Mitsubishi Electric MR-J4W2 Instruction Manual Download Page 413

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17. APPLICATION OF FUNCTIONS

17 - 42

(d) Gain switching procedure

This operation will be described by way of setting examples.

1) When you choose switching by control command from the controller

a) Setting example

Parameter Symbol

Name

Setting

value

Unit

PB06

GD2

Load to motor inertia ratio/load to
motor mass ratio

4.00 [Multiplier]

PB07

PG1

Model loop gain

100

[rad/s]

PB08

PG2

Position loop gain

120

[rad/s]

PB09

VG2

Speed loop gain

3000

[rad/s]

PB10

VIC

Speed integral compensation

[ms]

PB19

VRF11 Vibration suppression control 1 -

Vibration frequency

50 [Hz]

PB20

VRF12 Vibration suppression control 1 -

Resonance frequency

50 [Hz]

PB21

VRF13 Vibration suppression control 1 -

Vibration frequency damping

0.20

PB22

VRF14 Vibration suppression control 1 -

Resonance frequency damping

0.20

PX04

VRF21 Vibration suppression control 2 -

Vibration frequency

20 [Hz]

PX05

VRF22 Vibration suppression control 2 -

Resonance frequency

20 [Hz]

PX06

VRF23 Vibration suppression control 2 -

Vibration frequency damping

0.10

PX07

VRF24 Vibration suppression control 2 -

Resonance frequency damping

0.10

PB29

GD2B

Load to motor inertia ratio/load to
motor mass ratio after gain
switching

10.00 [Multiplier]

PX12

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 by control command
from the controller.)

PB28

CDT

Gain switching time constant

100

[ms]

PB33

VRF11B Vibration suppression control 1 -

Vibration frequency after gain
switching

60 [Hz]

PB34

VRF12B Vibration suppression control 1 -

Resonance frequency after gain
switching

60 [Hz]

PB35

VRF13B Vibration suppression control 1 -

Vibration frequency damping after
gain switching

0.15

PB36

VRF14B Vibration suppression control 1 -

Resonance frequency damping
after gain switching

0.15

PX08

VRF21B Vibration suppression control 2 -

Vibration frequency after gain
switching

30 [Hz]

PX09

VRF22B Vibration suppression control 2 -

Resonance frequency after gain
switching

30 [Hz]

Summary of Contents for MR-J4W2

Page 1: ...cled paper MODEL MODEL CODE General Purpose AC Servo MR J4W2 _B MR J4W3 _B MR J4W2 0303B6 SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL MR J4W2 _B MR J4W3 _B MR J4W2 0303B6 SERVO AMPLIFIER INSTRUCTION MANUAL SSCNET H Interface Multi axis AC Servo 1CW806 MR J4W BINSTRUCTIONMANUAL H H ...

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: ...fier in order to configure a circuit that shuts down the power supply on the side of the servo amplifier s power supply If a magnetic contactor is not connected continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions Always connect a molded case circuit breaker or a fuse to each servo amplifier between the power supply and the main circuit power supply L1...

Page 4: ...Vibration resistance 5 9 m s2 at 10 Hz to 55 Hz directions of X Y and Z axes 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 the equipment has been stored for an extended period of time contact your local sales office When handling the servo amplif...

Page 5: ...ncoder for different axis to the CN2A CN2B or CN2C connector may cause a malfunction Connecting a servo motor for different axis to the CNP3A CNP3B or CN3C connector may cause a malfunction 3 Test run and adjustment CAUTION Before operation check the parameter settings Improper settings may cause some machines to perform unexpected operation Never adjust or change the parameter values extremely as...

Page 6: ...R Electromagnetic brake interlock turns off 24 V DC When any alarm has occurred eliminate its cause ensure safety and deactivate the alarm before restarting operation Provide an adequate protection to prevent unexpected restart after an instantaneous power failure 6 Maintenance inspection and parts replacement CAUTION With age the electrolytic capacitor of the servo amplifier will deteriorate To p...

Page 7: ...e following operations exceeds 100 000 the servo amplifier may malfunction when the EEP ROM reaches the end of its useful life Write to the EEP ROM due to parameter setting changes Write to the EEP ROM due to device changes STO function of the servo amplifier When using the STO function of the servo amplifier refer to chapter 13 For the MR J3 D05 safety logic unit refer to appendix 5 Compliance wi...

Page 8: ...ion Manual Note 2 4 SH NA 030111 EMC Installation Guidelines IB NA 67310 Note 1 It is necessary for using a rotary servo motor 2 It is necessary for using a linear servo motor 3 It is necessary for using a direct drive motor 4 It is necessary for using a fully closed loop system Wiring Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 C U S customary un...

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

Page 10: ... circuit 3 2 3 2 I O signal connection example 3 5 3 2 1 For sink I O interface 3 5 3 2 2 For source I O interface 3 7 3 3 Explanation of power supply system 3 8 3 3 1 Signal explanations 3 8 3 3 2 Power on sequence 3 10 3 3 3 Wiring CNP1 CNP2 and CNP3 3 11 3 4 Connectors and pin assignment 3 13 3 5 Signal device explanations 3 14 3 5 1 Input device 3 14 3 5 2 Output device 3 15 3 5 3 Output signa...

Page 11: ... 1 2 Gain filter setting parameters Pr PB_ _ 5 4 5 1 3 Extension setting parameters Pr PC_ _ 5 5 5 1 4 I O setting parameters Pr PD_ _ 5 7 5 1 5 Extension setting 2 parameters Pr PE_ _ 5 8 5 1 6 Extension setting 3 parameters Pr PF_ _ 5 10 5 1 7 Linear servo motor DD motor setting parameters Pr PL_ _ 5 11 5 2 Detailed list of parameters 5 13 5 2 1 Basic setting parameters Pr PA_ _ 5 13 5 2 2 Gain ...

Page 12: ...2 3 Parameter 7 17 7 2 4 Gain switching procedure 7 20 7 3 Tough drive function 7 24 7 3 1 Vibration tough drive function 7 24 7 3 2 Instantaneous power failure tough drive function 7 26 7 4 Compliance with SEMI F47 standard 7 29 7 5 Model adaptive control disabled 7 31 8 TROUBLESHOOTING 8 1 to 8 12 8 1 Explanation for the lists 8 1 8 2 Alarm list 8 2 8 3 Warning list 8 8 8 4 Troubleshooting at po...

Page 13: ...r using USB communication function 11 28 11 5 Selection example of wires 11 29 11 6 Molded case circuit breakers fuses magnetic contactors 11 31 11 7 Power factor improving AC reactors 11 33 11 8 Relays recommended 11 34 11 9 Noise reduction techniques 11 34 11 10 Earth leakage current breaker 11 41 11 11 EMC filter recommended 11 44 11 12 Junction terminal block MR TB26A 11 47 12 ABSOLUTE POSITIO...

Page 14: ...4 5 14 3 1 Startup 14 5 14 3 2 Magnetic pole detection 14 8 14 3 3 Home position return 14 16 14 3 4 Test operation mode in MR Configurator2 14 19 14 3 5 Operation from controller 14 22 14 3 6 Function 14 24 14 3 7 Absolute position detection system 14 26 14 4 Characteristics 14 27 14 4 1 Overload protection characteristics 14 27 14 4 2 Power supply capacity and generated loss 14 28 14 4 3 Dynamic...

Page 15: ...J3 compatibility mode 17 1 17 1 2 Operation modes supported by J3 compatibility mode 17 2 17 1 3 J3 compatibility mode supported function list 17 2 17 1 4 How to switch J4 mode J3 compatibility mode 17 5 17 1 5 How to use the J3 compatibility mode 17 6 17 1 6 Cautions for switching J4 mode J3 compatibility mode 17 7 17 1 7 Cautions for the J3 compatibility mode 17 7 17 1 8 Change of specifications...

Page 16: ... characteristics 18 47 18 7 4 Inrush currents at power on of main circuit and control circuit 18 49 18 8 Options and peripheral equipment 18 50 18 8 1 Cable connector sets 18 51 18 8 2 Combinations of cable connector sets 18 51 18 8 3 Selection example of wires 18 53 18 8 4 Circuit protector 18 54 APPENDIX App 1 to App 47 App 1 Auxiliary equipment manufacturer for reference App 1 App 2 Handling of...

Page 17: ...8 MEMO ...

Page 18: ...sing a linear servo motor or direct drive motor simplifies the system and using the MR J4W_ B servo amplifier downsizes the equipment enhances the equipment performance and ensures space saving Using regenerative energy generated when a servo motor decelerates ensures energy saving Depending on the operating conditions the regenerative option is not required As the MR J4 B servo amplifier the MR J...

Page 19: ...erential output method Scale measurement function Two wire type CN2A Note 2 3 5 CN2B Note 2 3 5 Four wire type Note 6 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 and A B Z phase differential output method MR J4W2 _B cannot be used ...

Page 20: ...on control A Model speed control A Actual position control A Actual speed control A Current control A CNP2 Control circuit power supply Base amplifier Overcurrent A Current detection A Overvoltage I F Control Dynamic brake circuit A CNP3A CN2A CNP3B CN2B CNP3C CN2C A axis output B axis output C axis output A axis F B B axis F B C axis F B Control B axis Control C axis L1 L2 L3 L11 L21 CN8 CN1A CN1...

Page 21: ... 24 V DC 10 Power supply capacity 0 35 A Note 1 Control method Sine wave PWM control current control method Capacitor regeneration Reusable regenerative energy Note 2 J 17 21 44 Moment of inertia J equivalent to the permissible charging amount Note 3 10 4 kg m 2 3 45 4 26 8 92 Mass equivalent to the permissible charging amount Note 4 kg LM H3 3 8 4 7 9 8 LM K2 LM U2 8 5 10 5 22 0 Built in regenera...

Page 22: ...eed to stop Linear servo motor Regenerative energy is generated when the machine whose mass is equivalent to the permissible charging amount decelerates from the maximum speed to stop Direct drive motor Regenerative energy is generated when the machine whose moment of inertia is equivalent to the permissible charging amount decelerates from the rated speed to stop 3 Moment of inertia when the moto...

Page 23: ...24 V DC 10 Power supply capacity 0 45 A Note 1 Control method Sine wave PWM control current control method Capacitor regeneration Reusable regenerative energy Note 2 J 21 30 Moment of inertia J equivalent to the permissible charging amount Note 3 10 4 kg m 2 4 26 6 08 Mass equivalent to the permissible charging amount Note 4 kg LM H3 4 7 6 7 LM K2 LM U2 10 5 15 0 Built in regenerative resistance W...

Page 24: ...s equivalent to the permissible charging amount decelerates from the rated speed to stop Linear servo motor Regenerative energy is generated when the machine whose mass is equivalent to the permissible charging amount decelerates from the maximum speed to stop Direct drive motor Regenerative energy is generated when the machine whose moment of inertia is equivalent to the permissible charging amou...

Page 25: ...M U2PBF 22M 1SS0 TM RFM004C20 TM RFM006C20 TM RFM006E20 TM RFM012E20 TM RFM012G20 TM RFM040J10 MR J4W2 1010B 43 73 43 73 51 81 52 102 72 53 Note 73 103 LM H3P2A 07P BSS0 LM H3P3A 12P CSS0 LM H3P3B 24P CSS0 LM H3P3C 36P CSS0 LM H3P7A 24P ASS0 LM K2P1A 01M 2SS1 LM K2P2A 02M 1SS1 LM U2PAD 10M 0SS0 LM U2PAF 15M 0SS0 LM U2PBD 15M 1SS0 LM U2PBF 22M 1SS0 TM RFM004C20 TM RFM006C20 TM RFM006E20 TM RFM012E2...

Page 26: ...r detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration Section 7 1 2 Low pass filter Suppresses high frequency resonance which occurs as servo system response is increased Section 7 1 4 Machine analyzer function Analyzes the frequency characteristic of the mechanical system by simply connecting an MR Configurator2 installed personal computer a...

Page 27: ...nction Power monitoring function This function calculates the power running and the regenerative power from the data including the speed and current in the servo amplifier MR Configurator2 can display the data including the power consumption Since the servo amplifier sends data to a servo system controller you can analyze the data and display the data on a display with the SSCNET III H system Mach...

Page 28: ...1001 DATE 2014 05 TOKYO 100 8310 JAPAN MADE IN JAPAN ＭＯＤＥＬ Note Production year and month of the servo amplifier are indicated in a serial number on the rating plate The year and month of manufacture are indicated by the last one digit of the year and 1 to 9 X 10 Y 11 Z 12 For September 2011 the Serial No is like SERIAL _ 19 _ _ _ _ _ _ 2 Model The following describes what each block of a model na...

Page 29: ...s servo motor power supply connector CNP3C Note 1 Connect the C axis servo motor 12 Protective earth PE terminal Grounding terminal Section 3 11 13 I O signal connector CN3 Used to connect digital I O signals Section 3 2 Section 3 4 14 STO input signal connector CN8 Used to connect MR J3 D05 safety logic unit and external safety relay Chapter 13 15 SSCNET III cable connector CN1A Used to connect t...

Page 30: ...l computer Servo system controller or Front axis servo amplifier CN1B Safety relay or MR J3 D05 safety logic unit Rear servo amplifier CN1A or Cap CN3 CN5 under the cover CN1B CN2A Note 2 CN2B CN2C Note 1 Battery unit CN1A CN8 I O signal P L1 L2 L3 L21 L11 C Regenerative option MR Configurator2 A axis encoder B axis encoder C axis encoder CN4 R S T A axis servo motor B axis servo motor C axis serv...

Page 31: ...1 FUNCTIONS AND CONFIGURATION 1 14 MEMO ...

Page 32: ...een 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 the metal cabinet When fumigants that contain halogen materials such as fluorine chlorine bromine and iodine are used for disinfecting and protecting wooden packaging from insects...

Page 33: ...large clearance between the top of the servo amplifier 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 100 mm or more 10 mm or more 30 mm or more 30 mm or more 40 mm or mo...

Page 34: ...ut by sharp chips rubbed by a machine corner or stamped by workers or vehicles 4 For the cable installation on a machine where the servo motor moves the bending radius should be made as large as possible Refer to section 10 4 for the bending life 2 4 SSCNET III cable laying SSCNET III cable is made from optical fiber If optical fiber is added a power such as a major shock lateral pressure haul sud...

Page 35: ...e ester may affect MR J3BUS_M and MR J3BUS_M A cables In addition MR J3BUS_M B cable is not affected by plasticizer A chemical substance may affect its optical characteristic Therefore previously check that the cable is not affected by the environment 4 Bundle fixing Fix the cable at the closest part to the connector with bundle material in order to prevent SSCNET III cable from putting its own we...

Page 36: ...le cord used for SSCNET III hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated For disposal of optical fiber request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas 2 5 Inspection items WARNING Before starting maintenance and or inspection turn off the power and...

Page 37: ...eteriorates in characteristic The life of the capacitor greatly depends on ambient temperature and operating 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 live...

Page 38: ...ur 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 amplifier RA For source output interface Use a noise filter etc to minimize the infl...

Page 39: ...eak 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 for different axis to the CNP3A CNP3B or CN3C connector may cause a malfunction The N terminal is not a neutral point of the power supply Incorrect wiring will cause a burst damage etc POINT Even if alarm has occurred do not switch off the control circu...

Page 40: ...AND malfunction Note 3 Note 4 MCCB OFF MC ON MC Note 3 AND malfunction RA1 EMG stop switch SK Note 6 MC Note 5 Note 12 Note 12 Note 12 CN8 Note 9 Short circuit connector Packed with the servo amplifier Note 8 Main circuit power supply PE CNP3B B axis servo motor U V W Motor Encoder CN2B Note 5 Note 5 M U V W CNP3C C axis servo motor Note 11 U V W Motor Encoder CN2C M U V W Note 10 24 V DC Note 13 ...

Page 41: ...he 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 7 For 1 phase 200 V AC to 240 V AC connect the power supply to L1 and L3 Leave L2 open For power supply specifications refer to section 1 3 8 Co...

Page 42: ...ntial line driver Note 19 Note 13 Note 20 Note 3 4 Forced stop 2 A axis FLS A axis RLS A axis DOG B axis FLS B axis RLS B axis DOG Note 14 DICOM EM2 7 DI1 A 8 DI2 A 9 DI3 A Note 6 SSCNET III cable option Servo system controller CN1A CN1B Note 7 Note 1 Note 9 Cap Note 5 MR Configurator2 Personal computer CN5 USB cable MR J3USBCBL3M option 20 DI1 B 21 DI2 B 22 Electromagnetic brake interlock C axis ...

Page 43: ...3 _B The 24 V DC power supply can be used both for input signals and output signals 350 mA and 450 mA are the values applicable when all I O signals are used The current capacity can be decreased by reducing the number of I O points Refer to section 3 8 2 1 that gives the current value necessary for the interface The illustration of the 24 V DC power supply is divided between input signal and outp...

Page 44: ...te 13 Note 20 Note 3 4 Forced stop 2 A axis FLS A axis RLS A axis DOG B axis FLS B axis RLS B axis DOG Note 14 DICOM EM2 7 DI1 A 8 DI2 A 9 DI3 A Note 6 SSCNET III cable option Servo system controller CN1A CN1B Note 7 Note 1 Note 9 Cap Note 5 MR Configurator2 Personal computer CN5 USB cable MR J3USBCBL3M option 20 DI1 B 21 DI2 B 22 Electromagnetic brake interlock C axis Note 17 MBR A RA1 RA2 RA3 RA...

Page 45: ...nd application CNP1 Main circuit power supply connector Input main circuit power supply CNP2 Control circuit power supply connector Input control circuit power supply Connect regenerative option CNP3A A axis servo motor power supply connector Connect with the A axis servo motor CNP3B B axis servo motor power supply connector Connect with the B axis servo motor CNP3C Note 1 C axis servo motor power...

Page 46: ...to leave this terminal open L11 L21 Control circuit power supply Supply the following power to L11 and L21 Servo amplifier Power supply MR J4W2 22B to MR J4W2 1010B MR J4W3 222B to MR J4W3 444B 1 phase 200 V AC to 240 V AC 50 Hz 60 Hz L11 L21 U V W CNP3A CNP3B CNP3C Note 1 Servo motor power output Connect them to the servo motor power supply U V and W Connect the servo amplifier power output U V a...

Page 47: ... supply is turned on with the main circuit power supply off and then the servo on command is transmitted AL E9 Main circuit off warning will occur Turning on the main circuit power supply stops the warning and starts the normal operation 3 The servo amplifier receives the servo on command within 4 s after the main circuit power supply is switched on Refer to 2 of this section 2 Timing chart Note 1...

Page 48: ...03JFAT SAXGFK 43 AWG 16 to 14 11 5 J FAT OT EXL big size side JST CNP2 06JFAT SAXYGG F KK AWG 16 to 14 9 J FAT OT EXL small size side CNP3A CNP3B CNP3C 04JFAT SAGG G KK AWG 18 to 14 9 J FAT OT EXL small size side 2 Cable connection procedure a Cable making Refer to table 3 1 for stripped length of cable insulator The appropriate stripped length of cables depends on their type etc Set the length co...

Page 49: ... 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 cable insulator does not get caught by the spring Release the open tool to fix the wire Pull the wire lightly to confirm that the wire is surely connected The following shows a connection e...

Page 50: ...CALM MBR A DOCOM 2 LG 4 MRR 3 MR 1 P5 6 THM2 8 MXR 7 MX 5 THM1 THM2 THM1 10 9 BAT 2 LG 4 MRR 3 MR 1 P5 6 8 MXR 7 MX 5 10 9 BAT THM2 THM1 2 LG 4 MRR 3 MR 1 P5 6 8 MXR 7 MX 5 10 9 BAT CN5 USB connector Refer to section 11 4 CN1A Connector for SSCNET III cable for previous servo amplifier axis CN1B Connector for SSCNET III cable for next servo amplifier axis CN4 Battery connector Refer to section 11 ...

Page 51: ... _ _ Not using EM2 or EM1 MBR Electromagnetic brake interlock turns off after the forced stop deceleration EM2 and EM1 are mutually exclusive EM2 has the same device as EM1 in the torque control mode Forced stop 1 EM1 CN3 10 When using EM1 set Pr PA04 to 0 0 _ _ to enable EM1 Turn EM1 off open between commons to bring the motor to an forced stop state The base circuit is shut off the dynamic brake...

Page 52: ...ding on devices Device Symbol Function and application AND electromagnetic brake interlock CMBR When using the device set operation delay time of the electromagnetic brake in Pr PC02 When a servo off status or alarm occurs MBR will turn off OR electromagnetic brake interlock XMBR Electromagnetic brake interlock for A axis MBR A Electromagnetic brake interlock for B axis MBR B Electromagnetic brake...

Page 53: ...ith Pr PC07 OFF ON Servo motor speed 20 r min Hysteresis width Pr PC07 20 r min Hysteresis width OFF level 70 r min ON level 50 r min ON level 50 r min OFF level 70 r min 0 r min Pr PC07 ZSP Zero speed detection 1 3 2 4 Forward rotation direction Reverse rotation direction ZSP will turn on when the servo motor is decelerated to 50 r min at 1 and will turn off when the servo motor is accelerated to...

Page 54: ...S A Variable gain selection for B axis CDPS B Variable gain selection for C axis CDPS C AND absolute position undetermined CABSV ABSV turns on when the absolute position is undetermined The device cannot be used in the speed control mode and torque control mode OR absolute position undetermined XABSV Absolute position undetermined for A axis ABSV A Absolute position undetermined for B axis ABSV B ...

Page 55: ...e pulse B differential line driver LA B LAR B CN3 5 CN3 18 Encoder B phase pulse B differential line driver LB B LBR B CN3 6 CN3 19 3 5 4 Power supply Signal name Symbol Connector Pin No Function and application Digital I F power input DICOM CN3 23 Input 24 V DC 24 V DC 10 MR J4W2 _B 350 mA MR J4W3 _B 450 mA for I O interface The power supply capacity changes depending on the number of I O interfa...

Page 56: ... stop deceleration function is not available 3 6 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 run The the servo amplifier life may be shortened 1 Connection dia...

Page 57: ...Deceleration time Command Rated speed Pr PC24 B axis Note Base circuit Energy supply to the servo motor 0 r min Servo motor speed MBR A Electromagnetic brake interlock A ON OFF Enabled ON OFF Deceleration time Command Rated speed Ordinary operation Forced stop deceleration Dynamic brake Electromagnetic brake ON OFF Enabled EM2 Forced stop 2 Zero speed Pr PC07 Zero speed Pr PC07 0 r min ON OFF Enab...

Page 58: ...r min Servo motor speed ON OFF Enabled EM2 Forced stop 2 ON OFF ON OFF Enabled Base circuit Energy supply to the servo motor 0 r min Servo motor speed ON OFF Pr PC02 Pr PC02 A axis MBR B or MBR C 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 ...

Page 59: ...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 PC02 2 Adjustment Set the freefall prevention compensation amount in Pr PC31 While the servo motor is stopped turn off the EM2 Forced stop ...

Page 60: ...t 2 _ _ _ initial value in Pr PA04 1 When the forced stop deceleration function is enabled When an all axis stop alarm occur all axes will be the operation status below When a corresponding axis stop alarm occurs only the axis will be the operation status below You can normally operate the axis that any alarm is not occurring Command is not received Alarm occurrence Alarm No No alarm Note 1 Model ...

Page 61: ...II H communication shut off occurs When SSCNET III H communication is broken all axes will be the operation status below The dynamic brake may operate depending on the communication shut off status 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 CALM AND malfunction AA No alarm d...

Page 62: ...o not use the forced stop deceleration function POINT To disable the function set 0 _ _ _ in Pr PA04 The timing chart that shows the servo motor condition when an alarm or SSCNETIII H communication shut off occurs is the same as section 3 7 1 2 ...

Page 63: ...C CALM Note 4 RA RA CN3 3 16 4 17 5 18 LA A 3 2 4 7 8 MR MRR MX MXR LG PE M CN2A 6 19 LAR A LB A LBR A LA B LAR B LB B LBR B 14 LG CNP3A 2A 3 2 4 7 8 MR MRR MX MXR LG PE M CN2B CNP3B 2A 3 2 4 7 8 MR MRR MX MXR LG PE M CN2C CNP3C 2A Servo amplifier Note 1 Note 6 24 V DC Note 6 24 V DC Note 2 Note 2 Encoder Isolated A axis servo motor Encoder B axis servo motor Encoder C axis servo motor Note 3 Appr...

Page 64: ...or type transistor output relay switch etc The following is a connection diagram for sink input Refer to section 3 8 3 for source input Approximately 5 mA 24 V DC 10 MR J4W2 _B 350 mA MR J4W3 _B 450 mA TR EM2 etc Servo amplifier Switch For transistor DICOM Approximately 5 6 k VCES 1 0 V ICEO 100 A 2 Digital output interface DO 1 This is a circuit of collector output terminal of the output transist...

Page 65: ... cycle T is determined by the settings of Pr PA15 Pr PA16 and Pr PC03 LBR A LBR B LB A LB B LAR A LAR B LA A LA B 2 3 8 3 Source I O interfaces In this servo amplifier source type I O interfaces can be used This is an input circuit whose photocoupler anode side is input terminal Transmit signals from source open collector type transistor output relay switch etc 1 Digital input interface DI 1 24 V ...

Page 66: ... maximum of 26 4 V from external source 3 9 SSCNET III cable connection POINT Do not look directly at the light generated from CN1A CN1B connector of the servo amplifier or the end of SSCNET III cable The light can be a discomfort when it enters the eye 1 SSCNET III cable connection For the CN1A connector connect the SSCNET III cable connected to a controller in host side or a servo amplifier of t...

Page 67: ...SSCNET III cable in the shipping status the tube for protect optical cord end is put on the end of connector Remove this tube 2 Remove the CN1A and CN1B connector caps of the servo amplifier 3 With holding a tab of SSCNET III cable connector make sure to insert it into the CN1A and CN1B connector of the servo amplifier until you hear the click If the end face of optical cord tip is dirty optical t...

Page 68: ...y for the electromagnetic brake Otherwise it may cause a malfunction 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 torques of the electromagnetic brake and can result in delay of the de...

Page 69: ... V DC interface power supply for the electromagnetic brake 2 Create the circuit in order to shut off by interlocking with the emergency stop switch 3 This connection is for the MR J4 3 axis servo amplifier 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 2 Setting In Pr PC02 Electromagnetic brake ...

Page 70: ...ON OFF ON OFF 0 r min 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 PC02 Electromagnetic brake sequence output Note 1 ON Electromagne...

Page 71: ...ake is activated 2 The model speed 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 7 d Both main and control circuit power supplies off When both main and control circuit power supplies are turned off all axes will be the operation status below MBR Electromag...

Page 72: ...c brake Operation delay time of the electromagnetic brake Servo motor speed 0 r min Approx 10 ms Note 1 Base circuit Energy supply to the servo motor Note 1 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 2 Variable according to the operation status f Ready off command from controller When ready off is received all axes will be the operation status below Electromag...

Page 73: ...ynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake MBR Electromagnetic brake interlock Approx 10 ms Operation delay time of the electromagnetic brake Approx 210 ms Approx 210 ms Electromagnetic brake has released Note ON OFF Base circuit ON OFF Servo motor speed Forced stop command from controller or EM1 Forced stop Disabled ON Enabled OFF 0 r min Note ON Electromagnetic brake ...

Page 74: ...ic 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 is not activated OFF Electromagnetic brake is activated f Ready off command...

Page 75: ...nt 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 Note 1 Power supply Cabinet Servo amplifier Protective earth PE Outer box L1 L2 L3 CNP1 L11 L21 CNP2 MC MCCB W V U A axis servo motor M U W CN2A CNP3A Encoder Note 3 V W V U B axis servo motor M U W CN2B CNP3B Encoder Note 3 V W V U C axis servo moto...

Page 76: ...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 77: ...e auxiliary axis number setting switches SW2 5 and SW2 6 and with the axis selection rotary switch SW1 match the control axis No set with the servo system controller Refer to section 4 3 1 3 Set the parameters as necessary such as the used operation mode and regenerative option selection Refer to chapter 5 For the test operation with the servo motor disconnected from the machine and operated at th...

Page 78: ...hould match in phase with the servo motor power input terminals U V and W Servo amplifier A axis servo motor U V W M U V W CNP3A B axis servo motor U V W M U V W CNP3B C axis servo motor U V W M U V W CNP3C 2 The power supplied to the servo amplifier should not be connected to the servo motor power terminals U V and W To do so will fail the connected servo amplifier and servo motor Servo amplifier...

Page 79: ...ring cables should not be stressed b The encoder cable should not be used in excess of its bending life Refer to section 10 4 c The connector of the servo motor should not be stressed 2 Environment Signal cables and power cables are not shorted by wire offcuts metallic dust or the like 4 2 Startup POINT The controller recognizes MR J4 2 axis servo amplifiers as two servo amplifiers and 3 axis serv...

Page 80: ...r wire type When using any of these encoder cables set Pr PC04 to 1 _ _ _ to select the four wire type Incorrect setting will result in AL 16 Encoder initial communication error 1 MR EKCBL30M L MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H Set the parameters according to the structure and specifications of the machine Refer to chapter 5 for details After setting the above parameters switch power off a...

Page 81: ...mic brake operates to bring the servo motor to a stop Note Only a list of alarms and warnings is listed in chapter 8 Refer to MELSERVO J4 Servo Amplifier Instruction Manual Troubleshooting for details of alarms and warnings 4 3 Switch setting and display of the servo amplifier Switching to the test operation mode deactivating control axes and setting control axis No are enabled with switches on th...

Page 82: ...ctivation switch Set to the OFF down position Test operation select switch Set to the ON up position Control axis deactivation switch Set to the OFF down position Test operation select switch Set to the ON up position 1 ON 2 3 4 5 6 MR J4 2 axis servo amplifier MR J4 3 axis servo amplifier 1 ON 2 3 4 5 6 2 Disabling control axis switches SW2 2 SW2 3 and SW2 4 Turning ON up a disabling control axis...

Page 83: ...ver with the blade edge width of 2 1 mm to 2 3 mm and the blade edge thickness of 0 6 mm to 0 7 mm When the test operation mode is selected with the test operation select switch SW2 1 the SSCNET III H communication for the servo amplifier in the test operation mode and the following servo amplifiers is blocked You can set the control axis No between 1 and 64 by using auxiliary axis number setting ...

Page 84: ...ON 2 3 4 5 6 0 17 18 1 2 3 1 18 19 2 3 4 2 19 20 3 4 5 3 20 21 4 5 6 4 21 22 5 6 7 5 22 23 6 7 8 6 23 24 7 8 9 7 24 25 8 9 10 8 25 26 9 10 11 9 26 27 A 11 12 A 27 28 B 12 13 B 28 29 C 13 14 C 29 30 D 14 15 D 30 31 E 15 16 E 31 32 F 16 17 F 32 33 Auxiliary axis number setting switch Axis selection rotary switch Control axis No Auxiliary axis number setting switch Axis selection rotary switch Contro...

Page 85: ...xiliary axis number setting switch Axis selection rotary switch Control axis No Auxiliary axis number setting switch Axis selection rotary switch Control axis No A axis B axis C axis A axis B axis C axis 1 ON 2 3 4 5 6 0 33 34 35 1 ON 2 3 4 5 6 0 49 50 51 1 34 35 36 1 50 51 52 2 35 36 37 2 51 52 53 3 36 37 38 3 52 53 54 4 37 38 39 4 53 54 55 5 38 39 40 5 54 55 56 6 39 40 41 6 55 56 57 7 40 41 42 7...

Page 86: ...A axis status After 1 6 s Blank After 0 2 s B axis status After 1 6 s Blank After 0 2 s C axis status After 1 6 s Blank After 0 2 s After 1 6 s Blank MR J4 3 axis servo amplifier After 0 2 s 2 Alarm display When an alarm occurs the alarm number two digits and the alarm detail one digit are displayed following the status display For example the following shows when AL 16 Encoder initial communicati...

Page 87: ...o off Ready on and servo on Note Note Note When an alarm No or warning No is displayed Axis No 1 Axis No 2 Axis No 64 Initial data communication with the servo system controller initialization communication Ready off and ready off Note Example Flickering Flickering After 0 8 s Blank After 0 8 s When AL 50 Overload 1 occurs at axis No 1 Example Flickering Flickering After 0 8 s Blank Alarm reset or...

Page 88: ...ication with servo system controller A F Initializing During initial signal data communication with servo system controller A H Initializing completion The process for initial data communication with the servo system controller is completed A A Initializing standby The power supply of servo system controller is turned off during the power supply of servo amplifier is on Note 1 b Ready off The read...

Page 89: ... 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 machine and confirm that the machine operates normally under the commands from the controller Give a low speed command at first and check the operation direction etc of the machine If the machine does not operate in the intended direction check the input signa...

Page 90: ... system controller is connected or not Exercise control on the jog operation screen of MR Configurator2 1 Operation pattern Item Default value Setting range Speed r min 200 0 to max speed Acceleration deceleration time constant ms 1000 0 to 50000 2 Operation method When the check box of Rotation only while the CCW or CW button is being pushed is checked Operation Screen control Forward rotation st...

Page 91: ...n start Click the Forward button Reverse rotation start Click the Reverse button Pause Click the Pause button Stop Click the Stop button Forced stop Click the Forced stop button c Program operation Positioning operation can be performed in two or more operation patterns combined without using the servo system controller Use this operation with the forced stop reset This operation may be used indep...

Page 92: ...ckering When an alarm or warning also occurs during the test operation the decimal point will flicker After 0 8 s After 0 8 s After 0 2 s Flickering Flickering 4 Start operation with the personal computer 4 5 2 Motor less operation in controller POINT Use motor less operation which is available by making the servo system controller parameter setting Connect the servo amplifier with the servo syste...

Page 93: ...Same as the moment of inertia of the servo motor b Alarms The following alarms and warning do not occur However the other alarms and warnings occur as when the servo motor is connected Alarm and warning Rotary servo motor Linear servo motor Direct drive motor Note Rotary servo motor in fully closed loop system AL 16 Encoder initial communication error 1 AL 1E Encoder initial communication error 2 ...

Page 94: ... to _ _ _ 1 turn OFF down normal condition side the test operation mode switch SW2 1 and then turn on the power supply 1 ON 2 3 4 5 6 1 2 3 4 5 6 ON Set SW2 1 to OFF down 3 Start the motor less operation with the servo system controller The display shows the following screen The decimal point flickers ...

Page 95: ...4 STARTUP 4 20 MEMO ...

Page 96: ...election C 9 Pr PE01 Fully closed loop function selection 1 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 detect...

Page 97: ...s of A B and C Be sure to set the same value to all axes The same values are set as default for all axes Abbreviations of operation modes indicate the followings Standard Standard semi closed loop system use of the rotary servo motor Full Fully closed loop system use of the rotary servo motor Lin Linear servo motor use D D Direct drive D D motor use For MR J4W2 0306B6 servo amplifiers the operatio...

Page 98: ...0 PA13 0000h PA14 POL Rotation direction selection travel direction selection 0 Each PA15 ENR Encoder output pulses 4000 pulse rev Each PA16 ENR2 Encoder output pulses 2 1 Each PA17 MSR Servo motor series setting 0000h Each PA18 MTY Servo motor type setting 0000h Each PA19 BLK Parameter writing inhibit 00ABh Each PA20 TDS Tough drive setting 0000h Each PA21 AOP3 Function selection A 3 0001h Each P...

Page 99: ...ration frequency 100 0 Hz Each PB20 VRF12 Vibration suppression control 1 Resonance frequency 100 0 Hz Each PB21 VRF13 Vibration suppression control 1 Vibration frequency damping 0 00 Each PB22 VRF14 Vibration suppression control 1 Resonance frequency damping 0 00 Each PB23 VFBF Low pass filter selection 0000h Each PB24 MVS Slight vibration suppression control 0000h Each PB25 BOP1 Function selecti...

Page 100: ... Vibration suppression control 2 Vibration frequency after gain switching 0 0 Hz Each PB57 VRF22B Vibration suppression control 2 Resonance frequency after gain switching 0 0 Hz Each PB58 VRF23B Vibration suppression control 2 Vibration frequency damping after gain switching 0 00 Each PB59 VRF24B Vibration suppression control 2 Resonance frequency damping after gain switching 0 00 Each PB60 PG1B M...

Page 101: ...S Alarm history clear 0000h Each PC22 For manufacturer setting 0 PC23 0000h PC24 RSBR Forced stop deceleration time constant 100 ms Each PC25 For manufacturer setting 0 PC26 0000h PC27 COP9 Function selection C 9 0000h Each Note PC28 For manufacturer setting 0000h PC29 COPB Function selection C B 0000h Each PC30 For manufacturer setting 0 PC31 RSUP1 Vertical axis freefall prevention compensation a...

Page 102: ...lection 2 0000h Each PD03 For manufacturer setting 0020h PD04 0021h PD05 0022h PD06 0000h PD07 DO1 Output device selection 1 0005h Each PD08 DO2 Output device selection 2 0004h Common PD09 DO3 Output device selection 3 0003h Common PD10 For manufacturer setting 0000h PD11 DIF Input filter setting Note 0004h Common PD12 DOP1 Function selection D 1 0000h Each PD13 For manufacturer setting 0000h PD14...

Page 103: ...ion 1 0000h Each PE02 For manufacturer setting 0000h PE03 FCT2 Fully closed loop function selection 2 0003h Each PE04 FBN Fully closed loop control Feedback pulse electronic gear 1 Numerator 1 Each PE05 FBD Fully closed loop control Feedback pulse electronic gear 1 Denominator 1 Each PE06 BC1 Fully closed loop control Speed deviation error detection level 400 r min Each PE07 BC2 Fully closed loop ...

Page 104: ...ar 2 Numerator 1 Each PE35 FBD2 Fully closed loop control Feedback pulse electronic gear 2 Denominator 1 Each PE36 For manufacturer setting 0 0 PE37 0 00 PE38 0 00 PE39 20 PE40 0000h PE41 EOP3 Function selection E 3 0000h Each PE42 For manufacturer setting 0 PE43 0 0 PE44 0 PE45 0 PE46 0 PE47 TOF Torque offset 0 0 01 Each PE48 For manufacturer setting 0000h PE49 0 PE50 0 PE51 0000h PE52 0000h PE53...

Page 105: ... PF16 0000h PF17 0000h PF18 0000h PF19 0000h PF20 0000h PF21 DRT Drive recorder switching time setting 0 s Common PF22 For manufacturer setting 200 PF23 OSCL1 Vibration tough drive Oscillation detection level 50 Each PF24 OSCL2 Vibration tough drive function selection 0000h Each PF25 CVAT SEMI F47 function Instantaneous power failure detection time 200 ms Common PF26 For manufacturer setting 0 PF2...

Page 106: ...ion error detection level 0 r min mm s Each PL07 LB3 Torque thrust deviation error detection level 100 Each PL08 LIT3 Linear servo motor DD motor function selection 3 0010h Each PL09 LPWM Magnetic pole detection voltage level 30 Each PL10 For manufacturer setting 5 PL11 100 PL12 500 PL13 0000h PL14 0 PL15 20 PL16 0 PL17 LTSTS Magnetic pole detection Minute position detection method Function select...

Page 107: ...Initial value Unit Each Common Operation mode Standard Full Lin D D PL36 For manufacturer setting 0000h PL37 0000h PL38 0000h PL39 0000h PL40 0000h PL41 0000h PL42 0000h PL43 0000h PL44 0000h PL45 0000h PL46 0000h PL47 0000h PL48 0000h ...

Page 108: ...iers For MR J4W2 0303B6 servo amplifiers this digit cannot be used other than the initial value 0h _ x _ _ For manufacturer setting 0h x _ _ _ Operation mode selection To change this digit use an application software MR J4 W B mode selection When you change it without the application AL 3E Operation mode error will occur Set the digit as common setting 0 J3 compatibility mode 1 J4 mode 1h PA02 REG...

Page 109: ...top selection 0 Enabled The forced stop input EM2 or EM1 is used 1 Disabled The forced stop input EM2 and EM1 are not used Refer to table 5 1 for details 0h x _ _ _ Forced stop deceleration function selection 0 Forced stop deceleration function disabled EM1 2 Forced stop deceleration function enabled EM2 Refer to table 5 1 for details 2h Table 5 1 Deceleration method Setting value EM2 EM1 Decelera...

Page 110: ...value Gain adjustment mode Automatically adjusted parameter _ _ _ 0 2 gain adjustment mode 1 interpolation mode Pr PB06 Load to motor inertia ratio load to motor mass 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 load to motor mass ratio Pr PB07 Model loop gain Pr PB08 Position loop gain P...

Page 111: ...ne for machine resonance frequency Hz 1 Low response Middle response 2 7 21 Middle response High response 67 1 2 3 6 22 75 6 3 4 9 23 85 2 4 6 6 24 95 9 5 10 0 25 108 0 6 11 3 26 121 7 7 12 7 27 137 1 8 14 3 28 154 4 9 16 1 29 173 9 10 18 1 30 195 9 11 20 4 31 220 6 12 23 0 32 248 5 13 25 9 33 279 9 14 29 2 34 315 3 15 32 9 35 355 1 16 37 0 36 400 0 17 41 7 37 446 6 18 47 0 38 501 2 19 52 9 39 571...

Page 112: ...rection Positive direction Secondary side Primary side LM U2 series Negative direction Positive direction Table Primary side Secondary side LM K2 series 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 Set a numerator of the electronic gear for ...

Page 113: ...3401h LM H3P7A 24P ASS0 7101h LM H3P7B 48P ASS0 7201h LM H3P7C 72P ASS0 7301h LM H3P7D 96P ASS0 7401h LM U2PAB 05M 0SS0 A201h LM U2PAD 10M 0SS0 A401h LM U2PAF 15M 0SS0 A601h LM U2PBB 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 K2P1A 01M 2SS1 1101h LM K2P1C 03M 2SS1 1301h LM K2P2A 02M 1SS1 2101...

Page 114: ... servo amplifiers 00ABh Refer to Name and function column Each Table 5 3 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 Reading Writing 000Fh Reading Writing 00AAh Reading Writing 00ABh initial value Reading Writing 100Bh Reading Writing Only 19 100Ch Read...

Page 115: ...exceed the value of the oscillation level set in Pr PF23 Refer to section 7 3 for details 0h _ x _ _ SEMI F47 function selection 0 Disabled 1 Enabled Selecting 1 enables to avoid generating AL 10 Undervoltage using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation Set the time of until AL 10 1 Voltage drop in the control circuit powe...

Page 116: ...n other operation modes triggers AL 37 Parameter error For MR J4W2 0303B6 servo amplifiers this digit cannot be used other than the initial value 0h PA23 DRAT Drive recorder arbitrary alarm trigger setting Refer to Name and function column Common Setting digit Explanation Initial value _ _ x x Alarm detail No setting Set the digits when you execute the trigger with arbitrary alarm detail No for th...

Page 117: ...ecommended load to motor inertia ratio select Low response mode _ _ _ 2 When you select the standard mode or low response mode Vibration suppression control 2 is not available When you select the 3 inertia mode the feed forward gain is not available Before changing the control mode with the controller during the 3 inertia mode or low response mode stop the motor 0h _ _ x _ For manufacturer setting...

Page 118: ... _ _ x Vibration suppression control 1 tuning mode selection Select the tuning mode of the vibration suppression control 1 0 Disabled 1 Automatic setting 2 Manual setting 0h _ _ x _ Vibration suppression control 2 tuning mode selection Select the tuning mode of the vibration suppression control 2 To enable the digit select 3 inertia mode _ _ _ 1 of Vibration suppression mode selection in Pr PA24 F...

Page 119: ...setting PB08 PG2 Position loop gain Set a gain of the position loop Set this parameter to increase the position response to level load disturbance Increasing the setting value will also increase the response level to the load disturbance 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 settin...

Page 120: ...PB14 NHQ1 Notch shape selection 1 Set the shape of the machine resonance suppression filter 1 When you select Automatic setting _ _ _ 1 of Filter tuning mode selection in Pr PB01 this parameter will be adjusted automatically Set manually for the manual setting Refer to Name and function column Each Setting digit Explanation Initial value _ _ _ x For manufacturer setting 0h _ _ x _ Notch depth sele...

Page 121: ...ed _ _ _ 1 of Machine resonance suppression filter 4 selection in Pr PB49 the shaft resonance suppression filter is not available Refer to Name and function column Each Setting digit Explanation Initial value _ _ x x Shaft resonance suppression filter setting frequency selection This is used for setting the shaft resonance suppression filter Refer to table 5 4 for settings Set the value closest to...

Page 122: ...tion 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 _ _ _ 2 Refer to section 7 1 5 for details 0 00 0 00...

Page 123: ...ith commands of servo system controller 3 Continuous PID control enabled If the servo motor at a stop is rotated even one pulse due to any external factor it generates torque to compensate for a position shift When the servo motor shaft is to be locked mechanically after positioning completion stop enabling PID control and completing positioning simultaneously will suppress the unnecessary torque ...

Page 124: ...nt disabled 2 Return time constant disabled Refer to section 7 2 4 for details This parameter is used by servo amplifier with software version B4 or later 0h x _ _ _ For manufacturer setting 0h PB27 CDL Gain switching condition Set a value of gain switching command frequency droop pulses and servo motor speed linear servo motor speed selected in Pr PB26 The set value unit differs depending on the ...

Page 125: ...ression control 1 Resonance frequency after gain switching Set the resonance frequency for vibration suppression control 1 when the gain switching is enabled When you set a value less than 0 1 Hz the value will be the same as Pr PB20 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...

Page 126: ...cy Hz Setting value Frequency Hz Setting value Frequency Hz 00 Disabled 20 70 40 17 6 01 2250 21 66 41 16 5 02 1125 22 62 42 15 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...

Page 127: ...n filter 3 selection in Pr PB47 4500 Hz 10 to 4500 Each PB47 NHQ3 Notch shape selection 3 Set the shape of the machine resonance suppression filter 3 Refer to Name and function column Each Setting digit Explanation Initial value _ _ _ x Machine resonance suppression filter 3 selection 0 Disabled 1 Enabled 0h _ _ x _ Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB 0h _ x _ _ Notch width selecti...

Page 128: ...00 Hz 10 to 4500 Each PB51 NHQ5 Notch shape selection 5 Set the shape of the machine resonance suppression filter 5 When you select Enabled _ _ _ 1 of Robust filter selection in Pr PE41 the machine resonance suppression filter 5 is not available Refer to Name and function column Each Setting digit Explanation Initial value _ _ _ x Machine resonance suppression filter 5 selection 0 Disabled 1 Enabl...

Page 129: ...ting _ _ 1 _ in Pr PB02 this parameter will be set automatically Set manually for Manual setting _ _ 2 _ 0 00 0 00 to 0 30 Each PB56 VRF21B Vibration suppression control 2 Vibration frequency after gain switching Set the vibration frequency for vibration suppression control 2 when the gain switching is enabled To enable this select 3 inertia mode _ _ _ 1 of Vibration suppression mode selection in ...

Page 130: ...r vibration suppression control 2 when the gain switching is enabled To enable this select 3 inertia mode _ _ _ 1 of Vibration suppression mode selection in Pr PA24 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 2 tuning mode selection in Pr PB02 is Manual setting _ _ 2 _...

Page 131: ...ncreasing A phase 90 in CCW or positive direction 1 Increasing A phase 90 in CW or negative direction 0h Setting value Servo motor rotation direction linear servo motor travel direction CCW or positive direction CW or negative direction 0 A phase B phase A phase B phase 1 A phase B phase A phase B phase _ _ x _ Encoder output pulse setting selection 0 Output pulse setting When _ 1 0 _ is set to th...

Page 132: ...o Name and function column Each Setting digit Explanation Initial value _ _ _ x Motor less operation selection 0 Disabled 1 Enabled 0h _ _ x _ For manufacturer setting 0h _ x _ _ Main circuit power supply selection Select a voltage to be connected to the main circuit power supply with an MR J4W2 0303B6 servo amplifier 0 48 V DC 1 24 V DC When using 24 V DC for the main circuit power supply set 1 t...

Page 133: ... 0h _ _ x _ 0h _ x _ _ 0h x _ _ _ Error excessive alarm error excessive warning level unit selection 0 Per rev or mm 1 Per 0 1 rev or 0 1 mm 2 Per 0 01 rev or 0 01 mm 3 Per 0 001 rev or 0 001 mm 0h PC07 ZSP Zero speed Set an output range of ZSP Zero speed detection ZSP Zero speed detection has hysteresis of 20 r min or 20 mm s 50 r min mm s 0 to 10000 Each PC08 OSL Overspeed alarm detection level ...

Page 134: ... Note 07 Servo motor side droop pulses 10 V 5 V 1000 pulses Note 08 Servo motor side droop pulses 10 V 5 V 10000 pulses Note 09 Servo motor side droop pulses 10 V 5 V 100000 pulses Note 0A Feedback position 10 V 5 V 1 Mpulse Note 0B Feedback position 10 V 5 V 10 Mpulses Note 0C Feedback position 10 V 5 V 100 Mpulses Note 0D Bus voltage 10 V 5 V 100 V 0E Speed command 2 10 V 4 V max speed 17 Encode...

Page 135: ...meter is available with MR J4W2 0303B6 servo amplifiers 0 10000 pulses 9999 to 9999 Each PC17 COP4 Function selection C 4 Select a home position setting condition Refer to the Name and function column Each Setting digit Explanation Initial value _ _ _ x Selection of home position setting condition 0 Need to pass servo motor Z phase after power on 1 Not need to pass servo motor Z phase after power ...

Page 136: ...ing is automatically disabled 0h _ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h PC24 RSBR Forced stop deceleration time constant Set a 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 PC24 0 r min 0 mm s Servo motor speed Linear servo motor speed Rated speed Dynamic bra...

Page 137: ...ollowing conditions are met 1 Position control mode 2 The value of the parameter is other than 0 3 The forced stop deceleration function is enabled 4 Alarm occurs or EM2 turns off when the linear servo motor speed is zero speed or less 5 MBR Electromagnetic brake interlock was enabled in Pr PD07 to Pr PD09 and the base circuit shut off delay time was set in Pr PC16 0 0 0001 rev 0 01 mm 25000 to 25...

Page 138: ...on 0 Disabled 1 Enabled _ x _ _ For manufacturer setting x _ _ _ _ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h Convert the setting value into hexadecimal as follows 0 BIN 0 Disabled Use for an external input signal BIN 1 Automatic on Initial value BIN HEX Signal name 0 0 0 0 0 0 0 FLS Upper stroke limit selection RLS Lower stroke limit selection When you perform a magnetic pole detecti...

Page 139: ...ing torque 08 WNG Warning 09 BWNG Battery warning 0A SA Speed reached 0C ZSP Zero speed detection 0F CDPS Variable gain selection 10 CLDS During fully closed loop control 11 ABSV Absolute position undetermined 17 MTTR During tough drive PD08 DO2 Output device selection 2 You can assign any output device to the CN3 24 pin for each axis CINP AND in position is assigned to the all axes in the initial...

Page 140: ...0 _ _ _ is selected 0h x _ _ _ Output axis selection 0 All axes 1 A axis 2 B axis 3 C axis 0h PD11 DIF Input filter setting Select the input filter Refer to Name and function column Common Setting digit Explanation Initial value _ _ _ x Input signal filter selection Refer to the servo system controller instruction manual for the setting If external input signal causes chattering due to noise etc i...

Page 141: ..._ _ x _ Selection of output device at warning occurrence Select WNG Warning and ALM Malfunction output status at warning occurrence Servo amplifier output 0h Setting value Note 1 Device status 0 0 1 0 1 WNG ALM Warning occurrence 1 0 1 0 1 WNG ALM Warning occurrence Note 2 Note 1 0 Off 1 On 2 Although ALM is turned off upon occurrence of the warning the forced stop deceleration is performed _ x _ ...

Page 142: ...or detection system selection 0 Continuous detection system 1 Detection system at stop detected with command set to 0 0h _ x _ _ For manufacturer setting 0h x _ _ _ Fully closed loop control error reset selection 0 Reset disabled reset by powering off on enabled 1 Reset enabled 0h PE04 FBN Fully closed loop control Feedback pulse electronic gear 1 Numerator Set a numerator of electronic gear for t...

Page 143: ...ck pulses monitor selection for controller display 0 Servo motor encoder 1 Load side encoder The setting of this digit is used for the fully closed loop system and scale measurement function 0h PE34 FBN2 Fully closed loop control Feedback pulse electronic gear 2 Numerator Set a numerator of electronic gear for the servo motor encoder pulse at the fully closed loop control Set the electronic gear s...

Page 144: ... other axis error warning Refer to Name and function column Common Setting digit Explanation Initial value _ _ _ x Target alarm selection of the other axis error warning Select target alarms of the other axis error warning 0 AL 24 Main circuit error and AL 32 Overcurrent 1 All alarms For alarms occurring at all axes AL EB The other axis error warning will not occur regardless of alarm No 0h _ _ x ...

Page 145: ...on detection will occur at oscillation detection 1 AL F3 1 Oscillation detection warning will occur at oscillation detection 2 Oscillation detection function disabled Select alarm or warning when a oscillation continues at a filter readjustment sensitivity level of Pr PF23 The digit is continuously enabled regardless of the vibration tough drive in Pr PA20 0h _ _ x _ For manufacturer setting 0h _ ...

Page 146: ...on disabled 1 Magnetic pole detection at first servo on 5 Magnetic pole detection at every servo on 1h _ _ x _ For manufacturer setting 0h _ x _ _ Stop interval selection at the home position return Set a stop interval of the home position returning The digit is enabled only for linear servo motors 0 2 13 8192 pulses 1 2 17 131072 pulses 2 2 18 262144 pulses 3 2 20 1048576 pulses 4 2 22 4194304 pu...

Page 147: ...ction level Set a position deviation error detection level of the servo control error detection When the deviation between a model feedback position and actual feedback position is larger than the setting value AL 42 Servo control error will occur However when 0 is set the level vary depending on the operation mode in Pr PA01 Linear servo motor 50 mm Direct drive motor 0 09 rev 0 mm 0 01rev 0 to 1...

Page 148: ...x _ For manufacturer setting 1h _ x _ _ Magnetic pole detection Stroke limit enabled disabled selection 0 Enabled 1 Disabled 0h x _ _ _ For manufacturer setting 0h PL09 LPWM Magnetic pole detection voltage level Set a direct current exciting voltage level during the magnetic pole detection If AL 32 Overcurrent AL 50 Overload 1 or AL 51 Overload 2 occurs during the magnetic pole detection decrease ...

Page 149: ...o table 5 10 for settings 0h _ x _ _ For manufacturer setting 0h x _ _ _ 0h Table 5 9 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 10 Load to motor mass ratio load to motor inertia ratio Setting value Load to motor mass ratio lo...

Page 150: ...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 151: ... 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 152: ...ppression control 1 Resonance frequency damping PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB23 VFBF Low pass filter selection PB10 VIC Speed integral compensation PB47 NHQ3 Notch shape selection 3 PB12 OVA Overshoot amount compensation PB48 NH4 Machine resonance suppression filter 4 PB13 NH1 Machine resonance suppression filter 1 PB49 NHQ4 Notch shape selection 4 PB14 NHQ1 Notch shape s...

Page 153: ... 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 154: ...5 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 155: ...otor driving 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 4 in 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 tuning p...

Page 156: ...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 time until the acceleration deceleration time constant reach 2000 r min mm s is 5 s or less Speed is 150 r min mm s or higher The load to servo mot...

Page 157: ...r the parameter values set with one touch tuning Refer to table 6 1 for the parameters which you can clear Pushing Return 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...

Page 158: ...available in the torque control mode 2 The one touch tuning cannot be executed while an alarm or warning which does not continue the motor driving is occurring 3 The tuning is not available during the following test operation mode a Output signal DO forced output b Motor less operation ...

Page 159: ...following conditions are not satisfied The time until the acceleration deceleration time constant 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...

Page 160: ... of the load 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 or load to motor mass ratio Pr PB06 manually From the preset load to motor inertia ratio Pr PB06 value and response Pr PA09 the optimum loop gains are automaticall...

Page 161: ...re 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 load to motor mass ratio manually Adjust response level setting so that desired response is achieved on vibrat...

Page 162: ...w 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 and MR J3W Setting value Machine characteristic Reference setting value of MR J3 and MR J3W Response Guideline for machine resonance frequency Hz Response Guideline for m...

Page 163: ... ratio load to motor mass 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 ...

Page 164: ...r 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 determines the response level to a sp...

Page 165: ...he desired response cannot be 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 g...

Page 166: ...on 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 estimates the...

Page 167: ...del loop gain 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...

Page 168: ... settling The droop pulse 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 Rotary servo motor and direct drive motor Position command frequency Speed r min 60 Encoder resolution number of pulses per servo motor revolution Linear servo motor Posit...

Page 169: ...6 NORMAL GAIN ADJUSTMENT 6 20 MEMO ...

Page 170: ...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 171: ...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 172: ...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 173: ...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 174: ... 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 175: ...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 176: ...increases 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 manuall...

Page 177: ...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 178: ...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 179: ...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 180: ...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 181: ... 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 182: ...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 183: ... 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 184: ... 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 a control command from a controller to ensure stability of the servo system since the load to motor inertia ratio varies greatl...

Page 185: ...2B Pr PB29 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 VRF...

Page 186: ...bled 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 Switching time constant disabled 2 Return...

Page 187: ...ppression 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 gai...

Page 188: ...ng and Pr PB32 Speed integral compensation 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 control...

Page 189: ...equency 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 Sw...

Page 190: ...n control 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 t...

Page 191: ...ain switching 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 Sw...

Page 192: ...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 193: ...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 194: ...y 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 Pr P...

Page 195: ...taneous power failure tough drive When the load of instantaneous power failure is large the undervoltage alarm AL 10 2 caused by the bus voltage drop may occur regardless of the set value of Pr PF25 SEMI F47 function Instantaneous power failure detection time MR J4W2 0303B6 servo amplifier is not compatible with instantaneous power failure tough drive 1 Instantaneous power failure time of the cont...

Page 196: ...instantaneous power failure time of the control circuit power supply AL 10 Undervoltage occurs when the bus voltage decrease lower than 158 V DC 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 158 V DC C...

Page 197: ... circuit power supply The operation continues without alarming Control circuit power supply Bus voltage Undervoltage level 158 V DC CALM AND 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 ...

Page 198: ...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 Parameter Setting value Description PA20 _ 1 _ _ SEMI F47 function selection PF25 200 Set the time ms of the AL 10 1 Voltage drop in the control circuit power occurrence Enabling SEMI F47 function will change operation as follows a T...

Page 199: ... 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 motor will not drive with the maximum output This can be handled as a margin The following shows the conditions of tolerance against instantaneous power fail...

Page 200: ...me PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC 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 ...

Page 201: ...7 SPECIAL ADJUSTMENT FUNCTIONS 7 32 MEMO ...

Page 202: ...follows Each axis Alarm is detected for each axis Common Alarm is detected as the whole servo amplifier 3 Stop system This means target axis to stop when the alarm occurs Each axis Only alarming axis will stop All axes All axes will stop 4 Stop method For the alarms and warnings in which SD is written in the stop method column the servo motor stops with the dynamic brake after forced stop decelera...

Page 203: ...5 Memory error 2 EEP ROM 15 1 EEP ROM error at power on DB Common All axes 15 2 EEP ROM error during operation DB Common All axes 16 Encoder initial communication error 1 16 1 Encoder initial communication Receive data error 1 DB Each axis Each axis 16 2 Encoder initial communication Receive data error 2 DB Each axis Each axis 16 3 Encoder initial communication Receive data error 3 DB Each axis Ea...

Page 204: ... error EDB Each axis Each axis 21 21 4 Encoder non signal error EDB Each axis Each axis 21 5 Encoder hardware error 1 EDB Each axis Each axis 21 6 Encoder hardware error 2 EDB Each axis Each axis 21 9 Encoder data error 2 EDB Each axis Each axis 24 Main circuit error 24 1 Ground fault detected at hardware detection circuit DB Each axis All axes 24 2 Ground fault detected by software detection func...

Page 205: ...37 1 Parameter setting range error DB Each axis Each axis 37 2 Parameter combination error DB Each axis Each axis 3A Inrush current suppression circuit error 3A 1 Inrush current suppression circuit error EDB Common All axes 3E Operation mode error 3E 1 Operation mode error DB Common All axes 42 Servo control error for linear servo motor and direct drive motor 42 1 Servo control error by position d...

Page 206: ... EDB Each axis Each axis 54 Oscillation detection 54 1 Oscillation detection error EDB Each axis Each axis 56 Forced stop error 56 2 Over speed during forced stop EDB Each axis Each axis 56 3 Estimated distance over during forced stop EDB Each axis Each axis 63 STO timing error 63 1 STO1 off DB Common All axes 63 2 STO2 off DB Common All axes 70 Load side encoder initial communication error 1 70 1...

Page 207: ...encoder data error 1 EDB Each axis Each axis 72 2 Load side encoder data update error EDB Each axis Each axis 72 3 Load side encoder data waveform error EDB Each axis Each axis 72 4 Load side encoder non signal error EDB Each axis Each axis 72 5 Load side encoder hardware error 1 EDB Each axis Each axis 72 6 Load side encoder hardware error 2 EDB Each axis Each axis 72 9 Load side encoder data err...

Page 208: ...ied servo motors The stop method for other than the specified servo motors is 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 of SD can be changed to DB using Pr PA04 4 The alarm can b...

Page 209: ...ation Each axis E1 4 Thermal overload warning 4 during operation Each axis E1 5 Thermal overload error 1 during a stop Each axis E1 6 Thermal overload error 2 during a stop Each axis E1 7 Thermal overload error 3 during a stop Each axis E1 8 Thermal overload error 4 during a stop Each axis E2 Servo motor overheat warning E2 1 Servo motor temperature warning Each axis E3 Absolute position counter w...

Page 210: ...iswriting warning Common F3 Oscillation detection warning F3 1 Oscillation detection warning Each axis Note 1 Leave for about 30 minutes of cooling time after removing the cause of occurrence 2 The following shows two stop methods of DB and SD DB Dynamic brake stop For a servo amplifier without the dynamic brake the servo motor coasts Coasts for MR J4W2 0303B6 SD Forced stop deceleration 3 This is...

Page 211: ...xis switches SW2 2 2 3 and 2 4 Axis No is set incorrectly Check that the other servo amplifier is not assigned to the same axis No Set it correctly Axis No does not match with the axis No set to the servo system controller Check the setting and axis No of the servo system controller Set it correctly Information about the servo series has not set in the simple motion module Check the value set in S...

Page 212: ...ility mode is set using MR J4 W B mode selection which came with MR Configurator2 Select J4 mode with MR J4 W B mode selection b Note The system has been in the test operation mode Test operation mode has been active Test operation setting switch SW2 1 is turned on Turn off the test operation setting switch SW2 1 off Operation mode for manufacturer setting is set Operation mode for manufacturer se...

Page 213: ...8 TROUBLESHOOTING 8 12 MEMO ...

Page 214: ... Cooling fan exhaust only with MR J4W 44B Air intake Lock knob Lock knob Mass 1 4 kg L2 L3 L1 C D P L21 N L11 A PE B W U V W U V A B A CNP3A CNP3B B Terminal CNP1 CNP2 1 2 3 1 2 1 2 1 2 3 Screw Size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m Approx 168 156 Approx 6 Approx 6 Approx 6 Approx 60 2 M5 screw Mounting hole process drawing ...

Page 215: ...ir intake Lock knob Lock knob 6 mounting hole Mass 2 3 kg L2 L3 L1 C D P L21 N L11 A PE B W U V W U V A B A CNP3A CNP3B B Terminal CNP1 CNP2 1 2 3 1 2 1 2 1 2 3 Screw Size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m 156 0 5 Approx 168 Approx 6 Approx 6 Approx 6 Approx 6 Mounting hole process drawing 3 M5 screw Approx 85 73 0 3 ...

Page 216: ...ng hole Air intake Lock knob Lock knob Mass 2 3 kg L2 L3 L1 C D P L21 N L11 A PE B W U V W U V A B A CNP3A CNP3B B Terminal CNP1 CNP2 1 2 3 1 2 1 2 1 2 3 Screw Size M4 Tightening torque 1 2 N m W U V A B CNP3C 1 2 Mounting screw Screw size M5 Tightening torque 3 24 N m 156 0 5 Approx 168 Approx 6 Approx 6 Approx 6 Approx 6 Mounting hole process drawing 3 M5 screw Approx 85 73 0 3 ...

Page 217: ... 6 7 9 3 17 6 0 2 8 F0 PF2D103 S 2 3 1 7 4 8 13 4 15 6 7 9 3 17 6 0 2 20 9 0 2 8 2 Miniature delta ribbon MDR system 3M a One touch lock type Unit mm E B A 23 8 39 0 12 7 C Logo etc are indicated here D Connector Shell kit Each type of dimension A B C D E 10120 3000PE 10320 52F0 008 22 0 33 3 14 0 10 0 12 0 ...

Page 218: ...nit mm E B A 23 8 39 0 12 7 C D 5 2 F Logo etc are indicated here Connector Shell kit Each type of dimension A B C D E F 10120 3000PE 10320 52F0 008 22 0 33 3 14 0 10 0 12 0 27 4 3 SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 Unit mm 34 8 39 5 22 4 11 0 ...

Page 219: ...9 OUTLINE DRAWINGS 9 6 MEMO ...

Page 220: ...fier has solid state servo motor overload protection for each axis The servo motor overload current full load current is set on the basis of 120 rated current of the servo amplifier Note 1 2 Load ratio 1000 100 10 1 0 1 100 200 300 350 0 50 150 250 Operating Servo lock Operation time s 1000 100 10 1 0 1 100 200 300 400 0 50 150 250 350 Note 1 2 3 Load ratio Operation time s Operating Servo lock HG...

Page 221: ... supply capacity for one servo motor Servo amplifier Note Power supply capacity kVA Servo motor Power supply capacity kVA A MR J4W2 22B Total power supply capacity of connected servo motors A in table 10 2 HG KR053 0 3 MR J4W2 44B HG KR13 0 3 MR J4W2 77B HG KR23 0 5 MR J4W2 1010B HG KR43 0 9 MR J4W3 222B HG KR73 1 3 MR J4W3 444B HG MR053 0 3 Note Note that the power supply capacity will vary accor...

Page 222: ...erated during regeneration is not included in the servo amplifier generated heat To calculate heat generated by the regenerative option refer to section 11 2 HG MR053 10 HG MR13 10 HG MR23 10 HG MR43 20 HG MR73 35 HG SR51 25 HG SR81 35 HG SR52 25 HG SR102 35 HG UR72 35 HG JR53 25 HG JR73 35 HG JR103 35 Calculate the amount of heat generated by the servo amplifier with equation 10 2 below Servo amp...

Page 223: ... 10 3 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 224: ...s Be sure to enable EM1 Forced stop 1 after servo motor stops when using EM1 Forced stop 1 frequently in other than emergency Servo motors for MR J4 may have the different coasting distance from that of the previous model The electronic dynamic brake operates in the initial state for the HG series servo motors of 600 W or smaller capacity The time constant τ for the electronic dynamic brake will b...

Page 225: ... a friction force Therefore actual coasting distance will be shorter than a maximum coasting distance calculated with the following equation V0 OFF ON Machine speed te Time EM1 Forced stop 1 Dynamic brake time constant Fig 10 3 Dynamic brake operation diagram Lmax 60 V0 te JM 1 JL 10 4 Lmax Maximum coasting distance mm V0 Machine s fast feed speed mm min JM Moment of inertia of the servo motor 10 ...

Page 226: ...peed r min HG MR series HG KR series Dynamic brake time constant ms 0 20 40 60 80 100 0 250 500 750 1000 1250 1500 51 81 Speed r min Dynamic brake time constant ms 0 500 1000 1500 2000 2500 3000 52 102 0 100 50 200 150 250 300 350 Speed r min HG SR 1000 r min series HG SR 2000 r min series Dynamic brake time constant ms Speed r min 500 1000 1500 2000 0 0 10 20 30 40 50 60 70 80 90 100 72 Dynamic b...

Page 227: ...t the load inertia moment may exceed the value contact your local sales office The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the servo motor Servo motor Permissible load to motor inertia ratio multiplier Servo motor Permissible load to motor inertia ratio multiplier HG KR053 HG SR51 30 HG KR13 HG SR81 HG KR23 30 HG SR52 HG KR...

Page 228: ... that the inertia delay type which is not tripped by an inrush current be used The following table indicates the inrush currents reference data that will flow when 240 V AC is applied at the power supply capacity of 2500 kVA and the wiring length of 1 m Even when you use a 1 phase 200 V AC power supply with MR J4W2 22B to MR J4W2 77B MR J4W3 222B and MR J4W3 444B the inrush currents of the main ci...

Page 229: ...10 CHARACTERISTICS 10 10 MEMO ...

Page 230: ...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 231: ...A 10 10 CN9 CN10 Safety logic unit MR J3 D05 To servo motor Note 2 To encoder Note 2 CN8 Note 3 Packed with the servo amplifier CNP2 CN1A 1 Battery unit MR BT6VCASE and MR BAT6V1 battery Note 1 CNP3 and CN2C are available only on MR J4 3 axis servo amplifier 2 Refer to each servo amplifier instruction manual for options for connecting the servo amplifier and the servo motor 3 When not using the ST...

Page 232: ...Refer to section 11 1 2 Standard cable outside panel 4 SSCNET III cable MR J3BUS_M B Cable length 30 m to 50 m Refer to section 11 1 2 Connector CF 2D103 S JAE Connector CF 2D103 S JAE Long distance cable 5 USB cable MR J3USBCBL3M Cable length 3m CN5 connector mini B connector 5 pins Personal computer connector A connector For connection with PC AT compatible personal computer 6 Connector set MR J...

Page 233: ... 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 12 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 Housing PALR 02VF Contact SPAL 001T P0 5 JST For battery junction Housing PAP 02V 0 Contact SPHD 001G0 P0 5 JST 13 Sh...

Page 234: ... 20 Standard Using outside panel standard cable Note MR J3BUS_M B 30 40 50 Long bending life Using long distance cable Note For cable of 30 m or less contact your local sales office 2 Specifications Description SSCNET III cable model MR J3BUS_M MR J3BUS_M A MR J3BUS_M B SSCNET III cable length 0 15 m 0 3 m to 3 m 5 m to 20 m 30 m to 50 m Optical cable cord Minimum bend radius 25 mm Enforced coveri...

Page 235: ...L Note Protective tube Note Dimension of connector part is the same as that of MR J3BUS015M c MR J3BUS5M A to MR J3BUS20M A MR J3BUS30M B to MR J3BUS50M B Refer to the table shown in 1 of this section for cable length L SSCNET III cable Variable dimensions mm A B MR J3BUS5M A to MR J3BUS20M A 100 30 MR J3BUS30M B to MR J3BUS50M B 150 50 Unit mm A A L Note Protective tube B B Note Dimension of conn...

Page 236: ... 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 237: ...ite 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 sheath with red or black dots 11 2 Regenerative options CAUTION Do not use servo amplifiers with regenerative options other than the combinations specified below Otherwise it may cause a fire 11 2 1 Combination and regenerative power The power va...

Page 238: ...shows equations of the rotary servo motor torque and energy at the driving pattern above Section Torque applied to servo motor N m Energy E J 1 T1 9 55 104 JL η JM V 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 tpsd1 1 TU TF E3 2 0 1047 V T3 tpsd1 4 8 T4 T8 TU E4 E8 0 No regeneration 5 T5 JL η JM V 9 55 104 tpsa2 1 TU TF E5 2 0 1047 V T5 tpsa2 6 T6 TU T...

Page 239: ...erse 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 allow for about 10 Capacitor charging energy Ec Energy charged into the electrolytic capacitor in the servo amplifier 3 Calculation of regenerative energy per cycle For example calc...

Page 240: ...ation results from E1 to E11 with a negative value When the absolute value of the value in E1 to E11 is assumed to be Es ER J η Es Ec If ER values are negative at all timings the regenerative option is not needed If any of ER values is positive calculate the energy consumed by the regenerative resistor in one cycle from the time for one cycle and the sum of the positive ER values PR W Sum of the p...

Page 241: ...regenerative option overheats abnormally D P C G4 G3 C P Regenerative option 5 m or less Servo amplifier Always remove wiring across P D Note 2 Cooling fan Note 1 Note 1 When the ambient temperature is more than 55 C and the regenerative load ratio is more than 60 in MR RB34 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 ...

Page 242: ... to 2 5 mm 2 AWG14 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 2 MR RB34 MR RB3N Unit mm 8 5 125 150 Approx 30 142 79 82 5 30 8 5 10 90 101 5 82 5 318 17 335 Air intake 7 100 Cooling fan mounting screw 2 M4 screw Terminal block P C G3 G4 Terminal screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M6 Tightening torque 5 4...

Page 243: ...ion detection system 11 3 1 Selection of battery The available batteries vary depending on servo amplifiers Select a required battery 1 Applications of the batteries Model Name Application Built in battery MR BAT6V1SET A Battery For absolute position data backup MR BAT6V1 MR BT6VCASE Battery case For absolute position data backup of multi axis servo motor MR BAT6V1 2 Combinations of batteries and ...

Page 244: ...MR J4W_ B servo amplifiers other than MR J4W2 0303B6 For the specifications and year and month of manufacture of the built in MR BAT6V1 battery refer to section 11 3 4 1 Parts identification and dimensions Unit mm 51 27 4 37 5 Case Connector for servo amplifier Mass 55 g including MR BAT6V1 battery 2 Battery mounting Connect as follows CN4 MR BAT6V1SET A MR J4W2 0303B6 ...

Page 245: ...plifier 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 the bat...

Page 246: ...he 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 While pressing the lock release lever slide the battery case toward you ...

Page 247: ...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 248: ...R BAT6V1 batteries separately 1 The 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 connecta...

Page 249: ...rs in the incremental system are included as the axis Nos Linear servo motors are not counted as the axis Nos The MR J4W_ _B servo amplifiers can be combined with MR J4 _B_ RJ servo amplifiers a When using 1 axis servo amplifier CN1A CN1B Cap 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 Servo amplifie...

Page 250: ...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 251: ...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 252: ...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 253: ... 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 254: ...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 condensing Note Ba...

Page 255: ...is fully closed loop diagnosis Note 2 linear diagnosis Note 3 Test mode Jog mode Note 4 positioning mode motor less operation Note 1 DO forced output program operation test mode information Adjustment One touch tuning tuning machine analyzer Others Servo assistant parameter setting range update machine unit conversion setting help display Note 1 This is available only in the standard control mode ...

Page 256: ...ck2 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 1 GB or more for 64 bit OS Free space on the hard disk 1 GB or more Communication interface USB port Browser Windows Internet Explorer 4 0 or more Display One whose resolution is 1024 768 or m...

Page 257: ...wing procedures a Disconnect 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 functi...

Page 258: ...tandard Selection condition of wire size is as follows Construction condition One wire is constructed in the air Wire length 30 m or less 1 Wires for power supply wiring The following diagram shows the wires used for wiring Use the wires given in this section or equivalent 3 Regenerative option lead Regenerative option Servo amplifier 2 Control circuit power supply lead D C P L1 L2 L3 L11 L12 1 Ma...

Page 259: ... MR J4W2 22B 2 AWG14 AWG 18 to 14 MR J4W2 44B MR J4W2 77B MR J4W2 1010B MR J4W3 222B MR J4W3 444B Note 1 Use the crimp terminal specified as below for the PE terminal of the servo amplifier Crimp terminal FVD2 4 Tool YNT 1614 Manufacturer JST Tightening torque 1 2 N m 2 The wire size shows applicable size of the servo amplifier connector For wires connecting to the servo motor refer to Servo Motor...

Page 260: ...nuous thrust of linear servo motors Total output of direct drive motors Molded case circuit breaker Note 5 6 Fuse Note 2 Magnetic contactor Frame rated current Voltage AC V Note 1 Class Current A Voltage AC V 300 W or less 50 A frame 5 A Note 3 240 T 15 300 S N10 S T10 From over 300 W to 600 W 150 N or less 100 W or less 50 A frame 10 A Note 3 20 From over 600 W to 1 kW From over 150 N to 300 N Fr...

Page 261: ...ms or less 3 When not using the servo amplifier as an EC EN UL CSA standard compliant product molded case circuit breaker of 30 A frame can be used 4 A molded case circuit breaker will not change to select regardless of use of a power factor improving AC reactor 5 Use a molded case circuit breaker which has the same or more operation characteristics than our lineup 2 For control circuit power supp...

Page 262: ...rated When using a combination of the rotary servo motor linear servo motor or direct drive motor select a power factor improving AC reactor tentatively assuming one type of the servo motors are used for 2 or 3 axes After the tentative selections are made for all types of the servo motors use the largest among all power factor improving AC reactors 4 d mounting hole Varnish is removed from front r...

Page 263: ... 115 Note 1 40 115 83 81 67 M6 M4 2 2 Note 1 Maximum dimension The dimension varies depending on the input output lines 2 Selection condition of wire size is as follows 600 V grade heat resistant polyvinyl chloride insulated wire HIV wire Construction condition One wire is constructed in the air 11 8 Relays recommended The following relays should be used with the interfaces Interface Selection exa...

Page 264: ... the control signal cables with cable clamp fittings Although a surge absorber is built into the servo amplifier to protect the servo amplifier and other equipment against large exogenous noise and lightning surge attaching a varistor to the power input section of the equipment is recommended c Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction Noise...

Page 265: ... bundled 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 lin...

Page 266: ...00 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 1 300 or mo...

Page 267: ...ding 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 Strip the cable sheath of the clamped area cutter cable Cable clamp A B Cable Grounding plate External conductor Clamp section diagram 40 Dimensions Unit mm Grounding 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 mounting hole Un...

Page 268: ...es increases but generally four passes would be appropriate For the servo motor power lines passes must be four times or less Do not pass the grounding wire through the filter 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 require...

Page 269: ...event exogenous noise and lightning surge from entering the servo amplifier When using a varistor connect it between each phase of the input power supply of the equipment For varistors the TND20V 431K and TND20V 471K manufactured by NIPPON CHEMI CON are recommended For detailed specification and usage of the varistors refer to the manufacturer catalog Varistor Maximum rated Maximum limit voltage S...

Page 270: ... Ig2 Igm M B axis Cable Ig2 Igm M Earth leakage current breaker K Type Mitsubishi products Models provided with harmonic and surge reduction techniques NV SP NV SW NV CP NV CW NV HW 1 General models BV C1 NFB NV L 3 Ig1 Ig2 Ign Iga Igm Leakage current on the electric channel from the earth leakage current breaker to the input terminals of the servo amplifier Found from Fig 11 1 Leakage current on ...

Page 271: ...kage current mA MR J4W2 22B MR J4W2 44B 0 1 MR J4W2 77B MR J4W2 1010B MR J4W3 222B MR J4W3 444B 0 15 Table 11 4 Earth leakage current breaker selection example Servo amplifier Rated sensitivity current of earth leakage current breaker mA MR J4W2 22B MR J4W2 44B MR J4W2 77B MR J4W2 1010B 15 MR J4W3 222B MR J4W3 444B 30 ...

Page 272: ...mm2 5 m 2 mm2 5 m Use an earth leakage current 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 15 mA Igm 0 1 mA Insert these values in equation 11 1 Ig 10 0 1 0 0 15 1 0 1 0 1 0 1 0 1 0 1 0 1 8 5 mA According to the result of calculation use an earth leakage current breaker having the ...

Page 273: ...ass kg Model Rated current A Rated voltage VAC Leakage current mA MR J4W2 22B MR J4W3 222B Note HF3010A UN 10 250 5 3 5 MR J4W2 44B Note HF3010A UN2 MR J4W2 77B MR J4W2 1010B MR J4W3 444B Note HF3010A UN 30 5 5 Note A surge protector is separately required to use any of these EMC filters 2 Connection example MCCB L1 L2 L3 L11 L21 Servo amplifier 1 2 3 4 5 6 E Note 2 Surge protector RSPD 250 U4 Oka...

Page 274: ... 3 Dimensions a EMC filter HF3010A UN HF 3010A UN2 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 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 275: ...11 OPTIONS AND AUXILIARY EQUIPMENT 11 46 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 276: ...3 connector of a servo amplifier The terminal symbol S is for the shield Junction terminal block MR TB26A Junction terminal block cable MR TBNATBL_M CN3 Servo amplifier Ground the junction terminal block cable using the S terminal of the junction terminal block 2 Specifications Junction terminal block Item MR TB26A Rating 32 V AC DC 0 5 A Stranded wire 0 08 mm 2 to 1 5mm 2 AWG28 to 14 Usable cable...

Page 277: ...S AND AUXILIARY EQUIPMENT 11 48 3 Dimensions Unit mm 23 6 14 1 14 1 26 6 26 Approx 35 Note Approx 7 5 Note Approx 31 1 Note 27 55 57 Note Values in parenthesis are the sizes when installed with a 35 mm DIN rail ...

Page 278: ...t a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions The absolute position detection system always detects the absolute position of the machine and keeps it battery backed independently of whether the servo system controller power is on or off Therefore once home position return is made at the time of machine installation home position...

Page 279: ...ery 12 2 1 Using MR BAT6V1SET battery only for MR J4W2 0303B6 1 Configuration diagram CYC0 Current position Home position data LS0 Position data LS Detecting the number of revolutions CYC Detecting the position at one revolution Servo motor Cumulative revolution counter 1 pulse rev One revolution counter High speed serial communication Servo amplifier Servo system controller MR BAT6V1SET A Battery...

Page 280: ...00 hours 2 axes power on time ratio 25 ambient temperature 20 C Note 3 Note 1 Maximum speed available when the shaft is rotated by external force at the time of power failure or the like 2 The data holding time by the battery using MR BAT6V1SET A Replace the batteries within three years since the operation start regardless of the power supply of the servo amplifier on off If the battery is used ou...

Page 281: ... 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 axes or 5 000 hours 4 axes equipment power supply off ambient temperature 20 C Approximately...

Page 282: ...basic safety notes must be read carefully and fully in order to 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 mention...

Page 283: ... 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 performance of the functions before comm...

Page 284: ...1 68 10 10 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 ...

Page 285: ... 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 286: ...base 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 Be...

Page 287: ...sed should 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 2...

Page 288: ... 8A SDI2A SDO2A SRESA CN9 CN10 STO1 TOFB2 TOFCOM STO2 STOCOM TOFB1 Servo amplifier SW1 FG 4 5 3 6 7 8 CN3 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 24V 0 V RESA STOA S3 RESB STOB MC M Servo motor MC M Servo motor Control circuit Co...

Page 289: ...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 290: ... 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 ...

Page 291: ...ment of ISO EN ISO 13849 1 category 3 PL d The following shows an example of I O X and Y signal assignment of the motion controller safety signal module For details refer to the motion controller user s manual Shut off signal MC Shut off verification signal M Shut off verification signal PLC Shut off signal PLC Door signal PLC 24 V 0 V Control circuit Servo amplifier STOCOM STO2 Servo motor S1 STO...

Page 292: ...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 293: ...h the relay operation apply high voltage maximum of 26 4 V from external source 13 4 2 Source I O interface In this servo amplifier source type I O interfaces can be used 1 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 24 V DC 10 MR J4W2 _B 350 mA MR J4W3 _B 4...

Page 294: ...mA TOFCOM TOFB2 TOFB1 Servo amplifier Load If polarity of diode is reversed servo amplifier will malfunction 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 b When outputting two STO states by using one TOFB Servo amplifier Load If polarity of diode is reversed servo amplifier will malfunction Note 24 V DC 10 M...

Page 295: ...13 USING STO FUNCTION 13 14 MEMO ...

Page 296: ...ower stroke limit Required for magnetic pole detection Not required Automatically turns on in the parameter setting 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 detec...

Page 297: ...n 1 7 depending on servo amplifiers you use Power factor improving reactor FR HAL Line noise filter FR BSF01 Power supply Magnetic contactor MC Molded case circuit breaker MCCB Personal computer Servo system controller or previous servo amplifier CN1B Safety relay or MR J3 D05 safety logic unit Next servo amplifier CN1A or cap CN3 CN5 under the cover CN1B CN2A CN2B Note 2 Note 2 Note 2 CN2C Note 1...

Page 298: ...ged stressed loaded or pinched Otherwise it may cause an electric shock To avoid an electric shock insulate the connections of the power supply terminals CAUTION Wire the equipment correctly and securely Otherwise the linear servo motor may operate unexpectedly resulting in injury Connect cables to the correct terminals Otherwise a burst damage etc may occur Ensure that polarity is correct Otherwi...

Page 299: ...s to the moving part etc Also use the cable that stands the long term bending action for the wiring to the servo amplifier Connecting a linear servo motor for different axis to the CNP3A CNP3B or CNP3C connector may cause a malfunction This chapter does not describe the following items For details of the items refer to each section of the detailed description field Item Detailed explanations Input...

Page 300: ... detection Refer to 3 of section 14 3 2 What is the type of the linear encoder Installation and wiring Note Perform the magnetic pole detection Refer to 3 of section 14 3 2 Note Positioning operation check Refer to section 14 3 4 Positioning operation check using the controller Refer to section 14 3 5 Home position return operation Refer to section 14 3 3 Positioning operation Incremental linear e...

Page 301: ...ative direction 1 Negative direction Positive direction The positive negative directions of the linear servo motor are as follows Secondary side Primary side Positive direction Negative direction LM H3 series Negative direction Positive direction Secondary side Primary side LM U2 series Negative direction Positive direction Table Primary side Secondary side LM K2 series 2 Confirm the increasing di...

Page 302: ...he electronic gear to the linear encoder resolution with Pr PL02 Linear encoder resolution Numerator and Pr PL03 Linear encoder resolution Denominator POINT To enable the parameter value cycle the power after setting a Parameter setting Set the values that apply to the following equation Pr PL02 Linear encoder resolution Numerator Pr PL03 Linear encoder resolution Denominator Linear encoder resolu...

Page 303: ...The position detection method is selected in the initial setting 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 large 2 For equipment with small friction the initial magnetic pole detection ...

Page 304: ...direction travel with Positioning operation in the test operation mode on MR Configurator2 Set the travel distance to 0 at this time 8 Set Pr PL01 to _ _ _ 0 to set Magnetic pole detection disabled Note 2 3 4 5 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 s...

Page 305: ...t Magnetic pole detection disabled Note 2 3 4 5 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 posi...

Page 306: ... selected with the test operation select switch SW2 1 the SSCNET III H communication for the servo amplifier in the test operation mode and the following servo amplifiers is blocked For the magnetic pole detection use the test operation mode positioning operation of MR Configurator2 Turn off the servo amplifier power and set the test operation select switch SW2 1 as shown below Turning on the powe...

Page 307: ...c pole detection check the positioning accuracy with the test operation positioning operation function of MR Configurator2 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 ma...

Page 308: ...he operation time when FLS Upper stroke limit and RLS Lower stroke limit are on 2 Linear servo motor movement when FLS Upper stroke limit and RLS Lower stroke limit are on RLS Note 1 FLS Note 1 Note 2 Magnetic pole detection completion position Servo on position Magnetic pole detection start position Note 1 When FLS Upper stroke limit or RLS Lower stroke limit turns off during the magnetic pole de...

Page 309: ...gainst magnetic pole refer to 3 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 replaced After...

Page 310: ...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 311: ...the final setting value to check there is no problem c Setting example Occurring Not occurring Linear encoder magnetic pole detection Pr PL09 setting Alarm An alarm has occurred when the setting value of Pr PL09 is set to 70 While increasing the setting value 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 Setti...

Page 312: ...esolution is 0 001 μm and the parameter for the stop interval at the home position return Pr PL01 is set to _ 5 _ _ 16777216 pulses the stop interval is 16 777 mm The value inside a bold box indicates the recommended stop interval for each linear encoder resolution Unit mm Pr PL01 Linear encoder resolution µm 0 001 0 005 0 01 0 02 0 05 0 1 0 2 0 5 1 2 Stop interval pulse _ 0 _ _ 8192 0 008 0 041 0...

Page 313: ... performed from the position where the linear encoder does not exist in the home position return direction a home position return error occurs on the controller The error contents differ according to the controller type Move the linear servo motor to the stroke end on the opposite side of the home position return direction with the JOG operation from the controller and others and then perform a ho...

Page 314: ...ition return can also be carried out 14 3 4 Test operation mode in MR Configurator2 CAUTION The test operation mode is designed for checking servo operation It is not for checking machine operation Do not use this mode with the machine Always use the linear servo motor alone If the servo motor operates abnormally use EM2 Forced stop 2 to stop it POINT The content described in this section indicate...

Page 315: ...999 2 Operation method Operation Screen control Positive direction travel Click the Positive Direction Movement button Negative direction travel Click the Reverse Direction Movement button Pause Click the Pause button Stop Click the Stop button Forced stop Click the Forced stop button b Output signal DO forced output Output signals can be switched on off forcibly independently of the servo status ...

Page 316: ...operation select switch Turn ON up 1 ON 2 3 4 5 6 MR J4 2 axis servo amplifier MR J4 3 axis servo amplifier 1 ON 2 3 4 5 6 Turning ON up SW2 1 during power on will not enable the test operation mode 3 Turn on the servo amplifier When initialization is over the display shows the following screen Example MR J4 2 axis servo amplifier After 1 6 s After 0 2 s After 1 6 s After 0 2 s Flickering Flickeri...

Page 317: ...axes the magnetic pole detection may not be executed Perform the magnetic pole detection for each axis At this time set the axes that the magnetic pole detection is not performed for to servo off For the system using the incremental linear encoder the magnetic pole detection is automatically performed at the first servo on after the power on For this reason when performing the positioning operatio...

Page 318: ...r encoder resolution Numerator 1000 PL03 LID Linear encoder resolution Denominator 1000 PL04 LIT2 Linear servo motor DD motor function selection 2 0003h PL05 LB1 Position deviation error detection level 0 PL06 LB2 Speed deviation error detection level 0 PL07 LB3 Torque thrust deviation error detection level 100 PL08 LIT3 Linear servo motor DD motor function selection 3 0010h PL09 LPWM Magnetic pol...

Page 319: ... 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 detection methods the position deviation speed deviation and thrust deviation An error is detected when...

Page 320: ...ion 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 Replace the set value as required 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 you...

Page 321: ... 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 deceleration thrust is 10 or less of the continuous thrust 3 Machine analyzer function POINT Make sure to perform the machine analyzer function after the magnetic pole detection If the magnetic pole detection is not performed the machine analyze function may ...

Page 322: ...tc Use the equipment on the left side area of the continuous or broken line in the graph Use the linear servo motor with 70 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...

Page 323: ...ower supply capacity Calculate the power supply capacity for one servo amplifier from tables 14 1 and 14 2 Table 14 1 Power supply capacity for one servo amplifier at rated output Table 14 2 Servo amplifier power supply capacity for one linear servo motor Servo amplifier Note Power supply capacity kVA Linear servo motor Power supply capacity kVA A MR J4W2 22B Total power supply capacity of connect...

Page 324: ...e servo amplifier for each linear servo motor B in table 14 4 and the amount of heat generated by the servo amplifier with servo off C LM H3P2A 07P BSS0 35 MR J4W2 44B 20 LM H3P3A 12P CSS0 35 MR J4W2 77B 20 LM H3P3B 24P CSS0 50 MR J4W2 1010B 20 LM H3P3C 36P CSS0 75 MR J4W3 222B 20 LM H3P7A 24P ASS0 50 MR J4W3 444B 25 LM U2PAB 05M 0SS0 25 Note Heat generated during regeneration is not included in t...

Page 325: ...or Coefficient A Coefficient B Linear servo motor Coefficient A Coefficient B LM H3P2A 07P BSS0 7 15E 03 2 94E 03 LM U2PAB 05M 0SS0 5 72 10 2 1 72 10 4 LM H3P3A 12P CSS0 2 81E 03 1 47E 03 LM U2PAD 10M 0SS0 2 82 10 2 8 60 10 5 LM H3P3B 24P CSS0 7 69E 03 2 27E 04 LM U2PAF 15M 0SS0 1 87 10 2 5 93 10 5 LM H3P3D 48P CSS0 1 02E 03 2 54E 04 LM U2PBB 07M 1SS0 3 13 10 2 1 04 10 4 LM H3P7A 24P ASS0 7 69E 03...

Page 326: ...e maximum speed Linear servo motor Permissible load to motor mass ratio multiplier LM H3 series 40 LM U2 series 100 LM K2 series 50 When actual speed does not reach the maximum speed of the 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 ratio at the time of u...

Page 327: ...14 USING A LINEAR SERVO MOTOR 14 32 MEMO ...

Page 328: ...nger 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 hollow shaft which enables cables and pipes to be passed through c Lubrication and the maintenance due to abrasion are not required The follow...

Page 329: ...ction 1 7 depending on servo amplifiers you use Power factor improving reactor FR HAL Line noise filter FR BSF01 Power supply Magnetic contactor MC Molded case circuit breaker MCCB Personal computer Servo system controller or previous servo amplifier CN1B Safety relay or MR J3 D05 safety logic unit Next servo amplifier CN1A or cap CN3 CN5 under the cover CN1B CN2A Note 2 CN2B CN2C Note 1 Battery u...

Page 330: ...ld not be damaged stressed loaded or pinched Otherwise it may cause an electric shock To avoid an electric shock insulate the connections of the power supply terminals CAUTION Wire the equipment correctly and securely Otherwise the direct drive motor may operate unexpectedly resulting in injury Connect cables to the correct terminals Otherwise a burst damage etc may occur Ensure that polarity is c...

Page 331: ...ield 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 7 Interfaces Section 3 8 SSCNET III cable connection Section 3 9 Grounding Section 3 11 Switch setting and display of the servo amplifier Section 4 3 Parameters Chapter 5 Troubleshooting Chapter 8 15 3 Op...

Page 332: ...rn operation Refer to the controller manual used Positioning operation No Yes Perform this procedure once at startup Set Pr PA01 Refer to section 3 14 Note 1 Use MR Configurator2 2 For the absolute position detection system always turn on the Z phase pulse of the direct drive motor while the servo amplifier power is on and then turn the servo amplifier power supply off and on again By turning off ...

Page 333: ...e safety When performing a magnetic pole detection without using FLS Upper stroke limit and RLS Lower stroke limit set Pr PL08 Linear servo motor DD motor function selection 3 to _ 1 _ _ to disable FLS and RLS Set Pr PE47 Torque offset to 0 initial value before executing the magnetic pole detection For the magnetic pole detection of vertical axis with direct drive motors refer to section 2 1 of Di...

Page 334: ... servo amplifier Set Pr PL08 Linear servo motor DD motor function selection 3 to _ _ _ 0 to set the magnetic pole detection method to Position detection method Set Pr PL01 Linear servo motor DD motor function selection 1 to _ _ _ 1 to set Magnetic pole detection always enabled Note Turn the servo amplifier power off and on again The magnetic pole detection is carried out Is Pr PL09 the final value...

Page 335: ... Magnetic pole detection End Set Pr PL01 to _ _ _ 0 to set Magnetic pole detection disabled Note Check that FLS Upper stroke limit RLS Lower stroke limit and EM2 Forced stop 2 are on and turn the servo amplifier power off and on again Turn On up the test operation select switch SW2 1 of the servo amplifier and then cycle the power of the servo amplifier Set Pr PL01 Linear servo motor DD motor func...

Page 336: ... select switch SW2 1 the SSCNET III H communication for the servo amplifier in the test operation mode and the following servo amplifiers is blocked For the magnetic pole detection use the test operation mode positioning operation of MR Configurator2 Turn off the servo amplifier power and set the test operation select switch SW2 1 and the disabling control axis switch SW2 2 SW2 3 and SW2 4 as show...

Page 337: ...e magnetic pole detection and the servo on status then outputs the positioning command If the controller outputs the positioning command before RD Ready turns on the command may not be accepted or a servo alarm 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 detec...

Page 338: ...ole detection starts Servo on position Center of the direct drive motor rotation part FLS RLS 10 degrees or less b Absolute position detection system POINT When the absolute position detection system is used the magnetic pole detection is required when the power is turned on with the following timing When the system is set up at the first startup of equipment When the Z phase pulse of the direct d...

Page 339: ...e 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 Small Medium Large 10 or less initial value 50 or more ...

Page 340: ...Overload 2 AL E1 Overload warning 1 or AL EC Overload warning 2 and the value set at the magnetic pole detection alarm as the final setting value 3 Perform the magnetic pole detection again with the final setting value c Setting example Existent Non existent Alarm Magnetic pole detection Pr PL09 setting value An alarm has occurred when the setting value of Pr PL09 is set to 70 While increasing the...

Page 341: ...PU Simple motion module RD77MS_ QD77MS_ Parameter Servo amplifier setting MR J4 B DD Motor setting Automatic setting No Note Symbol Name Initial value PA01 STY Operation mode 1000h 1060h PC01 ERZ Error excessive alarm level 0 Set the items as required PC03 ENRS Encoder output pulse selection 0000h PL01 LIT1 Linear servo motor DD motor function selection 1 0301h PL04 LIT2 Linear servo motor DD moto...

Page 342: ...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 Feedback speed r min 6 Feedback torque Servo amplifier Direct drive motor Encoder Figure 15 1 Outline of servo control error detection function a Position deviation error detection Set Pr PL0...

Page 343: ... 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 15 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 motor...

Page 344: ...recommended that the unbalanced torque of the machine be kept at 70 or less of the motor s rated torque This servo amplifier has solid state direct drive motor overload protection for each axis The direct drive 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 Servo lock Operation time s Note Load rat...

Page 345: ...TM RFM006C20 0 53 MR J4W2 1010B TM RFM006E20 0 46 MR J4W3 222B TM RFM012E20 0 81 MR J4W3 444B TM RFM018E20 1 3 Note Note that the power supply capacity will vary according to the power supply impedance This value is applicable when the power factor improving reactor is not used TM RFM012G20 0 71 TM RFM040J10 1 2 Calculate the power supply capacity with equation 10 1 in 1 in section 10 2 2 Calculat...

Page 346: ...distance Fig 15 3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated Use equation 15 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 15 3 ...

Page 347: ...rmissible 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 load inertia moment is higher than this value the dynamic brake may burn If there is a possibility that the load inertia moment may exceed the value contact your local sales office The values of the permissible load to motor inerti...

Page 348: ...hown below The fully closed loop system is controlled in the load side encoder unit Servo motor side cumulative feedback pulses load side encoder resolution unit Servo motor side Droop pulses Servo motor side Cumulative feedback pulses Load side droop pulses Cumulative load side feedback pulses Dual feedback filter Pr PE08 Note 2 FBD Servo motor Linear encoder Controller Note 1 2 Fully closed loop...

Page 349: ... obtained Dual feedback control Feature Position is controlled according to the servo motor side data and load side data Advantage Control is performed according to the servo motor side data during operation and according to the load side data at a stop in sequence to raise the gains during operation and shorten the settling time A stop is made with the load side accuracy Fully closed loop control...

Page 350: ...er to section 16 3 1 2 a Semi closed fully closed switching command Refer to the controller user s manual OFF ON Refer to section 16 3 1 2 b Dual feedback control Semi closed loop control 1 to 4499 Fully closed loop system 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 dua...

Page 351: ... Load side encoder signal Servo motor encoder signal Linear encoder head Servo motor Note Applicable for the absolute position detection system when an absolute position linear encoder is used In that case a battery is not required 2 For a rotary encoder CN2B CN2A Servo motor Two wire type rotary encoder HG KR or HG MR servo motor 4194304 pulses rev Drive part Servo amplifier SSCNET III H controll...

Page 352: ...Configuration diagram for servo amplifier and load side encoder is shown below Cables used vary depending on the load side encoder 1 Linear encoder Refer to Linear Encoder Instruction Manual for encoder cables for linear encoder Servo amplifier Linear encoder MR J4FCCBL03M branch cable Refer to section 16 2 4 Encoder of rotary servo motor Encoder cable Refer to the Linear Encoder Instruction Manua...

Page 353: ...RR 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 CN2A CN2B 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...

Page 354: ...op system Gain adjustment Adjustment and operation check in fully closed loop system Selection of fully closed loop system Refer to 2 of this section Adjustment of dual feedback switching filter for dual feedback control Refer to 6 of this section Confirmation of load side encoder position data Refer to 5 of this section Home position return operation Refer to section 16 3 2 Positioning operation ...

Page 355: ...pplicable when the load side encoder is set as the absolute position encoder a 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 con...

Page 356: ...rity selection in Pr PC27 Doing so may cause AL 42 Fully closed loop control error during the positioning operation a Parameter setting method Set the load side encoder polarity to be connected to CN2A or CN2B connector in order to match the CCW direction of servo motor and the increasing direction of load side encoder feedback Load side encoder pulse count polarity selection 0 Load side encoder p...

Page 357: ...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 scr...

Page 358: ...the servo motor side 30 mm Pulley diameter on the rotary encoder side 20 mm Rotary encoder resolution 4194304 pulse 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 359: ...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 360: ...Control mode Vibration Settling time 0 Semi closed loop 1 to 4499 Dual feedback Not frequently 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...

Page 361: ...gnal turns off 2 Load side encoder types and home position return methods a About proximity dog type home position return using absolute type linear encoder When an absolute type linear encoder is used the home position reference position is the position per servo motor revolution to the linear encoder home position absolute position data 0 In the case of a proximity dog type home position return ...

Page 362: ...ity dog signal Reference home position Machine position Equivalent to one servo motor revolution 0 r min 2 When the linear encoder home position does not exist in the home position return direction If the home position return is performed from the position where the linear encoder home position reference mark does not exist a home position return error occurs on the controller side The error conte...

Page 363: ...erial communication servo motor for the load side encoder is at the load side Z phase position Servo amplifier power on position Home position ON OFF Load side encoder Z phase signal Reference home position Machine position Equivalent to one servo motor revolution b About data setting type Common to all load side encoders In the data setting type home position return method pass through a scale ho...

Page 364: ...ten to the servo amplifier and then are enabled using any of the methods indicated by in Parameter enabled conditions Pr PE06 to Pr PE08 are enabled at setting regardless of the valid conditions Setting item Parameter enabled conditions Settings Controller reset Power supply Off on Motion controller R_MTCPU Q17_DSCPU Simple motion module RD77MS_ QD77MS_ Command resolution Load side encoder resolut...

Page 365: ...tion 20 mm 0 05 µm 400000 pulses Number of pulses per revolution pulse AP Travel distance per revolution µm AL 400000 pulses 20 mm 400000 20000 b When using a rotary encoder unit setting degree Servo motor Rotary encoder HG KR or HG MR servo motor 4194304 pulses rev AP AL Position feedback degree Command degree Speed feedback r min AL AP Electronic gear User Control Servo amplifier Load side encod...

Page 366: ...n function 0 Disabled 1 Speed deviation error detection 2 Position deviation error detection 3 Speed deviation error position deviation error detection Initial value 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 367: ...ation 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 16 3 5 Auto tuning function Refer to section 6 3 for the auto tuning function 16 3 6 Machine analyzer function Refer to Help of MR Configurator2 for the machine analyzer function of MR Configurator2 16 3 7 Test ope...

Page 368: ...pplied to the two encoders of motor side and 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 ...

Page 369: ...ad side encoder unit When the set value exceeds 999999999 it starts with 0 Click Clear to reset the value to 0 The symbol is indicated for reverse pulse 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 Cumu Com pulses Position command input pulses are counted and displayed Cli...

Page 370: ...servo motor encoder is displayed If the fully closed loop system is Enabled or Semi closed loop control fully closed loop control switching the Z phase pass status of the load side encoder is displayed j Fully closed loop changing device Only if the fully closed loop system is Semi closed loop control fully closed loop control switching the device is displayed The state of the semi closed loop con...

Page 371: ...16 FULLY CLOSED LOOP SYSTEM 16 24 MEMO ...

Page 372: ... MR J4W_ _B servo amplifiers and MR J4 _B servo amplifiers have two operation modes J4 mode is for using all functions with full performance and J3 compatibility mode is compatible with MR J3 B series for using the amplifiers as the conventional series When you connect an amplifier with SSCNET III H communication for the first controller communication by factory setting the operation mode will be ...

Page 373: ...ons or later Compatible J4 new Equivalent to J3 Not available Function Name MR J4 series MR J3 MR J3W series Note 8 J4 mode J3 compatibility mode Basic specification Speed frequency response 2 5 kHz 2 1 kHz 2 1 kHz Encoder resolution 22 bits Note 1 18 bits Note 1 18 bits SSCNET III H communication or SSCNET III communication Communication baud rate 150 Mbps 50 Mbps 50 Mbps Maximum distance between...

Page 374: ...A0 A0 PI PID switching control A0 A0 Feed forward A0 A0 Applied control Torque limit A0 A0 Master slave operation function A8 Note 5 Scale measurement function A8 Note 3 Model adaptive control disabled B4 B4 Lost motion compensation function B4 Note 5 Note 5 15 Super trace control B4 Note 5 One touch tuning A0 B0 Note 15 Adjustment function Adaptive tuning A0 A0 Vibration suppression control 1 tun...

Page 375: ...ct drive motor driving will be available in the future 3 It is not available with MR J4W3 _B servo amplifiers 4 It is not available with the MR J3W _B MR J4W2 _B and MR J4W3 _B servo amplifiers 5 It is not available with the MR J4W2 _B and MR J4W3 _B servo amplifiers 6 The minute position detection method is available instead 7 Alarm history will be saved up to five times 8 The functions of the pr...

Page 376: ...t will be J3 compatibility mode For the J3 compatibility mode standard control linear servo motor control or direct drive motor control will be identified automatically with a motor encoder connected to the servo amplifier For the J4 mode the operation mode will be the setting of Pr PA01 J4 mode J3 compatibility mode automatic identification Controller connection check J4 mode J3 compatibility mod...

Page 377: ... compatibility mode Linear servo motor control Equivalent to MR J3 B RJ004 Fixed to the J3 compatibility mode Direct drive motor control Equivalent to MR J3 B RJ080W 17 1 5 How to use the J3 compatibility mode 1 Setting of the controller To use in the J3 compatibility mode select MR J3 series in the system setting window Operation mode in J3 compatibility mode System setting MR J3 B standard contr...

Page 378: ... connected with the linear servo motor driving amplifier When the operation mode mismatches the servo amplifier will display AL 3E 1 Operation mode error Set the mode back to the factory setting or set correctly J4 mode J3 compatibility mode and operation mode using the application MR J4 W B mode selection 17 1 7 Cautions for the J3 compatibility mode The J3 compatibility mode are partly changed a...

Page 379: ...t compatible with high response control set by Pr PA01 Operation mode 5 For MR J3 series a linear encoder was connected to the CN2L connector For J4 J3 compatibility mode it is connected to the CN2 connector Therefore set the two wire four wire type of the linear encoder in the J3 compatibility mode with Pr PC26 not with Pr PC04 6 When you use a linear servo motor select linear servo motor with Pr...

Page 380: ...of controller reset Table 17 1 Controller reset required not required list before change of specifications Controller Model Controller reset required not required Single axis connection Multi axis connection Motion controller R_MTCPU Not required Not required Q17_DSCPU Not required Not required Q17_DCPU Not required Not required Q17_HCPU Not required Not required Q170MCPU Not required Not required...

Page 381: ...required not required Single axis connection Multi axis connection Motion controller R_MTCPU Not required Not required Q17_DSCPU Not required Not required Q17_DCPU Not required Not required Q17_HCPU Not required Not required Q170MCPU Not required Not required Simple motion module Positioning module RD77MS_ Not required Not required QD77MS_ Not required Not required QD75MH_ Not required Not require...

Page 382: ... compatibility mode beforehand with the built in application software MR J4 W B mode selection of MR Configurator2 Use it for a solution when it is difficult to reset many times with your Reset required controller such as QD74MH_ The application MR J4 W B mode selection has no expiration date Select Change Mode Select J3 Compatibility Mode Select Operation Mode for each axis ...

Page 383: ...tion 17 1 9 5 c Machine resonance suppression filter 3 Machine resonance suppression filter 4 Machine resonance suppression filter 5 This is a filter function notch filter which decreases the gain of the specific frequency to suppress the resonance of the mechanical system Section 17 1 9 5 a Shaft resonance suppression filter When a load is mounted to the servo motor shaft resonance by shaft torsi...

Page 384: ... the servo amplifier sends data to a servo system controller you can analyze the data and display the data on a display 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 th...

Page 385: ...indow will be displayed 3 Click Change to MR J3 B extension function in the Extension function change window and click OK Now you can set the extension control 2 parameters Pr PX_ _ b Setting to enable the J3 extension function To enable the J3 extension function set Pr PX01 to _ _ _ 1 0 0 0 Pr PX01 J3 extension function selection 0 Disabled 1 Enabled ...

Page 386: ...ssion control II 0000h Each axis PX04 VRF21 Vibration suppression control 2 Vibration frequency 100 0 Hz Each axis PX05 VRF22 Vibration suppression control 2 Resonance frequency 100 0 Hz Each axis PX06 VRF23 Vibration suppression control 2 Vibration frequency damping 0 00 Each axis PX07 VRF24 Vibration suppression control 2 Resonance frequency damping 0 00 Each axis PX08 VRF21B Vibration suppressi...

Page 387: ... DRT Drive recorder switching time setting 0 s Common PX31 XOP4 Function selection X 4 0000h Each axis PX32 For manufacturer setting 0 PX33 0 0 PX34 0 0 PX35 50 3 Extension control 2 parameters Pr PX_ _ detailed list No Symbol Name and function Initial value unit Setting range Each common PX01 J3EX J3 extension function Select enabled or disabled of the J3 extension function Refer to Name and func...

Page 388: ... value _ _ _ x For manufacturer setting 0h _ _ x _ Vibration suppression control 2 tuning mode selection Select the tuning mode of the vibration suppression control 2 To enable the digit select 3 inertia mode _ _ _ 1 of Vibration suppression mode selection in Pr PX02 Function selection X 1 0 Disabled 1 Automatic setting 2 Manual setting 0h _ x _ _ For manufacturer setting 0h x _ _ _ 0h PX04 VRF21 ...

Page 389: ...n Pr PB26 is Control command from controller is enabled _ _ _ 1 When you set 0 0 the value will be the same as Pr PX04 Switching during driving may cause a shock Be sure to switch them after the servo motor or linear servo motor stops 0 0 Hz 0 0 to 300 0 Each axis PX09 VRF22B Vibration suppression control 2 Resonance frequency after gain switching Set the resonance frequency for vibration suppress...

Page 390: ...d s the value will be the same as Pr PB07 This parameter will be enabled only when the following conditions are fulfilled Gain adjustment mode selection in Pr PA08 is Manual mode _ _ _ 3 Gain switching selection in Pr PB26 is Control command from controller is enabled _ _ _ 1 Switching during driving may cause a shock Be sure to switch them after the servo motor or linear servo motor stops 0 0 rad...

Page 391: ...abled _ _ _ 1 of Machine resonance suppression filter 4 selection in Pr PX20 4500 Hz 10 to 4500 Each axis PX20 NHQ4 Notch shape selection 4 Set the shape of the machine resonance suppression filter 4 Refer to Name and function column Each axis Setting digit Explanation Initial value _ _ _ x Machine resonance suppression filter 4 selection 0 Disabled 1 Enabled When you select Enabled of this digit ...

Page 392: ...pth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB 0h _ x _ _ Notch width selection 0 α 2 1 α 3 2 α 4 3 α 5 0h x _ _ _ For manufacturer setting 0h PX24 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 ...

Page 393: ... occurs during operation In Pr PX28 SEMI F47 function Instantaneous power failure detection time set the time until the occurrence of AL 10 1 Voltage drop in the control circuit power For MR J4W2 0303B6 servo amplifiers this digit cannot be used other than the initial value 0h x _ _ _ For manufacturer setting 0h PX26 OSCL1 Vibration tough drive Oscillation detection level Set a filter readjustment...

Page 394: ...n 0 0 are set arbitrary alarm trigger of the drive recorder will be disabled 00h Setting example To activate the drive recorder when AL 50 Overload 1 occurs set 5 0 0 0 To activate the drive recorder when AL 50 3 Thermal overload error 4 during operation occurs set 5 0 0 3 PX30 DRT Drive recorder switching time setting Set the drive recorder switching time When a USB communication is cut during us...

Page 395: ...PB09 VG2 Speed loop gain PB23 VFBF Low pass filter selection PB10 VIC Speed integral compensation PX18 NHQ3 Notch shape selection 3 PB12 OVA Overshoot amount compensation PX19 NH4 Machine resonance suppression filter 4 PB13 NH1 Machine resonance suppression filter 1 PX20 NHQ4 Notch shape selection 4 PB14 NHQ1 Notch shape selection 1 PX22 NHQ5 Notch shape selection 5 PB15 NH2 Machine resonance supp...

Page 396: ...xplanation 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 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...

Page 397: ...ervo motor driving 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 4 in 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 tu...

Page 398: ...t 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 servo motor mass of...

Page 399: ...on pushing Return to initial value in the one touch tuning window enables to rewrite the parameter to the initial value When clearing one touch tuning is completed the following window will be displayed returning to initial value c Caution for one touch tuning 1 The tuning is not available in the torque control mode 2 The one touch tuning cannot be executed while an alarm or warning which withhold...

Page 400: ...oo wide If the frequency of machine resonance is unknown decrease the notch frequency from higher to lower ones in order The optimum notch frequency is set at the point where vibration is minimal A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration A deeper notch has a higher effect on machine resonance suppression but increases...

Page 401: ... 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 PX17 PX18 PX18 Machine resonance suppression filter 4 PX19 PX20 Enabling the machine resonance suppression filter 4 dis...

Page 402: ...lter 3 selection in Pr PX18 How to set the machine resonance suppression filter 3 Pr PX17 and Pr PX18 is the same as for the machine resonance suppression filter 1 Pr PB13 and Pr PB14 d Machine resonance suppression filter 4 Pr PX19 and Pr PX20 To use this filter select Enabled _ _ _ 1 of Machine resonance suppression filter 4 selection in Pr PX20 However enabling the machine resonance suppression...

Page 403: ...creases 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 ...

Page 404: ...n suppression control related parameters Otherwise it may cause an unexpected operation For positioning operation during execution of vibration suppression control tuning provide a stop time to ensure a stop after vibration damping Vibration suppression control tuning may not make normal estimation if the residual vibration at the servo motor side is small Vibration suppression control tuning sets...

Page 405: ...r of times For manual setting adjust the vibration suppression control 1 with Pr PB19 to Pr PB22 and vibration suppression control 2 with Pr PX04 to Pr PX07 2 Parameter Set the advanced vibration suppression control II Pr PB02 and Pr PX03 When you use a vibration suppression control set Vibration suppression control 1 tuning mode selection in Pr PB02 When you use two vibration suppression controls...

Page 406: ...d 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 respon...

Page 407: ...n suppression control Vibration frequency damping Pr PB21 Pr PX06 Vibration suppression control Resonance frequency damping Pr PB22 Pr PX07 Step 1 Select Manual setting _ _ _ 2 of Vibration suppression control 1 tuning mode selection in Pr PB02 or Manual setting _ _ 2 _ of Vibration suppression control 2 tuning mode selection in Pr PX03 Step 2 Set Vibration suppression control Vibration frequency ...

Page 408: ...sion control Vibration frequency Vibration suppression control Resonance frequency Set the same value Vibration cycle Hz Vibration cycle Hz Step 3 Fine adjust Vibration suppression control Vibration frequency damping and Vibration suppression control Resonance frequency damping 6 Gain switching function You can switch gains with the function You can switch gains during rotation and during stop and...

Page 409: ...Pr PB29 Enabled GD2 value PG1 Pr PB07 PG1B Pr PX12 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 ...

Page 410: ...ed 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 Switching time constant disabled 2 Return t...

Page 411: ...ency after gain switching Vibration suppression control 1 Vibration frequency damping PB21 VRF13 Vibration suppression control 1 Vibration frequency damping PB35 VRF13B Vibration suppression control 1 Vibration frequency damping after gain switching Vibration suppression control 1 Resonance frequency damping PB22 VRF14 Vibration suppression control 1 Resonance frequency damping PB36 VRF14B Vibrati...

Page 412: ...atio after gain switching If the load to motor inertia ratio does not change set it to the same value as Pr PB06 Load to motor inertia ratio load to motor mass ratio d Pr PB30 Position loop gain after gain switching Pr PB31 Speed loop gain after gain switching and Pr PB32 Speed integral compensation after gain switching Set the values of after switching position loop gain speed loop gain and speed...

Page 413: ...trol 2 Vibration frequency damping 0 10 PX07 VRF24 Vibration suppression control 2 Resonance frequency damping 0 10 PB29 GD2B Load to motor inertia ratio load to motor mass ratio after gain switching 10 00 Multiplier PX12 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 ...

Page 414: ...o motor mass ratio 4 00 10 00 4 00 Position loop gain 120 84 120 Speed loop gain 3000 4000 3000 Speed integral compensation 20 50 20 Vibration suppression control 1 Vibration frequency 50 60 50 Vibration suppression control 1 Resonance frequency 50 60 50 Vibration suppression control 1 Vibration frequency damping 0 20 0 15 0 20 Vibration suppression control 1 Resonance frequency damping 0 20 0 15 ...

Page 415: ...er gain switching 10 00 Multiplier 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 selection 0003 switching by droop pulses PB27 CDL Gain switching condition 50 pulse PB28 CDT Gain switching time constant 100 ms b Switching timing chart After...

Page 416: ...ms After switching gain Before switching gain Switching at Pr PB28 CDT 100 ms only when gain switching off when returning CDT 100 ms 63 4 Switching at 0 ms After switching gain Gain switching b Gain return time constant disabled was selected The gain switching time constant is enabled with this setting The time constant is disabled at gain return The following example shows for Pr PB26 CDP 0201 Pr...

Page 417: ...filter 2 should be set in advance Set Pr PB13 and Pr PB15 as follows 1 One touch tuning execution Refer to 4 of this section 2 Manual setting Refer to 2 of this section 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 detec...

Page 418: ...nabled for the initial setting Machine resonance suppression filter 5 PX21 PX22 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 Pr PB13 Pr PB15 Pr PX17 Machine resonance suppression filter 2 Machine resonance s...

Page 419: ... power failure tough drive When the load of instantaneous power failure is large the undervoltage alarm AL 10 2 caused by the bus voltage drop may occur regardless of the set value of Pr PX28 SEMI F47 function Instantaneous power failure detection time The MR J4W2 0303B6 servo amplifier is not compatible with instantaneous power failure tough drive 1 Instantaneous power failure time of control cir...

Page 420: ...tantaneous power failure time of the control circuit power supply AL 10 Undervoltage occurs when the bus voltage decrease lower than 158 V DC regardless of the enabled instantaneous power failure tough drive Pr PX28 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 158 V DC CALM...

Page 421: ...circuit power supply The operation continues without alarming Control circuit power supply Bus voltage Undervoltage level 158 V DC CALM AND malfunction MTTR During tough drive MBR Electromagnetic brake interlock Base circuit WNG Warning Pr PX28 Instantaneous power failure time of the control circuit power supply ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ...

Page 422: ...tor in case that an instantaneous power failure occurs during operation a Parameter setting Setting Pr PX25 and Pr PX28 as follows will enable SEMI F47 function Parameter Setting value Description PX25 _ 1 _ _ SEMI F47 function selection PX28 200 Set the time ms until the occurrence of AL 10 1 Voltage drop in the control circuit power Enabling SEMI F47 function will change operation as follows 1 T...

Page 423: ...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 motor will not drive with the maximum output This can be handled as a margin The following shows the conditions of tolerance against instantaneous power failure 1 Delta connection For the 3 p...

Page 424: ... KR and HG MR series for driving and load side encoder the optional four wire type encoder cables MR EKCBL30M L MR EKCBL30M H MR EKCBL40M H and MR EKCBL50M H cannot be used When an encoder cable of 30 m to 50 m is needed fabricate a two wire type encoder cable according to appendix 9 The scale measurement function compatible servo amplifier can be used with any of the following controllers Motion ...

Page 425: ...side encoder signal Servo motor encoder signal Linear encoder head Servo motor b For a rotary encoder CN2B CN2A Note Note Servo motor Two wire type rotary encoder HG KR HG MR servo motor 4194304 pulses rev Drive part Servo amplifier SSCNET III H controller SSCNET III H Position command Control signal To the next servo amplifier Servo motor encoder signal Load side encoder signal Note Use a two wir...

Page 426: ...r side and load side 1 Linear encoder Refer to Linear Encoder Instruction Manual for usable linear encoders 2 Rotary encoder When a rotary encoder is used as a scale measurement encoder use the following servo motor as the encoder Servo motors used as encoders HG KR HG MR MR J4W2 _B Use a two wire type encoder cable Do not use MR EKCBL30M L MR EKCBL30M H MR EKCBL40M H or MR EKCBL50M H as they are ...

Page 427: ...nect the scale measurement encoder to CN2A or CN2B connector When fabricating the branch cable using MR J3THMCN2 connector set refer to Linear Encoder Instruction Manual LG View seen from the wiring side 4 MRR 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 CN2A CN2B MOTOR Plate Note 1 Note 2 0 3 m MR P5 MRR SD MR P5 MRR 3 4 1 Plate View seen from the wiring side 4 MRR ...

Page 428: ...urement function selection Select the scale measurement function Select 1 _ _ _ Used in absolute position detection system or 2 _ _ _ Used in incremental system according to the encoder you use Scale measurement function selection 0 Disabled 1 Used in absolute position detection system 2 Used in incremental system 0 0 0 Pr PA22 2 Selection of scale measurement encoder polarity Select a polarity of...

Page 429: ...o motor CCW direction Address increasing direction of linear encoder b How to confirm the scale measurement encoder feedback direction You can confirm the directions of the cumulative feedback pulses of servo motor encoder and the load side cumulative feedback pulses are matched by moving the device scale measurement encoder manually in the servo off status If mismatched reverse the polarity 3 Con...

Page 430: ...ly adjust the servo gain according to the machine On the SSCNET III H network the stations are connected with a maximum distance of 100 m between them This allows you to create a large system The following shows the difference between this amplifier and MR J4W_ _B Category Item Differences Related parameter MR J4W_ _B MR J4W2 0303B6 Power supply Main circuit power supply 200 V AC 48 V DC 24 V DC P...

Page 431: ...er Virtual motor Model position control A Model speed control A Model position control B Model speed control B Control A Actual position control A Actual speed control A Current control A Actual position control B Actual speed control B Current control B Virtual encoder Virtual motor Control B Battery absolute position detection system U2 V2 W2 U V W Electro magnetic brake B RA 24 V DC B1 B2 Encod...

Page 432: ...equivalent to the permissible charging amount Note 7 10 4 kg m 2 0 18 Control method Sine wave PWM control current control method Permissible regenerative power of servo amplifier built in regenerative resistor W 1 3 Dynamic brake Note 3 Built in electronic dynamic brake SSCNET III H command communication cycle Note 4 0 222 ms 0 444 ms 0 888 ms Communication function USB connection to a personal c...

Page 433: ...dynamic brake This will not operate during control circuit power supply off In addition It may not operate depending on the contents of alarms and warnings Refer to chapter 8 for details 4 The communication cycle depends on the controller specifications and the number of axes connected 5 When closely mounting the servo amplifiers operate them at the ambient temperatures of 45 C or lower or the tot...

Page 434: ... and sets filter characteristics automatically to suppress mechanical vibration Section 7 1 2 Low pass filter Suppresses high frequency resonance which occurs as servo system response is increased Section 7 1 4 Machine analyzer function Analyzes the frequency characteristic of the mechanical system by simply connecting an MR Configurator2 installed personal computer and servo amplifier MR Configur...

Page 435: ...unction Power monitoring function 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 Since the servo amplifier sends data to a servo system controller you can analyze the data and display the data on a display with the SSCNET III H system Machine d...

Page 436: ...gin Serial number AC SERVO MR J4W2 0303B6 POWER 30W 2 A B INPUT 0 5A DC24V 4 8A DC24V 2 4A DC48V OUTPUT 3PH13V 0 360Hz 2 4A 2 A B STD IEC EN 61800 5 1 MAN IB NA 0300175 MSIP REI MEK TC300A997G51 SER A4X001001 Max Surrounding Air Temp 55 C IP20 2 Model The following describes what each block of a model name indicates Not all combinations of the symbols are available Symbol SSCNETIII H interface Rat...

Page 437: ...nge this will light in yellow Section 18 4 3 5 Charge lamp CHARGE When the main circuit is charged this will light up While this lamp is lit do not reconnect the cables 6 USB communication connector CN5 Connect the personal computer Section 11 4 7 I O signal connector CN3 Used to connect digital I O signals Section 18 3 5 Section 18 3 6 8 SSCNET III cable connector CN1A Used to connect the servo s...

Page 438: ...recommended products Personal computer CN3 CN5 CN1B CN2A CN2B CN1A 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 A axis servo motor B axis servo motor I O signal Servo system controller or previous servo amplifier CN1B Next servo amplifier ...

Page 439: ...d 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 walls or other equipment Oth...

Page 440: ...th 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 441: ...es Leave a large clearance between the top of the servo amplifier and the cabinet walls and install a cooling fan to prevent the internal temperature of the cabinet from exceeding the environmental conditions When mounting the servo amplifiers closely leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances 100 mm or more 5 mm or more 30 mm or more 30...

Page 442: ... the 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 amplifi...

Page 443: ...MPLIFIER 18 14 Removing servo amplifier from DIN rail Hook Upper tab Wall DIN rail 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 444: ...y 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 amplifier RA For source output inte...

Page 445: ... malfunctions or the like may overheat the built in regenerative resistor Check the servo amplifier model and then input proper voltage to the servo amplifier power supply If input voltage exceeds the upper limit of the specification the servo amplifier will break down Connecting a servo motor of the wrong axis to the CNP1 connector may cause a malfunction POINT Even if alarm has occurred do not s...

Page 446: ...er configure the circuit which switches off the main circuit power supply after detection of alarm occurrence on the controller side 4 This is for the sink I O interface For source I O interface refer to section 3 8 3 5 For connecting servo motor power output lines refer to Servo Motor Instruction Manual Vol 3 Connecting a wrong axis may cause a malfunction 6 The noiseless grounding terminals of E...

Page 447: ...uit power supply Pr PC05 function selection C 2 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 U1 V1 W1 E1 A axis servo motor power output Connect the servo amplifier power output U1 V1 W1 E1 to the servo motor power input U V W ...

Page 448: ...sed for wiring refer to section18 8 3 a Connector CNP1 MR J4W2 0303B6 servo amplifier Table 18 1 Connector and applicable wire Connector Receptacle assembly Applicable wire size Stripped length mm Manufacturer CNP1 DFMC 1 5 6 ST 3 5 LR or equivalent AWG 24 to 16 10 Phoenix Contact ...

Page 449: ...e strands You can also use a ferrule to connect with the connectors When you use a ferrule use the following ferrules and crimp terminal Wire size Ferrule model Phoenix Contact Crimping tool Phoenix Contact For one For two AWG 20 AI0 25 10YE CRIMPFOX6 AWG 18 AI0 34 10TQ AWG 18 AI0 5 10WH AWG 16 AI0 75 10GY 2 Inserting wire When using solid wire insert the wire to the end When using stranded wire i...

Page 450: ...hat the connector is locked to the top and bottom of the socket After that check that the connector cannot be pulled out Lock hook Locked Refer to the following example for a status of lock Unlocked Locked Locked Good example Both are locked Bad example Bottom is not locked 2 Disconnection Pull out the CNP1 connector after unlocking the top and bottom of the connector ...

Page 451: ...r supply and control circuit power supply use a reinforced insulating type 18 3 4 Power on sequence POINT The voltage of analog monitor output output signal etc may be unstable at power on 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 in both a...

Page 452: ...A axis FLS A axis RLS A axis DOG B axis FLS B axis RLS B axis DOG Note 14 DICOM EM2 7 DI1 A 8 DI2 A 9 DI3 A Note 6 SSCNET III cable option Servo system controller CN1A CN1B Note 7 Note 9 Cap Note 5 MR Configurator2 Personal computer CN5 USB cable MR J3USBCBL3M option 20 DI1 B 21 DI2 B 22 MBR A RA1 RA2 RA3 Note 10 24 V DC 10 m or less 10 m or less Electromagnetic brake interlock for B axis Note 15 ...

Page 453: ...for setting of axis selection 9 Make sure to cap the unused CN1B connector 10 Supply 24 V DC 10 to interfaces from outside The total current capacity is up to 250 mA 250 mA is the value applicable when all I O signals are used The current capacity can be decreased by reducing the number of I O points Refer to section 3 8 2 1 that gives the current value necessary for the interface The illustration...

Page 454: ...DOG B axis FLS B axis RLS B axis DOG Note 14 DICOM EM2 7 DI1 A 8 DI2 A 9 DI3 A Note 6 SSCNET III cable option Servo system controller CN1A CN1B Note 7 Note 1 Note 9 Cap Note 5 MR Configurator2 Personal computer CN5 USB cable MR J3USBCBL3M option 20 DI1 B 21 DI2 B 22 MBR A RA1 RA2 RA3 Note 10 24 V DC 10 m or less 10 m or less Electromagnetic brake interlock for B axis Note 15 Main circuit power sup...

Page 455: ...ductor of the shielded cable to the ground plate and fix it to the connector shell Screw Screw Ground plate Cable 14 LG LA A 1 15 2 16 3 17 4 18 5 19 6 20 7 21 8 22 9 23 10 24 11 25 12 26 13 LBR A LAR A LB A LA B LBR B LAR B LB B DI1 A DI2 B DI1 B DI2 A DI3 A DICOM DI3 B EM2 CALM MBR B CINP MBR A DOCOM CN3 MO1 LG MO2 5A 5B CN2A SHD BAT 4A 4B P5 LG 3A 3B 2A 2B 1A 1B MR MRR CN2B 5A 5B SHD BAT 4A 4B ...

Page 456: ...in The following shows the output device pins and parameters for assigning devices Connector pin No Parameter Initial device I O division Remark A axis B axis CN3 12 Pr PD07 MBR A For A axis CN3 25 Pr PD07 MBR B DO 1 For B axis CN3 11 Pr PD09 Pr PD09 CALM Common pin CN3 24 Pr PD08 Pr PD08 CINP Common pin b Output device explanations POINT Initial letter and last letter with hyphen in device symbol...

Page 457: ...RD Common ready for A axis RD A Common ready for B axis RD B AND speed reached CSA OR speed reached XSA Speed reached for A axis SA A Speed reached for B axis SA B AND limiting speed CVLC OR limiting speed XVLC Limiting speed for A axis VLC A Limiting speed for B axis VLC B AND zero speed detection CZSP OR zero speed detection XZSP Zero speed detection for A axis ZSP A Zero speed detection for B a...

Page 458: ...phase pulse B differential line driver LA B LAR B CN3 5 CN3 18 Encoder B phase pulse B differential line driver LB B LBR B CN3 6 CN3 19 4 Power supply Signal name Symbol Connector Pin No Function and application Digital I F Power supply input DICOM CN3 23 Input 24 V DC 24 V DC 10 250 mA for I O interface The power supply capacity changes depending on the number of I O interface points to be used F...

Page 459: ...or output may be irregular at power on The servo status can be outputted to two channels in terms of voltage a Setting Change the following digits of Pr PC09 and Pr PC10 Analog monitor 1 output selection the signal provided to the output across MO1 and LG 0 0 Pr PC09 Analog monitor 1 output axis selection 0 A axis 1 B axis Analog monitor 2 output selection the signal provided to the output across ...

Page 460: ...irection 10 V 14 V 0 04 Current command 10 V 4 V max current command Maximum current command Maximum torque command Maximum current command Maximum torque command CW direction CCW direction 10 V 14 V 6 V 0 05 Speed command Note 2 10 V 4 V max speed Maximum speed Maximum speed CW direction CCW direction 10 V 14 V 6 V 0 06 Servo motor side droop pulses Note 1 2 3 10 V 5 V 100 pulses 100 pulse 100 pu...

Page 461: ...on 10 V 15 V 5 V 0 0D Bus voltage 10 V 5 V 100 V 100 V 10 V 15 V 0 0E Speed command 2 Note 2 10 V 4 V max speed Maximum speed Maximum speed CW direction CCW direction 10 V 14 V 6 V 0 17 Encoder inside temperature 10 V 5 V 128 C 128 C 128 C CW direction CCW direction 10 V 15 V 5 V 0 Note 1 Encoder pulse unit 2 This cannot be used in the torque control mode 3 This cannot be used in the speed control...

Page 462: ...peed Torque Speed command 2 Note The feedback position is outputted based on the position data passed between servo system controller and servo amplifier Pr PC13 and Pr PC14 can set up the standard position of feedback position that is outputted to analog monitor in order to adjust the output range of feedback position The setting range is between 9999 pulses and 9999 pulses Standard position of f...

Page 463: ...nction POINT To enable the function set 2 _ _ _ initial value in Pr PA04 a When the forced stop deceleration function is enabled When an all axis stop alarm occurs all axes will be the operation status below When a corresponding axis stop alarm occurs only the axis will be the operation status below You can normally operate the axis that any alarm is not occurring Command is not received Alarm occ...

Page 464: ...he electromagnetic brake Dynamic brake operation time c When SSCNET III H communication is shut off When SSCNET III H communication is shut off all axes will be the operation status below The display of servo amplifier differs by the shut off status of communication d1 or E7 ON Not occurring OFF Occurring MBR Electromagnetic brake interlock AA No alarm d1 or E7 0 r min ON OFF ON OFF Base circuit e...

Page 465: ...n an alarm or SSCNETIII H communication shut off occurs is the same as 1 b of this section 18 3 9 Interfaces The items in the following table are the same as those for MR J4W2 _B and MR J4W3 _B servo amplifiers Refer to the section of the detailed explanation field for details Item Detailed explanation Detailed description of interfaces excluding analog output Section 3 8 2 Source I O interface Se...

Page 466: ...driver output 35 mA or lower Note 4 24 V DC 10 V DC 5 V CN3 MO1 MO2 2 15 Analog monitor 10 V DC 5 V LG 1 CNP1 11 Note 1 Signal can be assigned for these pins with the controller setting For contents of signals refer to the instruction manual of the controller 2 This is for the sink I O interface For source I O interface refer to section 3 8 3 3 In the initial setting CINP AND in position is assign...

Page 467: ...38 2 Detailed description of interfaces analog output LG MO1 MO2 Servo amplifier Output voltage 10 V DC 5 V Note Maximum output current 1 mA Resolution 10 bits or equivalent Note Output voltage range varies depending on the output contents ...

Page 468: ...uch a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67303 W1 V1 U1 Cabinet A axis servo motor M U V W CN2A Servo amplifier CNP1 Grounding terminal Outer box 24 0 PM CNP1 Note 2 Encoder W2 V2 U2 B axis servo motor M U V W CN2B CNP1 Note 2 Circuit protector 24 V DC Note 1 48 V DC Note 1 48 V DC main circuit power...

Page 469: ...fter power off Take safety measures e g provide covers to avoid accidentally touching the parts cables etc by hand 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 J4W2 _B and MR J4W3 _B servo amplifiers Refer to the section of the detailed explanation field for details Item Detailed explanation St...

Page 470: ...e sure to set both A axis and B axis To reflect the parameter setting turn off the control circuit power supply Turn on the control circuit power supply on again and check that the Pr PC05 of both A axis and B axis are 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 matc...

Page 471: ...ching on the main circuit and control circuit power supplies check the following items a Power supply system wiring The power supplied to the power input terminals 24 0 PM of the servo amplifier should satisfy the defined specifications Refer to section 18 1 3 b Connection of servo amplifier and servo motor 1 Check that each A axis servo motor and B axis servo motor is connected to CNP1 connector ...

Page 472: ...his function can be used to perform a wiring check In this case switch on the control circuit power supply only For details of I O signal connection refer to section 18 3 5 b A voltage exceeding 24 V DC is not applied to the pins of the CN3 connector c Between plate and DOCOM of the CN3 connector should not be shorted Servo amplifier DOCOM Plate CN3 18 4 4 Surrounding environment 1 Cable routing a...

Page 473: ... MR J4W2 0303B6 servo amplifier are aligned vertically unlike other MR J4 2 axis servo amplifiers however the use of each number switch is the same Test operation select switch Disabling control axis switch for A axis Disabling control axis switch for B axis For manufacturer setting Auxiliary axis number setting switch Auxiliary axis number setting switch 1 2 3 4 5 6 Application ON 1 2 3 4 5 6 The...

Page 474: ...1 Approx 51 With MR BAT6V1SET A Approx 37 5 Approx 27 4 6 Mass 0 3 kg PM U1 24 Terminal CNP1 6 5 4 W1 0 U2 V2 V1 W2 E2 E1 3 2 1 12 11 10 9 8 7 Mounting screw Screw size M5 Tightening torque 1 87 N m Approx 6 156 Approx 6 Approx 6 Approx 30 Approx 168 2 M5 screw Mounting hole process drawing ...

Page 475: ...e 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 a servo motor overload protection for each axis The servo motor overload current full load current is set on the basis of 120 ra...

Page 476: ...th an average of the two motors Table 18 3 Power supply capacity and generated heat per servo amplifier at rated output Servo motor 2 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 460 13 3 HG AK0236 720 19 3 HG AK0336 960 27 3 Note Heat generated during regeneration is not included in the servo amplifier...

Page 477: ... with 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 br...

Page 478: ... at power 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 o...

Page 479: ...revent 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 The items in the following table are the same as those for MR J4W2 _B and MR J4W3 _B servo amplifiers Refer to the section of the detailed explanation field for details Item ...

Page 480: ... the lowest IP rating of all components Please purchase the cable and connector options indicated in this section for the servo motor 18 8 2 Combinations of cable connector sets Servo system controller 5 HG AK servo motor Personal computer 6 7 Servo amplifier 2 3 4 2 3 4 Cap packed with the servo amplifier CN5 CN3 CN1A CN1B Servo amplifier 8 9 CN1A CN1B CN3 CN5 CN2A CN2B CNP1 CN4 CN2A CN2B CN4 1 P...

Page 481: ...JAE Connector CF 2D103 S JAE Long distance cable 5 USB cable MR J3USBCBL3M Cable length 3 m CN5 connector mini B connector 5 pins Personal computer connector A connector For connection with PC AT compatible personal computer 6 Connector set MR J2CMP2 Connector 10126 3000PE Shell kit 10326 52F0 008 3M or equivalent Quantity 1 7 Connector set MR ECN1 Connector 10126 3000PE Shell kit 10326 52F0 008 3...

Page 482: ...d input voltage at servo amplifier input section It is recommended that the cable length be as short as possible 1 Wires for power supply wiring The following diagram shows the wires used for wiring Use the wires or equivalent given in this section Servo amplifier 24 0 PM 1 Main control circuit power supply lead U1 V1 W1 2 Servo motor power lead 24 V DC power supply 48 V DC power supply U2 V2 W2 E...

Page 483: ...ication Circuit protector Note Control circuit power supply 24 V DC CP30 BA 1P 1 M 1A Main circuit power supply 48 V DC CP30 BA 1P 1 M 5A Control circuit power supply main circuit power supply 24 V DC CP30 BA 1P 1 M 10A Note For operation characteristics use an intermediate speed type ...

Page 484: ...e Transport 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 compl...

Page 485: ...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 486: ...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 487: ...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 488: ...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 489: ...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 490: ...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 491: ...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 492: ...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 493: ...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 494: ...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 495: ...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 496: ...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 497: ...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 498: ...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 499: ...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 500: ...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 501: ...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 502: ...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 503: ...are responsible 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 responsibl...

Page 504: ...A SDI2A SDI1B SDI2B STO1A STO2A 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 ...

Page 505: ...3849 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 0 s 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 Compliance to standards CE marking LVD EN 61800 5 1 EMC EN 61800 3 ...

Page 506: ...lifier 1 System configuration diagram 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 Servo amplifier STO cable MR D05UDL3M B CN9 CN10 CN8 CN3 L1 L2 L3 U V W EM2 Forced stop 2 ...

Page 507: ...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 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...

Page 508: ...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 509: ...ching 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 axi...

Page 510: ...n 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 About 5 4 kΩ Approximately 5 mA 24 V DC 10 200 mA Switch SRESA etc MR J3 D05 SRESA etc...

Page 511: ...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 512: ... 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 513: ...wdriver diameter φ2 3 mm Screwdriver diameter φ2 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...

Page 514: ...ing contact and or wires may be damaged 4 Applicable wire Applicable 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 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 φ0 4 mm to 1 2 mm AWG 26 to AW...

Page 515: ...ng 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 516: ...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 si...

Page 517: ... 22 5 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 Assignment CN9 CN10 Mounting screw Screw size M4 Tightening torque 1 ...

Page 518: ...ger 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 Servo ampli...

Page 519: ...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 520: ...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 521: ...APPENDIX App 38 ...

Page 522: ... Open the project in MR Configurator2 select MR J4 B for model and select Linear for operation mode Tick the Multi axis box and select one from A axis to C axis from the menu 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 C...

Page 523: ...les for HG MR and HG KR up to 20 m cables are two wire type Therefore when you need a longer encoder cable of two wire type than 20 m fabricate one using MR ECNM connector set Use the internal wiring diagram in the section to fabricate a cable up to 50 m App 8 1 Configuration diagram Servo amplifier CN2A CN2B Fabricate a two wire type encoder cable CN2 MOTOR SCALE Servo motor HG KR HG MR Servo mot...

Page 524: ...MR BAT 4 2 8 6 1 5 10 3 7 9 View seen from wiring side Note or P5 MR BAT MRR LG 1 3 7 9 4 2 8 6 10 5 View seen from wiring side Note Note Keep open the pins shown with Especially pin 10 is provided for manufacturer adjustment If it is connected with any other pin the servo amplifier cannot operate normally App 8 3 Internal wiring diagram Note P5 LG 1 2 MR MRR 3 4 3 7 9 SD Plate 1 2 8 9 LG MR MRR S...

Page 525: ...Bending life Application remark 1 m to 100 m SC J3BUS_M C 1 to 100 Ultra long bending life Using long distance cable App 10 CNP_crimping connector CNP1 CNP2 1 2 No Name Model Definition Number of parts 1 Connector set MR J3WCNP12 DM For CNP1 Receptacle housing J43FSS 03V KX Receptacle contact BJ4F 71GF M3 0 JST Applicable wire Wire size 1 25 mm 2 to 2 0 mm 2 AWG 16 to 14 Insulator OD 2 0 mm to 3 8...

Page 526: ... cable Name Model Wire size Material Minimum bend radius mm Overall diameter mm Applicable standard wire part Insulator Outer sheath 5 Direct connection to rotary servo up to 10 m Standard SC EPWS1CBL_M L AWG18 4C ETFE PVBC black 50 Approx 6 2 UL 13 CL3 6 Long bending life SC EPWS1CBL_M H AWG19 4C 40 Approx 5 7 UL AWM 2103 7 Linear servo up to 10 m Standard SC EPWS2CBL_M L AWG18 4C 50 Approx 6 2 U...

Page 527: ...H Motor side Amplifier side L m 200 20 10 23 30 25 14 Cable OD 5 Standard 6 Long bending life About φ6 2 About φ5 7 7 8 9 10 SC EPWS2CBL_M L SC EPWS2CBL_M H 200 Motor side Amplifier side L m 200 20 10 23 Cable OD 7 Standard 8 Standard 9 Long bending life 10 Long bending life 10 m or shorter 11 m to 30 m 10 m or shorter 11 m to 30 m About φ6 2 About φ11 1 About φ5 7 About φ10 5 A symbol _ in the mo...

Page 528: ...s ED None Standard Without a dynamic brake App 12 3 Specifications The dynamic brake built in the servo amplifier is removed Take safety measures such as making another circuit in case of an emergency stop alarm and servo motor stop at power supply shut off When the following servo motors are used the electronic dynamic brake can start at an alarm occurrence Series Servo motor HG KR HG KR053 HG KR...

Page 529: ...e 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 off ...

Page 530: ... less From over 300 W to 600 W 150 N or less 100 W or less SD N11 From over 600 W to 1 kW From over 150 N to 300 N From over 100 W to 252 W From over 1 kW to 2 kW From over 300 N to 720 N From over 252 W to 838 W SD N21 2 For MR J4W3 Total output of rotary servo motors Total continuous thrust of linear servo motors Total output of direct drive motors Magnetic contactor 450 W or less 150 N or less ...

Page 531: ... is changed The item of the fully closed loop system is changed The diagram is changed Note is changed The explanation of relay lifetime is changed The sentences are added to CAUTION The sentences are added to CAUTION Note 12 is added Note 20 is added Note 20 is added The ferrule is added The diagram is added The sentences of INP In position are added CLDS During fully closed loop control is added...

Page 532: ...f diagram is changed The sentences are changed The sentences are added Note is changed The sentences are added The sentences are added CAUTION is changed CAUTION is added The diagram is added Set the linear servo motor series and linear servo motor type is added POINT and sentences are changed POINT is changed The table is changed and the sentences are added CAUTION is changed CAUTION is added POI...

Page 533: ...TION is partially changed The diagram is partially changed POINT is added The pin name is changed The table is deleted The table is partially changed The sentences are added to POINT The sentences are partially changed The sentences are partially changed The diagram is partially changed The diagram is partially changed The diagram is partially changed The sentences are added to CAUTION POINT is pa...

Page 534: ... Section 5 1 3 Section 5 1 4 Section 5 2 1 Section 5 2 4 Section 5 2 6 Section 7 1 5 4 Section 7 4 3 Section 8 1 Section 8 2 Section 11 4 2 Section 11 4 3 Section 11 6 1 a Section 11 6 1 b Section 11 7 1 Section 14 1 1 Section 14 1 2 Section 15 3 2 Chapter 17 App 4 App 12 CAUTION is added Note 10 is added Note 10 is added A function is added The sentences are added The table is changed Note 2 is a...

Page 535: ...NT is added The table is changed Note is partially changed POINT is added Partially changed Partially changed Partially changed Partially changed Partially changed Partially changed Partially changed POINT is changed The table is partially changed The sentence is added POINT is added The table is partially changed Partially changed Partially changed Partially changed Added POINT is partially chang...

Page 536: ... 5 Section 5 1 Section 5 2 Section 7 3 2 Section 7 4 Section 7 5 Chapter 8 Section 11 3 Section 11 6 Chapter 12 Chapter 13 Section 13 3 3 Chapter 14 Chapter 15 Chapter 16 Chapter 17 Chapter 18 App 13 POINT is added Partially added CAUTION is added Partially changed Partially changed POINT is added Partially changed Partially changed POINT is added POINT is added POINT is added Partially changed Pa...

Page 537: ...MEMO ...

Page 538: ...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 539: ... 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 540: ...cled paper MODEL MODEL CODE General Purpose AC Servo MR J4W2 _B MR J4W3 _B MR J4W2 0303B6 SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL MR J4W2 _B MR J4W3 _B MR J4W2 0303B6 SERVO AMPLIFIER INSTRUCTION MANUAL SSCNET H Interface Multi axis AC Servo 1CW806 MR J4W BINSTRUCTIONMANUAL H H ...

Page 541: ......

Page 542: ... 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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