U2P2C 60M 2SS0 2301h LM U2P2D 80M 2SS0 2401h LM FP2B 06M 1SS0 natural cooling 2201h LM FP2D 12M 1SS0 natural cooling 2401h LM FP2F 18M 1SS0 natural cooling 2601h LM FP4B 12M 1SS0 natural cooling 4201h LM FP4D 24M 1SS0 natural cooling 4401h LM FP4F 36M 1SS0 natural cooling 4601h LM F LM FP4H 48...

Page 221: ...t a reference range and writing range of the parameter Refer to table 5 4 for settings Linear servo motor DD motor setting parameters Pr PL_ _ cannot be used with MR J4 03A6 servo amplifiers 00AAh Table 5 4 Pr PA19 setting value and reading writing range PA19 Setting operation PA PB PC PD PE PF PL Other than below Reading Writing 000Ah Reading Only 19 Writing Only 19 000Bh Reading Writing 000Ch Re...

Page 222: ...urs during operation In Pr PF25 SEMI F47 function Instantaneous power failure detection time set the time period until the occurrence of AL 10 1 Voltage drop in the control circuit power For MR J4 03A6 servo amplifiers this digit cannot be used when a setting value other than the initial value is set 0h x _ _ _ For manufacturer setting 0h PA21 AOP3 Function selection A 3 _ _ _ x One touch tuning f...

Page 223: ...rol mode during the 3 inertia mode or low response mode stop the motor 0h _ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h PA25 OTHOV One touch tuning Overshoot permissible level Set a permissible value of overshoot amount for one touch tuning as a percentage of the in position range Setting 0 will be 50 0 PA26 AOP5 Function selection A 5 _ _ _ x Torque limit function selection at instant...

Page 224: ...suppression mode selection to 3 inertia mode _ _ _ 1 in Pr PA24 Refer to section 7 1 5 for details 0 Disabled 1 Automatic setting 2 Manual setting 0h _ x _ _ For manufacturer setting 0h x _ _ _ 0h PB03 PST Position command acceleration deceleration time constant position smoothing Set the constant of a primary delay to the position command You can select a control method from Primary delay or Line...

Page 225: ..._ _ 4 2 gain adjustment mode 2 PB07 PG1 Model loop gain Set the response gain up to the target position Increasing the setting value will also increase the response level to the position command but will be liable to generate vibration and or noise The setting of the parameter will be the automatic setting or manual setting depending on the Pr PA08 setting Refer to the following table for details ...

Page 226: ...ous friction torque against the servo motor rated value or thrust against the linear servo motor rated value When the response level is low or when the torque thrust is limited the efficiency of the parameter may be lower Setting range 0 to 100 0 PB13 NH1 Machine resonance suppression filter 1 Machine resonance suppression filter 1 Set the notch frequency of the machine resonance suppression filte...

Page 227: ...automatically calculated for the liner servo motor Set manually for Manual setting _ _ _ 1 When Shaft resonance suppression filter selection is Disabled _ _ _ 2 in Pr PB23 the setting value of this parameter is disabled When Machine resonance suppression filter 4 selection is Enabled _ _ _ 1 in Pr PB49 the shaft resonance suppression filter is not available _ _ x x Shaft resonance suppression filt...

Page 228: ...ng range 0 1 to 300 0 100 0 Hz PB21 VRF13 Vibration suppression control 1 Vibration frequency damping Set a damping of the vibration frequency for vibration suppression control 1 to suppress low frequency machine vibration When Vibration suppression control 1 tuning mode selection is Automatic setting _ _ _ 1 in Pr PB02 this parameter will be set automatically Set manually for Manual setting _ _ _...

Page 229: ...he gain switching condition Set conditions to enable the gain switching values set in Pr PB29 to Pr PB36 and Pr PB56 to Pr PB60 _ _ _ x Gain switching selection 0 Disabled 1 Input device gain switching CDP 2 Command frequency 3 Droop pulses 4 Servo motor speed linear servo motor speed 0h _ _ x _ Gain switching condition selection 0 Gain after switching is enabled with gain switching condition or m...

Page 230: ...e as Pr PB19 This parameter will be enabled only when the following conditions are fulfilled Gain adjustment mode selection in Pr PA08 is Manual mode _ _ _ 3 Vibration suppression control 1 tuning mode selection in Pr PB02 is Manual setting _ _ _ 2 Gain switching selection in Pr PB26 is Input device gain switching CDP _ _ _ 1 Switching during driving may cause a shock Be sure to switch them after ...

Page 231: ...itching is enabled This parameter will be enabled only when the following conditions are fulfilled Gain adjustment mode selection in Pr PA08 is Manual mode _ _ _ 3 Vibration suppression control 1 tuning mode selection in Pr PB02 is Manual setting _ _ _ 2 Gain switching selection in Pr PB26 is Input device gain switching CDP _ _ _ 1 Switching during driving may cause a shock Be sure to switch them ...

Page 232: ...6 03 750 23 59 43 14 8 04 562 24 56 44 14 1 05 450 25 53 45 13 4 06 375 26 51 46 12 8 07 321 27 48 47 12 2 08 281 28 46 48 11 7 09 250 29 45 49 11 3 0A 225 2A 43 4A 10 8 0B 204 2B 41 4B 10 4 0C 187 2C 40 4C 10 0D 173 2D 38 4D 9 7 0E 160 2E 37 4E 9 4 0F 150 2F 36 4F 9 1 10 140 30 35 2 50 8 8 11 132 31 33 1 51 8 3 12 125 32 31 3 52 7 8 13 118 33 29 6 53 7 4 14 112 34 28 1 54 7 0 15 107 35 26 8 55 6 ...

Page 233: ...sion filter 4 Set the notch frequency of the machine resonance suppression filter 4 To enable the setting value set Machine resonance suppression filter 4 selection to Enabled _ _ _ 1 in Pr PB49 Setting range 10 to 4500 4500 Hz PB49 NHQ4 Notch shape selection 4 Set the shape of the machine resonance suppression filter 4 _ _ _ x Machine resonance suppression filter 4 selection 0 Disabled 1 Enabled ...

Page 234: ...equency machine vibration When Vibration suppression control 2 tuning mode selection is Automatic setting _ _ 1 _ in Pr PB02 this parameter will be set automatically Set manually for Manual setting _ _ 2 _ To enable the setting of this digit set Vibration suppression mode selection to 3 inertia mode _ _ _ 1 in Pr PA24 Setting range 0 1 to 300 0 100 0 Hz PB54 VRF23 Vibration suppression control 2 V...

Page 235: ... in Pr PB26 is Input device gain switching CDP _ _ _ 1 Switching during driving may cause a shock Be sure to switch them after the servo motor or linear servo motor stops Setting range 0 0 to 300 0 0 0 Hz PB58 VRF23B Vibration suppression control 2 Vibration frequency damping after gain switching Set a damping of the vibration frequency for vibration suppression control 2 when the gain switching i...

Page 236: ...s Pr PC_ _ No symbol name Setting digit Function Initial value unit Control mode P S T PC01 STA Acceleration time constant Set the acceleration time required to reach the rated speed from 0 r min or 0 mm s for VC Analog speed command and Pr PC05 Internal speed command 1 to Pr PC11 Internal speed command 7 If the preset speed command is lower than the rated speed acceleration deceleration time will...

Page 237: ...limit value of the actual arc part time is limited by 2000000 STA for acceleration or by 2000000 STB for deceleration Example At the setting of STA 20000 STB 5000 and STC 200 the actual arc part times are as follows Acceleration 100 ms 2000000 20000 100 ms 200 ms Therefore it will be limited to 100 ms Deceleration 200 ms 2000000 5000 400 ms 200 ms Therefore it will be 200 ms as you set Setting ran...

Page 238: ...nstantaneous speed PC10 SC6 Internal speed command 6 Internal speed limit 6 Set the speed 6 of internal speed commands Setting range 0 to permissible instantaneous speed 500 r min mm s Set the speed 6 of internal speed limits Setting range 0 to permissible instantaneous speed PC11 SC7 Internal speed command 7 Internal speed limit 7 Set the speed 7 of internal speed commands Setting range 0 to perm...

Page 239: ... torque thrust at the analog torque thrust command voltage TC 8 V of 8 V on the assumption that the maximum torque thrust is 100 0 For example set 50 0 The maximum torque or thrust 50 0 100 0 is outputted When you input a command value of the maximum torque thrust or more to TC the value is clamped at the maximum torque thrust Setting range 0 0 to 1000 0 100 0 ...

Page 240: ...r side droop pulses 10 V 10000 pulses Note 2 09 Servo motor side droop pulses 10 V 100000 pulses Note 2 0A Feedback position 10 V 1 Mpulse Note 2 0B Feedback position 10 V 10 Mpulses Note 2 0C Feedback position 10 V 100 Mpulses Note 2 0D Bus voltage 200 V class and 100 V class 8 V 400 V 400 V class 8 V 800 V 0E Speed command 2 8 V max speed 10 Load side droop pulses 10 V 100 pulses Note 2 11 Load ...

Page 241: ...ax speed 17 Encoder inside temperature 5 V 4 V 128 C Note 1 Encoder pulse unit 2 The larger value of Pr PA11 or Pr PA12 will be the maximum torque PC15 MOD2 Analog monitor 2 output _ _ x x Analog monitor 2 output selection Select a signal to output to MO2 Analog monitor 2 Refer to appendix 7 3 for detection point of output selection Refer to Pr PC14 for settings 01h _ x _ _ For manufacturer settin...

Page 242: ...t linear encoder is used And Encoder output pulse phase selection _ _ _ x will be disabled When another encoder is connected AL 37 Parameter error will occur Setting Standard control mode _ _ 0 _ in Pr PA01 will trigger AL 37 Parameter error 0h _ x _ _ Selection of the encoders for encoder output pulse Select an encoder for servo amplifier output 0 Servo motor encoder 1 Load side encoder When _ 1 ...

Page 243: ...The operation to maintain the stop position is performed 1 Disabled no servo lock The stop position is not maintained The control to make the speed 0 r min or 0 mm s is performed 0h _ _ x _ For manufacturer setting 0h _ x _ _ VC VLA voltage averaging selection Select the VC VLA voltage average Set the filtering time when VC Analog speed command or VLA Analog speed limit is imported Set 0 to vary t...

Page 244: ...min 50 mm s or less AL 10 at over 50 r min 50 mm s 0h x _ _ _ For manufacturer setting 0h PC28 COP7 Function selection C 7 _ _ _ x For manufacturer setting 0h _ _ x _ 0h _ x _ _ 0h x _ _ _ Linear scale multipoint Z phase input function selection When two or more reference marks exist during the full stroke of the linear encoder set 1 0 Disabled 1 Enabled This parameter setting is available with se...

Page 245: ...ctronic gear 0 _ _ _ J3 electronic gear setting value compatibility mode 2 _ _ _ or J2S electronic gear setting value compatibility mode 3 _ _ _ of Electronic gear selection in Pr PA21 Setting range 1 to 16777215 1 PC35 TL2 Internal torque limit 2 internal thrust limit 2 Set the parameter on the assumption that the maximum torque or thrust is 100 0 The parameter is for limiting the torque of the s...

Page 246: ...op pulses Note 3 5 1A Load side encoder information 1 1 pulse unit Note 3 5 1B Load side encoder information 1 100000 pulses unit Note 3 5 1C Load side encoder ABS counter Note 3 5 1D Z phase counter 1 pulse unit Note 4 5 1E Z phase counter 100000 pulses unit Note 4 5 1F Electrical angle 1 pulse unit Note 4 5 20 Electrical angle 100000 pulses unit Note 4 5 00h Note 1 It is for the speed control mo...

Page 247: ...nd offset Analog torque limit offset Set the offset voltage of TC Analog torque command Setting range 9999 to 9999 0 mV Set the offset voltage of TLA Analog torque limit Setting range 9999 to 9999 PC39 MO1 Analog monitor 1 offset Set the offset voltage of MO1 Analog monitor 1 Setting range 9999 to 9999 0 mV PC40 MO2 Analog monitor 2 offset Set the offset voltage of MO2 Analog monitor 2 Setting ran...

Page 248: ...larm status Z phase side non signal Fully closed loop system Linear servo system 0 Enabled AL 71 6 Z phase AL 20 6 Z phase 1 Disabled X _ _ _ For manufacturer setting 0h PC51 RSBR Forced stop deceleration time constant Set deceleration time constant when you use the forced stop deceleration function Set the time per ms from the rated speed to 0 r min or 0 mm s Forced stop deceleration Pr PC51 0 r ...

Page 249: ...resolution of VC analog speed command When you change parameters perform offset adjustment with Pr PC37 Analog speed command offset The offset adjustment can be performed by executing VC automatic offset Setting 1 while using a servo amplifier other than MR J4 _A_ RJ MR J4 _A_ RU and MR J4 _A_ RZ will trigger AL 37 0 Disabled 1 Enabled This digit is available with servo amplifiers manufactured in ...

Page 250: ... _ _ HEX _ _ _ x BIN For manufacturer setting 0h _ _ x _ BIN For manufacturer setting _ x _ _ BIN LSP Forward rotation stroke end 0 Disabled Use for an external input signal 1 Enabled automatic on x _ _ _ BIN LSN Reverse rotation stroke end 0 Disabled Use for an external input signal 1 Enabled automatic on x _ _ _ For manufacturer setting 0h Convert the setting value into hexadecimal as follows 0 ...

Page 251: ...in in all control modes 3 In the torque control mode this device cannot be used during normal operation It can be used during the magnetic pole detection in the linear servo motor control mode and the DD motor control mode Also when the magnetic pole detection in the torque control mode is completed this signal will be disabled 4 It cannot be set with MR J4 03A6 servo amplifiers PD04 DI1H Input de...

Page 252: ... Position control mode Device selection Refer to table 5 10 in Pr PD03 for settings 03h x x _ _ Speed control mode Device selection Refer to table 5 10 in Pr PD03 for settings 03h PD12 DI5H Input device selection 5H Any input device can be assigned to the CN1 19 pin _ _ x x Torque control mode Device selection Refer to table 5 10 in Pr PD03 for settings 03h x x _ _ For manufacturer setting 38h PD1...

Page 253: ...3h x x _ _ For manufacturer setting 2Bh PD23 DO1 Output device selection 1 _ _ x x Device selection Any output device can be assigned to the CN1 22 pin When Enabled absolute position detection system by DIO _ _ _ 1 is selected in Pr PA03 the CN1 22 pin will become ABSB0 ABS send data bit 0 only during ABS transfer mode Refer to table 5 11 for settings 04h _ x _ _ For manufacturer setting 0h x _ _ ...

Page 254: ...lute position detection system by DIO _ _ _ 1 is selected in Pr PA03 the CN1 25 pin will become ABST ABS send data ready only during ABS transfer mode Refer to table 5 11 in Pr PD23 for settings 07h _ x _ _ For manufacturer setting 0h x _ _ _ 0h PD28 DO6 Output device selection 6 _ _ x x Device selection Any output device can be assigned to the CN1 49 pin Refer to table 5 11 in Pr PD23 for setting...

Page 255: ...NP In position is turned on 0 Droop pulses are within the in position range 1 The command pulse frequency is 0 and droop pulses are within the in position range When the position command is not inputted for about 1 ms the command pulse frequency is decided as 0 This parameter is used by servo amplifier with software version B4 or later 0h x _ _ _ For manufacturer setting 0h PD32 DOP3 Function sele...

Page 256: ...pin Setting 00 will assign PP PP2 forward rotation pulse The parameter is available for the following MR J4 _A_ RJ servo amplifiers 1 For 100 W or more CN1 10 pin Servo amplifiers with software version B3 or later CN1 37 pin Servo amplifiers manufactured in January 2015 or later with software version B7 or later 2 For 30 W CN1 10 pin CN1 37 pin Any software version and production month _ _ x x Pos...

Page 257: ...n Setting 00 will assign NP NP2 reverse rotation pulse manual pulse generator The parameter is available for the following MR J4 _A_ RJ servo amplifiers 1 For 100 W or more CN1 35 pin Servo amplifiers with software version B3 or later CN1 38 pin Servo amplifiers manufactured in January 2015 or later with software version B7 or later 2 For 30 W CN1 35 pin CN1 38 pin Any software version and product...

Page 258: ...losed loop function selection 2 _ _ x x Fully closed loop control error detection function selection Select the fully closed loop control error detection function This digit is not available with MR J4 03A6 servo amplifiers Error detection enabled Error detection disabled 03h Setting value Speed deviation error Position deviation error During servo on During servo off With command Command 0 _ _ 0 ...

Page 259: ...3A6 servo amplifiers Setting range 1 to 20000 100 kpulse PE08 DUF Fully closed loop dual feedback filter Set a dual feedback filter band Refer to section 17 3 1 5 for details This parameter is not available with MR J4 03A6 servo amplifiers Setting range 1 to 4500 10 rad s PE10 FCT3 Fully closed loop function selection 3 _ _ _ x For manufacturer setting 0h _ _ x _ Fully closed loop control Position...

Page 260: ...value of the set time constant and the lost motion compensation will continue This parameter is supported with software version B4 or later Setting range 0 to 30000 0 0 1ms PE47 TOF Torque offset Set this when canceling unbalanced torque of vertical axis Set this assuming the rated torque of the servo motor as 100 The torque offset does not need to be set for a machine not generating unbalanced to...

Page 261: ...6 HG AK0236 HG AK0336 _ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h PF15 DBT Electronic dynamic brake operating time Set an operating time for the electronic dynamic brake Setting range 0 to 10000 2000 ms PF21 DRT Drive recorder switching time setting Set a drive recorder switching time When a USB communication is cut during using a graph function or a graph function is terminated the ...

Page 262: ...s parameter is not available with MR J4 03A6 servo amplifiers Setting range 30 to 200 200 ms PF31 FRIC Machine diagnosis function Friction judgement speed Set a linear servo motor speed that divides a friction estimation area into high and low during the friction estimation process of the machine diagnosis Setting 0 will set a value half of the rated speed When your operation pattern is under the ...

Page 263: ..._ For manufacturer setting 0h PL02 LIM Linear encoder resolution Numerator Set a linear encoder resolution per µm with Pr PL02 and Pr PL03 Set the numerator in Pr PL02 This is enabled only for linear servo motors Setting range 1 to 65535 1000 μm PL03 LID Linear encoder resolution Denominator Set a linear encoder resolution per µm with Pr PL02 and Pr PL03 Set the denominator in Pr PL03 This is enab...

Page 264: ...irect drive motor 100 r min Setting range 0 to 5000 0 mm s r min PL07 LB3 Torque thrust deviation error detection level Set the torque thrust deviation error detection level of the servo control error detection When the deviation between a current command and current feedback is larger than the setting value AL 42 3 Servo control error by torque thrust deviation will occur Setting range 0 to 1000 ...

Page 265: ...e 5 12 Response of minute position detection method at magnetic pole detection Setting value Response Setting value Response 0 Low response 8 Middle response 1 9 2 A 3 B 4 C 5 D 6 E 7 Middle response F High response Table 5 13 Load to motor mass ratio load to motor inertia ratio Setting value Load to motor mass ratio load to motor inertia ratio Setting value Load to motor mass ratio load to motor ...

Page 266: ...llowing table shows the gain adjustment modes that can be set on a single servo amplifier For gain adjustment first execute Auto tuning mode 1 If you are not satisfied with the result of the adjustment execute Auto tuning mode 2 and Manual mode in this order 1 Gain adjustment mode explanation Gain adjustment mode Pr PA08 setting Estimation of load to motor inertia ratio Automatically set parameter...

Page 267: ... Adjustment OK Auto tuning mode 2 No No No Adjustment OK Adjustment OK No 6 1 2 Adjustment using MR Configurator2 This section explains the functions and adjustment using the servo amplifier with MR Configurator2 Function Description Adjustment Machine analyzer With the machine and servo motor coupled the characteristic of the mechanical system can be measured by giving a random vibration command ...

Page 268: ...ratio PB22 VRF14 Vibration suppression control 1 Resonance frequency damping PB07 PG1 Model loop gain PB08 PG2 Position loop gain PB23 VFBF Low pass filter selection PB09 VG2 Speed loop gain PB47 NHQ3 Notch shape selection 3 PB10 VIC Speed integral compensation PB48 NH4 Machine resonance suppression filter 4 PB12 OVA Overshoot amount compensation PB49 NHQ4 Notch shape selection 4 PB13 NH1 Machine ...

Page 269: ...t be performed if the servo motor is not operating Push the MODE button during motor driving to switch to the initial screen AUTO of the one touch tuning Push the SET button for 2 s or more during displaying AUTO to switch to the response mode selection AUTO Select a response mode from AUTO H high mode AUTO basic mode or AUTO L low mode Push the SET button to start one touch tuning Push it during ...

Page 270: ... a Response mode selection Select a response mode from 3 modes in the one touch tuning window of MR Configurator2 Response mode Explanation High mode This mode is for high rigid system Basic mode This mode is for standard system Low mode This mode is for low rigid system Refer to the following table for selecting a response mode ...

Page 271: ...6 Response mode Response Machine characteristic Low mode Basic mode High mode Guideline of corresponding machine Low response General machine tool conveyor Arm robot Precision working machine Inserter Mounter Bonder High response ...

Page 272: ...ng will start one touch tuning If the start button is pushed while the servo motor stops C 0 0 2 or C 0 0 4 will be displayed at status in error code Refer to table 6 2 of 1 d of this section for error codes During processing of one touch tuning the status will be displayed in the progress window as follows One touch tuning will be finished at 100 Completing the one touch tuning starts writing tun...

Page 273: ...us operation is short Maintain the operation interval during motor driving about 200 ms C005 Load to motor inertia ratio misestimated 1 The estimation of the load to motor inertia ratio at one touch tuning was a failure Drive the motor with meeting conditions as follows The acceleration deceleration time constant to reach 2000 r min mm s is 5 s or less Speed is 150 r min mm s or higher The load to...

Page 274: ...n to value before adjustment in the one touch tuning window of MR Configurator2 enables to rewrite the parameter to the value before pushing the start button In addition pushing Return to initial value in the one touch tuning window enables to rewrite the parameter to the initial value Clearing one touch tuning is completed the following window will be displayed returning to initial value ...

Page 275: ... touch tuning execution POINT For equipment in which overshoot during one touch tuning is in the permissible level of the in position range changing the value of Pr PA25 One touch tuning Overshoot permissible level will shorten the settling time and improve the response After the response mode is selected in a pushing the SET button during driving will start one touch tuning Completing the one tou...

Page 276: ...screen d If an error occur Check the error cause referring table 6 2 of 1 d of this section 2 s interval Error code If an error occurs during the one touch tuning the tuning will be forcibly terminated and the stop symbol and error code from C 001 to C 00F will be displayed by turns with 2 s interval Stop symbol Initial screen Pushing the SET button will switch to the initial screen e If an alarm ...

Page 277: ...e one touch tuning with the clear mode You can reset the parameters to before tuning with the back mode 1 Push the MODE button to switch to the initial screen AUTO of the one touch tuning 2 Select the clear mode or back mode with the UP or DOWN button One touch tuning clear mode selection DOWN UP To clear the one touch tuning push the SET button for 2 s The one touch tuning clear mode is in progre...

Page 278: ...ecuted while an alarm or warning which does not continue the motor driving is occurring 3 You can execute the one touch tuning during the following test operation modes marked by How to one touch tuning Test operation mode Output signal DO forced output JOG operation Positioning operation Motor less operation Program operation MR Configurator2 Push buttons ...

Page 279: ...ing conditions are not satisfied The acceleration deceleration time constant to reach 2000 r min mm s is 5 s or less Speed is 150 r min mm s or higher The load to servo motor mass of linear servo motor s primary side or direct drive motor inertia ratio is 100 times or less The acceleration deceleration torque is 10 or more of the rated torque Under operating conditions which will impose sudden dis...

Page 280: ...d to motor inertia ratio or failed to estimate set Gain adjustment mode selection to Auto tuning mode 2 _ _ _ 2 in Pr PA08 to stop the estimation turning off the switch in above diagram and set the load to motor inertia ratio Pr PB06 manually From the preset load to motor inertia ratio Pr PB06 value and response Pr PA09 the optimum loop gains are automatically set on the basis of the internal gain...

Page 281: ...tment procedure is as follows Auto tuning adjustment Acceleration deceleration repeated Auto tuning conditions are not satisfied Estimation of load to motor inertia ratio is difficult Load to motor inertia ratio estimation value stable Set Pr PA08 to _ _ _ 2 and set Pr PB06 Load to motor inertia ratio manually Adjust response level setting so that desired response is achieved on vibration free lev...

Page 282: ...ce may allow the response level setting to increase Refer to section 7 2 and 7 3 for settings of the adaptive tuning mode and machine resonance suppression filter Pr PA09 Setting value Machine characteristic Reference setting value of MR J3 Setting value Machine characteristic Reference setting value of MR J3 Response Guideline for machine resonance frequency Hz Response Guideline for machine reso...

Page 283: ... ratio If the estimate value with auto tuning is correct setting change is not required 4 Set a slightly smaller value to the model loop gain Set a slightly larger value to the speed integral compensation 5 Increase the speed loop gain within the vibration and unusual noise free range and return slightly if vibration takes place Increase the speed loop gain 6 Decrease the speed integral compensati...

Page 284: ...l However if the load to motor inertia ratio is large or the mechanical system has any vibratory element the mechanical system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following expression Speed integral compensation setting ms 2000 to 3000 Speed loop gain 1 Load to motor inertia ratio 3 Pr PB07 Model loop gain This parameter determin...

Page 285: ... achieved response may be increased by suppressing resonance with the adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 8 Suppression of machine resonance Refer to section 7 2 and 7 3 10 While checking the settling characteristic and motor status fine adjust each gain Fine adjustment c Parameter adjustment 1 Pr PB09 Speed loop gain This parameter determines...

Page 286: ... interpolation operation of servo motors of two or more axes for an X Y table or the like In this mode manually set the model loop gain that determines command track ability Other parameters for gain adjustment are set automatically 1 2 gain adjustment mode 1 interpolation mode The 2 gain adjustment mode 1 manually set the model loop gain that determines command track ability The mode constantly e...

Page 287: ...n for the axis used in 2 gain adjustment mode Step Operation Description 1 Set to the auto tuning mode Select the auto tuning mode 1 2 During operation increase the response level setting value in Pr PA09 and return the setting if vibration occurs Adjustment in auto tuning mode 1 3 Check value of the model loop gain and the load to motor inertia ratio in advance Check the upper setting limits 4 Se...

Page 288: ...tion command but a too high value will make overshoot liable to occur at settling The droop pulses value is determined by the following expression Number of droop pulses pulse Model loop gain setting Position command frequency pulse s Position command frequency differs depending on the operation mode Position command frequency Speed r min 60 Encoder resolution number of pulses per servo motor revo...

Page 289: ...6 NORMAL GAIN ADJUSTMENT 6 24 MEMO ...

Page 290: ...r mass ratio Torque Thrust Servo motor speed Linear servo motor speed 7 1 Filter setting The following filters are available with MR J4 servo amplifiers Command pulse train Command filter Low pass filter setting Encoder Servo motor PWM M Load Pr PB18 Machine resonance suppression filter 1 Pr PB13 Pr PB15 Pr PB46 Machine resonance suppression filter 2 Machine resonance suppression filter 3 Machine ...

Page 291: ...ce suppression but increases a phase delay and may increase vibration A deeper 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 MR Configurator2 This allows the required notch frequency and notch characteristics to be determined If a mechanical system has...

Page 292: ...d with one touch tuning Machine resonance suppression filter 1 PB01 PB13 PB14 The filter can be set automatically with Filter tuning mode selection in Pr PB01 PB13 PB01 PB13 PB14 Machine resonance suppression filter 2 PB15 PB16 PB15 PB15 PB16 Machine resonance suppression filter 3 PB46 PB47 PB47 Machine resonance suppression filter 4 PB48 PB49 Enabling the machine resonance suppression filter 4 di...

Page 293: ...lter 3 selection in Pr PB47 How to set the machine resonance suppression filter 3 Pr PB46 and Pr PB47 is the same as for the machine resonance suppression filter 1 Pr PB13 and Pr PB14 d Machine resonance suppression filter 4 Pr PB48 and Pr PB49 To use this filter select Enabled _ _ _ 1 of Machine resonance suppression filter 4 selection in Pr PB49 However enabling the machine resonance suppression...

Page 294: ... in the manual setting Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics 1 Function Adaptive filter II adaptive tuning is a function in which the servo amplifier detects machine vibration for a predetermined period of time and sets the filter characteristics automatically to suppress mechanical system vibration Since the...

Page 295: ...rease the response setting Has vibration or unusual noise occurred Has vibration or unusual noise been resolved Using the machine analyzer set the filter manually Yes No Execute or re execute adaptive tuning Set Pr PB01 to _ _ _ 1 Factor The response has increased to the machine limit The machine is too complicated to provide the optimum filter If assumption fails after tuning is executed at a lar...

Page 296: ...reases the response of the servo amplifier for high resonance frequency 2 Parameter Set Shaft resonance suppression filter selection in Pr PB23 Pr PB23 Shaft resonance suppression filter selection 0 Automatic setting 1 Manual setting 2 Disabled 0 0 0 To set Pr PB17 Shaft resonance suppression filter automatically select Automatic setting To set Pr PB17 Shaft resonance suppression filter manually s...

Page 297: ...n control II POINT The function is enabled when Gain adjustment mode selection in Pr PA08 is Auto tuning mode 2 _ _ _ 2 Manual mode _ _ _ 3 or 2 gain adjustment mode 2 _ _ _ 4 The machine resonance frequency supported in the vibration suppression control tuning mode is 1 0 Hz to 100 0 Hz As for the vibration out of the range set manually Stop the servo motor before changing the vibration suppressi...

Page 298: ...he predetermined number of times For manual setting adjust the vibration suppression control 1 with Pr PB19 to Pr PB22 and vibration suppression control 2 with Pr PB52 to Pr PB55 2 Parameter Set Pr PB02 Vibration suppression control tuning mode advanced vibration suppression control II When you use a vibration suppression control set Vibration suppression control 1 tuning mode selection When you u...

Page 299: ...nd device is resolved End Yes No No Yes Increase the response setting Has vibration of workpiece end device increased Has vibration of workpiece end device been resolved Using a machine analyzer or considering load side vibration waveform set the vibration suppression control manually Factor Estimation cannot be made as load side vibration has not been transmitted to the servo motor side The respo...

Page 300: ...erent values to improve the vibration suppression performance Measure work side vibration and device shake with the machine analyzer or external measuring instrument and set the following parameters to adjust vibration suppression control manually Setting item Vibration suppression control 1 Vibration suppression control 2 Vibration suppression control Vibration frequency Pr PB19 Pr PB52 Vibration...

Page 301: ... Pr PB52 Pr PB52 Pr PB53 6 25 Hz 1 1 Pr PB52 Pr PB19 4 Pr PB07 1 3 4 Pr PB19 2 Pr PB52 a When a vibration peak can be confirmed with machine analyzer using MR Configurator2 or external equipment 1 Hz Gain characteristics Phase 90 degrees 300 Hz Vibration suppression control 1 Vibration frequency anti resonance frequency Pr PB19 Vibration suppression control 1 Resonance frequency Pr PB20 Vibration ...

Page 302: ...ge When Pr PB45 Command notch filter is changed during the positioning operation the changed setting is not reflected The setting is reflected approximately 150 ms after the servo motor stops after servo lock 1 Function Command notch filter has a function that lowers the gain of the specified frequency contained in a position command By lowering the gain load side vibration such as work side vibra...

Page 303: ... 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F 40 41 42 43 44 45 46 47 48 49 4A 4B 4C 4D 4E 4F 50 51 52 53 54 55 56 57 58 59 5A 5B 5C 5D 5E 5F Disabled 2250 1125 750 562 450 375 321 281 250 225 204 187 173 160 150 140 132 125 118 112 107 102 97 93 90 86 83 80 77 75 72 70 66 62 59 56 53 51 48 46 45 43 41 40 38 37 36 35 2 33 1 31 3 29 6 28 1 26 8 25 6 24 5 23 4 22 5 21 6 20 8 20 1 19 4 18 8 18 2 17 6...

Page 304: ... The following shows when you use the function 1 You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation 2 You want to increase the gains during settling to shorten the stop settling time 3 You want to change the gains using an input device to ensure stability of the servo system since the load to motor inertia ratio varies greatly during a stop e g ...

Page 305: ...29 Enabled GD2 value PG1 Pr PB07 PG1B Pr PB60 Enabled PG1 value PG2 Pr PB08 PG2B Pr PB30 Enabled PG2 value VG2 Pr PB09 VG2B Pr PB31 Enabled VG2 value VIC Pr PB10 VICB Pr PB32 Enabled VIC value VRF11 Pr PB19 VRF11B Pr PB33 Enabled VRF11 value VRF12 Pr PB20 VRF12B Pr PB34 Enabled VRF12 value CDL Pr PB27 VRF13 Pr PB21 VRF13B Pr PB35 Enabled VRF13 value VRF14 Pr PB22 VRF14B Pr PB36 Enabled VRF14 value...

Page 306: ...bled 1 Input device gain switching CDP 2 Command frequency 3 Droop pulses 4 Servo motor speed linear servo motor speed 0 Gain switching condition 0 Gain after switching is enabled with gain switching condition or more 1 Gain after switching is enabled with gain switching condition or less Pr PB26 Gain switching time constant disabling condition selection 0 Switching time constant enabled 1 Switchi...

Page 307: ...suppression control 1 Resonance frequency damping PB22 VRF14 Vibration suppression control 1 Resonance frequency damping PB36 VRF14B Vibration suppression control 1 Resonance frequency damping after gain switching Vibration suppression control 2 Vibration frequency PB52 VRF21 Vibration suppression control 2 Vibration frequency PB56 VRF21B Vibration suppression control 2 Vibration frequency after g...

Page 308: ...pensation after gain switching Set the values of after switching position loop gain speed loop gain and speed integral compensation e Vibration suppression control after gain switching Pr PB33 to Pr PB36 Pr PB56 to Pr PB59 and Pr PB60 Model loop gain after gain switching The gain switching vibration suppression control and model loop gain are used only with input device CDP on off You can switch t...

Page 309: ...ncy damping 0 10 PB29 GD2B Load to motor inertia ratio load to motor mass ratio after gain switching 10 00 Multiplier PB60 PG1B Model loop gain after gain switching 50 rad s PB30 PG2B Position loop gain after gain switching 84 rad s PB31 VG2B Speed loop gain after gain switching 4000 rad s PB32 VICB Speed integral compensation after gain switching 50 ms PB26 CDP Gain switching function 0001 Switch...

Page 310: ...rol 2 Vibration frequency damping 0 10 0 05 0 10 Vibration suppression control 2 Resonance frequency damping 0 10 0 05 0 10 2 When you choose switching by droop pulses In this case the vibration suppression control after gain switching and model loop gain after gain switching cannot be used a Setting example Parameter Symbol Name Setting value Unit PB06 GD2 Load to motor inertia ratio load to moto...

Page 311: ...g time constant is disabled a Gain switching time constant disabled was selected The gain switching time constant is disabled with this setting The time constant is enabled at gain return The following example shows for Pr PB26 CDP 0103 Pr PB27 CDL 100 pulse and Pr PB28 CDT 100 ms Command pulses Droop pulses 100 pulses 100 pulses 0 Droop pulses pulse Switching time constant disabled Switching at 0...

Page 312: ...time constant is disabled at gain return The following example shows for Pr PB26 CDP 0201 Pr PB27 CDL 0 and Pr PB28 CDT 100 ms ON CDP Gain switching After switching gain Before switching gain Switching at Pr PB28 CDT 100 ms only when gain switching on when switching CDT 100 ms Return time constant disabled Switching at 0 ms OFF OFF 63 4 Gain switching ...

Page 313: ...n filter 2 should be set in advance Set Pr PB13 and Pr PB15 as follows 1 One touch tuning execution section 6 1 2 Manual setting section 4 2 2 The vibration tough drive function operates when a detected machine resonance frequency is within 30 for a value set in Pr PB13 Machine resonance suppression filter 1 or Pr PB15 Machine resonance suppression filter 2 To set a detection level of the function...

Page 314: ...erly depending on the usage situation The shaft resonance suppression filter is enabled for the initial setting Machine resonance suppression filter 5 PB50 PB51 Enabling the robust filter disables the machine resonance suppression filter 5 The robust filter is disabled for the initial setting Command pulse train Command filter Encoder Servo motor PWM M Load Machine resonance suppression filter 1 P...

Page 315: ...ower failure tough drive When selecting Enabled _ _ _ 1 for Torque limit function selection at instantaneous power failure in Pr PA26 if an instantaneous power failure occurs during operation you can save electric energy charged in the capacitor in the servo amplifier by limiting torque at acceleration You can also delay the time until the occurrence of AL 10 2 Voltage drop in the main circuit pow...

Page 316: ...ous power failure detection time MTTR During tough drive turns on after detecting the instantaneous power failure MBR Electromagnetic brake interlock turns off when the alarm occurs Control circuit power supply Bus voltage Undervoltage level Note ALM Malfunction Pr PF25 Instantaneous power failure time of the control circuit power supply MTTR During tough drive MBR Electromagnetic brake interlock ...

Page 317: ...ailure time of the control circuit power supply AL 10 Undervoltage occurs when the bus voltage decrease lower than undervoltage level regardless of the enabled instantaneous power failure tough drive Pr PF25 Instantaneous power failure time of the control circuit power supply ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Control circuit power supply Bus voltage Undervoltage level Note ALM Malfunction ...

Page 318: ... The operation continues without alarming Control circuit power supply Bus voltage Undervoltage level Note ALM Malfunction MTTR During tough drive MBR Electromagnetic brake interlock Base circuit WNG Warning Pr PF25 Instantaneous power failure time of the control circuit power supply ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Note Refer to table 7 1 for the undervoltage level ...

Page 319: ...following explains the compliance with SEMI F47 semiconductor process equipment voltage sag immunity test of MR J4 series This function enables to avoid triggering AL 10 Undervoltage using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation 1 Parameter setting Setting Pr PA20 and Pr PF25 as follows will enable SEMI F47 function Paramet...

Page 320: ... permissible time of instantaneous power failure for instantaneous power failure of SEMI F47 standard Table 7 2 Requirements conditions of SEMI F47 standard Instantaneous power failure voltage Permissible time of instantaneous power failure s Rated voltage 80 1 Rated voltage 70 0 5 Rated voltage 50 0 2 ...

Page 321: ...15000 890 MR J4 700A4 RJ 21000 1500 MR J4 11KA4 RJ 40000 2400 MR J4 15KA4 RJ 50000 3200 MR J4 22KA4 RJ 56000 4200 Instantaneous maximum output means power which servo amplifier can output in maximum torque at rated speed You can examine margins to compare the values of following conditions and instantaneous maximum output Even if driving at maximum torque with low speed in actual operation the mot...

Page 322: ...IC Speed integral compensation 2 Parameter setting Set Pr PB25 to _ _ _ 2 3 Restrictions The following functions are not available at model adaptive control disabled Function Explanation Forced stop deceleration function Pr PA04 Disabling the model adaptive control while the forced stop deceleration function is enabled AL 37 will occur The forced stop deceleration function is enabled at factory se...

Page 323: ...pensation function Lost motion compensation selection 0 Lost motion compensation disabled 1 Lost motion compensation enabled 0 Unit setting of lost motion compensation non sensitive band 0 1 pulse unit 1 1 kplulse unit Pr PE48 0 b Lost motion compensation Pr PE44 Pr PE45 Set the same value for the lost motion compensation for each of when the forward rotation switches to the reverse rotation and w...

Page 324: ... of Lost motion compensation timing Pr PE49 f Lost motion filter setting Pr PE46 Changing the value of this parameter is usually unnecessary When a value other than 0 0 ms is set in this parameter the high pass filter output value of the set time constant is applied to the compensation and lost motion compensation continues 2 Adjustment procedure of the lost motion compensation function The follow...

Page 325: ...n is set lower than the standard setting value or the servo motor is rotating at high speed quadrant projections may occur behind the quadrant change points In this case you can suppress the quadrant projections by delaying the lost motion compensation timing with Pr PE49 Lost motion compensation timing Increase the setting value of Pr PE49 from 0 by approximately 0 5 ms to adjust the compensation...

Page 326: ...o amplifier the super trace control enables to set constant speed and uniform acceleration deceleration droop pulses to almost 0 that cannot be coped with by the feed forward gain Control Position command the same command Droop pulses Normal control Time Servo motor speed Time Droop pulses Droop pulses are always generated Feed forward gain Time Servo motor speed Time Droop pulses Droop pulses are...

Page 327: ... set to 1 s or more The following shows the adjustment procedure Step Operation 1 Execute the gain adjustment with one touch tuning auto tuning etc Refer to chapter 6 for details 2 Change the setting of auto tuning mode to the manual mode Pr PA08 _ _ _ 3 3 Change the setting of feed forward gain Pr PB04 and adjust that droop pulses will be 0 at a constant speed 4 Set the setting of INP In position...

Page 328: ...celeration For the alarms and warnings in which DB or EDB is written in the stop method column the servo motor stops with the dynamic brake without forced stop deceleration 3 Alarm deactivation After its cause has been removed the alarm can be deactivated in any of the methods marked in the alarm deactivation column Warnings are automatically canceled after the cause of occurrence is removed Alarm...

Page 329: ...oder initial communication Transmission data error 3 DB 16 A Encoder initial communication Process error 1 DB 16 B Encoder initial communication Process error 2 DB 16 C Encoder initial communication Process error 3 DB 16 D Encoder initial communication Process error 4 DB 16 E Encoder initial communication Process error 5 DB 16 F Encoder initial communication Process error 6 DB 17 1 Board error 1 D...

Page 330: ...or DB 28 Linear encoder error 2 28 1 Linear encoder Environment error EDB 1 1 0 2A Linear encoder error 1 2A 1 Linear encoder error 1 1 EDB 1 1 0 2A 2 Linear encoder error 1 2 EDB 2A 3 Linear encoder error 1 3 EDB 2A 4 Linear encoder error 1 4 EDB 2A 5 Linear encoder error 1 5 EDB 2A 6 Linear encoder error 1 6 EDB 2A 7 Linear encoder error 1 7 EDB 2A 8 Linear encoder error 1 8 EDB 2B Encoder count...

Page 331: ...e 1 Note 1 46 3 Thermistor disconnected error SD Note 1 Note 1 46 4 Thermistor circuit error SD Note 1 Note 1 46 5 Abnormal temperature of servo motor 3 DB Note 1 Note 1 46 6 Abnormal temperature of servo motor 4 DB Note 1 Note 1 47 Cooling fan error 47 1 Cooling fan stop error SD 0 1 1 47 2 Cooling fan speed reduction error SD 50 Overload 1 50 1 Thermal overload error 1 during operation SD Note 1...

Page 332: ...d side encoder communication Receive data error 3 EDB 71 Load side encoder normal communication error 1 71 5 Load side encoder communication Transmission data error 1 EDB 1 1 0 71 6 Load side encoder communication Transmission data error 2 EDB 71 7 Load side encoder communication Transmission data error 3 EDB 71 9 Load side encoder communication Transmission data error 4 EDB 71 A Load side encoder...

Page 333: ...rvo motors Refer to the following table for the specified servo motors The stop method for other than the specified servo motors will be DB Series Servo motor HG KR HG KR053 HG KR13 HG KR23 HG KR43 HG MR HG MR053 HG MR13 HG MR23 HG MR43 HG SR HG SR51 HG SR52 HG AK HG AK0136 HG AK0236 HG AK0336 SD Forced stop deceleration 3 This is applicable when Pr PA04 is set to the initial value The stop system...

Page 334: ...op E1 8 Thermal overload error 4 during a stop E2 Servo motor overheat warning E2 1 Servo motor temperature warning E3 Absolute position counter warning E3 1 Multi revolution counter travel distance excess warning E3 2 Absolute position counter warning E3 5 Encoder absolute positioning counter warning E5 ABS time out warning E5 1 Time out during ABS data transfer E5 2 ABSM off during ABS data tran...

Page 335: ...8 TROUBLESHOOTING 8 8 MEMO ...

Page 336: ...E DRAWINGS 9 1 Servo amplifier POINT Only MR J4 _A_ RJ are shown for dimensions MR J4 _A_ does not have CN2L CN7 and CN9 connectors The dimensions of MR J4 _A_ are the same as those of MR J4 _A_ RJ except CN2L CN7 and CN9 connectors ...

Page 337: ... Approx 69 3 φ6 mounting hole 168 161 Lock knob With MR BAT6V1SET Mass 0 8 kg Screw size M4 Tightening torque 1 2 N m L2 N P3 L11 L21 P4 L3 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 Mounting screw Screw size M5 Tightening torque 3 24 N m 6 Approx 6 Approx 168 Approx 40 156 0 5 Mounting hole process drawing Approx 6 2 M5 screw ...

Page 338: ...5 Approx 69 3 φ6 mounting hole Lock knob With MR BAT6V1SET Mass 1 0 kg Screw size M4 Tightening torque 1 2 N m L2 N P3 L11 L21 P4 L3 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 Mounting screw Screw size M5 Tightening torque 3 24 N m 6 156 0 5 2 M5 screw Mounting hole process drawing Approx 6 Approx 6 Approx 168 Approx 40 ...

Page 339: ... Approx 69 3 168 161 φ6 mounting hole Lock knob With MR BAT6V1SET Mass 1 4 kg Screw size M4 Tightening torque 1 2 N m L2 N P3 L11 L21 P4 L3 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 Mounting screw Screw size M5 Tightening torque 3 24 N m 156 0 5 Mounting hole process drawing Approx 6 Approx 6 Approx 168 42 0 3 3 M5 screw Approx 6 Approx 12 Approx 60 ...

Page 340: ...x 21 Approx 69 3 φ6 mounting hole Lock knob With MR BAT6V1SET Mass 2 1 kg Screw size M4 Tightening torque 1 2 N m L2 N P3 L11 L21 P4 L3 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 Mounting screw Screw size M5 Tightening torque 3 24 N m Approx 90 Approx 6 3 M5 screw 78 0 3 Approx 6 Approx 6 Mounting hole process drawing Approx 6 156 0 5 Approx 168 ...

Page 341: ...mounting hole Lock knob With MR BAT6V1SET Mass 2 3 kg Screw size M4 Tightening torque 1 2 N m L2 N P3 L11 L21 P4 L3 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 6 10 R 13 hole Mounting hole dimensions Mounting screw Screw size M5 Tightening torque 3 24 N m 3 M5 screw Approx 6 Mounting hole process drawing Approx 6 Approx 6 78 0 3 156 0 5 Approx 168 Approx 6 Approx 90 ...

Page 342: ...1 P4 L3 L1 C D P PE Terminal TE2 TE1 V W U TE3 TE4 TE2 TE1 TE3 TE4 PE Screw size M3 5 Tightening torque 0 8 N m Screw size M4 Tightening torque 1 2 N m Screw size M4 Tightening torque 1 2 N m Screw size M4 Tightening torque 1 2 N m Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m 93 0 5 Approx 105 Approx 6 Approx 6 4 M5 screw Approx 7 5 235 0 5 Approx...

Page 343: ...htening torque 1 2 N m With MR BAT6V1SET Mass 6 2 kg TE1 TE2 PE TE3 PE N P3 P4 TE3 L2 L3 L1 C P TE1 V W U L11 L21 TE2 Terminal Screw size M4 Tightening torque 1 2 N m Screw size M3 5 Tightening torque 0 8 N m Screw size M4 Tightening torque 1 2 N m Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m 160 0 5 4 M5 screw 285 0 5 Mounting hole process drawin...

Page 344: ...V1SET Intake 2 φ6 mounting hole Mass 13 4 kg TE1 2 TE2 Screw size M6 Tightening torque 3 0 N m Screw size M4 Tightening torque 1 2 N m PE TE1 1 PE Screw size M6 Tightening torque 3 0 N m Screw size M6 Tightening torque 3 0 N m N P3 P4 TE1 1 L2 L3 L1 C P TE1 2 V W U L11 L21 TE2 Terminal Mounting screw Screw size M5 Tightening torque 3 24 N m 0 5 196 380 0 5 Mounting hole process drawing Approx 10 A...

Page 345: ...5 Approx 80 Intake Mass 18 2 kg TE1 2 TE2 Screw size M8 Tightening torque 6 0 N m Screw size M4 Tightening torque 1 2 N m PE TE1 1 PE Screw size M8 Tightening torque 6 0 N m Screw size M8 Tightening torque 6 0 N m N P3 P4 TE1 1 L2 L3 L1 C P TE1 2 V W U L11 L21 TE2 Terminal Mounting screw Screw size M10 Tightening torque 3 24 N m 236 0 5 376 0 5 Approx 12 Approx 12 Approx 260 Approx 400 Approx 12 M...

Page 346: ... 69 3 168 161 φ6 mounting hole Lock knob With MR BAT6V1SET Mass 1 7 kg L2 N P3 L11 L21 P4 L3 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m 156 0 5 Mounting hole process drawing 42 0 3 Approx 60 Approx 6 Approx 12 Approx 6 Approx 6 3 M5 screw Approx 168 ...

Page 347: ...ox 21 Approx 69 3 φ6 mounting hole Lock knob With MR BAT6V1SET Mass 2 1 kg L2 N P3 L11 L21 P4 L3 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m 3 M5 screw 156 0 5 78 0 3 Mounting hole process drawing Approx 6 Approx 6 Approx 6 Approx 6 Approx 168 Approx 90 ...

Page 348: ...aust Approx 73 5 Approx 69 3 Approx 38 5 Intake With MR BAT6V1SET Approx 34 Mass 3 6 kg L2 N P3 L11 L21 P4 L3 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m 235 0 5 93 0 5 Approx 6 Approx 6 Approx 7 5 4 M5 screw Approx 105 Approx 250 Mounting hole process drawing Approx 7 5 ...

Page 349: ...m Cooling fan exhaust Intake With MR BAT6V1SET Mass 4 3 kg TE1 TE2 Terminal screw M4 Tightening torque 1 2 N m Terminal screw M3 5 Tightening torque 0 8 N m PE TE3 PE Terminal screw M4 Tightening torque 1 2 N m Screw size M4 Tightening torque 1 2 N m N P3 P4 TE3 L2 L3 L1 C P TE1 V W U L11 L21 TE2 Terminal Mounting screw Screw size M5 Tightening torque 3 24 N m 235 0 5 118 0 5 Mounting hole process...

Page 350: ...ghtening torque 1 2 N m With MR BAT6V1SET Mass 6 5 kg TE1 TE2 Screw size M4 Tightening torque 1 2 N m Screw size M3 5 Tightening torque 0 8 N m PE TE3 PE Screw size M4 Tightening torque 1 2 N m Screw size M4 Tightening torque 1 2 N m N P3 P4 TE3 L2 L3 L1 C P TE1 V W U L11 L21 TE2 Terminal Mounting screw Screw size M5 Tightening torque 3 24 N m 285 0 5 0 5 160 4 M5 screw Approx 6 Approx 6 Approx 17...

Page 351: ...6V1SET Intake 2 φ6 mounting hole Mass 13 4 kg TE1 2 TE2 Screw size M6 Tightening torque 3 0 N m Screw size M4 Tightening torque 1 2 N m PE TE1 1 PE Screw size M6 Tightening torque 3 0 N m Screw size M6 Tightening torque 3 0 N m N P3 P4 TE1 1 L2 L3 L1 C P TE1 2 V W U L11 L21 TE2 Terminal Mounting screw Screw size M5 Tightening torque 3 24 N m 0 5 196 380 0 5 Mounting hole process drawing Approx 10 ...

Page 352: ...5 Approx 80 Intake Mass 18 2 kg TE1 2 TE2 Screw size M8 Tightening torque 6 0 N m Screw size M4 Tightening torque 1 2 N m PE TE1 1 PE Screw size M8 Tightening torque 6 0 N m Screw size M8 Tightening torque 6 0 N m N P3 P4 TE1 1 L2 L3 L1 C P TE1 2 V W U L11 L21 TE2 Terminal Mounting screw Screw size M10 Tightening torque 3 24 N m 236 0 5 376 0 5 Approx 12 Approx 12 Approx 260 Approx 400 Approx 12 M...

Page 353: ...x 38 5 Approx 69 3 φ6 mounting hole 168 161 Lock knob With MR BAT6V1SET Mass 0 8 kg N L11 L21 L2 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m 156 0 5 6 Approx 40 Approx 6 Approx 6 Approx 168 2 M5 screw Mounting hole process drawing ...

Page 354: ... Approx 69 3 φ6 mounting hole Lock knob With MR BAT6V1SET Mass 1 0 kg N L11 L21 L2 L1 C D P PE Terminal CNP1 CNP2 V W U CNP3 Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m 6 Approx 40 Approx 6 Approx 6 Approx 168 2 M5 screw Mounting hole process drawing 156 0 5 ...

Page 355: ...icated here D Connector Shell kit Variable dimensions A B C D E 10150 3000PE 10350 52F0 008 41 1 52 4 18 0 14 0 17 0 b Jack screw M2 6 type This is not available as option Unit mm E B A 23 8 39 0 12 7 C Logo etc are indicated here 5 2 F D Connector Shell kit Variable dimensions A B C D E F 10150 3000PE 10350 52A0 008 41 1 52 4 18 0 14 0 17 0 46 5 ...

Page 356: ...9 OUTLINE DRAWINGS 9 21 2 SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 Unit mm 34 8 39 5 22 4 11 0 ...

Page 357: ...9 OUTLINE DRAWINGS 9 22 MEMO ...

Page 358: ...ctronic thermal protection curve shown in fig 10 1 AL 51 Overload 2 occurs if the maximum current is applied continuously for several seconds due to machine collision etc Use the equipment on the left hand side area of the continuous or broken line in the graph For the system where the unbalanced torque occurs such as a vertical axis system the unbalanced torque of the machine should be kept at 70...

Page 359: ... 43 73 51 81 52 102 53 73 103 53 Characteristics b 121 201 152 202 301 352 152 202 103 153 203 153 203 353 73 103 153 203 Characteristics c 421 502 702 352 502 353 503 601 701M 503 703 353 503 Characteristics d 801 12K1 15K1 20K1 25K1 11K1M 15K1M 22K1M 903 Characteristics e 524 1024 534 734 1034 534 Characteristics b 1524 2024 3524 1534 2034 3534 734 1034 1534 2034 Characteristics c 5024 7024 6014...

Page 360: ... 100 10 1 0 1 100 200 300 400 0 50 150 250 350 Load ratio Note 1 2 3 Servo lock Operating Operation time s Characteristics a Characteristics b 1000 100 10 1 0 1 100 200 300 400 0 50 150 250 350 Load ratio Note 1 3 Servo lock Operating Operation time s 1000 100 10 1 0 1 100 200 300 400 0 50 150 250 350 Load ratio Note 1 3 Servo lock Operating Operation time s Characteristics c Characteristics d ...

Page 361: ...ncy in a servo motor stop status servo lock status or in a 30 r min or less low speed operation status the servo amplifier may malfunction regardless of the electronic thermal protection 2 The load ratio ranging from 300 to 350 applies to the HG KR servo motor 3 The operation time at the load ratio of 300 to 400 applies when the maximum torque of HG JR servo motor is increased to 400 of rated torq...

Page 362: ...ide the cabinet Note 3 With servo off MR J4 10A RJ HG MR053 0 3 25 15 0 5 HG MR13 0 3 25 15 0 5 HG KR053 0 3 25 15 0 5 HG KR13 0 3 25 15 0 5 MR J4 20A RJ HG MR23 0 5 25 15 0 5 HG KR23 0 5 25 15 0 5 MR J4 40A RJ HG MR43 0 9 35 15 0 7 HG KR43 0 9 35 15 0 7 MR J4 60A RJ HG SR52 1 0 40 15 0 8 HG SR51 1 0 40 15 0 8 HG JR53 1 0 40 15 0 8 MR J4 70A RJ HG MR73 1 3 50 15 1 0 HG KR73 1 3 50 15 1 0 HG UR72 1...

Page 363: ... 7 5 195 25 3 9 MR J4 700A4 RJ HG SR7024 10 300 25 6 0 HG JR7034 10 300 25 6 0 HG JR701M4 10 300 25 6 0 HG JR6014 8 6 250 25 5 0 MR J4 11KA4 RJ HG JR9034 13 435 130 45 8 7 HG JR11K1M4 16 530 160 45 11 0 HG JR8014 12 370 110 45 7 0 HG JR12K14 18 570 170 45 11 5 MR J4 15KA4 RJ HG JR15K1M4 22 640 195 45 13 0 HG JR15K14 22 640 195 45 12 8 MR J4 22KA4 RJ HG JR22K1M4 33 850 260 55 17 0 HG JR20K14 30 800...

Page 364: ... 10 1 for heat generated by the servo amplifier A indicates the effective area for heat dissipation but if the cabinet is directly installed on an insulated wall that extra amount must be added to the cabinet s surface area The required heat dissipation area will vary with the conditions in the cabinet If convection in the cabinet is poor and heat builds up effective heat dissipation will not be p...

Page 365: ... 3 1 Dynamic brake operation 1 Calculation of coasting distance Fig 10 3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated Use equation 10 2 to calculate an approximate coasting distance to a stop The dynamic brake time constant τ varies with the servo motor and machine operation speeds Refer to 2 a b of this section A working part generally has a fricti...

Page 366: ...52 102 0 100 50 200 150 250 300 350 352 202 702 152 502 Dynamic brake time constant ms Speed r min HG SR 1000 r min series HG SR 2000 r min series 0 20 10 30 40 50 60 70 80 90 100 0 500 1000 1500 2000 15K1 25K1 20K1 801 601 12K1 Speed r min Dynamic brake time constant ms Speed r min 80 0 70 60 50 40 30 20 10 500 1000 1500 2000 2500 3000 0 15K1M 11K1M 22K1M 701M Dynamic brake time constant ms HG JR...

Page 367: ...ime constant ms 0 10 20 30 40 50 60 0 500 1000 1500 2000 6014 8014 25K14 12K14 20K14 15K14 Speed r min Dynamic brake time constant ms HG SR series HG JR1000 r min series Speed r min 50 0 40 30 20 10 500 1000 1500 2000 2500 3000 0 11K1M4 22K1M4 15K1M4 701M4 70 60 Dynamic brake time constant ms Speed r min 0 1000 2000 3000 4000 5000 6000 734 1534 5034 1034 534 120 100 80 60 40 20 0 2034 3534 9034 70...

Page 368: ... MR053 35 HG JR503 15 30 HG MR13 HG JR703 11 30 HG MR23 32 HG JR903 18 30 HG MR43 HG JR701M 5 HG MR73 HG JR11K1M 10 30 HG SR51 30 HG JR15K1M HG SR81 HG JR22K1M 20 30 HG SR121 HG JR601 5 HG SR201 HG JR801 30 HG SR301 16 HG JR12K1 20 30 HG SR421 15 HG JR15K1 17 30 HG SR52 30 HG JR20K1 26 30 HG SR102 HG JR25K1 21 30 HG SR152 21 HG JR534 30 30 HG SR202 HG JR734 HG SR352 13 15 HG JR1034 HG SR502 HG JR1...

Page 369: ...ttle allowance for these values a b Standard encoder cable Standard motor power cable Standard electromagnetic brake cable Long bending life encoder cable Long bending life motor power cable Long bending life electromagnetic brake cable Number of bending times time 1 108 5 107 1 107 5 106 1 106 5 105 1 105 5 104 1 104 5 103 1 103 4 7 10 20 40 70 100 200 Bend radius mm a b ...

Page 370: ...e a 1 phase 200 V AC power supply with MR J4 10A RJ to MR J4 70A RJ the inrush currents of the main circuit power supply are the same Servo amplifier Inrush currents A0 P Main circuit power supply L1 L2 and L3 Control circuit power supply L11 and L21 MR J4 10A RJ MR J4 20A RJ MR J4 40A RJ MR J4 60A RJ 30 A attenuated to approx 3 A in 20 ms 20 A to 30 A attenuated to approx 1 A in 20 ms MR J4 70A R...

Page 371: ...A attenuated to approx 9 A in 20 ms 41 A attenuated to approx 0 A in 3 ms MR J4 700A4 RJ 68 A attenuated to approx 34 A in 20 ms MR J4 11KA4 RJ 339 A attenuated to approx 10 A in 30 ms 38 A attenuated to approx 1 A in 30 ms MR J4 15KA4 RJ 339 A attenuated to approx 15 A in 30 ms MR J4 22KA4 RJ 339 A attenuated to approx 20 A in 30 ms 3 100 V class The following shows the inrush currents reference ...

Page 372: ...ecified auxiliary equipment and options to prevent a malfunction or a fire POINT We recommend using HIV wires to wire the servo amplifiers options and peripheral equipment Therefore the recommended wire sizes may differ from those used for the previous servo amplifiers 11 1 Cable connector sets POINT The IP rating indicated for cables and connectors is their protection against ingress of dust and ...

Page 373: ...on system Refer to Liner Encoder Instruction Manual about options for liner encoder Refer to Direct Drive Motor Instruction Manual about options for direct drive motor power and encoder Packed with the servo amplifier Note 1 Personal computer To 24 V DC power supply for electromagnetic brake Servo motor Encoder connector Safety logic unit Servo amplifier Operation panel Controller Power supply con...

Page 374: ...magnetic brake and encoder Linear servo motor Linear encoder Power supply connector Direct drive motor Encoder connector To CN2 The connection method changes depending on incremental system and absolute position detection system Refer to Liner Encoder Instruction Manual about options for liner encoder Refer to Direct Drive Motor Instruction Manual about options for direct drive motor power and enc...

Page 375: ...tor OD to 3 9 mm Open tool J FAT OT EXL JST Supplied with 400 V class servo amplifiers of 3 5 kW or less CNP1 connector 06JFAT SAXGDK HT10 5 JST CNP2 connector 05JFAT SAXGDK HT7 5 JST CNP3 connector 03JFAT SAXGDK HT10 5 JST Applicable wire size 1 25 mm 2 to 2 1 mm 2 AWG 16 to 14 Insulator OD to 3 9 mm Open tool J FAT OT XL JST 2 Junction terminal block cable MR J2M CN1TBL_M Cable length 0 5 m 1 m ...

Page 376: ...rt circuit connector Supplied with servo amplifier 9 Battery cable MR BT6V1CBL_M Cable length 0 3 1 m Refer to section 11 1 3 Housing PAP 02V 0 Contact SPHD 001G0 P0 5 JST Connector 10114 3000PE Shell kit 10314 52F0 008 3M or equivalent For connection with battery unit 10 Junction battery cable MR BT6V2CBL_M Cable length 0 3 1 m Refer to section 11 1 3 Housing PAP 02V 0 Contact SPHD 001G0 P0 5 JST...

Page 377: ...onnector 1 Configuration diagram Servo amplifier MR D05UDL3M B CN8 2 Internal wiring diagram 1 2 3 6 7 Plate STO2 TOFB1 TOFB2 Shield STO1 TOFCOM 8 4 5 STOCOM Yellow with black dots Yellow with red dots Gray with black dots Gray with red dots White with black dots White with red dots Note 2 1 6 4 8 CN8 connector 3 5 7 Viewed from the connection part Note Do not use the two core wires with orange sh...

Page 378: ... Standard For junction 2 MR BT6V1CBL_M a Appearance 2 1 3 Components Description 1 Cable VSVC 7 0 18 2C 2 Connector Housing PAP 02V 0 Contact SPHD 001G0 P0 5 JST 3 Connector Connector 10114 3000PE Shell kit 10314 52F0 008 3M or equivalent b Internal wiring diagram BT LG 7 14 1 2 LG BT 1 2 3 SD White Black Plate 3 MR BT6V2CBL_M a Appearance 1 2 3 4 5 Components Description 1 Cable VSVC 7 0 18 2C 2 ...

Page 379: ... 9 Ω MR RB31 6 7 Ω MR RB32 40 Ω Note 1 MR RB50 13 Ω Note 1 MR RB5N 9 Ω Note 1 MR RB51 6 7 Ω MR J4 10A RJ 30 MR J4 20A RJ 10 30 100 MR J4 40A RJ 10 30 100 MR J4 60A RJ 10 30 100 MR J4 70A RJ 20 30 100 300 MR J4 100A RJ 20 30 100 300 MR J4 200A RJ 100 300 500 MR J4 350A RJ 100 300 500 MR J4 500A RJ 130 300 500 MR J4 700A RJ 170 300 500 Servo amplifier Note 2 Regenerative power W External regenerativ...

Page 380: ...0 MR J4 350A4 RJ 100 300 500 MR J4 500A4 RJ 130 300 500 MR J4 700A4 RJ 170 300 500 Servo amplifier Note 2 Regenerative power W External regenerative resistor accessory MR RB5K 4 10 Ω MR RB6K 4 10 Ω MR J4 11KA4 RJ 500 800 500 800 MR J4 15KA4 RJ 850 1300 850 1300 MR J4 22KA4 RJ 850 1300 850 1300 Note 1 Always install a cooling fan 2 Values in parentheses assume the installation of a cooling fan 3 10...

Page 381: ...wer running Regenerative tpsd2 t2 t3 t4 t1 tpsa2 tpsd1 tpsa1 1 2 3 4 5 6 7 8 Formulas for calculating torque and energy in operation Regenerative power Torque applied to servo motor N m Energy E J 1 T1 JL η JM V 9 55 104 tpsa1 1 TU TF E1 2 0 1047 V T1 tpsa1 2 T2 TU TF E2 0 1047 V T2 t1 3 T3 JL η JM V 9 55 104 tpsa2 1 TU TF E3 2 0 1047 V T3 tpsa2 4 8 T4 T8 TU E4 E8 0 No regeneration 5 T5 JL η JM V ...

Page 382: ...A RJ 90 45 MR J4 22KA4 RJ 90 250 MR J4 700A RJ 90 70 MR J4 10A1 RJ 55 4 MR J4 11KA RJ 90 120 MR J4 20A1 RJ 75 4 MR J4 15KA RJ 90 170 MR J4 40A1 RJ 85 10 MR J4 22KA RJ 90 250 Inverse efficiency η Efficiency including some efficiencies of the servo motor and servo amplifier when rated regenerative torque is generated at rated speed Since the efficiency varies with the speed and generated torque allo...

Page 383: ...rom the calculation results in 1 to 8 find the absolute value Es of the sum total of negative energies b Losses of servo motor and servo amplifier in regenerative mode For inverse efficiency and capacitor charging energy refer to 1 b of this section c Regenerative energy calculation Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse...

Page 384: ...ired 84 MR RB34 4 Cooling fan is required 85 MR RB54 4 Cooling fan is required 91 MR RB3U 4 Cooling fan is required 92 MR RB5U 4 Cooling fan is required FA Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative resistor as standard accessory 0 0 Pr PA02 11 2 4 Connection of regenerative option POINT When the MR RB50 MR RB51 MR RB5N MR RB3M 4 MR RB3G 4 MR RB5G 4 MR RB34 4 MR...

Page 385: ...it with a cooling fan 92 mm 92 mm minimum air flow 1 0 m 3 2 When the ambient temperature is more than 55 C and the regenerative load ratio is more than 60 in MR RB30 MR RB 31 MR RB32 and MR RB3N forcefully cool the air with a cooling fan 1 0 m 3 min or more 92 mm 92 mm A cooling fan is not required if the ambient temperature is 35 C or less A cooling fan is required for the shaded area in the fol...

Page 386: ...r less Servo amplifier Note2 Cooling fan Note1 Note 1 When using the MR RB51 MR RB34 4 MR RB54 4 MR RB3U 4 or MR RB5U 4 forcibly cool it with a cooling fan 92 mm 92 mm minimum air flow 1 0 m 3 2 Make up a sequence which will switch off the magnetic contactor when abnormal heating occurs G3 G4 contact specifications Maximum voltage 120 V AC DC Maximum current 0 5 A 4 8 V DC Maximum capacity 2 4 VA ...

Page 387: ...m Cooling the resistors with two cooling fans 1 0 m3 min or more 92 mm 92 mm improves the regeneration capability In this case set _ _ F A in Pr PA02 P C Servo amplifier Cooling fan Note Series connection 5 m or shorter Note The number of resistors connected in series depends on the resistor type The thermal sensor is not mounted on the attached regenerative resistor An abnormal heating of resisto...

Page 388: ...tive capability G3 and G4 are thermal sensor s terminals Between G3 and G4 is opened when the regenerative option overheats abnormally Regenerative option Configure up a circuit which shuts off main circuit power when thermal protector operates Servo amplifier C P 5 m or shorter Note P C G3 G4 Note G3 G4 contact specifications Maximum voltage 120 V AC DC Maximum current 0 5 A 4 8 V DC Maximum capa...

Page 389: ... 4 Mounting screw 4 M3 Top Bottom TE1 G4 G3 C P TE Cooling fan 2 1 0 m3 min or more 92 mm 92 mm 11 2 5 Dimensions 1 MR RB12 Unit mm 5 144 Approx 20 169 168 156 6 12 6 36 40 6 mounting hole TE1 15 Approx 6 149 2 TE1 terminal block G3 G4 P C Applicable wire size 0 2 mm 2 to 2 5 mm 2 AWG 14 to 12 Tightening torque 0 5 to 0 6 N m Mounting screw Screw size M5 Tightening torque 3 24 N m Mass 1 1 kg ...

Page 390: ...able dimensions Mass kg A B MR RB30 17 335 2 9 MR RB31 MR RB32 MR RB3N MR RB34 4 23 341 MR RB3M 4 MR RB3G 4 MR RB3U 4 3 MR RB50 MR RB51 MR RB5N MR RB54 4 MR RB5G 4 MR RB5U 4 Unit mm 2 3 133 82 5 49 82 5 Cooling fan mounting screw 2 M3 screw On opposite side 200 A B 8 120 108 12 12 5 162 5 350 162 5 12 5 7 Approx 30 7 14 slotted hole Air intake Terminal block P C G3 G4 Terminal screw size M4 Tighte...

Page 391: ...size M5 Tightening torque 3 24 N m Mass 0 5 kg 5 MR RB5R MR RB9F MR RB9T MR RB5K 4 MR RB6K 4 Unit mm 480 10 260 230 10 2 φ10 mounting hole 500 30 427 43 197 15 2 3 Cooling fan intake 215 15 230 15 10 15 15 82 5 82 5 82 5 Approx 42 Screw for mounting cooling fan 4 M3 screw Terminal block P C G3 G4 Terminal screw size M5 Tightening torque 2 0 N m Mounting screw Screw size M8 Tightening torque 13 2 N...

Page 392: ...crew size M5 Tightening torque 3 24 N m Mass 1 1 kg 7 GRZG400 0 8Ω GRZG400 0 6Ω GRZG400 0 5Ω GRZG400 2 5Ω GRZG400 2 0Ω standard accessories Unit mm Approx K 1 6 Approx φ47 9 5 40 411 385 10 Approx φC Approx A Approx 2 4 40 Approx 330 Regenerative resistor Variable dimensions Mounting screw size Tightening torque N m Mass kg A C K GRZG400 0 8Ω 10 5 5 39 M8 13 2 0 8 GRZG400 0 6Ω GRZG400 0 5Ω 16 8 2 ...

Page 393: ...m the ambient temperature condition of the servo amplifier between 0 C and 55 C Configure the circuit to shut down the power supply with the alarm output of the brake unit and the resistor unit under abnormal condition Use the brake unit with a combination indicated in section 11 3 1 For executing a continuous regenerative operation use FR RC H power regeneration converter or FR CV H power regener...

Page 394: ... 7 5 6 5 MR J4 22KA4 RJ Note 1 Only when using servo motor HG RR353 HG UR352 2 When HG JR11K1M4 servo motor is used limit the torque during power running to 180 or less or the servo motor speed to 1800 r min or less 3 When the brake unit is selected by using the capacity selection software a brake unit other than the combinations listed may be shown Refer to the combinations displayed on the capac...

Page 395: ...r between P3 and P4 Refer to section 11 11 for details Additionally a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously 4 Connect P and N terminals of the brake unit to a correct destination Incorrect connection destination results in servo amplifier and brake unit malfunction 5 Contact rating 1b contact 110 V AC_5 A 220 V AC_3 A Normal condition...

Page 396: ...Connect P and N terminals of the brake unit to a correct destination Incorrect connection destination results in servo amplifier and brake unit malfunction 5 Contact rating 1b contact 110 V AC 5 A 220 V AC 3 A Normal condition TH1 TH2 is conducting Abnormal condition TH1 TH2 is not conducting 6 Contact rating 230 V AC 0 3 A 30 V DC 0 3 A Normal condition B C is conducting A C is not conducting Abn...

Page 397: ... alarm occurrence or malfunction Always connect the terminals for master slave MSG to MSG SD to SD between the two brake units Do not connect the converter unit and brake units as below Connect the cables with a terminal block to distribute as indicated in this section N P Brake unit Brake unit Servo amplifier P N N P Connecting two cables to P and N terminals N P Brake unit Brake unit Servo ampli...

Page 398: ...C A SD MSG FR BU2 FR BR P PR TH2 TH1 48 ALM EM2 42 46 DICOM DOCOM 47 DOCOM 15 SON 20 DICOM 21 CN1 CN1 RA1 Note 12 Main circuit power supply Note 4 Note 6 Note 8 Note 9 Emergency stop switch Servo amplifier Note 11 Note 1 Power supply OFF ON Note 3 Note 7 Note 2 Note 13 Note 4 Note 6 Note 8 Note 5 24 V DC Note 14 Note 10 Terminal block Note 9 Note 5 24 V DC Note 14 ...

Page 399: ...conducting A C is not conducting Abnormal condition B C is not conducting A C is conducting 7 Do not connect more than one cable to each P to N terminals of the servo amplifier 8 Always connect BUE and SD terminals factory wired 9 Connect MSG and SD terminals of the brake unit to a correct destination Incorrect connection destination results in servo amplifier and brake unit malfunction 10 For the...

Page 400: ...onnection destination results in servo amplifier and brake unit malfunction 5 Contact rating 1a contact 110 V AC 5 A 220 V AC 3 A Normal condition TH1 TH2 is not conducting Abnormal condition TH1 TH2 is conducting 6 Contact rating 230 V AC 0 3 A 30 V DC 0 3 A Normal condition B C is conducting A C is not conducting Abnormal condition B C is not conducting A C is conducting 7 Do not connect more th...

Page 401: ... brake unit malfunction 4 Contact rating 1a contact 110 V AC 5 A 220 V AC 3 A Normal condition TH1 TH2 is not conducting Abnormal condition TH1 TH2 is conducting 5 Contact rating 230 V AC 0 3 A 30 V DC 0 3 A Normal condition B C is conducting A C is not conducting Abnormal condition B C is not conducting A C is conducting 6 Do not connect more than one cable to each P to N terminals of the servo a...

Page 402: ...nger than 5 m twist five times or more per one meter Even when the cable is twisted the cable should be less than 10 m Using cables longer than 5 m without twisting or twisted cables longer than 10 m may result in the brake unit malfunction Servo amplifier Brake unit 5 m or shorter 5 m or shorter Servo amplifier Brake unit 10 m or shorter 10 m or shorter P N P N P PR P PR P N P PR P PR Twist Twist...

Page 403: ...6 4 4 14 6 2 Control circuit terminal POINT Under tightening can cause a cable disconnection or malfunction Over tightening can cause a short circuit or malfunction due to damage to the screw or the brake unit A RES PC B SD BUE C MSG SD MSG SD SD Jumper Terminal block Insulator Core 6 mm Wire the stripped cable after twisting to prevent the cable from becoming loose In addition do not solder it Sc...

Page 404: ...JST d MR J4 15KA RJ FR BU2 15K 2 FVD8 6 JST c FR BU2 30K 1 FVD5 5 6 JST a FR BU2 55K 1 FVD14 6 JST d MR J4 22KA RJ FR BU2 55K 1 FVD14 8 JST d 400 V class MR J4 500A4 RJ FR BU2 H30K 1 FVD5 5 S4 JST a MR J4 700A4 RJ FR BU2 H30K 1 FVD5 5 S4 JST a MR J4 11KA4 RJ FR BU2 H30K 1 FVD5 5 6 JST a FR BU2 H55K 1 FVD5 5 6 JST a MR J4 15KA4 RJ FR BU2 H55K 1 FVD5 5 6 JST a MR J4 22KA4 RJ FR BU2 H55K 1 FVD5 5 8 J...

Page 405: ...ate 68 6 56 6 5 5 118 5 128 18 5 52 62 4 132 5 φ5 hole5 hole Screw size M4 Unit mm FR BU2 30K FR BU2 H30K 129 5 5 59 18 5 Rating plate 52 2 φ5 hole Screw size M4 128 5 5 118 5 108 6 6 96 Unit mm FR BU2 55K FR BU2 H55K FR BU2 H75K 18 5 Rating plate 52 72 5 142 5 128 118 5 5 5 6 158 6 170 2 φ5 hole Screw size M4 ...

Page 406: ...and the top The bottom is open Resistor unit W W1 H H1 H2 H3 D D1 C Approximate mass kg 200 V class FR BR 15K 170 100 450 410 20 432 220 3 2 6 15 FR BR 30K 340 270 600 560 20 582 220 4 10 30 FR BR 55K 480 410 700 620 40 670 450 3 2 12 70 400 V class FR BR H30K 340 270 600 560 20 582 220 4 10 30 FR BR H55K 480 410 700 620 40 670 450 3 2 12 70 3 MT BR5 H resistor unit Unit mm 4φ15 mounting hole 300 ...

Page 407: ..._ 0 1 and set Pr PC27 to _ _ _ 1 1 Selection example The converters can continuously return 75 of the nominal regenerative power They are applied to the servo amplifiers of the 5 kW to 22 kW Power regeneration converter Nominal regenerative power kW Servo amplifier Nominal regenerative power 50 75 100 150 0 500 300 200 100 50 30 20 Continuous energization time s FR RC 15K 15 MR J4 500A RJ MR J4 70...

Page 408: ...S L2 T L3 B C EM1 SON DICOM CN1 DOCOM ALM CN1 RA B C FR RC ALM RA MC MC SK L11 L21 L1 L2 L3 A B C Note 1 Phase detection terminals Ready Alarm output RDY output Note 7 Note 5 Power supply Malfunction Note 3 Power factor improving AC reactor Note 10 Forced stop 1 Note 6 Servo on Power regeneration converter FR RC Operation ready OFF ON Forced stop 1 Note 6 Servo amplifier Note 2 5 m or shorter Note...

Page 409: ...actor improving DC reactor remove the short bar between P3 and P4 Refer to section 11 11 for details Additionally a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously 5 For power supply specifications refer to section 1 3 6 Set Pr PA04 to 0 0 _ _ to enable EM1 Forced stop 1 Configure up the circuit which shuts off main circuitpower with external c...

Page 410: ...minals 3 If disabling ALM Malfunction output with the parameter configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side 4 Between P3 and P4 is connected by default When using the power factor improving DC reactor remove the short bar between P3 and P4 Refer to section 11 11 for details Additionally a power factor im...

Page 411: ... EE E Rating plate Front cover Display panel window Unit mm Power regeneration converter A AA B BA C D E EE K F Approximate mass kg FR RC 15K 270 200 450 432 195 10 10 8 3 2 87 19 FR RC 30K 340 270 600 582 195 10 10 8 3 2 90 31 FR RC 55K 480 410 700 670 250 12 15 15 3 2 135 55 FR RC H15K 340 270 600 582 195 10 10 8 3 2 90 31 FR RC H30K FR RC H55K 480 410 700 670 250 12 15 15 3 2 135 55 ...

Page 412: ... the converter outside the box to provide heat generation measures At this time the mounting hole having the following dimensions is machined in the box Unit mm AA BA b a D hole 2 Mounting hole Power regeneration converter a b D AA BA FR RC 15K 260 412 10 200 432 FR RC 30K 330 562 10 270 582 FR RC 55K 470 642 12 410 670 FR RC H15K 330 562 10 270 582 FR RC H30K FR RC H55K 470 642 12 410 670 ...

Page 413: ...th incorrect polarity will fail the FR CV H and servo amplifier Two or more FR CV H s cannot be installed to improve regeneration capability Two or more FR CV H s cannot be connected to the same DC power supply line When using FR CV H set Pr PA04 to 0 0 _ _ to enable EM1 Forced stop 1 When using the FR CV H power regeneration common converter set Pr PA02 to _ _ 0 1 and set Pr PC27 to _ _ _ 1 11 5 ...

Page 414: ... the servo amplifier of the maximum capacity should be equal to or less than the maximum connectable capacity W The following table lists the restrictions Item FR CV _ 7 5K 11K 15K 22K 30K 37K 55K Maximum number of connected servo amplifiers 6 Total of connectable servo amplifier capacities kW 3 75 5 5 7 5 11 15 18 5 27 5 Total of connectable servo motor rated currents A 33 46 61 90 115 145 215 Ma...

Page 415: ...servo amplifiers connected to the FR CV H the servo amplifier of the maximum capacity should be equal to or less than the maximum connectable capacity W The following table lists the restrictions Item FR CV H_ 22K 30K 37K 55K Maximum number of connected servo amplifiers 1 2 Total of connectable servo amplifier capacities kW 11 15 18 5 27 5 Total of connectable servo motor rated currents A 43 57 71...

Page 416: ...off 2 For the servo amplifier configure a sequence that will switch the servo on after the FR CV is ready 3 For the FR CV the RSO signal turns off when it is put in a ready to operate status where the reset signal is input Configure a sequence that will make the servo inoperative when the RSO signal is on 4 Configure a sequence that will make a stop with the emergency stop input of the servo syste...

Page 417: ...will switch the servo on after the FR CV H is ready 3 For the FR CV H the RSO signal turns off when it is put in a ready to operate status where the reset signal is input Configure a sequence that will make the servo inoperative when the RSO signal is on 4 Configure a sequence that will make a stop with the forced stop input of the servo amplifier if an alarm occurs in the FR CV H 5 When using FR ...

Page 418: ... Wire mm 2 1 or less 2 AWG 14 2 3 5 AWG 12 5 5 5 AWG 10 7 8 AWG 8 11 14 AWG 6 15 22 AWG 4 22 50 AWG 2 The following table indicates the connection wire sizes of the DC power supply P4 N terminals between the FR CV H and servo amplifier Total of servo amplifier capacities kW Wire mm 2 11 8 AWG 8 15 8 AWG 8 22 14 AWG 6 2 Grounding For grounding use the wire of the size equal to or greater than that ...

Page 419: ...ervo amplifier capacities is 7 kW since 3 5 kW 2 0 kW 5 5 kW Fourth unit 2 mm2 assuming that the total of servo amplifier capacities is 2 kW since 2 0 kW 2 0 kW FR CV 55K Servo amplifier 15 kW Servo amplifier 7 kW Servo amplifier 3 5 kW Servo amplifier 2 kW Note Note Note Note Note When using the servo amplifier of 7 kW or less make sure to disconnect the wiring of built in regenerative resistor 5...

Page 420: ...27 5 Maximum servo amplifier capacity kW 3 5 5 7 11 15 15 22 Output Total of connectable servo motor rated currents A 33 46 61 90 115 145 215 Regenerative braking torque Short time rating Total capacity of applicable servo motors 300 torque 60s Note 1 Continuous rating 100 torque Power supply Rated input AC voltage frequency 3 phase 200 V AC to 220 V AC 50 Hz 200 V AC to 230 V AC 60 Hz Permissible...

Page 421: ... capacity Note 2 kVA 41 52 66 100 IP rating JEM 1030 cooling method Open type IP00 forced cooling Environment Ambient temperature 10 C to 50 C non freezing Ambient humidity 90 RH or less non condensing Ambience Indoors no direct sunlight free from corrosive gas flammable gas oil mist dust and dirt Altitude vibration resistance 1000 m or less above sea level 5 9 m s 2 Molded case circuit breaker or...

Page 422: ...0 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 SON P15R LG LAR LBR LZR ST1 RES DICOM ZSP TLC TLA OP SP1 LSP LOP DOCOM RD LA VC LB LZ ST2 SA SA SP2 LG LG EMG LSN ALM SD DICOM LG DOCOM Speed control mode 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 ...

Page 423: ...OP DOCOM DOCOM ALM RD SD Speed P15R VC LG LA LAR LB LBR LZ LZR SON SP2 ST1 ST2 RES DICOM DICOM SA ZSP SA TLC TLA LG LG OP LG SP1 EMG LSP LSN LOP DOCOM DOCOM ALM RD SD Torque P15R VLA LG LA LAR LB LBR LZ LZR SON SP2 RS2 RS1 RES DICOM DICOM ZSP TLC TC LG LG OP LG SP1 EMG LOP DOCOM DOCOM ALM RD SD 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38...

Page 424: ...RES DICOM DICOM SA ZSP SA TLC MO1 TLA LG MO2 LG TRE OP LG RDP RDN SP1 EMG LSP LSN LOP DOCOM DOCOM ALM RD SD Torque P15R VLA LG LA LAR LB LBR LZ LZR SDP SDN SON SP2 RS2 RS1 RES DICOM DICOM ZSP TLC MO1 TC LG MO2 LG TRE OP LG RDP RDN SP1 EMG LOP DOCOM DOCOM ALM RD SD 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 ...

Page 425: ...uration life diagnosis machine diagnosis fully closed loop diagnosis Note 2 and linear diagnosis Note 3 Test operation Jog operation Note 4 positioning operation motor less operation Note 5 DO forced output and program operation test mode information Adjustment One touch tuning tuning and machine analyzer Others Servo assistant parameter setting range update help display Note 1 This is available o...

Page 426: ...ack2 or later CPU recommended Desktop personal computer Intel Celeron processor 2 8GHz or more Laptop personal computer Intel Pentium M processor 1 7GHz or more Memory recommended 512 MB or more for 32 bit OS and 1GB or more for 64 bit OS Hard Disk 1GB or more Communication interface USB port Browser Windows Internet Explorer 4 0 or more Display One whose resolution is 1024 768 or more and that ca...

Page 427: ...ect the power plug of the personal computer from an AC power socket b Check that the power plug was disconnected and connect the device to the servo amplifier c Connect the power plug of the personal computer to the AC power socket b When you use a personal computer with battery You can use as it is 2 Connection with other devices using servo amplifier communication function When the servo amplifi...

Page 428: ...ifiers Select a required battery 1 Applications of the batteries Model Name Application Built in battery MR BAT6V1SET Battery For absolute position data backup MR BAT6V1 MR BAT6V1BJ Battery for junction battery cable For transporting a servo motor and machine apart MR BAT6V1SET A Battery For absolute position data backup MR BAT6V1 MR BT6VCASE Battery case For absolute position data backup of multi...

Page 429: ...of manufacture of the built in MR BAT6V1 battery refer to section 11 8 6 1 Parts identification and dimensions Unit mm Connector for servo amplifier Case Rating plate 28 69 3 38 5 Mass 34 g including MR BAT6V1 battery 2 Battery mounting Connect as follows CN2 CN4 Servo amplifier Encoder cable Servo motor MR BAT6V1SET ...

Page 430: ...plifier CAUTION The internal circuits of the servo amplifier may be damaged by static electricity Always take the following precautions Ground human body and work bench Do not touch the conductive areas such as connector pins and electrical parts directly by hand POINT Replacing battery with the control circuit power off will erase the absolute position data Before replacing batteries check that t...

Page 431: ...battery and insert the plug into the CN4 connector Install a battery and pass the battery cable through a gap between the battery and servo amplifier For the servo amplifier with a battery holder on the bottom For the servo amplifier with a battery holder on the front 2 Removal procedure CAUTION Pulling out the connector of the battery without the lock release lever pressed may damage the CN4 conn...

Page 432: ...6V1SET reaches the end of its life replace the MR BAT6V1 battery in the MR BAT6V1SET Cover Locking part While pressing the locking part open the cover MR BAT6V1 Replace the battery with a new MR BAT6V1 Projection Press the cover until it is fixed with the projection of the locking part to close the cover ...

Page 433: ...cates the first digit of the dominical year the third digit from left indicates a month Oct X Nov Y Dec Z For November 2013 the serial is like SERIAL _ 3Y _ _ _ _ _ _ 3 Specification list Item Description Battery pack 2CR17335A primary lithium battery Nominal voltage V 6 Nominal capacity mAh 1650 Storage temperature C 0 to 55 Operating temperature C 0 to 55 Amount of lithium metal g 1 2 Mercury co...

Page 434: ...hine apart When the connector for branch cable connection black is not connected to the MR BT6VCBL03M junction battery cable no alarm will occur However the absolute position data will be erased when you transport a servo motor and machine apart When you transport a servo motor and machine apart disconnect only CN2 and CN4 of the servo amplifier When other connectors or cables are disconnected bet...

Page 435: ...o replace the MR BAT6V1BJ follow the procedures given in this section to avoid erasing absolute position data Before replacing batteries check that the new battery is within battery life For MR BAT6V1BJ the battery can be replaced with the control circuit power supply off a Battery installation and removal procedure The battery installation and removal procedure to the servo amplifier are the same...

Page 436: ...ry will trigger AL 9F 1 MR BT6VCBL03M CN4 CN2 Servo amplifier Old MR BAT6V1BJ New MR BAT6V1BJ Orange Orange Black 4 Remove the old MR BAT6V1BJ from servo amplifier and mount the new MR BAT6V1BJ When the control circuit power supply is on AL 9F 1 will occur after 3 MR BT6VCBL03M CN4 CN2 Servo amplifier New MR BAT6V1BJ Old MR BAT6V1BJ Orange Orange Black Black 5 Mount the connector for servo amplifi...

Page 437: ..._A_ RJ 100 W or more servo amplifiers For the specifications and year and month of manufacture of the built in MR BAT6V1 battery refer to section 11 8 6 1 Parts identification and dimensions Unit mm 27 4 Connector for servo amplifier Case 51 37 5 Mass 55 g including MR BAT6V1 battery 2 Battery mounting Connect as follows CN2 Encoder cable Servo motors MR BAT6V1SET A CN4 ...

Page 438: ...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 POINT Replacing battery with the control circuit power off will erase the absolute position data Before replacing batteries check that the new battery is within battery life Replace...

Page 439: ...battery into CN4 b Removal procedure CAUTION Pulling out the connector of the battery without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the battery While pressing the lock release lever pull out the connector Pull the lock release lever and slide the battery toward you ...

Page 440: ...1SET A reaches the end of its life replace the MR BAT6V1 battery in the MR BAT6V1SET A Tab Cover While pressing the locking part open the cover Replace the battery with a new MR BAT6V1 battery Projection four places Press the cover until it is fixed with the projection of the locking part to close the cover ...

Page 441: ...e number of connected servo motors One MR BT6VCASE holds absolute position data up to eight axes servo motors For direct drive motors up to four axes can be connected Servo motors and direct drive motors in the incremental system are included as the axis Nos Linear servo motors are not counted as the axis Nos Refer to the following table for the number of connectable axes of each servo motor Servo...

Page 442: ...should be up to 4 axes Servo motors and direct drive motors in the incremental system are included as the axis Nos Linear servo motors are not counted as the axis Nos a When using 1 axis servo amplifier CN4 CN10 MR BT6VCASE MR BT6V1CBL_M Servo amplifier b When using up to 8 axis servo amplifiers CN4 CN10 MR BT6VCASE MR BT6V1CBL_M MR BT6V2CBL_M MR BT6V2CBL_M CN4 CN4 Servo amplifier Servo amplifier ...

Page 443: ...plifier CAUTION The internal circuits of the servo amplifier may be damaged by static electricity Always take the following precautions Ground human body and work bench Do not touch the conductive areas such as connector pins and electrical parts directly by hand POINT Replacing battery with the control circuit power off will erase the absolute position data Before replacing batteries check that t...

Page 444: ...Remark Battery case MR BT6VCASE 1 MR BT6VCASE is a case used for connecting and mounting five MR BAT6V1 batteries Battery MR BAT6V1 5 Lithium battery primary battery nominal 6 V 2 Disassembly and assembly of the battery case MR BT6VCASE a Disassembly of the case MR BT6VCASE is shipped assembled To mount MR BAT6V1 batteries the case needs to be disassembled Threads Remove the two screws using a Phi...

Page 445: ...ly in the incorrect direction the connector will break Place the MR BAT6V1 lead wire to the duct designed to store lead wires Insert MR BAT6V1 to the holder in the same procedure in the order from BAT2 to BAT5 Bring out the lead wire from the space between the ribs and bend it as shown above to store it in the duct Connect the lead wire to the connector Be careful not to get the lead wire caught i...

Page 446: ... Threads d Precautions for removal of battery The connector attached to the MR BAT6V1 battery has the lock release lever When removing the connector pull out the connector while pressing the lock release lever 3 Battery cable removal CAUTION Pulling out the connector of the MR BT6V1CBL and the MR BT6V2CBL without the lock release lever pressed may damage the CN4 connector of the servo amplifier or...

Page 447: ...ufacture Item Description Battery pack 2CR17335A primary lithium battery Nominal voltage V 6 Nominal capacity mAh 1650 Storage temperature C 0 to 55 Operating temperature C 0 to 55 Amount of lithium metal g 1 2 Mercury content Less than 1 ppm Dangerous goods class Inapplicable to Class 9 Battery pack containing 2 g or less lithium Operating humidity and storage humidity 90 RH or less non condensin...

Page 448: ...e size is as follows Construction condition Single wire set in midair Wire length 30 m or less The following diagram shows the wires used for wiring Use the wires given in this section or equivalent 5 Power regeneration converter lead Power regeneration converter N 3 Regenerative option lead Regenerative option 2 Control circuit power supply lead C P L1 L2 L3 L11 L21 1 Main circuit power supply le...

Page 449: ... J4 11KA RJ Note 2 14 AWG 6 f 1 25 AWG 16 c 2 AWG 14 c 3 5 AWG 12 g 14 AWG 6 f Note 5 55 AWG 10 g 8 AWG 8 k MR J4 15KA RJ Note 2 22 AWG 4 h 5 5 AWG 10 g 22 AWG 4 h Note 5 8 AWG 8 k MR J4 22KA RJ Note 2 38 AWG 2 i 5 5 AWG 10 j 38 AWG 2 i Note 1 Alphabets in the table indicate crimping tools For crimp terminals and applicable tools refer to 2 in this section 2 To connect these models to a terminal b...

Page 450: ... terminal block 3 The wire size shows applicable size of the servo amplifier connector and terminal block For wires connecting to the servo motor refer to each servo amplifier instruction manual 4 Be sure to use the size of 2 mm 2 when corresponding to IEC EN UL CSA standard 5 This is for connecting to the linear servo motor with natural cooling method 6 This is for connecting to the linear servo ...

Page 451: ...1210S k FVD8 6 YF 1 E 4 YNE 38 DH 121 DH 111 Note 1 Coat the crimping part with an insulation tube 2 Some crimp terminals may not be mounted depending on the size Make sure to use the recommended ones or equivalent ones b 400 V class Symbol Servo amplifier side crimp terminals Manufacturer Crimp terminal Note Applicable tool Body Head Dice a FVD5 5 4 YNT 1210S JST b FVD2 4 YNT 1614 c FVD2 M3 d FVD...

Page 452: ... A 50 A frame 50 A 125 S N35 MR J4 700A RJ 100 A frame 75 A 60 A frame 60 A 150 S N50 MR J4 11KA RJ 100 A frame 100 A 100 A frame 100 A 200 MR J4 15KA RJ 125 A frame 125 A 125 A frame 125 A 250 S N65 MR J4 22KA RJ 225 A frame 175 A 225 A frame 175 A 350 S N95 MR J4 60A4 RJ 30 A frame 5 A 30 A frame 5 A 480 T 10 600 S N10 S T10 MR J4 100A4 RJ 30 A frame 10 A 30 A frame 5 A 15 MR J4 200A4 RJ 30 A fr...

Page 453: ...nt Voltage AC V Current A Voltage AC V Current A Voltage AC V MR J4 10A RJ MR J4 20A RJ MR J4 40A RJ MR J4 60A RJ MR J4 70A RJ MR J4 100A RJ MR J4 200A RJ 30 A frame 5 A 240 1 300 1 250 MR J4 350A RJ MR J4 500A RJ MR J4 700A RJ MR J4 11KA RJ MR J4 15KA RJ MR J4 22KA RJ MR J4 60A4 RJ MR J4 100A4 RJ MR J4 200A4 RJ MR J4 350A4 RJ MR J4 500A4 RJ 30 A frame 5 A 480 1 600 1 600 MR J4 700A4 RJ MR J4 11KA...

Page 454: ... effect of the power factor improving DC reactor is not produced When used the power factor improving DC reactor generates heat To release heat therefore leave a 10 cm or more clearance at each of the top and bottom and a 5 cm or more clearance on each side 1 200 V class 2 d mounting hole Varnish is removed from right mounting hole face and back side Note 1 D or less W 2 W1 H P P1 4 d mounting hol...

Page 455: ...FR HEL 7 5K Fig 11 2 86 60 113 98 81 72 43 M4 M5 2 5 3 5 AWG 12 MR J4 500A RJ FR HEL 11K 105 64 133 112 92 79 47 M6 M6 3 3 5 5 AWG 10 MR J4 700A RJ FR HEL 15K 105 64 133 115 97 84 48 5 M6 M6 4 1 8 AWG 8 MR J4 11KA RJ FR HEL 15K 105 64 133 115 97 84 48 5 M6 M6 4 1 14 AWG 6 MR J4 15KA RJ FR HEL 22K 105 64 93 175 117 104 115 Note 1 M6 M10 5 6 22 AWG 4 MR J4 22KA RJ FR HEL 30K Fig 11 3 114 72 100 200 ...

Page 456: ... 11 4 W1 W 2 5 D2 D1 1 H 2 5 P P1 D or less D3 4 d mounting hole Note 1 Fig 11 5 H 2 5 W1 W 2 5 D2 D1 1 P P1 D or less D3 4 d mounting hole Note 1 6 Fig 11 6 Note 2 Servo amplifier P3 P4 FR HEL H 5 m or less Note 1 Use this for grounding 2 When using the power factor improving DC reactor remove the short bar across P3 and P4 ...

Page 457: ...AWG 14 MR J4 350A4 RJ FR HEL H7 5K Fig 11 5 96 60 128 105 100 80 50 M5 M4 3 5 2 AWG 14 MR J4 500A4 RJ FR HEL H11K 105 75 137 110 105 85 53 M5 M5 4 5 3 5 AWG 12 MR J4 700A4 RJ FR HEL H15K Fig 11 6 105 75 152 125 115 95 62 M5 M6 5 0 5 5 AWG 10 MR J4 11KA4 RJ 8 AWG 8 MR J4 15KA4 RJ FR HEL H22K 133 90 178 120 95 75 53 M5 M6 6 0 8 AWG 8 MR J4 22KA4 RJ FR HEL H30K 133 90 178 120 100 80 56 M5 M6 6 5 14 A...

Page 458: ...rom front right mounting hole face and back side Note 1 Terminal layout R X Z S Y T W or less Note 2 W1 D1 D2 H D or less Fig 11 7 Y Z S T Y Z S T MC MCCB MC MCCB FR HAL Servo amplifier 3 phase 200 V class X R L1 L2 L3 3 phase 200 V AC to 240 V AC FR HAL Servo amplifier 1 phase 200 V class X R L1 L2 Note 1 phase 200 V AC to 240 V AC L3 Y Z S T MC MCCB FR HAL Servo amplifier 1 phase 100 V class X R...

Page 459: ...50 M5 M4 1 1 MR J4 100A RJ FR HAL 2 2K 115 Note 40 115 77 71 57 M6 M4 1 5 MR J4 200A RJ FR HAL 3 7K 115 Note 40 115 83 81 67 M6 M4 2 2 MR J4 350A RJ FR HAL 7 5K Fig 11 8 130 50 135 100 98 86 M6 M5 4 2 MR J4 500A RJ FR HAL 11K 160 75 164 111 109 92 M6 M6 5 2 MR J4 700A RJ FR HAL 15K 160 75 167 126 124 107 M6 M6 7 0 MR J4 11KA RJ FR HAL 15K 160 75 167 126 124 107 M6 M6 7 0 MR J4 15KA RJ FR HAL 22K 1...

Page 460: ...less Fig 11 10 Y Z S T MC MCCB FR HAL H Servo amplifier 3 phase 400 V class X R L1 L2 L3 3 phase 380 V AC to 480 V AC W 0 5 W1 D1 D2 H 5 125 D or less 150 4 d mounting hole Note Z Y T R X S φ6 groove Fig 11 11 D or less 4 d mounting hole Note Z Y T R X S H 5 180 W 0 5 W1 D1 D2 φ8 groove Fig 11 12 Note Use this for grounding ...

Page 461: ...RJ MR J4 11KA4 RJ FR HAL H15K 220 200 195 105 90 70 M5 M5 9 0 MR J4 15KA4 RJ FR HAL H22K Fig 11 12 220 200 215 170 90 70 M5 M8 9 5 MR J4 22KA4 RJ FR HAL H30K 220 200 215 170 96 75 M5 M8 11 Note Maximum dimensions The dimension varies depending on the input output lines 11 13 Relays recommended The following relays should be used with the interfaces Interface Selection example Digital input interfa...

Page 462: ...c brake and many relays which make a large amount of noise near the servo amplifier and the servo amplifier may malfunction the following countermeasures are required Provide surge absorbers on the noise sources to suppress noises Attach data line filters to the signal cables Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings Although a surge...

Page 463: ... together magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur The following techniques are required 1 Provide maximum clearance between easily affected devices and the servo amplifier 2 Provide maximum clearance between easily affected signal cables and the I O cables of the servo amplifier 3 Avoid wiring the power lines input...

Page 464: ...00 MHz to 500 MHz 80 150 b Surge killer recommended Use of a surge killer is recommended for AC relay magnetic contactor or the like near the servo amplifier Use the following surge killer or equivalent MC SK Surge killer Relay Surge killer MC ON OFF This distance should be short within 20 cm Ex CR 50500 Okaya Electric Industries Rated voltage AC V C µF 20 R Ω 30 Test voltage Dimensions Unit mm 6 ...

Page 465: ...unding plate with the cable clamp If the cable is thin clamp several cables in a bunch The clamp comes as a set with the grounding plate Unit mm Cable clamp A B Cable Earth plate External conductor Clamp section diagram 40 Strip the cable sheath of the clamped area cutter cable Dimensions Unit mm Earth plate Note M4 screw 11 3 6 C A 6 22 17 5 35 35 7 24 0 0 2 B 0 3 2 φ5 hole installation hole Unit...

Page 466: ...es would be appropriate For the servo motor power lines passes must be four times or less Do not pass the grounding wire through the filte or the effect of the filter will drop Wind the wires by passing through the filter to satisfy the required number of passes as shown in Example 1 If the wires are too thick to wind use two or more filters to have the required number of passes as shown in Exampl...

Page 467: ...imensions Unit mm Make the connection cables as short as possible Grounding is always required When using the FR BIF with a single phase power supply always insulate the lead wires that are not used for wiring MR J4 350A RJ or less MR J4 350A4 RJ or less MR J4 40A1 RJ or less Radio noise filter Servo amplifier Power supply MC MCCB L3 L2 L1 Terminal block MR J4 500A RJ or less MR J4 500A4 RJ or les...

Page 468: ...mum limit voltage Static capacity reference value Varistor voltage rating range V1 mA Permissible circuit voltage Surge current immunity Energy immunity Rated pulse power A V AC Vrms DC V 8 20 µs A 2 ms J W pF V 200 V class 100 V class TND20V 431K 275 350 10000 1 time 195 1 0 100 710 1300 430 387 to 473 TND20V 471K 300 385 7000 2 time 215 775 1200 470 423 to 517 400 V class TND20V 102K 625 825 750...

Page 469: ...rmonic and surge reduction techniques NV SP NV SW NV CP NV CW NV HW 1 General models BV C1 NFB NV L 3 Ig1 Leakage current on the electric channel from the earth leakage current breaker to the input terminals of the servo amplifier Found from Fig 11 13 Ig2 Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor Found from Fig 11 13 Ign Leakage cur...

Page 470: ... Iga Servo amplifier capacity kW Leakage current mA 0 1 to 0 6 0 1 0 75 to 3 5 0 15 5 7 2 11 15 5 5 22 7 Table 11 6 Earth leakage current breaker selection example Servo amplifier Rated sensitivity current of earth leakage current breaker mA MR J4 10A RJ to MR J4 350A RJ MR J4 60A4 RJ to MR J4 350A4 RJ MR J4 10A1 RJ to MR J4 40A1 RJ 15 MR J4 500A RJ MR J4 500A4 RJ 30 MR J4 700A RJ MR J4 700A4 RJ 5...

Page 471: ...urrent breaker designed for suppressing harmonics surges Find the terms of equation 11 1 from the diagram Ig1 20 5 1000 0 1 mA Ig2 20 5 1000 0 1 mA Ign 0 not used Iga 0 1 mA Igm 0 1 mA Insert these values in equation 11 1 Ig 10 0 1 0 0 1 1 0 1 0 1 4 mA According to the result of calculation use an earth leakage current breaker having the rated sensitivity current Ig of 4 0 mA or more An earth leak...

Page 472: ...2KA RJ Note HF3100A UN 100 12 MR J4 60A4 RJ MR J4 100A4 RJ TF3005C TX 5 500 5 5 6 MR J4 200A4 RJ to MR J4 700A4 RJ TF3020C TX 20 MR J4 11KA4 RJ TF3030C TX 30 7 5 MR J4 15KA4 RJ TF3040C TX 40 12 5 MR J4 22KA4 RJ TF3060C TX 60 MR J4 10A1 RJ to MR J4 40A1 RJ Note HF3010A UN 10 250 5 3 5 Note A surge protector is separately required to use any of these EMC filters 2 Connection example a 200 V class 10...

Page 473: ...2 3 Dimensions a EMC filter HF3010A UN Unit mm 32 2 85 2 110 4 258 4 273 2 288 4 300 5 M4 IN 3 M4 65 4 Approx 41 4 5 5 7 3 M4 HF3030A UN HF 3040A UN Unit mm 125 2 44 1 260 5 140 2 70 2 140 1 155 2 3 M5 6 R3 25 length 8 3 M5 M4 85 1 210 2 85 1 ...

Page 474: ...A UN Unit mm 2 6 5 8 M8 145 1 165 3 M6 380 1 400 5 160 3 M8 2 φ6 5 TF3005C TX TX3020C TX TF3030C TX Unit mm 290 2 100 1 100 1 308 5 332 5 Approx 12 2 3 M4 16 16 6 R3 25 length 8 M4 M4 125 2 3 M4 140 1 155 2 IN 150 2 Approx 6 75 3 Approx 160 170 5 M4 ...

Page 475: ...m 180 2 Approx 91 5 Approx 190 200 5 M6 390 2 100 1 412 5 438 5 Approx 17 3 M6 22 22 8 R3 25 Length 8 for M6 M4 M4 145 2 3 M6 160 1 175 2 IN 100 1 100 1 b Surge protector RSPD 250 U4 41 1 28 5 1 28 1 4 2 0 5 5 5 1 11 1 30 0 200 4 5 0 5 1 3 2 Lead Case Resin Unit mm 1 2 3 ...

Page 476: ... duration Do not use it very frequently When using the 400 V class external dynamic brake the power supply voltage is restricted to 1 phase 380 V AC to 463 V AC 50 Hz 60 Hz External dynamic brake operates at occurrence of alarm AL E6 Servo forced stop warning and when power is turned off Do not use external dynamic brake to stop in a normal operation as it is the function to stop in emergency For ...

Page 477: ...eleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 4 Turn off EM2 when the main power circuit power supply is off 5 The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience However they can be configured by one 6 Between P3 and P4 is connected by ...

Page 478: ...ier L3 L2 L1 Power supply U V W U V W E M Servo motor Operation ready CN1 MCCB MC ALM RA1 OFF ON MC Emergency stop switch Dynamic brake interlock SK Note 2 Note 1 9 DB 48 ALM 47 DOCOM 24 V DC Note 5 RA1 RA2 24 V DC Note 5 Note 4 Main circuit power supply 15 SON 42 20 21 EM2 CN1 DICOM DICOM P3 P4 Note 6 Note 8 Note 7 Step down transformer ...

Page 479: ... factor improving DC reactor remove the short bar between P3 and P4 Refer to section 11 11 for details Additionally a power factor improving DC reactor and power factor improving AC reactor cannot be used simultaneously 7 Stepdown transformer is required when the coil voltage of the magnetic contactor is 200 V class 8 The power supply voltage of the inside magnet contactor for 400 V class external...

Page 480: ...gnetic brake interlock Electro magnetic brake operation delay time MBR Electromagnetic brake interlock Base circuit ON OFF Servo motor speed ALM Malfunction Main circuit Control circuit ON OFF Power Dynamic brake ON OFF ON OFF Valid ON OFF Disabled Enabled DB Dynamic brake interlock Note 1 When powering off DB Dynamic brake interlock will be turned off and the base circuit is turned off earlier th...

Page 481: ... torque 1 2 N m External dynamic brake A B C D E F G Mass kg Note Connection wire mm 2 U V W Except U V W DBU 11K 200 190 140 20 5 170 163 5 2 5 5 AWG 10 2 AWG 14 DBU 15K DBU 22K R1 250 238 150 25 6 235 228 6 5 5 AWG 10 2 AWG 14 Note Selection conditions of wire size is as follows Wire type 600 V grade heat resistant polyvinyl chloride insulated wire HIV wire Construction condition Single wire set...

Page 482: ...k TE1 a b 13 14 Screw M3 5 Tightening torque 0 8 N m TE2 W V U Screw M4 Tightening torque 1 2 N m External dynamic brake Note Connection wire mm 2 U V W Except U V W DBU 11K 4 5 5 AWG 10 2 AWG 14 DBU 22K 4 5 5 AWG 10 2 AWG 14 Note Selection conditions of wire size is as follows Wire type 600 V grade heat resistant polyvinyl chloride insulated wire HIV wire Construction condition Single wire set in...

Page 483: ... the servo amplifier to the cabinet Please prepare screws for mounting They do not come with The environment outside the cabinet when using the heat sink outside mounting attachment should be within the range of the servo amplifier operating environment The heat sink outside mounting attachments are used for MR J4 11KA RJ to MR J4 22KA RJ and MR J4 11KA4 RJ to MR J4 22KA4 RJ The following shows th...

Page 484: ...QUIPMENT 11 113 c Mounting method Attachment Attachment Fit using the assembling screws Servo amplifier a Assembling the heat sink outside mounting attachment Cabinet Punched hole Servo amplifier b Mounting it to inside cabinet ...

Page 485: ... 12 510 580 Approx 58 188 145 Approx 400 78 35 196 240 3 2 155 108 3 Approx 263 3 Panel Panel 20 6 Attachment Mounting hole Servo amplifier Servo amplifier 2 MR J3ACN a Panel cut dimensions Unit mm 236 255 270 Approx 125 331 39 5 535 510 18 203 39 5 4 M10 Screw Punched hole Unit mm ...

Page 486: ...or heat sink outside mounting attachment Screw 2 places Attachment c Mounting method Fit using the assembling screws Attachment Servo amplifier Attachment Servo amplifier Punched hole Cabinet a Assembling the heat sink outside mounting attachment b Mounting it to inside cabinet ...

Page 487: ...EQUIPMENT 11 116 d Mounting dimensional diagram Unit mm Approx 58 510 580 12 236 280 Approx 260 84 194 20 145 Approx 400 35 3 2 105 155 Approx 260 Approx 11 5 Servo amplifier Servo amplifier Mounting hole Panel Panel Attachment ...

Page 488: ... setting before operation The absolute position data of the encoder will be erased in the followings Additionally when the battery is used out of specification the absolute position data can be erased MR BAT6V1SET MR BAT6V1SET A and MR BT6VCASE The encoder cable was disconnected The battery was replaced when the control circuit power supply was off MR BAT6V1BJ A connector or cable was disconnected...

Page 489: ...ft infinitely long positioning 4 Changing electronic gear after home position setting 5 Using alarm code output 12 1 3 Structure The following shows a configuration of the absolute position detection system Refer to section 11 8 for each battery connection Positioning module I O module RD75P4 RD75D4 RX40C7 RX41C4 RX42C4 RY40NT5P RY41NT2P RY42NT2P RY40PT5P RY41PT1P RY42PT1P QD75P_N QD75D_N QX40 QX4...

Page 490: ... transfer system by communication Refer to section 12 8 for the ABS transfer system by communication Absolute position detection system selection 0 Disabled incremental system 1 Enabled absolute position detection system by DIO 2 Enabled absolute position detection system by communication based available for the software version A3 or later Pr PA03 1 12 1 5 Confirmation of absolute position detect...

Page 491: ... until 6000 r min is 0 2 s or more Direct drive motor 500 only when acceleration time until 500 r min is 0 1 s or more Note 2 Battery backup time Rotary servo motor Approximately 20 000 hours equipment power supply off ambient temperature 20 C Approximately 29 000 hours power on time ratio 25 ambient temperature 20 C Note 3 Direct drive motor Approximately 5 000 hours equipment power supply off am...

Page 492: ...2 Specifications a Specification list Item Description System Electronic battery backup type Maximum revolution range Home position 32767 rev Note 1 Maximum speed at power failure r min Rotary servo motor 6000 only when acceleration time until 6000 r min is 0 2 s or more Note 2 Battery backup time Rotary servo motor Approximately 20 000 hours equipment power supply off ambient temperature 20 C App...

Page 493: ...re Note 2 Battery backup time Rotary servo motor Approximately 40 000 hours 2 axes or less 30 000 hours 3 axes or 10 000 hours 8 axes equipment power supply off ambient temperature 20 C Approximately 55 000 hours 2 axes or less 38 000 hours 3 axes or 15 000 hours 8 axes power on time ratio 25 ambient temperature 20 C Note 4 Direct drive motor Approximately 10 000 hours 2 axes or less 7 000 hours 3...

Page 494: ...0 23 ABSB1 25 ABST DICOM DOCOM 47 21 DICOM 49 RD 1 P15R 33 OP 41 47 10 PP 11 PG 35 NP 36 NG 1 P15R 27 TLA 28 LG Plate SD Servo amplifier I O unit Dog Stop Input Output Electromagnetic brake output Reset Note Forced stop 2 Servo on ABS transmission mode ABS request ABS transmission data bit 0 ABS transmission data bit 1 ABS transmission data ready Upper limit setting CN1 RA2 24 V DC External torque...

Page 495: ...I 1 ABS transmission data bit 0 ABSB0 22 Indicates the lower bit of the absolute position data 2 bits which is sent from the servo to the programmable controller in the ABS transfer mode If there is a signal D01 turns on DO 1 P Position control ABS transmission data bit 1 ABSB1 23 Indicates the upper bit of the absolute position data 2 bits which is sent from the servo to the programmable controll...

Page 496: ...2 ABS data display window refer to section 12 1 5 and programmable controller side ABS data registers show the same value at the home position address of 0 If any warning such as AL E5 ABS time out warning or programmable controller side transfer error occurs refer to section 12 7 or chapter 8 and take corrective action 5 Home position setting The home position must be set if a System set up is pe...

Page 497: ...a set Transmission data set DI0 allocation change Watch dog timer Reading 2 bits Shift and addition Watch dog timer Reading 2 bits Shift and addition Setting the current position Sum check Every time the SON is turned ON ABSM is turned ON to set the data to be transmitted The data is read in units of 2 bits the read data is written to the lowest bits and the register is shifted right until 32 bit ...

Page 498: ... current position latched when ABSM switches from off to on At the same time this data is set as a position command value inside the servo amplifier Unless ABSM ABS transfer mode is turned on the base circuit cannot be turned on 1 At power on a Timing chart OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON 95 ms 95 ms 1 2 3 Power supply SON 4 ABSM ABSR ABST Base circuit RD If SON is turned ON befor...

Page 499: ...sition data transmission the output signals will be assigned the functions of absolute position data transmission CN1 Pin No Output signal ABSM ABS transfer mode off ABSM ABS transfer mode on 22 Positioning completion transmission data bit 03 23 Zero speed detection transmission data bit 1 25 During torque limit control transmission data ready 5 ABSM is not accepted while the base circuit is on Fo...

Page 500: ...e checksum the programmable controller confirms that the 19th ABST is turned on and then turns off ABSM If ABSM is turned off during data transmission ABSM is interrupted and the AL E5 ABS time out warning occurs c Checksum he checksum is the code which is used by the programmable controller to check for errors in the received absolute position data The 6 bit checksum is transmitted following the ...

Page 501: ...ignal is not turned on by the programmable controller within 5 s after ABST is turned on this is regarded as a transmission error and AL E5 ABS time out warning is output OFF ON OFF ON OFF ON 5 s ABSM ABSR ABST AL E5 Signal is not turned ON No Yes 2 ABS request on time time out check applied to 32 bit absolute position data in 2 bit units checksum If the ABSR is not turned off by the programmable ...

Page 502: ...the AL E5 ABS time out warning is output OFF ON OFF ON OFF ON 1 2 3 4 18 19 1 2 3 4 18 19 5 s ABSM ABSR ABST AL E5 Signal is not turned OFF No Yes 4 ABSM off check during the ABS transfer When the ABSM is turned on to start transferring and then the ABS transfer mode is turned off before the 19th ABS transmission data ready is turned on AL E5 ABS time out warning occurs regarding it as a transfer ...

Page 503: ...retry transmission of the absolute position data Using the ladder check program of the programmable controller turn off ABSM After a lapse of 10 ms or longer turn off SON off time should be longer than 20 ms and then turn it on again If the absolute position data transmission fails even after retry process the ABS checksum error The start command should be interlocked with ABST to disable position...

Page 504: ...N by detecting ALM If an alarm has occurred ABSM cannot be accepted In the reset state ABSM can be input OFF ON OFF ON OFF ON OFF ON OFF ON 95 ms OFF ON OFF ON SON RES ABSM ABSR ABST ABSB0 ABSB1 Base circuit ALM RD Occurrence of alarm During transfer of ABS Absolute position data Operation enabled OFF ON ...

Page 505: ... on during an forced stop as shown below the servo amplifier transmits to the controller the current position latched when ABSM switches from off to on and at the same time the servo amplifier sets this data as a position command value However since the base circuit is off during a forced stop the servo lock status is not encountered Therefore if the servo motor is rotated by external force or the...

Page 506: ...permissible while in the forced stop state In this case the base circuit and RD are turned on after the forced stop state is reset OFF ON OFF ON OFF ON OFF ON OFF ON 95 ms OFF ON OFF ON SON EM2 ABSM ABSR ABST ABSB0 ABSB1 Base circuit RD During transfer of ABS Operation enabled Absolute position data ...

Page 507: ...olute position data CR should be turned on after it has been confirmed that INP is on If this condition is not satisfied AL 96 Home position setting warning will occur but that warning will be reset automatically by making home position return correctly The number of home position setting times is limited to 1 000 000 times OFF ON DOG Proximity dog OFF ON INP In position OFF ON OFF ON OFF ON CR Ho...

Page 508: ...p position is stored into the non volatile memory as the home position absolute position data When the servo on set CR to on after confirming that INP is on If this condition is not satisfied AL 96 Home position setting warning will occur but that warning will be reset automatically by making home position return correctly The number of home position setting times is limited to 100 000 times OFF O...

Page 509: ... turning ABSM on will change the CN1 23 pin to ABSB1 ABS transmission data bit 1 Therefore configure an external sequence to generate the electromagnetic brake torque as soon as ABSM and MBR turn off OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON 95 ms 5 ms Tb 95 ms 5 ms Tb Power supply SON ABSM ABSR ABST ABSB0 ABSB1 Base circuit RD MBR Electromagnetic brake torque During transmiss...

Page 510: ...nt this difference in position data from occurring do as described below When the servo amplifier has detected the stroke end perform JOG operation or the like to clear the stroke end After that switch SON off once then on again or switch the power off once then on again This causes the absolute position data of the servo amplifier to be transferred to the programmable controller restoring the nor...

Page 511: ... ON 1 s ABSM ABSR ABST ABS communication error The signal does not come ON NO YES 2 The time required for the ABS transfer mode signal to go off after it has been turned on ABS transfer time is checked If the ABS transfer time is longer than 5 s regard that a transfer fault has occurred and generate the ABS communication error Generate the ABS communication error if AL E5 ABS time out warning is g...

Page 512: ...ier If the ABS request remains on for longer than 1 s regard that a fault relating to the ABS request signal or the ABST has occurred and generate the ABS communication error Generate the ABS communication error if AL E5 ABS time out warning is generated at the servo amplifier due to an ABS request off time time out OFF ON OFF ON OFF ON 1 s ABSM ABSR ABST ABS communication error The signal does no...

Page 513: ...smit command 0 2 and data No 9 1 2 Reply The absolute position data in the command pulse unit is returned in hexadecimal Data 32 bit length hexadecimal representation 12 8 2 Absolute position data transfer protocol 1 Data transfer procedure Every time SON turns on at power on or like the controller must read the current position data in the servo amplifier Not performing this operation will cause ...

Page 514: ...mission Absolute position data receive Current position Pulse train command Current position change During this period get absolute position data SON RD Absolute position data 1 The base circuit turns on after 95 ms 2 After the base circuit is turned on RD turns on 3 After RD turned on and the controller acquired the absolute position data give command pulses to the servo amplifier If the controll...

Page 515: ...m get the absolute position data again from the servo amplifier in accordance with the procedure in a of this section ON 95 ms OFF ON OFF ON OFF ON OFF ON OFF 5 ms Base circuit Absolute position data command transmission Absolute position data receive Current position Pulse train command During this period get absolute position data Current position change SON RES ALM RD Absolute position data ...

Page 516: ...OFF ON OFF ON 5 ms During this period get absolute position data Current position change Power supply Base circuit Pulse train command Current position Absolute position data receive Absolute position data command transmission SON EM2 RD Absolute position data 2 When a forced stop is activated during servo on 95 ms ON OFF ON OFF ON OFF ON OFF 5 ms Pulse train command Current position Absolute posi...

Page 517: ...12 ABSOLUTE POSITION DETECTION SYSTEM 12 30 MEMO ...

Page 518: ...o prevent injury to persons or damage to property Only qualified personnel are authorized to install start up repair or service the machines in which these components are installed They must be familiar with all applicable local regulations and laws in which machines with these components are installed particularly the standards mentioned in this manual The staff responsible for this work must be ...

Page 519: ... STO function does not guarantee that the drive part of the servo motor will not rotate due to external or other forces 6 Safety is not assured until safety related components of the system are completely installed or adjusted 7 When replacing this servo amplifier confirm that the model name of servo amplifiers are exactly the same as those being replaced Once installed make sure to verify the per...

Page 520: ... Number of on off times of STO 1 000 000 times CE marking LVD EN 61800 5 1 EMC EN 61800 3 MD EN ISO 13849 1 EN 61800 5 2 EN 62061 Note This is the value required by safety standards 2 Function block diagram STO function Base power supply for upper arm Base power supply for lower arm Shut off signal STO1 CN8 Monitor signal TOFB1 Shut off signal STO2 Monitor signal TOFB2 Shut off Shut off Servo moto...

Page 521: ... Mitsubishi drive safety function Refer to chapter 8 13 2 STO I O signal connector CN8 and signal layouts 13 2 1 Signal layouts POINT The pin configurations of the connectors are as viewed from the cable connector wiring section TOFB2 STO2 TOFB1 STO1 STOCOM 2 CN8 STO I O signal connector Servo amplifier 1 4 3 6 5 8 7 TOFCOM ...

Page 522: ... shut off Between TOFB2 and TOFCOM is closed STO release state in driving Between TOFB2 and TOFCOM is opened DO 1 2 Signals and STO state The following table shows the TOFB and STO states when the power is on in normal state and STO1 and STO2 are on closed or off opened Input signal State STO1 STO2 Between TOFB1 and TOFCOM Monitoring STO1 state Between TOFB2 and TOFCOM Monitoring STO2 state Betwee...

Page 523: ...hould meet the applicable safety standards and have forcibly guided or mirror contacts for the purpose of error detection In addition the MR J3 D05 safety logic unit can be used instead of a safety relay for implementation of various safety standards Refer to Appendix 5 for details The following diagram is for source interface For sink interface refer to section 13 4 1 Approx 3 0 kΩ 24 V DC 24 V D...

Page 524: ... SDO2A SRESA CN9 CN10 STO1 TOFB2 TOFCOM STO2 STOCOM TOFB1 Servo amplifier SW1 FG 4 5 3 6 7 8 CN1 EM2 A axis CN8 TOFB2 TOFCOM STO2 STOCOM TOFB1 Servo amplifier SDO1B 3A 3B SDO1B SDI1B 2A 2B SDI1B SDI2B SRESB SDO2B TOFB 4A 4B 2A 2B 5A 5B 8B 24 V 7A 0 V 7B SDI2B SDO2B SRESB CN9 CN10 SW2 MR J3 D05 Note Note S1 24 V 0 V RESA STOA S3 RESB STOB MC M Servo motor MC M Servo motor Control circuit Control ci...

Page 525: ...3 D05 The switch status of STOB is input to SDI2B of MR J3 D05 and then it will be input to STO1 and STO2 of the servo amplifier via SDO1B and SDO2B of MR J3 D05 A axis shutdown 1 and 2 B axis shutdown 1 and 2 STO1 STO2 Stop Operation Energizing close Shut off open EM2 input STO shut off Normal close Shut off open 0 r min Servo motor drivable Servo motor speed Servo amplifier Shut off delay STO st...

Page 526: ...QS90SR2S Fuse 24 V 0 V S2 S1 or EMG Note EMG K3 Control circuit Power supply S1 STO shut off switch STO switch S2 Start switch STO release switch S3 On switch S4 Off switch KM1 Magnetic contactor K3 Safety relay EMG Emergency stop switch 24 V XS0 XS1 Z00 Z10 Z20 X0 COM0 24G X1 COM1 Z01 Z11 Z21 CN8 CN3 20 EM1 or EM2 Control circuit Servo amplifier STO1 TOFB1 TOFCOM TOFB2 STO2 STOCOM M Servo motor K...

Page 527: ...tput interface DO 1 This is a circuit of collector output terminal of the output transistor When the output transistor is turned on collector terminal current will be applied for the output A lamp relay or photocoupler can be driven Install a diode D for an inductive load or install an inrush current suppressing resistor R for a lamp load Rated current 40 mA or less maximum current 50 mA or less i...

Page 528: ...ls from source open collector type transistor output relay switch etc Approx 3 0 kΩ STO1 STO2 Servo amplifier Switch STOCOM TR Approx 5 mA VCES 1 0 V ICEO 100 µA 24 V DC 10 500 mA 2 Digital output interface DO 1 This is a circuit of emitter output terminal of the output transistor When the output transistor is turned on current will be applied from the output to a load A maximum of 5 2 V voltage d...

Page 529: ...ne TOFB Servo amplifier Load Note 24 V DC 10 500 mA TOFCOM TOFB2 TOFB1 If polarity of diode is reversed servo amplifier will malfunction Note If the voltage drop maximum of 5 2 V interferes with the relay operation apply high voltage maximum of 26 4 V from external source ...

Page 530: ...er 14 1 Structure 14 1 1 Configuration diagram 1 Single axis Operate the single axis servo amplifier It is recommended to use the following cable To RS 232C connector Servo amplifier Personal computer RS 422 232C conversion cable DSV CABV Diatrend 10 m or less CN3 2 Multi drop connection a Diagrammatic sketch Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus T...

Page 531: ...Connector LG P5D RDP SDN SDP RDN LG NC 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 Note 2 150 RDP RDN Note 3 30 m or less Note 8 Note 1 Recommended connector Hirose Electric Plug TM10P 88P Connection tool CL250 0228 1 The following shows pin assignment viewed from connector wiring section 8 6 7 RDN 5 SDP 4 SDN 3 RDP 2 P5D 1 LG LG 2 The final axis must be terminated between RDP ...

Page 532: ...computer from an AC power socket b Check that the power plug was disconnected and connect the device to the servo amplifier c Connect the power plug of the personal computer to the AC power socket b When you use a personal computer with battery You can use as it is 2 Connection with other devices using servo amplifier communication function When the servo amplifier is charged with electricity due ...

Page 533: ...ty Stop Next start LSB MSB 14 2 2 Parameter setting When the RS 422 communication function is used to operate the servo set the communication specifications of the servo amplifier with the parameters To enable the parameter values cycle the power after setting 1 Serial communication baud rate Select the communication speed Match this value to the communication speed of the sending end master stati...

Page 534: ...ion No of the servo amplifier which must provide the return data 1 Transmission of data from the controller to the servo Date SOH STX Command Data No ETX STX ETX Checksum Checksum 10 frames data 6 frames Positive response Error code A Negative response Error code other than A Station No Station No Controller side master station Servo side slave station Error code 2 Transmission of data request fro...

Page 535: ...DC2 DC3 Space 0 1 2 3 4 5 6 7 8 9 A B C D E F G H I J K L M N O P Q R S T U V W X Y Z _ a b c d e f g h i j k l m n o p q r s t u v w x y z DEL 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 b8 to b5 R C 0 1 2 3 b4 b3 b2 b1 4 5 6 7 3 Station numbers You may set 32 station Nos from station 0 to station 31 and the ASCII...

Page 536: ...fications F f Data No error The transmitted data No is out of specifications 14 3 4 Checksum The checksum is an ASCII coded hexadecimal representing the lower two digits of the sum of ASCII coded hexadecimal numbers up to ETX with the exception of the first control code STX or SOH STX or SOH ETX Check Checksum range Station No 5 2 STX 30H 41H 31H 32H 35H 46H 03H 152H 0 A 1 F 5 2 ETX 02H 30H 41H 31...

Page 537: ...o Station No Station No Controller side master station Servo side slave station STX STX Similarly when the master station detects a fault e g checksum parity in the response data from the slave station the master station retransmits the message which was sent at the occurrence of the fault A communication error occurs if the retry processing is performed three times 14 3 7 Initialization After the...

Page 538: ... data Other than error code A or a 3 consecutive times 300 ms elapsed Start Data make up Checksum calculation and addition Addition of SOH to make up transmission data Data transmission Data receive 3 consecutive times Receive data analysis End 100 ms after EOT transmission Error processing Error processing No Yes Yes Yes No No No No Yes Yes Master station Is there receive data Command Data No Che...

Page 539: ...tio 0 9 Peak load ratio 0 A Instantaneous torque Instantaneous thrust 0 B Position within one revolution Motor encoder position within one revolution Virtual position within one revolution 0 C ABS counter Motor encoder ABS counter Virtual ABS counter 0 D Load to motor inertia ratio Load to motor mass ratio 0 E Bus voltage 0 F Note Load side cumulative feedback pulses 1 0 Note Load side droop pulse...

Page 540: ...in one revolution Motor encoder position within one revolution Virtual position within one revolution 8 C ABS counter Motor encoder ABS counter Virtual ABS counter 8 D Load to motor inertia ratio Load to motor mass ratio 8 E Bus voltage 8 F Note Load side cumulative feedback pulses 9 0 Note Load side droop pulses 9 1 Note Load side encoder information 1 Z phase counter 9 2 Note Load side encoder i...

Page 541: ...value hexadecimal corresponds to the parameter No 12 1 7 0 1 to F F Lower limit values of parameter setting ranges Reads the permissible lower limit values of the parameters in the parameter group specified with the command 8 5 data No 0 0 Before reading the lower limit values therefore always specify the parameter group with the command 8 5 data No 0 0 The decimal equivalent of the data No value ...

Page 542: ...Eleventh alarm in past 1 C Twelfth alarm in past 1 D Thirteenth alarm in past 1 E Fourteenth alarm in past 1 F Fifteenth alarm in past 2 0 Alarm occurrence time in alarm history Most recent alarm 8 2 1 First alarm in past 2 2 Second alarm in past 2 3 Third alarm in past 2 4 Fourth alarm in past 2 5 Fifth alarm in past 2 6 Sixth alarm in past 2 7 Seventh alarm in past 2 8 Eighth alarm in past 2 9 N...

Page 543: ...Position within one revolution Motor encoder position within one revolution Virtual position within one revolution 0 C ABS counter Motor encoder ABS counter Virtual ABS counter 0 D Load to motor inertia ratio Load to motor mass ratio 0 E Bus voltage 0 F Note Load side cumulative feedback pulses 1 0 Note Load side droop pulses 1 1 Note Load side encoder information 1 Z phase counter 1 2 Note Load s...

Page 544: ...us voltage 8 F Note Load side cumulative feedback pulses 9 0 Note Load side droop pulses 9 1 Note Load side encoder information 1 Z phase counter 9 2 Note Load side encoder information 2 9 6 Note Temperature of motor thermistor 9 7 Note Motor side cumu feedback pulses before gear 9 8 Note Electrical angle 9 E Note Motor side load side position deviation 9 F Note Motor side load side speed deviatio...

Page 545: ...etting 2 parameters Pr PE_ _ 0005 Extension setting 3 parameters Pr PF_ _ 000B Linear servo motor DD motor setting parameters Pr PL_ _ Note 0000 to 0005 4 Note This is not available with the MR J4 03A6 servo amplifier 3 External I O signals command 9 2 Command Data No Description Setting range Frame length 9 2 6 0 Communication input device signal Refer to section 14 5 5 8 4 Alarm history command ...

Page 546: ...the test operation mode JOG operation and positioning operation 0000 to 7FFF 4 1 1 Writes the acceleration deceleration time constant in the test operation mode JOG operation and positioning operation 00000000 to 7FFFFFFF 8 2 0 Sets the travel distance in the test operation mode Positioning operation 00000000 to 7FFFFFFF 8 2 1 Selects the positioning direction of test operation positioning operati...

Page 547: ...character data is converted from hexadecimal to decimal and a decimal point is placed according to the decimal point position information When the display type is 1 the eight character data is used unchanged The following example indicates how to process the receive data 003000000929 given to show The receive data is as follows 0 0 3 0 0 0 0 0 0 9 2 9 Display type 0 Data must be converted into dec...

Page 548: ...g value Decimal point position 0 No decimal point 1 First least significant digit 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit 0 Data is transferred in hexadecimal For example here is described how to process the set data when a value of 15 5 is sent Since the decimal point position is the second least significant ...

Page 549: ... 1 b Return The slave station returns the status display data requested Display type 0 Data must be converted into decimal 1 Data is used unchanged in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit normally not used 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit 6 Sixth least si...

Page 550: ...wing shows how to read the parameter group set with slave station a Transmission Transmit command 0 4 and data No 0 1 Command Data No 0 4 0 1 b Return The slave station returns the preset parameter group 0 0 Parameter group 0 Basic setting parameters Pr PA_ _ 1 Gain filter parameters Pr PB_ _ 2 Extension setting parameters Pr PC_ _ 3 I O setting parameters Pr PD_ _ 4 Extension setting 2 parameters...

Page 551: ...pe 0 Enabled after writing 1 Enabled when power is cycled after writing Decimal point position 0 No decimal point 1 First least significant digit 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit Data is transferred in hexadecimal 0 0 0 Sign 0 Sign 1 No sign 0 For example data 00120000270F means 999 9 decimal display fo...

Page 552: ...nd 1 6 and the data No 0 1 to F F corresponding to the parameter No When reading an lower limit value transmit the command 1 7 and the data No 0 1 to F F corresponding to the parameter No Refer to section 14 4 1 The data No is expressed in hexadecimal The decimal equivalent of the data No value corresponds to the parameter No b Return The slave station returns the data and processing information o...

Page 553: ...s to the parameter No When the data to be written is handled as decimal the decimal point position must be specified If it is not specified the data cannot be written When the data is handled as hexadecimal specify 0 as the decimal point position Check the writing data is within the upper lower limit value before writing To prevent an error read the parameter data to be written confirm the decimal...

Page 554: ...SP3 18 26 3 TL 11 ST1 RS2 19 27 CDP 4 TL1 12 ST2 RS1 20 STAB2 28 CLD Note 5 PC 13 CM1 21 29 MECR Note 6 RES 14 CM2 22 30 7 CR 15 LOP 23 31 Note This is not available with the MR J4 03A6 servo amplifier 2 Reading external input pin status The following shows how to read the on off status of the external input pins a Transmission Transmit command 1 2 and data No 4 0 Command Data No 1 2 4 0 b Return ...

Page 555: ...S 14 CM2 22 30 7 CR 15 LOP 23 31 Note This is not available with the MR J4 03A6 servo amplifier 4 Reading external output pin status The following shows how to read the on off status of the external output pins a Transmission Transmit command 1 2 and data No C 0 Command Data No 1 2 C 0 b Return The slave station returns the status of the output devices b31 b1b0 1 On 0 Off Command of each bit is tr...

Page 556: ...b Return The slave station returns the status of the input output devices b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit Symbol Bit Symbol Bit Symbol Bit Symbol 0 RD 8 ALM 16 24 1 SA 9 OP 17 25 CDPS 2 ZSP 10 MBR 18 26 CLDS Note 3 TLC 11 DB Note 19 27 ABSV 4 VLC 12 ACD0 20 28 5 INP 13 ACD1 21 29 6 14 ACD2 22 30 7 WNG 15 BWNG 23 31 MTTR Note Note...

Page 557: ...n the device to be switched off is in the external input signal also switch off the input signal Transmit command 9 2 data No 6 0 and data Command Data No Set data 9 2 6 0 See below b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit Symbol Bit Symbol Bit Symbol Bit Symbol 0 SON 8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 26 3 TL 11 ST1 RS2 19 27 ...

Page 558: ...s Input device DI Off External analog input signal 0 V Pulse train input None 1 Disabling enabling the input devices DI external analog input signals and pulse train inputs except EM2 Forced stop 2 LSP Forward rotation stroke end and LSN Reverse rotation stroke end Transmit the following communication commands a Disabling Command Data No Data 9 0 0 0 1EA5 b Enabling Command Data No Data 9 0 1 0 1E...

Page 559: ...nput signal Transmit command 9 2 data No 0 0 and data Command Data No Set data 9 2 0 0 See below b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit Symbol Bit Symbol Bit Symbol Bit Symbol 0 SON 8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 26 3 TL 11 ST1 19 27 CDP 4 TL1 12 ST2 20 STAB2 28 CLD Note 5 PC 13 CM1 21 29 MECR Note 6 RES 14 CM2 22 30 7 CR...

Page 560: ...on of test operation mode Send the command 8 B data No 0 0 data to select the test operation mode Command Data No Transmission data Selection of test operation mode 8 B 0 0 0001 JOG operation 0002 Positioning operation 0004 Output signal DO forced output Note Note Refer to section 14 5 9 for output signal DO forced output 2 Check of test operation mode Read the test operation mode set for the slav...

Page 561: ...rned on Reverse rotation direction 00001007 SON LSP LSN and ST2 turned on 9 2 0 0 Forward rotation direction 00000801 SON and ST1 turned on Reverse rotation direction 00001001 SON and ST2 turned on Command Data No Data Command Data No Data Command Data No Data Command Data No Data Command Data No Data Command Data No Data Command Data No Data Command Data No Data Start Start Stop End Stop Stop Tes...

Page 562: ...tion in the test operation mode Set the operation pattern Start Test operation mode is canceled 8 B 0 0 0002 Positioning operation Start Command Data No Data Command Data No Data 9 2 0 0 00000007 SON LSP and LSN turned on 9 2 0 0 00000001 SON turned on Enable input device Enable input device A 0 4 0 1EA5 Start positioning operation When LSP LSN was turned Off by external input signal Turn on SON S...

Page 563: ... make deceleration to a stop Command Data No Data A 0 4 1 STOP Transmit the following command data No and data during a temporary stop to restart Command Data No Note Data A 0 4 1 GO Note indicates a blank Transmit the following command data No and data during a temporary stop to stop positioning operation and erase the remaining travel distance Command Data No Note Data A 0 4 1 CLR Note indicates...

Page 564: ...ransmit the following communication commands Command Data No Set data 9 2 A 0 See below b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin 0 49 8 14 Note 16 24 1 24 9 17 25 2 23 10 18 26 3 25 11 19 27 4 22 12 20 28 5 48 13 21 29 6 33 14 22 30 7 13 Note 15 23 31 Note...

Page 565: ...and 00FF means AL _ _ no alarm 2 Alarm occurrence time reading The following shows how to read alarm occurrence times which occurred in the past Alarm occurrence time corresponding to the data No is provided in terms of the total time beginning with operation start with the minute unit omitted a Transmission Transmit command 3 3 data No 2 0 to 2 F Refer to section 14 4 1 b Return The alarm occurre...

Page 566: ...Transmit the command 3 5 the data No corresponding to the status display item to read 8 0 to 8 E and A 0 to A 9 Refer to section 14 4 1 b Return The slave station returns the status display data of requested alarm at occurrence Display type 0 Data must be converted into decimal 1 Data is used unchanged in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit normall...

Page 567: ... converted into decimal For example data 000186A0 is 100000 pulses in the motor side pulse unit 2 Command unit absolute position The following shows how to read the absolute position in the command unit a Transmission Transmit command 0 2 and data No 9 1 Command Data No 0 2 9 1 b Return The slave station returns the requested command pulses Absolute position is sent back in hexadecimal in the comm...

Page 568: ...r and the rotary servo motor Category Item Differences Remark Linear servo motor Rotary servo motor Motor pole adjustment Magnetic pole detection Required Not required default setting Automatically executed at the first servo on after the power is turned on For the absolute position linear encoder Pr PL01 can disable the magnetic pole detection The timing of the magnetic pole detection can be chan...

Page 569: ...ill be the same as rotary servo motors except for connections of linear servo motors and linear encoders Refer to section 1 8 depending on servo amplifiers you use Line noise filter FR BSF01 CN5 Regenerative option P C L11 L21 P3 P4 Personal computer MR Configurator2 CN3 CN6 CN8 CN1 CN2 W V U Magnetic contactor L1 L2 L3 Note 3 Note1 MC Power factor improving DC reactor FR HEL Molded case circuit b...

Page 570: ...en For the power supply specifications refer to section 1 3 3 Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 4 For the branch cable use the MR J4THCBL03M optional 5 Always conne...

Page 571: ...e SCALE THM R S T MCCB Note 6 Thermistor Note 1 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 A 1 phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR J4 70B RJ or less For 1 phase 200 V AC to 240 V AC connect the power supp...

Page 572: ... output linear encoder Linear servo motor Encoder cable R S T MCCB Thermistor Note 5 Note 1 The power factor improving AC reactor can also be used In this case the power factor improving DC reactor cannot be used When not using the power factor improving DC reactor short P3 and P4 2 A 1 phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR J4 J4 70A RJ or less For 1 ph...

Page 573: ...ure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuits may not operate DOCOM Control output signal Servo amplifier RA For sink output interface 24 V DC DOCOM Control output signal 24 V DC Servo amplifier RA For so...

Page 574: ...o amplifier This section does not describe the following items For details of the items refer to each section of the detailed description field Item Detailed explanation Input power supply circuit Section 3 1 Explanation of power supply system Section 3 3 Signal device explanations Section 3 5 Alarm occurrence timing chart Section 3 8 Interface Section 3 9 Grounding Section 3 11 Display and operat...

Page 575: ...agnetic pole detection Refer to 3 of section 15 3 2 Release AL 93 ABS data transfer warning Positioning operation check using the controller Refer to section 15 3 5 Home position return operation Refer to section 15 3 3 Positioning operation Incremental linear encoder Absolute position linear encoder Note 1 Positioning operation check using the test operation mode Refer to section 15 3 4 Note 1 Us...

Page 576: ...able Primary side Secondary side LM K2 series 2 Confirm the increasing direction of the linear encoder 3 If the positive direction of the linear servo motor matches with the increasing direction of the linear encoder set Pr PC45 to _ _ _ 0 If the positive direction of the linear servo motor does not match with the increasing direction of the linear encoder set Pr PC45 to _ _ _ 1 b Confirmation met...

Page 577: ...erator Pr PL03 Linear encoder resolution Denominator Linear encoder resolution µm b Parameter setting example When the linear encoder resolution is 0 5 μm Pr PL02 Pr PL03 Linear encoder resolution 0 5 µm 2 1 The following shows the simplified chart for the setting values of Pr PL02 and Pr PL03 Linear encoder resolution µm 0 01 0 02 0 05 0 1 0 2 0 5 1 0 2 0 Setting value Pr PL02 1 1 1 1 1 1 1 2 Pr ...

Page 578: ...age The position detection method is selected the initial value Magnetic pole detection Advantage Disadvantage Position detection method 1 The magnetic pole detection has a high degree of accuracy 2 The adjustment procedure at the magnetic pole detection is simple 1 The travel distance at the magnetic pole detection is long 2 For equipment with small friction the initial magnetic pole detection er...

Page 579: ... test operation mode on MR Configurator2 Set the travel distance to 0 at this time 7 Set Pr PL01 to _ _ _ 0 to set Magnetic pole detection disabled Note 2 3 4 The magnetic pole detection is carried out Is Pr PL09 the final value Has AL 27 Initial magnetic pole detection error occurred Reset the alarm or cycle the servo amplifier power Cycle the servo amplifier power Reset the alarm or cycle the se...

Page 580: ... 3 4 The magnetic pole detection is carried out Is the response by the minute position detection method of Pr PL17 the final value Has an abnormal sound or vibration occurred during the magnetic pole detection Decrease the response by the minute position detection method of Pr PL17 by two as the final setting value Increase the response by the minute position detection method of Pr PL17 by one Not...

Page 581: ... When the absolute position linear encoder is used if a gap is generated to the positional relation between the linear encoder and the linear servo motor perform the magnetic pole detection again The accuracy of the magnetic pole detection improves with no load A servo alarm may occur when the linear encoder is not mounted properly or when the linear encoder resolution setting Pr PL02 and Pr PL03 ...

Page 582: ...oke end and LSN Reverse rotation stroke end are on 2 Linear servo motor movement when LSP Forward rotation stroke end and LSN Reverse rotation stroke end are on LSN Note 1 LSP Note 1 Note 2 Magnetic pole detection completion position Servo on position Magnetic pole detection start position Note 1 2 When LSP Forward rotation stroke end or LSN Reverse rotation stroke end turns off during the magneti...

Page 583: ...the pitch against magnetic pole refer to 2 a 2 Note 2 of this section b For the absolute position linear encoder POINT When you use an absolute position linear encoder with the following timings the magnetic pole detection will be required When the system is set up at the first startup of equipment After a servo amplifier is replaced After a linear servo motor primary side or secondary side is rep...

Page 584: ...detection method For the magnetic pole detection by the position detection method set the voltage level with Pr PL09 Magnetic pole detection voltage level For the magnetic pole detection by the minute position detection method the voltage level setting is not required a Guideline of parameter settings Set the parameters by referring to the following table Pr PL09 setting guide value Servo status S...

Page 585: ...alue of Pr PL09 carry out the magnetic pole detection repeatedly 30 35 40 45 65 70 In this example the final setting value of Pr PL09 is 49 Setting value at the alarm occurrence 70 0 7 15 3 3 Home position return POINT Change the third digit value of Pr PL01 according to the linear encoder resolution The incremental linear encoder and the absolute position linear encoder have different reference h...

Page 586: ... dog signal LZ Encoder Z phase pulse Machine position 0 r min Stroke end b When the linear encoder home position reference mark does not exist in the home position return direction The home position return cannot be performed from the position which the home position of the linear encoder does not exist in the home position return direction Move the mover to the stroke end on the opposite side of ...

Page 587: ...d to set the home position return completion to the same position each time such as dog type home position return always start home position return with the same direction d Caution for linear encoder which does not have the home position reference mark The linear encoder which does not have the home position reference mark LZ Encoder Z phase pulse of the servo amplifier does not be outputted It i...

Page 588: ... 243 10 486 20 972 52 429 104 858 209 715 524 288 1048 576 2097 152 _ 4 _ _ 4194304 4 194 20 972 41 943 83 886 209 715 419 430 838 861 2097 152 4194 304 8388 608 _ 5 _ _ 16777216 16 777 83 886 167 772 335 544 838 861 1677 722 3355 443 8388 608 16777 216 33554 432 _ 6 _ _ 67108864 67 109 335 544 671 089 1342 177 3355 443 6710 886 13421 773 33554 432 67108 864 134217 728 In the case of a proximity d...

Page 589: ...ected or not Exercise control on the positioning operation screen of MR Configurator2 a Operation pattern Item Initial value Setting range Travel distance pulse 1048576 0 to 99999999 Speed mm s 10 0 to Maximum speed Acceleration decelerati on time constant ms 1000 0 to 50000 Repeat pattern Positive direction travel Negative direction travel Positive direction travel Negative direction travel Posit...

Page 590: ... the position and speed deviation error detections are enabled by default Pr PL04 _ _ _ 3 If the linear servo control gets unstable for some reasons the linear servo motor may not operate properly To detect this state and to stop operation the linear servo control error detection function is used as a protective function The linear servo control error detection function has three different detecti...

Page 591: ...iation error detection level 1 mm s to 5000 mm s AL 42 2 Servo control error by speed deviation will occur and the linear servo motor will stop The initial value of this detection level is 1000 mm s Change the set value as necessary c Thrust deviation error detection level Set Pr PL04 to _ _ _ 4 to enable the thrust deviation error detection Pr PL04 Thrust deviation error detection enabled 4 When ...

Page 592: ...eters set by the auto tuning function refer to chapter 6 POINT The auto tuning mode 1 may not be performed properly if the following conditions are not satisfied Time to reach 2000 mm s is the acceleration deceleration time constant of 5 s or less The linear servo motor speed is 150 mm s or higher The load to mass of the linear servo motor primary side ratio is 100 times or less The acceleration d...

Page 593: ... pole detection after the detection c Enable the absolute position detection system with Pr PA03 Absolute position detection system 2 Alarm detection AL 25 Absolute position erased AL 92 Battery cable disconnection warning AL 9F Battery warning and AL E3 Absolute position counter warning are not provided for the linear servo motor 3 Backup The linear encoder backs up the absolute position data The...

Page 594: ...0 or less of the effective load ratio when it is in the servo lock state or in a small reciprocating motion This servo amplifier has solid state linear servo motor overload protection The servo motor overload current full load current is set on the basis of 120 rated current of the servo amplifier 1000 100 10 1 0 1 0 50 150 200 250 300 100 Operation time s Load ratio Servo lock Operating 1000 100 ...

Page 595: ... 8 100 20 1 1 LM H3P7D 96P ASS0 MR J4 350A RJ 5 5 130 20 2 7 LM U2PAB 05M 0SS0 MR J4 20A RJ MR J4 20A1 RJ 0 5 25 15 0 5 LM U2PAD 10M 0SS0 MR J4 40A RJ MR J4 40A1 RJ 0 9 35 15 0 7 LM U2PAF 15M 0SS0 0 9 35 15 0 7 LM U2PBB 07M 1SS0 MR J4 20A RJ MR J4 20A1 RJ 0 5 25 15 0 5 LM U2PBD 15M 1SS0 MR J4 60A RJ 1 0 40 15 0 8 LM U2PBF 22M 1SS0 MR J4 70A RJ 1 3 50 15 1 0 LM U2P2B 40M 2SS0 MR J4 200A RJ 3 5 90 2...

Page 596: ...E 03 2 54E 04 LM U2PBD 15M 1SS0 1 56 10 2 5 18 10 5 LM H3P7A 24P ASS0 7 69E 03 2 14E 04 LM U2PBF 22M 1SS0 4 58 10 2 1 33 10 5 LM H3P7B 48P ASS0 9 14E 04 2 59E 04 LM U2P2B 40M 2SS0 1 47 10 3 1 27 10 5 LM H3P7C 72P ASS0 7 19E 04 1 47E 04 LM U2P2C 60M 2SS0 1 07 10 3 7 66 10 6 LM H3P7D 96P ASS0 6 18E 04 9 59E 05 LM U2P2D 80M 2SS0 9 14 10 4 5 38 10 6 Linear servo motor primary side Coefficient A Coeffi...

Page 597: ...eed Linear servo motor primary side Permissible load to motor mass ratio Multiplier LM H3 series 40 LM U2 series 100 LM F series LM K2 series 50 When actual speed does not reach the maximum speed of the linear servo motor calculate the permissible load to motor mass ratio at the time of using the dynamic brake by the following equation The upper limit is 300 times Permissible load to motor mass ra...

Page 598: ...onger required no backlash occurs In addition the settling time is reduced and the high frequency operation is enabled d Since reducer is no longer required the motor does not deteriorate with time by reducer 2 Mechanism a The motor s low profile design contributes to compact moving part of the machine and a low center of gravity for enhanced equipment stability b The motor has an inner rotor with...

Page 599: ...be the same as rotary servo motors except for connections of direct drive motors Refer to section 1 8 depending on servo amplifiers you use Note 4 Battery unit CN4 Note 6 Absolute position storage unit MR BTAS01 Direct drive motor Note 7 Line noise filter FR BSF01 CN5 Regenerative option P C L11 L21 P3 P4 Personal computer MR Configurator2 CN3 CN6 CN8 CN1 CN2 W V U Magnetic contactor L1 L2 L3 Note...

Page 600: ...ic shock may occur In addition when confirming whether the charge lamp is off or not always confirm it from the front of the servo amplifier Ground the servo amplifier and the direct drive motor securely Do not attempt to wire the servo amplifier and direct drive motor until they have been installed Otherwise it may cause an electric shock The cables should not be damaged stressed loaded or pinche...

Page 601: ... field Item Detailed explanation Input power supply circuit Section 3 1 Explanation of power supply system Section 3 3 Signal device explanations Section 3 5 Alarm occurrence timing chart Section 3 8 Interface Section 3 9 Grounding Section 3 11 Display and operation sections Section 4 5 Parameter Chapter 5 Troubleshooting Chapter 8 16 3 Operation and functions POINT When using the direct drive mot...

Page 602: ... position detection system Incremental system Can you manually turn on the Z phase pulse of the direct drive motor Change the setting to disable the magnetic pole detection Refer to section 16 3 2 Turn on the Z phase pulse of the direct drive motor manually Note 3 Positioning operation check using the controller Refer to section 16 3 3 Home position return operation Refer to the controller manual ...

Page 603: ...ition erased will occur at the first power on Cancel the alarm by turning on off the power 6 When the magnetic pole detection is performed with absolute position detection system by DIO transfer AL 93 ABS data transfer warning will occur Refer to section 16 4 for details 7 To cancel AL 93 ABS data transfer warning cycle SON Servo on or set a home position 16 3 2 Magnetic pole detection POINT The m...

Page 604: ...ermediate between the value set at AL E1 Overload warning 1 and the value set at AL 27 Initial magnetic pole detection error as the final setting value NO YES YES NO YES NO Magnetic pole detection End Check that LSP Forward rotation stroke end LSN Reverse rotation stroke end and EM2 Forced stop 2 are on and then cycle the servo amplifier power Set Pr PL08 Linear servo motor DD motor function selec...

Page 605: ... to Minute position detection method Set Pr PL01 Linear servo motor DD motor function selection 1 to _ _ _ 1 to set Magnetic pole detection always enabled Note 1 Cycle the servo amplifier power Set the load inertia moment ratio of the direct drive motor with Pr PL17 Magnetic pole detection Minute position detection method Function selection Note 2 Execute Forward rotation CCW or Reverse rotation C...

Page 606: ...Pr PL09 Magnetic pole detection voltage level an overload overcurrent magnetic pole detection alarm or others may occur After the magnetic pole detection check the positioning accuracy with the test operation positioning operation function of MR Configurator2 The accuracy of the magnetic pole detection improves with no load a Incremental system POINT For the incremental system the magnetic pole de...

Page 607: ...N is set the magnetic pole detection starts Servo on position Center of direct drive motor rotation part LSP LSN 10 degrees or less b Absolute position detection system POINT When the absolute position detection system is used with the following timing the magnetic pole detection is required System set up at the first startup of equipment When the Z phase pulse of the direct drive motor is not tur...

Page 608: ...llowing table Pr PL09 setting guide value Servo status Small Medium Large 10 or less initial value 50 or more Torques required for operation Small Large Overload overcurrent alarm Seldom occurs Frequently occurs Magnetic pole detection alarm Frequently occurs Seldom occurs Magnetic pole detection accuracy Low High b Setting procedure 1 Perform the magnetic pole detection and increase the setting v...

Page 609: ...etection methods the position deviation speed deviation and torque deviation An error is detected when each method is enabled with Pr PL04 Linear servo motor DD motor function selection 2 The detection level can be changed with Pr PL05 Pr PL06 and Pr PL07 Servo amplifier internal value 1 Model feedback position rev 3 Model feedback speed r min 5 Command torque Encoder 2 Feedback position rev 4 Fee...

Page 610: ...el Set Pr PL04 to _ _ _ 4 to enable the torque deviation error detection Pr PL04 Torque deviation error detection enabled 4 When you compare the command torque 5 and the feedback torque 6 in figure 16 1 if the deviation is more than the value of Pr PL07 Torque thrust deviation error detection level 1 to 1000 AL 42 3 Servo control error by torque thrust deviation will occur and the linear servo mot...

Page 611: ...tion cable MR J3BTCBL03M AL 25 Absolute position erased will occur if the encoder cable is disconnected When you use the system with absolute position detection system by DIO transfer set Pr PA03 to _ _ _ 1 with the following conditions the first servo on after power on will trigger the magnetic pole detection and AL 93 ABS data transfer warning will occur Magnetic pole detection always enabled Se...

Page 612: ...sferring absolute position data to the controller refer to section 12 8 16 5 Characteristics 16 5 1 Overload protection characteristics An electronic thermal is built in the servo amplifier to protect the servo amplifier the direct drive motor and direct drive motor power wires from overloads AL 50 Overload 1 occurs if overload operation performed is above the electronic thermal protection curve s...

Page 613: ...io Operating TM RFM048G20 TM RFM072G20 TM RFM120J10 10000 1000 100 10 1 0 50 150 200 250 300 100 Servo lock Operation time s Note Load ratio Operating TM RFM240J10 Note If operation that generates torque more than 100 of the rating is performed with an abnormally high frequency in a direct drive motor stop status servo lock status or in a 30 r min or less low speed operation status the servo ampli...

Page 614: ... amplifier s generated heat will not change Table 16 1 Power supply capacity and generated loss per direct drive motor at rated output Direct drive motor Servo amplifier Power supply capacity kVA Servo amplifier generated heat W Area required for heat dissipation m 2 At rated output With servo off TM RFM002C20 MR J4 20A RJ MR J4 20A1 RJ 0 25 25 15 0 5 TM RFM004C20 MR J4 40A RJ MR J4 40A1 RJ 0 38 3...

Page 615: ...ing distance Fig 16 3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated Use equation 16 1 to calculate an approximate coasting distance to a stop The dynamic brake time constant τ varies with the direct drive motor and machine operation speeds Refer to 1 b of this section Dynamic brake time constant Time te V0 ON OFF EM1 Forced stop 1 Machine speed Fig 1...

Page 616: ..._G20 TM RFM_J10 2 Permissible load to motor inertia ratio when the dynamic brake is used Use the dynamic brake under the load to motor inertia ratio indicated in the following table If the ratio is higher than this value the dynamic brake may burn If there is a possibility that the ratio may exceed the value contact your local sales office The values of the permissible load to motor inertia ratio ...

Page 617: ...16 USING A DIRECT DRIVE MOTOR 16 20 MEMO ...

Page 618: ...owever these restrictions will not be applied for MR J4 _A_ RJ servo amplifiers A B Z phase differential output method encoder cannot be used The load side encoder and servo motor encoder is compatible with only the two wire type The four wire type load side encoder and servo motor encoder cannot be used When you use the KG KR and HG MR series for driving and load side encoder the optional four wi...

Page 619: ...back filter in Pr PE08 is performed In this case fully closed loop control is performed when the servo motor is at a stop and semi closed loop control is performed when the servo motor is operating to improve control performance When 4500 is set as the filter value of Pr PE08 Fully closed loop dual feedback filter fully closed loop control is always performed The following table shows the function...

Page 620: ..._ Servo amplifier _ _ 1 _ Refer to section 17 3 1 2 a OFF ON Refer to section 17 3 1 2 b Dual feedback control Semi closed loop control 1 to 4499 Fully closed loop system CLD Fully closed loop control selection Fully closed loop dual feedback filter Pr PE08 Semi closed loop system 2 Dual feedback filter equivalent block diagram A dual feedback filter equivalent block diagram on the dual feedback c...

Page 621: ...lute position linear encoder is used In that case a battery is not required b MR J4 _A_ RJ servo amplifier Note A B Z phase pulse train interface compatible linear encoder or two wire four wire type serial interface compatible linear encoder Load side encoder signal CN2L A B Z phase pulse train interface or serial interface CN2 Table Servo motor encoder signal Linear encoder head Servo motor Servo...

Page 622: ...ignal Servo motor encoder signal Note Use a two wire type encoder cable A four wire type linear encoder cable cannot be used b MR J4 _A_ RJ servo amplifier Servo motor A B Z phase differential output two wire type or four wire type rotary encoder HG KR HG MR servo motor 4194304 pulses rev or synchronous encoder Q171ENC W8 4194304 pulses rev Drive part CN2L Load side encoder signal Servo motor enco...

Page 623: ...rmance and assurance contact each encoder manufacturer 17 2 1 Linear encoder Refer to Linear Encoder Instruction Manual for usable linear encoders 17 2 2 Rotary encoder When a rotary encoder is used for the load side encoder use HG KR or HG MR servo motor as an encoder Use a two wire type encoder cable for MR J4 _A_ servo amplifiers Do not use MR EKCBL30M L MR EKCBL30M H MR EKCBL40M H or MR EKCBL5...

Page 624: ... amplifier Linear encoder CN2 MR J4FCCBL03M branch cable Refer to section 17 2 4 Encoder of rotary servo motor Encoder cable Refer to the Linear Encoder Instruction Manual CN2 MOTOR SCALE Load side encoder b MR J4 _A_ RJ servo amplifier You can connect the linear encoder without using a branch cable shown in a for MR J4 _A_ RJ servo amplifier You can also use a four wire type linear encoder Servo ...

Page 625: ...nual Vol 3 CN2 MOTOR SCALE Note Note Load side encoder Servo motor HG KR HG MR Note Use a two wire type encoder cable A four wire type linear encoder cable cannot be used b MR J4 _A_ RJ servo amplifier You can connect the linear encoder without using a branch cable shown in a for MR J4 _A_ RJ servo amplifier You can also use a four wire type linear encoder Servo amplifier CN2 Load side encoder Ser...

Page 626: ... 2 LG 8 6 1 P5 5 10 3 MR 7 9 THM2 THM1 MXR SEL THM2 THM1 SEL MX BAT SD 3 4 1 CN2 MOTOR Plate Note 1 Note 2 0 3 m MR P5 MRR SD MR P5 MRR 3 4 1 Plate View seen from wiring side 4 MRR 2 8 6 1 P5 5 10 3 MR 7 9 View seen from wiring side 4 2 8 6 1 5 10 3 7 9 BAT 2 THM2 6 7 MX LG LG 2 MXR 8 BAT SEL 9 10 5 THM1 5 THM1 6 THM2 9 BAT 10 SEL SCALE Note 2 P5 SD SEL LG 1 2 10 Plate 4 MXR BAT 9 3 MX BAT SEL LG ...

Page 627: ...d operation check in semi closed loop system Gain adjustment Adjustment and operation check in fully closed loop system Selection of fully closed loop system Refer to 2 of this section Selection of load side encoder communication system Refer to 3 of this section Adjustment of dual feedback switching filter for dual feedback control Refer to 5 of this section Setting of load side encoder polarity ...

Page 628: ...Applicable when the load side encoder is set as the absolute position encoder 1 Operation mode selection Select a operation mode Operation mode selection Pr PA01 1 0 0 Semi closed loop system Standard control mode Fully closed loop system Fully closed loop control mode Load side encoder resolution unit Set value 0 1 Operation mode Servo motor side resolution unit Control unit b Semi closed loop co...

Page 629: ...ault and parts damaged POINT Encoder pulse count polarity selection in Pr PC45 is not related to Pr 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 an incorrect direction to Encoder pulse count polarity selection in Pr PC45 Doing so may cause AL 42 Fully closed loop control error during...

Page 630: ...r PE35 Number of motor encoder pulses per servo motor revolution Number of load side 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 212 Number of load side encoder pulses per servo motor revolution 67108864 226 a When the servo motor is directly coupled with a ball s...

Page 631: ...he servo motor side 30 mm Pulley diameter on the rotary encoder side 20 mm Rotary encoder resolution 4194304 pulses rev Servo motor Rotary encoder HG KR or HG MR servo motor 4194304 pulses rev Drive part Pulley diameter d1 30 mm Pulley diameter d2 20 mm When the pulley diameters or reduction ratios differ consider that in calculation 4194304 30 4194304 20 1 1 Pr PE04 Pr PE34 Pr PE05 Pr PE35 3 2 ...

Page 632: ...rk or Z phase is passed through by moving the load side encoder When it is not cleared the following factors can be considered 1 The installation of the load side encoder was not correct 2 The encoder cable was not wired correctly 3 Confirmation of load side encoder feedback direction Setting of load side encoder polarity Confirm that the directions of the cumulative feedback pulses of servo motor...

Page 633: ...PE08 setting Control mode Vibration Settling time 1 to 4499 Dual feedback Seldom occurs to Frequently occurs Long time to Short time 4500 Fully closed loop Increasing the dual feedback filter setting shortens the settling time but increases servo 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...

Page 634: ...eration and perform home position to perform it in safe LSN Home position of linear encoder reference mark Home position return direction Non returnable area Home position return cannot be performed when started from this area Returnable area Home position return can be performed when started from this area LSP Dog 2 Load side encoder types and home position return methods a About proximity dog ty...

Page 635: ... linear encoder has a certain width Specifications differ depending on the linear encoders For details refer to Linear Encoder Instruction Manual Example When Z phase is recognized at startup B A Home position signal A is recognized as the on position B is recognized as the on position The position which turns on a signal differs depending on the directions of home position passing When you need t...

Page 636: ...tion 0 Disabled 1 Speed deviation error detection 2 Position deviation error detection 3 Speed deviation error position deviation error detection Initial value 0 0 0 Pr PE03 2 Fully closed loop control error detection functions Servo motor Linear encoder 1 Servo motor side feedback speed r min 2 Servo motor side feedback position pulse load side equivalent value 3 Load side feedback speed r min 4 ...

Page 637: ...le deviation errors can be detected For the error detection method refer to 2 a b in this section Pr PE03 Setting value Speed deviation error detection Position deviation error detection 1 2 3 17 3 4 Auto tuning function Refer to section 6 3 for the auto tuning function 17 3 5 Machine analyzer function Refer to Help of MR Configurator2 for the machine analyzer function of MR Configurator2 17 3 6 T...

Page 638: ...load side For the absolute position detection system with linear encoder the restrictions mentioned in this section apply Enable the absolute position detection system with Pr PA03 Absolute position detection system and use this servo within the following restrictions 1 Using conditions a Use an absolute type linear encoder with the load side encoder b Select Always fully closed loop Pr PA01 _ _ 1...

Page 639: ...se pulse b Motor side droop pulses Droop pulses of the deviation counter between a servo motor side position and a command are displayed The symbol is indicated for reverse pulse c 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 d Load side cumulative feedback pulses Feedback pul...

Page 640: ...uring selection are displayed k Parameter Feedback pulse electronic gear The feedback pulse electronic gears Pr PE04 Pr PE05 Pr PE34 and Pr PE35 are displayed set for servo motor encoder pulses in this parameter Refer to section 17 3 1 5 l Parameter Dual feedback filter The band of Pr PE08 Fully closed loop dual feedback filter is displayed set in this parameter m Parameter fully closed loop funct...

Page 641: ...17 FULLY CLOSED LOOP SYSTEM 17 24 MEMO ...

Page 642: ...dustrial machines but also line control and tension control With one touch tuning and real time auto tuning you can automatically adjust the servo gains according to the machine The following shows the differences with 100 W or more MR J4 _A_ RJ servo amplifier Category Item Differences Related parameter MR J4 _A_ RJ 100 W or more MR J4A 03A6 Power supply Main circuit power supply 200 V AC 400 V A...

Page 643: ...O control Servo on Input command pulse Start Malfunction etc CN1 Current detection Overvoltage Overcurrent RS 422 Controller RS 422 Current detector Regene rative TR Control circuit power supply Servo amplifier CHARGE lamp RA PM 0 Built in regenerative resistor Inverter CNP1 Circuit protector 48 V DC 24 V DC Circuit protector 24 V DC 24 V DC main circuit power supply 24 U V W U V W Electro magneti...

Page 644: ...ses s for open collector Position control mode Positioning feedback pulse Encoder resolution resolution per servo motor revolution 18 bits Command pulse multiplying factor Electronic gear A 1 to 16777215 B 1 to 16777215 1 10 A B 4000 In position range setting 0 pulse to 65535 pulses command pulse unit Error excessive 3 rotation this can be changed from parameter setting Torque limit Set by paramet...

Page 645: ...O signals are used The current capacity can be decreased by reducing the number of I O points 2 When closely mounting the servo amplifiers operate them at the ambient temperatures 45 C or lower 3 1 Mpulse s or lower commands are supported in the initial setting When inputting commands over 1 Mpulse s to 4 Mpulses s or lower change the setting in Pr PA13 4 This is an electronic dynamic brake This w...

Page 646: ... compatible with the MR J4 03A6 servo amplifier Absolute position detection system Setting a home position once makes home position return unnecessary at every power on Chapter 12 Gain switching function You can switch gains during rotation stop and can use input devices to switch gains during operation Section 7 2 Advanced vibration suppression control II This function suppresses vibration at the...

Page 647: ...p when VC Analog speed command or VLA Analog speed limit is 0 V Section 18 5 5 Alarm code output If an alarm has occurred the corresponding alarm number is outputted in 3 bit code Chapter 8 Test operation mode Jog operation positioning operation motor less operation DO forced output and program operation MR Configurator2 is required for the positioning operation and program operation Section 18 5 ...

Page 648: ...ent Power consumption and others are displayed on MR Configurator2 Machine diagnosis function From the data in the servo amplifier this function estimates the friction and vibrational component of the drive system in the equipment and recognizes an error in the machine parts including a ball screw and bearing MR Configurator2 is necessary for this function Lost motion compensation function This fu...

Page 649: ...B NA 0300175 AC SERVO MR J4 03A6 POWER 30W INPUT 0 2A DC24V 2 4A DC24V 1 2A DC48V OUTPUT 3PH13V 0 360Hz 2 4A STD IEC EN 61800 5 1 MSIP REI MEK TC300A996G51 SER A4X001001 Max Surrounding Air Temp 55 C IP20 MODEL DATE 2014 10 2 Model The following describes what each block of a model name indicates Not all combinations of the symbols are available Series Rated output General purpose interface Specia...

Page 650: ...the one touch tuning mode Section 18 5 3 USB communication connector CN3 Connect the personal computer Section 11 7 4 Battery connector CN4 Connect the battery for absolute position data backup Section 18 9 5 Control circuit power voltage error lamp 24 V ERROR When a voltage value of the control circuit power voltage 24 V DC is out of permissible range this will light in yellow Section 18 4 3 6 Ch...

Page 651: ... than the servo amplifier and servo motor are optional or recommended products Personal computer CN3 CN2 CNP1 MR Configurator2 24 0 PM Relay Circuit protector 24 V DC power supply 48 V DC power supply Circuit protector 24 V DC power supply PM 0 24 48 V DC main circuit power supply 24 V DC main circuit power supply Servo motor CN4 MR BAT6V1SET A CNP1 Note CN1 Junction terminal block Note Refer to s...

Page 652: ...stored for an extended period of time contact your local sales office When handling the servo amplifier be careful about the edged parts such as corners of the servo amplifier The servo amplifier must be installed in a metal cabinet The equipment must be installed in the specified direction Otherwise it may cause a malfunction Leave specified clearances between the servo amplifier and the cabinet ...

Page 653: ... full consideration of heat generation so that the servo amplifier is not affected Install the servo amplifier on a perpendicular wall in the correct vertical direction 1 Installation of one servo amplifier 40 mm or more 10 mm or more 10 mm or more 40 mm or more Servo amplifier Cabinet Cabinet 80 mm or more Wiring allowance Top Bottom ...

Page 654: ...er and the cabinet walls and install a cooling fan to prevent the internal temperature of the cabinet from exceeding the environment When mounting the servo amplifiers closely leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances In this case operate at the ambient temperatures 0 C to 45 C 100 mm or more 10 mm or more 30 mm or more 30 mm or more 40...

Page 655: ...he back side of the servo amplifier The following explains mounting and removing procedure of servo amplifier using DIN rail Mounting servo amplifier to DIN rail Hook Upper tab Wall DIN rail 1 Pull down the hook 2 Hang the upper tab on the back of the servo amplifier to the upper tab of DIN rail and push toward to the wall Hook Upper tab Wall DIN rail 3 Push up the hook and fix the servo amplifier...

Page 656: ...LIFIER 18 15 Removing servo amplifier from DIN rail Upper tab Wall DIN rail Hook Upper tab Wall DIN rail 1 Pull down the hook 2 Pull the servo amplifier forward Upper tab Wall DIN rail 3 Lift up and remove the servo amplifier ...

Page 657: ... etc may occur Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuits may not operate DOCOM Control output signal 24 V DC Servo amplifier RA For sink output interface DOCOM Control output signal 24 V DC Servo a...

Page 658: ...t that shuts down the power supply on the side of the servo amplifier s power supply If a circuit protector is not connected continuous flow of a large current may cause a fire when the servo amplifier malfunctions Use ALM Malfunction to switch main circuit power supply off Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the built in regenerative ...

Page 659: ... 3 This is for the sink I O interface For source I O interface refer to section 3 9 3 4 For connecting servo motor power wires refer to Servo Motor Instruction Manual Vol 3 5 Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier 6 Connecting a servo motor of the wrong axis to U V W or CN2 of the servo amplifier may cau...

Page 660: ...ply 48 V DC 24 V DC Set Pr PC27 according to the specification of main circuit power supply Parameter Main circuit power supply Pr PC27 function selection C 6 setting value 48 V DC _ _ 0 _ Initial value 24 V DC _ _ 1 _ 0 Switch off of the control circuit power supply and main circuit power supply Noiseless grounding Connect to the grounding terminal of the cabinet to ground U V W E Servo motor pow...

Page 661: ... on cable insulator Refer to table 18 1 for stripped length of cable insulator The appropriate stripped length of cables depends on their type etc Set the length considering their status Insulator Core Stripped length 10 mm Twist strands lightly and straighten them as follows Loose and bent strands Twist and straighten the strands You can also use a ferrule to connect with the connectors When you ...

Page 662: ...ase button Stranded wire c Mounting connector 1 Mounting Fit the CNP1 connector when the servo amplifier is fixed While pushing the connector make sure that the connector is locked to the top and bottom of the socket After that check that the connector cannot be pulled out Locked Lock hook Refer to the following example for a status of lock Unlocked Locked Good example Both are locked Bad example ...

Page 663: ...1 Power on procedure 1 When wiring the power supply use a circuit protector for the power supply 24 PM Configure up an external sequence so that the relay connected to PM turns off when an alarm occurs 2 Switch on the control circuit power supply 24 0 simultaneously with the main circuit power supply PM 0 or before switching on the main circuit power supply If the main circuit power supply is not ...

Page 664: ... 10 m or less Note 8 41 20 46 49 10 11 35 9 3 36 CLEARCOM 12 15 16 14 13 11 CLEAR RDYCOM READY PULSE F PULSE F PG0 PG0 COM PULSE R PULSE R 18 10 17 9 DOCOM CR RD PP PG NP NG LZ LZR 8 Note 11 Note 7 CN1 Positioning module RD75D Note 4 24 V DC Note 4 24 V DC 24 V DC Note 4 In position Control common SD RA1 RA2 RA3 RA4 Plate 2 m or less 10 m or less Upper limit setting 42 15 19 17 18 43 44 21 1 27 SD...

Page 665: ...d Normally closed contact 6 ALM Malfunction turns on in normal alarm free condition When this signal normally closed contact is switched off at occurrence of an alarm the output of the programmable controller should be stopped by the sequence program 7 The pins with the same signal name are connected in the servo amplifier 8 This length applies to the command pulse train input in the differential ...

Page 666: ...ote 8 41 20 46 49 10 11 35 9 3 36 CLEARCOM 12 15 16 14 13 11 CLEAR RDYCOM READY PULSE F PULSE F PG0 PG0 COM PULSE R PULSE R 18 10 17 9 DOCOM CR RD PP PG NP NG LZ LZR 8 Note 11 Note 15 Note 7 CN1 Positioning module RD75D Note 4 14 24 V DC Note 4 14 24 V DC In position Note 12 Control common SD RA1 RA2 RA3 RA4 24 V DC Note 4 14 Plate 2 m or less 10 m or less Upper limit setting 42 15 19 17 18 43 44 ...

Page 667: ...or2 Personal computer Note 4 24 V DC RA1 RA2 RA3 RA4 RA5 42 15 19 17 18 43 44 41 16 EM2 SON RES ST1 ST2 LSP LSN SP1 SP2 Reverse rotation stroke end Forced stop 2 Servo on Reset Speed selection 1 Forward rotation start Speed selection 2 Reverse rotation start Forward rotation stroke end Note 3 5 Note 5 5 V 4 V DC 5 V 4 V DC Analog monitor 1 Analog monitor 2 Encoder A phase pulse differential line d...

Page 668: ...ace A 24 V DC power supply can be used for both input signal and output signal 5 When starting operation always turn on EM2 Forced stop 2 LSP Forward rotation stroke end and LSN Reverse rotation stroke end Normally closed contact 6 ALM Malfunction turns on in normal alarm free condition Normally closed contact 7 The pins with the same signal name are connected in the servo amplifier 8 TLA will be ...

Page 669: ...tor2 Personal computer RA1 RA2 RA3 RA4 RA5 42 15 19 17 18 43 44 41 16 EM2 SON RES ST1 ST2 LSP LSN SP1 SP2 Reverse rotation stroke end Forced stop 2 Servo on Reset Speed selection 1 Forward rotation start Speed selection 2 Reverse rotation start Forward rotation stroke end Note 3 5 Note 5 5 V 4 V DC 5 V 4 V DC Analog monitor 1 Analog monitor 2 Encoder A phase pulse differential line driver Encoder ...

Page 670: ... Note 1 To prevent an electric shock always connect the CNP1 noiseless grounding terminal marked of the servo amplifier to the grounding terminal PE of the cabinet 2 Connect the diode in the correct direction If it is connected reversely the servo amplifier will malfunction and will not output signals disabling EM2 Forced stop 2 and other protective circuits 3 The forced stop switch normally close...

Page 671: ...er Z phase pulse open collector Note 6 CN1 49 RD Ready Encoder Z phase pulse differential line driver 8 LZ LZR Note 6 CN1 20 DICOM Personal computer Note 8 USB cable option CN3 27 1 2 m or less Upper limit setting 28 2 Plate Upper limit setting TC SD VLA LG P15R Note 9 Analog torque command 8 V maximum torque Note 9 Analog speed limit 0 to 10 V rated speed Note 9 MR Configurator2 Plate 42 15 19 18...

Page 672: ...round plate and fix it to the connector shell Screw Screw Ground plate Cable CN1 1B CN2 MRR 2B 3B 4B LG 5B BAT 4A P5 5A SHD 1A MR 2A 3A 50 48 46 44 42 40 38 36 34 32 30 28 49 47 45 43 41 39 37 35 33 31 29 25 23 21 19 17 15 13 11 9 7 5 3 24 22 20 18 16 14 12 10 8 6 4 27 2 26 1 The frames of the CN1 connectors are connected to the protective earth terminal in the servo amplifier CN4 Battery connecto...

Page 673: ... I RES RES RES RES RES RES Pr PD11 Pr PD12 20 DICOM DICOM DICOM DICOM DICOM DICOM 21 DICOM DICOM DICOM DICOM DICOM DICOM 22 O INP INP SA SA SA INP Pr PD23 23 O ZSP ZSP ZSP ZSP ZSP ZSP Pr PD24 24 O INP INP SA SA SA INP Pr PD25 25 O TLC TLC TLC TLC VLC VLC VLC TLC Pr PD26 26 O MO1 MO1 MO1 MO1 MO1 MO1 Pr PC14 27 I TLA Note 3 TLA Note 3 TLA Note 3 TLA TC TC TC TLA 28 LG LG LG LG LG LG 29 O MO2 MO2 MO2...

Page 674: ...available when TL External torque limit selection is enabled with Pr PD03 to Pr PD22 4 This is used for sink interface Input device is not assigned by default When using it assign the devices with Pr PD43 to Pr PD46 as necessary In addition supply of 24 V DC to OPC power input for open collector sink interface when using this pin for DI 5 This is used for source interface Input device is not assig...

Page 675: ...Control mode P S T Forced stop 2 EM2 CN1 42 For details of device refer to section 3 5 1 1 a DI 1 Forced stop 1 EM1 CN1 42 DI 1 Servo on SON CN1 15 DI 1 Reset RES CN1 19 DI 1 Forward rotation stroke end LSP CN1 43 DI 1 Reverse rotation stroke end LSN CN1 44 External torque limit selection TL CN1 18 DI 1 Internal torque limit selection TL1 DI 1 Forward rotation start ST1 CN1 17 DI 1 Reverse rotatio...

Page 676: ...or details of device refer to section 3 5 1 1 b DO 1 Ready RD CN1 49 DO 1 In position INP CN1 22 DO 1 Speed reached SA CN1 24 DO 1 Limiting speed VLC CN1 25 DO 1 Limiting torque TLC DO 1 Zero speed detection ZSP CN1 23 DO 1 Electromagnetic brake interlock MBR DO 1 Warning WNG DO 1 Battery warning BWNG DO 1 Alarm code ACD0 CN1 24 DI 1 ACD1 CN1 23 ACD2 CN1 22 Variable gain selection CDPS DO 1 Absolu...

Page 677: ... 4 CN1 5 Refer to section 3 5 3 for details of signal DO 2 Encoder B phase pulse differential line driver LB LBR CN1 6 CN1 7 Encoder Z phase pulse differential line driver LZ LZR CN1 8 CN1 9 DO 2 Encoder Z phase pulse open collector OP CN1 33 DO 2 Analog monitor 1 MO1 CN1 26 This is used to output the data set in Pr PC14 to between MO1 and LG in terms of voltage Output voltage 5 V 4 V Resolution 1...

Page 678: ...lector type with sink interface supply this terminal with the positive power of 24 V DC Supply of 24 V DC to this terminal when using CN1 10 pin and CN1 35 pin by DI Digital I F common DOCOM CN1 46 CN1 47 Common terminal of input signal such as EM2 of the servo amplifier This is separated from LG For sink interface connect of 24 V DC external power supply For source interface connect of the 24 V D...

Page 679: ... deceleration function POINT To enable the function set 2 _ _ _ initial value in Pr PA04 a When the forced stop deceleration function is enabled Command is not received Alarm occurrence Alarm No No alarm Note1 Model speed command 0 and equal to or less than zero speed MBR Electromagnetic brake interlock ON OFF ON no alarm OFF alarm Base circuit Energy supply to the servo motor ON OFF Servo amplifi...

Page 680: ...ervo motor speed No alarm Alarm No Braking by the dynamic brake Dynamic brake Braking by the electromagnetic brake Operation delay time of the electromagnetic brake Alarm occurrence ALM Malfunction Braking by the electromagnetic brake Dynamic brake operating time 2 When you do not use the forced stop deceleration function POINT To disable the function set 0 _ _ _ in Pr PA04 The operation status du...

Page 681: ... RD ZSP TLC ALM RD ZSP TLC RD SA P S T CN1 P S T 4 5 6 7 8 9 33 34 13 14 39 40 30 31 CN1 P S T LA LAR LB LBR LZ LZR OP LG SDP SDN RDP RDN LG TRE CN1 P S T MO1 MO2 LG 26 29 28 Differential line driver output 35 mA or less Open collector output CN1 P S T 2 VC VLA 27 TLA TLA TC 1 P15R 3 LG Case SD Insulated 15 V DC Approximately 6 2 kΩ Approximately 6 2 kΩ RS 422 Analog monitor Servo amplifier Note 4...

Page 682: ...OM DOCOM PP2 37 NP2 38 24 V DC For sink input interface For source input interface 3 This is for the sink I O interface For source I O interface refer to section 3 9 3 4 The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience However they can be configured by one For 24 V DC power for I O signal use power other than 24 V DC power of servo ampl...

Page 683: ...nd dv dt of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 W V U Cabinet Servo motor M U V W CN2 Servo amplifier CNP1 Protective earth PE Outer box 24 0 PM CNP1 Note 2 Encoder Circuit protector 24 V DC Note 1 48 V DC Note 1 48 V DC main circuit power supply Circuit protecto...

Page 684: ...off Take safety measures such as providing covers to avoid accidentally touching the servo amplifier and servo motor by hand and parts cables etc During operation never touch the rotor of the servo motor Otherwise it may cause injury The items in the following table are the same as those for MR J4 _A_ RJ servo amplifiers of 100 W or more Refer to the section of the detailed explanation field for d...

Page 685: ...the main circuit power supply Set Pr PC027 setting to _ 1 _ _ To reflect the parameter setting turn off the control circuit power supply Turn on the control circuit power supply on again and check that Pr PC27 is changed to 24 V DC _ 1 _ _ At this time do not turn on the main circuit power supply Make sure that the main circuit power supply voltage of the servo amplifier to be turned on matches wi...

Page 686: ... off and the 24 V ERROR lamp will turn on Then the 3 digit 7 segment LED on display will turn off Immediately turn off the power and check the wiring etc to the main circuit power supply 48 V DC 2 If the 24 V ERROR lamp turns on with the 3 digit 7 segment LED on the control circuit power supply voltage 24 V DC may be failure Check that the voltage of the control circuit power supply is 21 6 V DC o...

Page 687: ...e connected servo amplifier and servo motor Servo amplifier Servo motor 24 0 PM U V W M 24 V DC 48 V DC 3 The noiseless grounding terminal of the servo motor should be connected to the E terminal of the servo amplifier Servo amplifier Servo motor M E 4 The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor securely using the encoder cable 2 I O signal wiring...

Page 688: ...ng etc Also press the MODE and SET buttons at the same time for 3 s or more to switch to the one touch tuning mode The operation section and display data are described below MODE UP DOWN SET Display mode change Low High switching Push this button together with the SET button for 3 s or more to switch to the one touch tuning mode Display data scrolling Display data scrolling Display data determinat...

Page 689: ...touch tuning Select this when performing the one touch tuning Section 6 2 Section 18 5 4 Sequence display external signal display output signal DO forced output test operation software version display VC automatic offset servo motor series ID display servo motor type ID display servo motor encoder ID display drive recorder enabled disabled display Section 18 5 5 Current alarm display alarm history...

Page 690: ...mand voltage Cumulative feedback pulses 1000 pulses unit Servo motor speed 10 r min unit Servo motor speed r min unit Droop pulses pulse unit Unit total power consumption 3 100 kWh unit Droop pulses 1000 pulses unit Cumulative command pulses pulse unit DOWN UP ABS counter 1000 rev unit Effective load ratio Load to motor inertia ratio 0 1 times Load to motor inertia ratio 100 times Bus voltage Enco...

Page 691: ...ecimal points in the upper two digits 1000 pulses unit Lit The negative value is indicated by the lit decimal points in the upper two digits Load to motor inertia ratio 7 0 times 0 1 times Lit At this time the decimal point in the second digit flickers 100 times 0 in 100 times display 15 0 times 0 1 times Lit At this time the decimal point in the second digit flickers 100 times 0 in 100 times disp...

Page 692: ...ulse frequency 1 kpulse s unit nL kpulse s The frequency of position command input pulses is counted and displayed The value displayed is not multiplied by the electronic gear CMX CDV Command pulse frequency 1000 kpulses s unit nh 1000 kpulses s Analog speed command voltage Analog speed limit voltage F V 1 Torque control mode Input voltage of VLA Analog speed limit voltage is displayed Negative va...

Page 693: ...e counter shows only the lower 3 digits of the actual value since the servo amplifier display is 3 digits Negative value is indicated by the lit decimal points in the upper two digits Unit power consumption 2 1 kW unit PC2 kW Unit power consumption is displayed by increment of 1 kW Positive value indicate power running and negative value indicate regeneration The values in excess of 99 can be coun...

Page 694: ...item displayed in the initial status changes with the control mode as follows Control mode Status display Position Cumulative feedback pulses Position speed Cumulative feedback pulses servo motor speed Speed Servo motor speed Speed torque Servo motor speed analog torque command voltage Torque Analog torque command voltage Torque position Analog torque command voltage cumulative feedback pulses ...

Page 695: ... through the initial screen of the one touch tuning AT Push the MODE button during motor driving to switch to the initial screen AT of the one touch tuning Push the SET button for 2 s or more during displaying AT to switch to the response mode selection AT 1 Response mode selection Select a response mode of the one touch tuning from 3 modes with UP or DOWN Refer to section 6 2 2 1 a for a guidelin...

Page 696: ... start writing the auto tuned parameters to the servo amplifier The one touch tuning progress is displayed with 0 to 100 The decimal point moves left to right in rotation during the tuning To switch the display to the status display during the tuning push the MODE button One touch tuning in progress Complete 3 Stop of one touch tuning The stop symbol and error code C 00 cancel during tuning will b...

Page 697: ...ing will be forcibly terminated and the stop symbol and error code from C 01 to C 0F will be displayed by turns with 2 s interval Stop symbol Initial screen Pushing the SET button will switch to the initial screen 5 If an alarm occurs If an alarm occurs during tuning one touch tuning will be forcibly terminated and the alarm No will be displayed One touch tuning in progress Alarm display 2 s inter...

Page 698: ...eters changed by the one touch tuning with the clear mode You can reset the parameters to before tuning with the back mode a Push the MODE button to switch to the initial screen AT of the one touch tuning b Select the clear mode or back mode with the UP or DOWN button One touch tuning clear mode selection DOWN UP To clear the one touch tuning push the SET button for 2 s The one touch tuning clear ...

Page 699: ...r segments to the output signals Output signal DO forced output This allows digital output signal to be switched on off forcibly For details refer to section 18 5 9 Test operation mode JOG operation JOG operation can be performed when there is no command from an external controller For details refer to section 18 5 10 2 Positioning operation Positioning operation can be performed when there is no ...

Page 700: ...tic VC offset If offset voltages in the analog circuits inside and outside the servo amplifier cause the servo motor to rotate slowly at VC Analog speed command or VLA Analog speed limit of 0 V this function automatically makes zero adjustment of offset voltages When using this function enable the function in the following procedure When it is enabled Pr PC37 value changes to the automatically adj...

Page 701: ...ervo motor currently connected Press the SET button to show the lower 3 digits of servo motor type ID For indication details refer to appendix 1 of Servo Motor Instruction Manual Vol 3 Press the UP or DOWN button to shift to the next diagnosis menu Servo motor encoder ID SET Displays the encoder ID of the servo motor currently connected Press the SET button to show the lower 3 digits of servo moto...

Page 702: ...arm history SET Indicates that the last alarm is AL 50 1 Thermal overload error 1 during operation When an alarm is recorded to alarm history the second digit decimal point flickers Press and hold the SET button to show the detail number of AL 50 SET Indicates the second last alarm is AL 33 1 Main circuit voltage error When an alarm is recorded to alarm history the second digit decimal point flick...

Page 703: ...isplayed by ascending order when several parameter errors occurred at the same time Functions at occurrence of an alarm 1 Any mode screen displays the current alarm 2 Even during alarm occurrence the other screen can be viewed by pressing the button in the operation area At this time the decimal point in the third digit remains flickering 3 For any alarm remove its cause and clear it in any of the...

Page 704: ...llows Pr PB01 Pr PA02 Pr PA01 I O setting parameters Pr PD01 Pr PD02 Pr PD47 Pr PD48 Pr PC01 Pr PC02 Pr PC79 Extension setting parameters Pr PC80 Pr PB02 Pr PB63 Pr PB64 To status display mode Pr PA31 Basic setting parameters Pr PA32 Extension setting 2 parameters Pr PE01 Pr PE02 Pr PE63 Pr PE64 Extension setting 3 parameters Pr PF01 Pr PF02 Pr PF47 Pr PF48 Gain filter parameters MODE UP DOWN From...

Page 705: ...hanged Changing the parameter contents Press UP or DOWN to change the value and press SET to fix the setting The setting will be displayed as it is after the setting is fixed To cancel the setting data press MODE for 2 s while the display is flickering The setting before the change will be displayed Press and hold UP or DOWN to change the data continuously In that case only the highest digit chang...

Page 706: ...MODE once Lower 3 digits Note 1 Pressing the SET button in either upper or lower 3 digit display makes the display flicker 2 Pressing the SET button in either upper or lower 3 digit display fix the setting The display can be switched between upper and lower 3 digit by pressing the MODE button Switching the display between upper and lower 3 digit is also possible by pressing the MODE button while t...

Page 707: ... Press SET once Enter the setting Note 2 Press MODE once Lower 3 digits Note 1 Pressing the SET button in upper middle or lower 3 digit display makes the display flicker 2 Pressing the SET button in upper middle or lower 3 digit display fix the setting The display can be switched among upper middle and lower 3 digits by pressing the MODE button Switching the display between upper middle and lower ...

Page 708: ...SET button in upper middle or lower 2 digit display makes the display flicker 2 Pressing the SET button in upper middle or lower 2 digits display fix the setting The display can be switched among upper middle and lower 2 digits by pressing the MODE button Switch the display between upper middle and lower 2 digit is also possible by pressing the MODE button while the display is flickering The chang...

Page 709: ...he 7 segment LED segments and CN1 connector pins correspond as shown below CN1 15 CN1 43 CN1 49 CN1 23 Light on on Light off off CN1 16 CN1 19 CN1 22 CN1 17 CN1 45 CN1 48 CN1 33 CN1 25 CN1 18 CN1 41 CN1 44 CN1 24 Input signal Output signal CN1 35 CN1 38 Note CN1 10 CN1 37 Note CN1 42 Note CN1 10 pin and CN1 37 pin are mutually exclusive and CN1 35 pin and CN1 38 pin are mutually exclusive The LED ...

Page 710: ...2 48 O ALM ALM ALM ALM ALM ALM 49 O RD RD RD RD RD RD Pr PD28 Note 1 I input signal O output signal 2 P position control mode S speed control mode T torque control mode P S position speed control switching mode S T speed torque control switching mode T P torque position switching mode 3 This is used for sink interface Input device is not assigned by default When using it assign the devices with Pr...

Page 711: ...49 INP CN1 24 ZSP CN1 23 TLC CN1 25 INP CN1 22 EM2 CN1 42 b Speed control mode SP1 CN1 41 RES CN1 19 SON CN1 15 LSN CN1 44 LSP CN1 43 RD CN1 49 SA CN1 24 ZSP CN1 23 TLC CN1 25 SA CN1 22 Light on on Light off off SP2 CN1 16 ST1 CN1 17 ST2 CN1 18 LOP CN1 45 OP CN1 33 ALM CN1 48 EM2 CN1 42 c Torque control mode SP1 CN1 41 RES CN1 19 SON CN1 15 RD CN1 49 ZSP CN1 23 VLC CN1 25 Light on on Light off off...

Page 712: ... be performed in the servo off state by turning off SON Servo on The following shows the display at power on Use the MODE button to display the diagnostic screen Switch on off the signal below the lit segment Indicates on off of output signal Definitions of on off are the same as those for the external I O signals Light on on light off off Press the UP button three times Press the SET button for 2...

Page 713: ...ff The items in the following table are the same as those for MR J4 _A_ RJ servo amplifiers of 100 W or more Refer to the section of the detailed explanation field for details Item Detailed explanation Positioning operation Section 4 5 9 3 Motor less operation Section 4 5 9 4 Program operation Section 4 5 9 5 Output signal DO forced output Section 4 5 9 6 1 Mode switching The following shows the d...

Page 714: ...P Press to start CCW rotation Release to stop DOWN Press to start CW rotation Release to stop If the USB cable is disconnected during JOG operation using the MR Configurator2 the servo motor decelerates to a stop b Status display Press the MODE button in the JOG operation ready status to call the status display screen When the JOG operation is performed using the UP or DOWN button the servo status...

Page 715: ...rox 80 Approx 37 5 Approx 27 4 Approx 51 With MR BAT6V1SET A CNP1 4 4 Mass 0 2 kg 1 6 7 8 5 2 3 4 PM E W 0 Terminal CNP1 V U 24 Mounting screw Screw size M4 Tightening torque 1 24 N m 90 Approx 100 Approx 5 Approx 5 Approx 30 Approx 5 2 M4 screw Mounting hole process drawing ...

Page 716: ... the equipment on the left side area of the continuous or broken line in the graph For the system where the unbalanced torque occurs such as a vertical axis system the unbalanced torque of the machine should be kept at 70 or less of the rated torque This servo amplifier has servo motor overload protective function The servo motor overload current full load current is set on the basis of 120 rated ...

Page 717: ... servo amplifier at rated output Servo motor Main circuit 48 V DC 24 V DC Required power supply capacity W Note Servo amplifier generated heat W At rated output With servo off HG AK0136 230 6 1 HG AK0236 360 9 1 HG AK0336 480 13 1 Note Heat generated during regeneration is not included in the servo amplifier generated heat 18 7 3 Dynamic brake characteristics POINT The dynamic brake of MR J4 03A6 ...

Page 718: ...ith the following equation V0 OFF ON Machine speed te Time EM1 Forced stop 1 Dynamic brake time constant τ Fig 18 2 Dynamic brake operation diagram Lmax 60 V0 JM te 1 JL 18 1 Lmax Maximum coasting distance mm V0 Machine s fast feed speed mm min JM Moment of inertia of the servo motor 10 4 kg m2 JL Load moment of inertia converted into equivalent value on servo motor shaft 10 4 kg m2 τ Dynamic brak...

Page 719: ...er on of main circuit and control circuit POINT The inrush current values can change depending on frequency of turning on off the power and ambient temperature Since large inrush currents flow in the power supplies use circuit protector For circuit protectors it is recommended that the inertia delay type which is not tripped by an inrush current be used Refer to section 18 8 4 for details of the c...

Page 720: ...he previous servo amplifiers The items in the following table are the same as those for MR J4 _A_ RJ servo amplifiers of 100 W or more Refer to the section of the detailed explanation field for details Item Detailed explanation Junction terminal block MR TB50 Section 11 6 MR Configurator2 Section 11 7 Battery Section 11 8 Relay recommended Section 11 13 Noise reduction techniques Section 11 14 18 ...

Page 721: ...nix Contact Applicable wire size AWG 24 to 16 Insulator OD to 2 9 mm 2 Junction terminal block cable MR J2M CN1TBL_M Cable length 0 5 m 1 m Refer to section 11 6 Junction terminal block connector Connector D7950 B500FL 3M CN1 connector Connector 10150 6000EL Shell kit 10350 3210 000 3M or equivalent For junction terminal block connection 3 CN1 connector set MR J3CN1 Connector 10150 3000PE Shell ki...

Page 722: ...sed for wiring Use the wires or equivalent given in this section 24 0 PM 1 Main control circuit power supply lead 24 V DC power supply Servo amplifier U V W E 2 Servo motor power lead 48 V DC power supply CNP1 M The following shows the wire size selection example Table 18 5 Wire size selection example 1 HIV wire Servo amplifier Wire mm 2 1 24 0 PM 2 U V W E Note MR J4 03A6 AWG 16 AWG 19 Note The w...

Page 723: ...mmunication specification and protocol etc 1 Configuration diagram a Diagrammatic sketch Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus Axis No n n 1 station n 1 to 32 Axis No 2 station 1 Axis No 1 station 0 Servo amplifier CN1 Servo amplifier Servo amplifier RS 422 compatible controller CN1 CN1 b Cable connection diagram Wire the cables as follows 13 Plate...

Page 724: ... Connector 10150 3000PE Shell kit 10350 52F0 008 2 Connect between TRE and RDN of the final axis servo amplifier 3 The overall length is 30 m or less in low noise environment 4 If the RS 422 compatible controller does not have a termination resistor terminate it with a 150 Ω resistor ...

Page 725: ...18 MR J4 03A6 SERVO AMPLIFIER 18 84 MEMO ...

Page 726: ...ansport of Dangerous Goods Rev 15 hereinafter Recommendations of the United Nations has been issued To reflect this transport regulations for lithium metal batteries are partially revised in the Technical Instruction ICAO TI by the International Civil Aviation Organization ICAO and the International Maritime Dangerous Goods Code IMDG Code by the International Maritime Organization IMO To comply th...

Page 727: ...ust be filled out in the additional handling information of the Shipper s Declaration for Dangerous Goods c New handling label design containing battery illustration must be used only air transportation Figure Example of Mitsubishi Label with Battery Illustration 4 Action taken by Mitsubishi The following caution will be added to the packages of the target batteries Containing lithium metal batter...

Page 728: ...ed and or reused This symbol means that batteries and accumulators at their end of life should be disposed of separately from your household waste If a chemical symbol is printed beneath the symbol shown above this chemical symbol means that the battery or accumulator contains a heavy metal at a certain concentration This will be indicated as follows Hg mercury 0 0005 Cd cadmium 0 002 Pb lead 0 00...

Page 729: ...Contact your local sales office for schedules and locations 2 Persons who can access operating manuals for the protective devices e g light curtain connected to the safety control system Persons who have read and familiarized himself herself with the manuals App 4 2 2 Applications of the devices MR J4 servo amplifiers comply with the following standards IEC EN 61800 5 1 IEC EN 61800 3 IEC EN 60204...

Page 730: ...e 12 e 6 d 4 d MR J4 22K_4 Note 1 6 m 4 m 12 i 12 i 6 n 4 n MR J4W_ _B 14 14 Note 4 14 14 14 14 14 14 Note 1 To connect these models to a terminal block be sure to use the screws that come with the terminal block 2 Alphabets in the table indicate crimping tools Refer to table 2 for the crimp terminals and crimping tools 3 Select wire sizes depending on the rated output of the servo motors The valu...

Page 731: ... 444B S NF50 SVFU 20A 50 A frame 20 A 40 A MR J4 500_ NF50 SVFU 30A 50 A frame 30 A 60 A MR J4 700_ NF50 SVFU 40A 50 A frame 40 A 80 A MR J4 11K_ NF100 CVFU 60A 100 A frame 60 A 125 A MR J4 15K_ NF100 CVFU 80A 100 A frame 80 A 150 A MR J4 22K_ NF225 CWU 125A 225 A frame 125 A 300 A Note S means 1 phase 200 V AC power input and T means 3 phase 200 V AC power input in the table Servo amplifier 400 V...

Page 732: ...ent MR J4 servo amplifiers comply with category C3 in accordance with EN 61800 3 As for I O wires max length 10 m However 3 m for STO cable for CN8 and encoder cables max length 50 m use shielded wires and ground the shields Install an EMC filter and surge protector on the primary side for input and output of 200 V class and for output of 400 V class servo amplifiers In addition use a line noise f...

Page 733: ...ection For installation in United States branch circuit protection must be provided in accordance with the National Electrical Code and any applicable local codes For installation in Canada branch circuit protection must be provided in accordance with the Canada Electrical Code and any applicable provincial codes 4 South Korea compliance This product complies with the Radio Wave Law KC mark Please...

Page 734: ...ignal wirings ISO 13849 1 Table F 1 No 1 6 Protect the cables with appropriate ways routing them in a cabinet using a cable guard etc 7 Keep the required clearance creepage distance depending on voltage you use App 4 2 6 Disposal Disposal of unusable or irreparable devices should always occur in accordance with the applicable country specific waste disposal regulations Example European Waste 16 02...

Page 735: ...if the power turned off touching the resistor will cause an electric shock because the capacitor of the servo amplifier is charged for a while 10 mm or more 80 mm or longer for wiring 10 mm or more Note 2 Top Bottom 40 mm or more Note 1 40 mm or more Cabinet Servo amplifier Servo amplifier Cabinet Note 1 For 11 kW to 22 kW servo amplifiers the clearance between the bottom and ground will be 120 mm...

Page 736: ...er may cause a malfunction The following shows representative configuration examples to conform to the IEC EN UL CSA standards 1 3 phase input for MR J4 1 axis servo amplifier MCCB or fuse Controller STO Encoder cable 3 phase 230 V AC Power supply 3 phase 400 V AC Transformer Note 3 star connected Note 1 MCCB or fuse PE L11 L21 MC Servo amplifier Cabinet side Machine side Encoder Servo motor L1 C ...

Page 737: ...and L2 For 1 phase 200 V AC servo amplifiers connect the lines to L1 and L3 3 Please use a thermal sensor etc for thermal protection of the servo motor 3 Main circuit 48 V DC input for MR J4 1 axis servo amplifier Controller Encoder cable CNP1 48 V DC 24 V DC Circuit protector Servo amplifier Encoder Servo motor CN2 CN1 Cabinet side Machine side To protective equipment Thermal signal Note 0 PM 24 ...

Page 738: ...pp 4 5 2 I O device Input device Symbol Device Connector Pin No EM2 Forced stop 2 CN3 20 STOCOM Common terminal for input signals STO1 STO2 3 STO1 STO1 state input CN8 4 STO2 STO2 state input 5 Output device Symbol Device Connector Pin No TOFCOM Common terminal for monitor output signal in STO state 8 TOFB1 Monitor output signal in STO1 state CN8 6 TOFB2 Monitor output signal in STO2 state 7 Power...

Page 739: ...20_ 1 MR J4 40_ 1 MR J4 60_ 4 MR J4 70_ MR J4 100_ 4 MR J4 200_ 4 MR J4 350_ 4 1 2 MR J4 500_ 1 2 0 8 1 2 MR J4 700_ 4 MR J4 500_4 1 2 0 8 1 2 MR J4 11K_ 4 MR J4 15K_ 4 3 0 1 2 3 0 MR J4 22K_ 4 6 0 1 2 6 0 MR J4W_ _B 1 2 2 Servo motor bearings brake section etc for unusual noise 3 Check the cables and the like for scratches or cracks Perform periodic inspection according to operating conditions 4 ...

Page 740: ...ach the end of its life in 10 years of continuous operation in normal air conditioned environment 40 C surrounding air temperature or less App 4 7 Transportation and storage CAUTION Transport the products correctly according to their mass Stacking in excess of the limited number of product packages is not allowed Do not hold the front cover to transport the servo amplifier Otherwise it may drop In...

Page 741: ...C 50 Hz 60 Hz 24 V DC Interface SELV 24 V DC required current capacity MR J4 _A_ 500 mA MR J4 _B_ 300 mA MR J4W2 _B_ 350 mA MR J4W3 _B 450 mA Control method Sine wave PWM control current control method Safety observation function STO IEC EN 61800 5 2 EN ISO 13849 1 category 3 PL d IEC 61508 SIL 2 EN 62061 SIL CL 2 and EN 61800 5 2 SIL 2 Mean time to dangerous failure MTTFd 100 years Effectiveness ...

Page 742: ...R J4W3 444B 85 168 195 2 3 App 4 8 3 Mounting hole d a e c b c d1 a1 e1 f Servo amplifier Variable dimensions mm Screw size a a1 b c d d1 e e1 f MR J4 03A6 90 0 5 5 4 4 M5 MR J4 10_ 1 MR J4 20_ 1 MR J4 40_ 1 MR J4 60_ 6 6 156 0 5 6 M5 MR J4 70_ MR J4 100_ 12 12 156 0 5 6 42 0 3 M5 MR J4 200_ 4 MR J4 350_ 6 45 156 0 5 6 78 0 3 M5 MR J4 500_ 6 6 235 0 5 7 5 93 0 5 93 0 5 M5 MR J4 700_ 6 6 285 0 5 7 ...

Page 743: ...cuments of machines to use this for periodic inspection 1 Is it based on directive standard applied to the machine Yes No 2 Is directive standard contained in Declaration of Conformity DoC Yes No 3 Does the protection instrument conform to the category required Yes No 4 Are electric shock protective measures protective class effective Yes No 5 Is the STO function checked test of all the shut off w...

Page 744: ...3C Safe stop 1 temporal delay SS1 is a function which initiates the STO function when the previously set delay time has passed after the servo motor starts decelerating The delay time can be set with MR J3 D05 The purpose of this function is as follows This function is available by using an MR J4 series servo amplifier with MR J3 D05 Controlled stop according to stop category 1 of IEC EN 60204 1 A...

Page 745: ...ponsible for all risk evaluations and all associated residual risks Below are residual risks associated with the STO EMG function Mitsubishi is not liable for any damages or injuries caused by the residual risks 1 The SS1 function only guarantees the delay time before STO EMG is engaged Proper setting of this delay time is the full responsibility of the company and or individuals responsible for i...

Page 746: ...2A SDO1A SDO2A SRESA SRESA TOF1A TOF2A STO1A STO2A SDO1A SDO2A TOFA 0 V 24 V DCDC power Safety logic TIMER1 TIMER2 A axis circuit SW1 SW2 B axis circuit 2 Operation sequence A axis shutdown 1 and 2 B axis shutdown 1 and 2 Energizing close Shut off open Release close Normal open Normal close Shut off open A axis EMG start reset B axis EMG start reset A axis STO state 1 and 2 B axis STO state 1 and ...

Page 747: ...849 1 category 3 PL d IEC 61508 SIL 2 EN 62061 SIL CL 2 and EN 61800 5 2 SIL 2 Response performance when delay time is set to 0s Note 4 10 ms or less STO input off shut off output off Mean time to dangerous failure MTTFd 516 years Diagnosis converge DC avg 93 1 Average probability of dangerous failures per hour PFH 4 75 10 9 1 h CE marking LVD EN 61800 5 1 EMC EN 61800 3 MD EN ISO 13849 1 EN 61800...

Page 748: ...e following shows the connection targets of the STO switch and STO release switch POINT MR D05UDL_M STO cable for MR J3 series cannot be used MR J3 D05 FG STO switch STO release switch Magnetic contactor MCCB Power supply Servo motor MR J4_A_ RJ STO cable MR D05UDL3M B CN9 CN10 CN8 CN1 L1 L2 L3 U V W EM2 Forced stop 2 ...

Page 749: ...A axis CN8 TOFB2 TOFCOM STO2 STOCOM TOFB1 MR J4_A_ RJ SDO1B 3A 3B SDO1B SDI1B 2A 2B SDI1B SDI2B SRESB SDO2B TOFB 4A 4B 2A 2B 5A 5B 8B 24 V 7A 0 V 7B SDI2B SDO2B SRESB CN9 CN10 SW2 MR J3 D05 Note Note S1 24 V DC 0 V RESA STOA S3 RESB STOB MC M Servo motor MC M Servo motor Control circuit Control circuit S4 S2 CN8A CN8B EM2 A axis EM2 B axis Note Set the delay time of STO output with SW1 and SW2 The...

Page 750: ...STO1 STO state base shutdown Between STO2B and STO2B is opened STO release state in driving Between STO2B and STO2B is closed O B axis STO state TOF2B TOF1B 7 8 Inputs STO state of B axis driving device STO state base shutdown Open between TOF2B and TOF1B STO release state in driving Close between TOF2B and TOF1B I 3 CN9 Device Symbol Pin No Function application I O division A axis shutdown 1 SDI1...

Page 751: ...tching between SRESB and SRESB from on connected to off opened DI 1 A axis SDO2 SDO2A SDO2A 6A 6B Outputs STO2 to A axis driving device Outputs the same signal as A axis STO1 STO state base shutdown Between SDO2A and SDO2A is opened STO release state in driving Between SDO2A and SDO2A is closed DO 1 B axis SDO2 SDO2B SDO2B 5A 5B Outputs STO2 to B axis driving device Outputs the same signal as B ax...

Page 752: ...tion apply high voltage maximum of 26 4 V from external source 2 Source I O interfaces CN9 CN10 connector a Digital input interface DI 1 This is an input circuit whose photocoupler anode side is input terminal Transmit signals from source open collector type transistor output relay switch etc VCES 1 0 V ICEO 100 µA Approximately 5 mA 24 V DC 10 200 mA Switch SRESA etc MR J3 D05 SRESA etc Approx 5 ...

Page 753: ...d wires are bent feazed or too thick due to twisting too much fix the wires by twisting lightly etc Then confirm the stripped length before using the wires Do not use excessively deformed wires c Smooth out the wire surface and stripped insulator surface 2 Connecting wires Before connecting wires be sure to pull out the receptacle assembly from the header connector If wires are connected with inse...

Page 754: ... Insert the tool until it hits the surface of the receptacle assembly At this stage the tool is vertical to the receptacle assembly d Insert wires in the wiring hole till the end The wires should be slightly twisted in advance to prevent it from being feazed It is easy to insert the wire if the wire is inserted diagonally while twisting the tool e Remove the tool ...

Page 755: ...diameter φ 2 3 mm Screwdriver diameter φ 2 5 mm 2 Connecting wires a Insert a screwdriver in the front slot a little diagonally and depress the spring While depressing the spring insert the wires until they hit the end Note that the housing and spring may be damaged if the screwdriver is inserted strongly Never insert the screwdriver in the wire hole Otherwise the connector will be damaged b Pull ...

Page 756: ...act and or wires may be damaged 4 Compatible wire Compatible wire size is listed below Wire size mm 2 AWG 0 22 24 0 34 22 0 50 20 5 Others a Fix a wire tie at least distance of A 1 5 away from the end of the connector A 1 5 or more b Be sure that wires are not pulled excessively when the connector is inserted App 5 8 4 Wiring FG Bottom face Lead wire Wire range Single wire φ 0 4 mm to 1 2 mm AWG 2...

Page 757: ...ing shutdown delay setting Off The settings of SW1 and SW2 do not match On The settings of SW1 and SW2 match FAULT FAULT LED Off Normal operation STO monitoring state On Fault has occurred POWER Power supply Off Power is not supplied to MR J3 D05 On Power is being supplied to MR J3 D05 App 5 10 Rotary switch setting Rotary switch is used to shut off the power after control stop by SS1 function Set...

Page 758: ... supply 2 Wires between MR J3 D05 and 24 V DC power supply are disconnected or are in contact with other wires Check the wiring 3 MR J3 D05 is malfunctioning Replace the MR J3 D05 FAULT LED is on FAULT LED of A axis or B axis is on and will not turn off 1 The delay time settings are not matched Check the settings of the rotary switch 2 Switch input error Check the wiring or sequence of the input s...

Page 759: ...CN8B CN9 CN10 7 8 7 8 TOF2A TOF1A TOF2B TOF1B 5 6 5 6 STO2A STO2A STO2B STO2B 3 4 3 4 STO1A STO1B 1 2 1 2 STO1A STO1B 1A 1B 1A 1B SDI1A SDI1A SRESA SRESA 2A 2B 2A 2B SDI1B SDI1B SRESB SRESB 3A 3B 3A 3B SDO1B SDO1B SDI2A SDI2A 4A 4B 4A 4B SDO1A SDO1A SDI2B SDI2B 5A 5B SDO2B SDO2B 6A 6B SDO2A SDO2A 7A 7B 24 V 0 V 8A 8B TOFA TOFB CN8A CN8B Pin assignment CN9 CN10 Mounting screw Screw size M4 Tighteni...

Page 760: ... longer 80 mm or longer for wiring 30 mm or longer 10 mm or longer Top Bottom 40 mm or longer 40 mm or longer 40 mm or longer 30 mm or longer 100 mm or longer 10 mm or longer Cabinet Cabinet MR J3 D05 MR J3 D05 MR J3 D05 Other device App 5 14 Combinations of cable connector POINT MR D05UDL_M STO cable for MR J3 series cannot be used MR J3 D05 attachment connector CN9 CN10 MR J3 D05 2 2 CN8 MR J4_A...

Page 761: ...CN9 1 1871940 4 TE Connectivity Connector for CN10 1 1871940 8 TE Connectivity 2 STO cable MR D05UDL3M B Cable length 3 m Connector set 2069250 1 TE Connectivity COMPLIANCE WITH THE MACHINERY DIRECTIVES The MR J3 D05 complies with the safety components laid down in the directive 2006 42 EC Machinery ...

Page 762: ...APPENDIX App 37 App 6 EC declaration of conformity The MR J4 series servo amplifiers and MR J3 D05 safety logic unit complies with the safety component laid down in the Machinery directive ...

Page 763: ...APPENDIX App 38 ...

Page 764: ...ignal provided to the output across MO1 and LG 0 0 Pr PC14 Analog monitor 2 output selection the signal provided to the output across MO2 and LG 0 0 Pr PC15 Pr PC39 and Pr PC40 can be used to set the offset voltages to the analog output voltages The setting range is between 9999 mV and 9999 mV Parameter Description Setting range mV PC39 This is used to set the offset voltage of MO1 Analog monitor ...

Page 765: ...ction CCW direction Maximum speed 0 8 V 8 V 01 Torque Thrust Maximum torque Power running in CW direction Power running in CCW direction Maximum torque 0 8 V 8 V 02 Servo motor speed Linear servo motor speed Maximum speed CW direction CCW direction Maximum speed 0 8 V 03 Torque Thrust Maximum torque Power runningin CW direction Power running in CCW direction Maximum torque 0 8 V 04 Current command...

Page 766: ...d 2 Note 3 Maximum speed CW direction CCW direction Maximum speed 0 8 V 8 V 10 Load side droop pulses Note 3 4 5 6 10 V 100 pulses 100 pulse CW direction CCW direction 100 pulse 0 10 V 10 V 11 Load side droop pulses Note 3 4 5 6 10 V 1000 pulses 1000 pulse CW direction CCW direction 1000 pulse 0 10 V 10 V 12 Load side droop pulses Note 3 4 5 6 10 V 10000 pulses 10000 pulse CW direction CCW directi...

Page 767: ...direction CCW direction 5 V 8 V 2 V 0 Maximum speed Maximum speed 01 Torque 5 V 3 V max torque Maximum torque Maximum torque 5 V 8 V 2 V 0 Power running in CW direction Power running in CCW direction 02 Servo motor speed 5 V 3 V max speed 5 V 8 V 0 Maximum speed CW direction CCW direction Maximum speed 03 Torque 5 V 3 V max torque 5 V 8 V 0 Maximum torque CW direction CCW direction Maximum torque ...

Page 768: ...W direction CCW direction 0B Feedback position Note 1 2 4 5 V 4 V 10 Mpulses 10 Mpulse 10 Mpulse 5 V 9 V 1 V 0 CW direction CCW direction 0C Feedback position Note 1 2 4 5 V 4 V 100 Mpulses 100 Mpulse 100 Mpulse 5 V 9 V 1 V 0 CW direction CCW direction 0D Bus voltage 5 V 4 V 100 V 100 V 5 V 9 V 0 0E Speed command 2 Note 2 5 V 3 V max speed 5 V 8 V 2 V 0 Maximum speed CW direction CCW direction Max...

Page 769: ...ly closed loop control FBN FBD PWM Current feedback Position feedback M Dual filter Servo motor side droop pulses Load side droop pulses Servo motor side load side position deviation Load side encoder Fully closed loop Servo motor side load side speed deviation Semi closed loop Servo motor side feedback pulses load side resolution unit Load side feedback pulses Encoder inside temperature Droop pul...

Page 770: ...ol Current command Bus voltage Speed command Current detector Servo motor Encoder Current feedback Position feedback M Command pulse Differen tiation Feedback position Encoder inside temperature Servo motor speed Torque Speed command 2 Home position CR input position Command pulse frequency ...

Page 771: ...R HG MR Servo motor HG KR HG MR For driving For load side encoder App 8 2 Connector set Connector set 1 Servo amplifier side connector 2 Servo motor side connector MR ECNM Receptacle 36210 0100PL Shell kit 36310 3200 008 3M Connector set 54599 1019 Molex Housing 1 172161 9 Connector pin 170359 1 TE Connectivity or equivalent Cable clamp MTI 0002 Toa Electric Industrial MR 1 2 3 MRR BAT 4 5 6 P5 7 ...

Page 772: ...etic pole detection again If the magnetic pole detection cannot be performed unavoidably write the magnetic pole information from the servo amplifier before the replacement to the one after the replacement using MR Configurator2 1 Procedures a Read the magnetic pole information of the servo amplifier before the replacement b Write the read magnetic pole information to the servo amplifier after the...

Page 773: ...Open the project in MR Configurator2 select MR J4 A for model and select Linear for operation mode 2 Check that the personal computer is connected with the servo amplifier and select Diagnosis and then Linear diagnosis 3 Click the Magnetic pole information button 1 in figure to open the magnetic pole information window 4 Input the value of the magnetic pole information taken notes to the data 1 an...

Page 774: ... RJ without a dynamic brake ED MR J4_ A_ without a dynamic brake 1 1 phase 100 V AC to 120 V AC App 10 1 3 Specifications Dynamic brake which is built in 7 kW or smaller servo amplifiers is removed Take safety measures such as making another circuit for an emergency stop alarm occurrence and power shut off The following servo motors may function an electronic dynamic brake at an alarm occurrence S...

Page 775: ... Rated output Symbol Rated output kW 11k 11 15k 15 22k 22 Power supply Symbol Power supply None 3 phase 200 V AC to 240 V AC 4 3 phase 380 V AC to 480 V AC Special specifications Symbol Special specifications MR J4 _A_ RJ without regenerative resistor RZ PX MR J4 _A_ RJ without regenerative resistor App 10 2 3 Specifications Indicates a servo amplifier of 11 kW to 22 kW that does not use a regener...

Page 776: ...time interval between current being applied to the coil until closure of contacts of 80 ms or less Depending on the main circuit voltage and operation pattern bus voltage decreases and that may cause the forced stop deceleration to shift to the dynamic brake deceleration When dynamic brake deceleration is not required slow the time to turn off the magnetic contactor 4 Configure a circuit to turn o...

Page 777: ...tic contactor MR J4 10A RJ MR J4 60A4 RJ MR J4 20A RJ MR J4 100A4 RJ SD N11 MR J4 40A RJ SD N11 MR J4 200A4 RJ MR J4 60A RJ MR J4 350A4 RJ MR J4 70A RJ MR J4 500A4 RJ SD N21 MR J4 100A RJ MR J4 700A4 RJ MR J4 200A RJ SD N21 MR J4 11KA4 RJ SD N25 MR J4 350A RJ MR J4 15KA4 RJ SD N35 MR J4 500A RJ SD N35 MR J4 22KA4 RJ SD N50 MR J4 700A RJ SD N50 MR J4 10A1 RJ MR J4 11KA RJ MR J4 20A1 RJ SD N11 MR J4...

Page 778: ...ged Added The diagram is changed The diagram is changed The table and Note are changed The item of detailed explanation is changed Note is changed CAUTION is changed POINT is changed to CAUTION The explanation of relay lifetime is changed The sentences are added to CAUTION The sentences are added to CAUTION The sentences are changed Note 10 is added Note 10 is added Note 10 is added Note 10 is add...

Page 779: ...CAUTION is changed Note is added The sentences are added to POINT The sentences are changed The value in table is changed The diagram is changed Added The part of diagram is changed The sentences are changed The sentences are added Note is changed The sentences are added The sentences are added Added The sentences are changed The sentences are changed The sentences are changed POINT and diagram ar...

Page 780: ...ed The table of combination is changed Function item is added Table is changed and added Table item 17 18 and Note are added The diagram is changed The diagram is changed 11 kW to 22 kW are added The sentences are added CN2L connector and Note 4 are added 11 kW to 22 kW are added Two items are added to CAUTION Note 1 and 2 are added Note 5 is added The diagram of CAUTION is changed POINT is added ...

Page 781: ...r PD03 Note 3 and content are added The content of Pr PD23 is added The content of Pr PD30 is changed Pr PE01 PR PE03 to Pr PE08 Pr PE10 Pr PE34 Pr PE35 and Pr PE39 are added The name of Pr PF25 is changed Newly added The display of MR Configurator2 is changed POINT is added The table is changed The sentences are added POINT is added POINT is added The content of POINT is changed The table is chan...

Page 782: ...s are changed The content is added Newly added Table and Note 3 are changed Note 6 is added Note 1 is partly added Note 6 is added The content is changed Newly added POINT is added Note is added The diagram is changed The title is changed The sentences are added CAUTION is added Oct 2013 SH NA 030107 G 400 V class is added Safety Instructions 4 1 About the manuals Section 1 2 1 Section 1 2 2 Secti...

Page 783: ...OINT is added The sentences are added The content of the table is changed Note is added The sentences are changed and note is added The POINT is added The content of the table is changed Note 2 of alarm table is changed Note 2 of warning table is changed Newly added The table is newly added The content of the table is added Newly added Newly added The content of the table is added POINT is added T...

Page 784: ...anged Newly added Newly added The sentences are changed Note 2 is added Note is added Newly added Note is added Note is added Newly added The content of the table is added The contents of Note 1 and Note 2 are changed Note 5 is added Newly added The content of the table is added Newly added The content of the table is added Newly added Note 7 is added Mar 2014 SH NA 030107 H 100 V class MR J4 seri...

Page 785: ...ed The content of the table is added The sentences are changed The title is changed The content of the table is changed The content of the table is changed The sentences are changed The title is changed The content of the table is changed Newly added Note 1 and 2 are added The title is changed The content of the table is changed The title is changed The content of the table is changed The content ...

Page 786: ... The content of the chapter is changed The sentences are changed The content of the table is changed The content of the table is changed The diagram is changed The content of the table is changed The diagram is changed The content of the table is changed Newly added CAUTION is changed The diagram is changed The diagram is changed The diagram is changed The content of the table is changed POINT is ...

Page 787: ...s added POINT is partially added Pr PC28 is added Pr PD43 to Pr PD46 are added Pr PA01 to Pr PA02 are partially added and partially changed Pr PA06 to Pr PA07 are partially added Pr PA12 to Pr PA13 are partially changed Pr PA17 to Pr PA21 are partially added Pr PA26 is partially added Pr PC14 is partially added and partially changed Pr PC15 is partially changed Pr PC19 to Pr PC20 are partially cha...

Page 788: ...rtially changed The title is changed Partially changed Partially changed Partially added Partially added Partially changed Partially changed Partially added and partially changed Partially added Partially added Partially changed Partially changed Partially changed Partially changed POINT is partially added Partially changed Partially changed POINT is partially added Partially changed Partially cha...

Page 789: ...MEMO ...

Page 790: ...1 Russia MITSUBISHI ELECTRIC EUROPE B V Russian Branch St Petersburg office Piskarevsky pr 2 bld 2 lit Sch BC Benua office 720 RU 195027 St Petersburg Russia Tel Fax 7 812 633 3497 7 812 633 3499 Sweden MITSUBISHI ELECTRIC EUROPE B V Scandinavia Fjelievägen 8 SE 22736 Lund Sweden Tel Fax 46 8 625 10 00 46 46 39 70 18 Turkey MITSUBISHI ELECTRIC TURKEY A Ş Ümraniye Branch Şerifali Mahallesi Nutuk So...

Page 791: ... failures which we are not responsible for or which you acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including it...

Page 792: ...al uses recycled paper MODEL MODEL CODE General Purpose AC Servo MR J4 _A_ RJ MR J4 03A6 RJ SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL MR J4 _A_ RJ MR J4 03A6 RJ General Purpose Interface AC Servo 1CW804 MR J4 A INSTRUCTIONMANUAL K K SERVO AMPLIFIER INSTRUCTION MANUAL ...

Page 793: ......

Page 794: ... 02 03 Fax 385 0 1 36 940 03 AutoCont C S S R O Czech Republic Kafkova 1853 3 CZ 702 00 Ostrava 2 Phone 420 595 691 150 Fax 420 595 691 199 Beijer Electronics A S Denmark Lykkegardsvej 17 DK 4000 Roskilde Phone 45 0 46 75 76 66 Fax 45 0 46 75 56 26 HANS FØLSGAARD A S Denmark TheilgaardsTorv 1 DK 4600 Køge Phone 45 4320 8600 Fax 45 4396 8855 Beijer Electronics Eesti OÜ Estonia Pärnu mnt 160i EE 113...

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