Mitsubishi Electric MR-J5 Series User Manual Download Page 107

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5 CHARACTERISTICS

5.3 Dynamic brake characteristics

105

Dynamic brake time constant

The following shows necessary dynamic brake time constant τ for equation (10.2).

Motor

Amplifier

Waveform

HK-KT053W

MR-J5-10_
MR-J5-20_
MR-J5-40_
MR-J5W2-22G
MR-J5W2-44G
MR-J5W3-222G
MR-J5W3-444G

HK-KT13W

MR-J5-10_
MR-J5-20_
MR-J5-40_
MR-J5W2-22G
MR-J5W2-44G
MR-J5W3-222G
MR-J5W3-444G

HK-KT1M3W

MR-J5-20_
MR-J5-40_
MR-J5-60_
MR-J5W2-22G
MR-J5W2-44G
MR-J5W3-222G
MR-J5W3-444G

HK-KT13UW

MR-J5-10_
MR-J5-20_
MR-J5-40_
MR-J5W2-22G
MR-J5W2-44G
MR-J5W3-222G
MR-J5W3-444G

2000

4000

6000

8000

Dynamic brake time constant τ [ms]

Servo motor speed [r/min]

2000

4000

6000

8000

Dynamic brake time constant τ [ms]

Servo motor speed [r/min]

2000

4000

6000

8000

Dynamic brake time constant τ [ms]

Servo motor speed [r/min]

2000

4000

6000

8000

Dynamic brake time constant τ [ms]

Servo motor speed [r/min]

Summary of Contents for MR-J5 Series

Page 1: ...MR J5 User s Manual Hardware MR J5 _G_ MR J5W_ _G MR J5 _A_ Mitsubishi Electric AC Servo System ...

Page 2: ......

Page 3: ...g on 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 indicated by the following diagrammatic symbols In this manual instructions at a lower level than the above instructions for other functions and so on are classified into POINT After reading this guide keep it accessible to the operator WARNIN...

Page 4: ...lifier before wiring To prevent an electric shock connect the protective earth PE terminal the terminal marked with the symbol of the servo amplifier to the protective earth PE of the cabinet To prevent an electric shock do not touch the conductive parts WARNING To prevent an electric shock do not operate the switches with wet hands WARNING To prevent an electric shock do not operate the switches ...

Page 5: ...stomary units are not shown in this manual Convert the values if necessary according to the following table Symbol Servo amplifier G MR J5 _G_ WG MR J5W_ _G A MR J5 _A_ Quantity SI metric unit U S customary unit Mass 1 kg 2 2046 lb Length 1 mm 0 03937 inch Torque 1 N m 141 6 oz inch Moment of inertia 1 10 4 kg m2 5 4675 oz inch2 Load thrust load axial load 1 N 0 2248 lbf Temperature N C 9 5 32 N F...

Page 6: ...9 CHAPTER 3 SIGNALS AND WIRING 21 3 1 Connection example of power circuit 22 200 V class 23 Using servo amplifier with DC power supply input 26 3 2 I O signal connection example 28 For MR J5 _G_ 28 For MR J5 _A_ 30 For MR J5W_ _G 37 3 3 Explanation of power supply system 40 Signal explanation 40 Power on procedure G WG 42 Power on procedure A 43 Wiring CNP1 CNP2 and CNP3 44 3 4 Connectors and pin ...

Page 7: ...wer supply capacity and generated loss 97 Power supply capacity 97 Generated loss 101 When using the servo amplifier with the DC power supply input 102 5 3 Dynamic brake characteristics 103 Dynamic brake operation 104 5 4 Cable bending life 127 5 5 Inrush currents at power on of main circuit and control circuit 128 CHAPTER 6 OPTIONS AND PERIPHERAL EQUIPMENT 129 6 1 Cable connector sets 129 Combina...

Page 8: ...5 Selection method 185 Selection example 187 6 15 EMC filter recommended 189 CHAPTER 7 ABSOLUTE POSITION DETECTION SYSTEM 192 7 1 Outline 192 Characteristics 192 Restrictions G WG 192 Restrictions A 192 Precaution 192 Structure 193 Servo parameter setting G WG 193 Servo parameter setting A 193 Homing 193 Checking the detected absolute position data 194 Procedure of replacing a servo motor with bat...

Page 9: ...ce servo amplifier without magnetic pole detection 237 9 3 Startup A 238 Startup procedure 238 Setting 239 Magnetic pole detection 241 How to replace servo amplifier without magnetic pole detection 248 9 4 Basic function 249 Homing G WG 249 Homing A 253 Linear servo control error detection function 258 About MR Configurator2 260 9 5 Adjustment 261 Auto tuning function 261 Machine analyzer function...

Page 10: ...ed loss 290 Power supply capacity and generated loss WG 291 Dynamic brake characteristics 293 Permissible load to motor inertia ratio when the dynamic brake is used 294 10 6 Absolute position detection system G WG 294 10 7 Absolute position detection system A 294 10 8 Battery 296 Selection of battery 296 MR BAT6V1SET battery 296 MR BAT6V1SET A battery 300 MR BT6VCASE battery case 303 MR BAT6V1 bat...

Page 11: ...nnect the servo amplifier and linear encoder Rotary Servo Motor User s Manual HK series Page 225 USING A LINEAR SERVO MOTOR Page 267 USING A DIRECT DRIVE MOTOR 5 Connection of options Connect options Page 129 OPTIONS AND PERIPHERAL EQUIPMENT 6 Others If using the absolute position detection system and the STO function perform wiring and settings as necessary Page 192 ABSOLUTE POSITION DETECTION SY...

Page 12: ...ollowing items Power supply system wiring The power supplied to the power input terminals L1 L2 L3 L11 L21 of the servo amplifier should satisfy the defined specifications MR J5 G MR J5W G User s Manual Introduction MR J5 A User s Manual Introduction If the power factor improving DC reactor is not used between P3 and P4 should be connected P3 P4 Servo amplifier ...

Page 13: ...wise the servo amplifier and servo motor will malfunction The grounding terminal of the servo motor should be connected to the PE terminal of the servo amplifier The CN2 connector of the servo amplifier should be securely connected to the encoder of the servo motor with the motor cable encoder cable U M V W U V W Servo amplifier Servo motor CNP3A CNP3B CNP3C U V W M U V W M U V W M U V W U V W U V...

Page 14: ...wer factor improving DC reactor should be connected between P3 and P4 Page 173 Power factor improving DC reactor 1 Be sure to disconnect the wire between P3 and P4 I O signal wiring The I O signals should be connected correctly If the DO forced output mode is used the pins of the CN3 connector can be forcibly switched on off This mode is used to check the wiring In this case switch on the control ...

Page 15: ...es The wiring cables should not be stressed The encoder cable should be used within its bending life Page 127 Cable bending life The connector of the servo motor should not be stressed Environment Signal cables and power cables should not be shorted by wire offcuts metallic dust or the like ...

Page 16: ...ng manuals MR J5 G MR J5W G User s Manual Introduction MR J5 A User s Manual Introduction To prevent a fire or injury from occurring in case of an earthquake or other natural disasters securely install mount and wire the servo amplifier in accordance with the user s manual When the product has been stored for an extended period of time contact your local sales office When handling the servo amplif...

Page 17: ...mplifiers leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances In this case keep the ambient temperature within 0 C to 45 C or use the servo amplifier with 75 or less of the effective load ratio 1 Leave a clearance of 100 mm or more above the fan units Cabinet Cabinet 40 mm or more Wiring allowance Servo amplifier 80 mm or more 10 mm or more 10 mm...

Page 18: ... servo amplifier and install a cooling fan to prevent the temperature inside the cabinet from exceeding the temperature specified in the environmental conditions When closely mounting the servo amplifiers leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances In this case keep the ambient temperature within 0 C to 45 C or use the servo amplifier wit...

Page 19: ...ion When used for applications where the servo motor moves fix the cable encoder power supply brake with gentle slack from the connecting part of the connector to prevent stress from being applied to the connecting part of the servo motor connector Use the optional motor cable encoder cable within the bending life range Prevent the cable insulator from being cut by sharp chips or from touching and...

Page 20: ... INSTALLATION 2 4 Fan replacement procedure Fan removal procedure 1 Remove the screws that fixed the fan unit 2 Pull up the cover of the fan unit using a precision driver 3 Pull out the fan unit vertically ...

Page 21: ... load ratio As heat dissipation effects decrease in proportion to the decrease in air density use the product within the ambient temperature range shown in the following figure When closely mounting servo amplifiers at an ambient temperature of 40 C to 55 C operate them at 75 or less of the effective load ratio Input voltage Generally withstand voltage decreases as altitude increases however there...

Page 22: ...uous operation in air conditioned environment ambient temperature of 30 C or less Relays There is no restriction Use in the same manner as in 1000 m or less MR J5 G MR J5W G User s Manual Introduction MR J5 A User s Manual Introduction Servo amplifier cooling fan There is no restriction Use in the same manner as in 1000 m or less MR J5 G MR J5W G User s Manual Introduction MR J5 A User s Manual In...

Page 23: ...surge absorbing diode in the correct direction Otherwise the amplifier may malfunction and not output signals disabling protective circuits such as the emergency stop When the wires are not tightened enough to the terminal block the wires or terminal block may generate heat because of the poor contact Be sure to tighten the wires with specified torque Connecting a servo motor of the wrong axis to ...

Page 24: ...munication will be interrupted In the torque mode EM2 functions the same as EM1 If using the MR J5 servo amplifier with the DC power supply input refer to the following Page 26 Using servo amplifier with DC power supply input To prevent malfunction avoid bundling the servo amplifier s power lines input output and signal cables together or running them in parallel to each other Separate the power l...

Page 25: ... ms or less Bus voltage may drop depending on the main circuit voltage and operation pattern causing a dynamic brake deceleration during a forced stop deceleration If dynamic brake deceleration is not required delay the time to turn off the magnetic contactor 7 If wires used for L11 and L21 are thinner than wires used for L1 L2 and L3 use a molded case circuit breaker Page 168 Molded case circuit ...

Page 26: ...P4 P L11 L21 D C U V W CNP1 CNP3A 9 CNP2 U V W CN2A MC MCCB MC SK M N RA1 4 7 U V W CNP3B 9 U V W CN2B M 4 U V W CNP3C 9 U V W CN2C M 4 PE 1 2 2 2 10 AND malfunction 3 OFF ON Emergency stop switch Servo amplifier A axis servo motor Power supply 6 Motor Encoder B axis servo motor Motor Encoder C axis servo motor 8 Motor Encoder ...

Page 27: ...rake deceleration during a forced stop deceleration If dynamic brake deceleration is not required delay the time to turn off the magnetic contactor 6 For 1 phase 200 V AC to 240 V AC connect the power supply to L1 and L3 Leave L2 open 7 If wires used for L11 and L21 are thinner than wires used for L1 L2 and L3 use a molded case circuit breaker Page 168 Molded case circuit breakers fuses magnetic c...

Page 28: ...ced stop deceleration If dynamic brake deceleration is not required delay the time to turn off the magnetic contactor 3 Operating the on switch and off switch with the DC power supply meets IEC EN 60204 1 requirements 4 Do not share the 24 V DC power supply for interface with a magnetic contactor Always use the power supply designed exclusively for the magnetic contactor 5 If wires used for L11 an...

Page 29: ...ith a magnetic contactor Always use the power supply designed exclusively for the magnetic contactor 5 If wires used for L11 and L21 are thinner than wires used for L1 L2 L3 and N use a fuse Page 170 When using the servo amplifier with the DC power supply input Power supply capacity The power supply capacity is the same as that for the AC power supply input Page 97 Power supply capacity and genera...

Page 30: ...O2 3 LG 1 2 SD 2 6 DICOM 5 CN1A CN1B RA1 RA2 RA3 CN8 CC Link IE TSN CC Link IE TSN DC 10 V DC 10 V MR J3USBCBL3M 1 CN6 9 MR Configurator2 5 Servo amplifier 10 m or less 10 m or less 24 V DC Main circuit power supply 7 Forced stop 2 3 Forward rotation stroke end Electromagnetic brake interlock 13 Reverse rotation stroke end In position Proximity dog Malfunction 10 24 V DC Encoder A phase pulse diff...

Page 31: ...by reducing the number of I O points For the amperage required for interfaces refer to the following Page 76 Digital input interface DI 1 The illustration of the 24 V DC power supply is divided between the input signal and the output signal for convenience However they can be configured by one 10 If no alarm is occurring ALM Malfunction is on normally closed contact 11 The pins with the same signa...

Page 32: ... RD75D LD75D QD75D 4 4 Servo amplifier 4 10 m or less 24 V DC Positioning module 24 V DC Malfunction 6 Zero speed detection Limiting torque In position Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Plate Control common 10 m or less 8 Control common Encoder Z phase pulse open collector Plate 2 m or less Upper limit setting Analog torque limit 10 V max...

Page 33: ...ng operation turn on EM2 Forced stop 2 LSP Forward rotation stroke end and LSN Reverse rotation stroke end normally closed contact 6 If no alarm is occurring ALM Malfunction is on normally closed contact If an alarm occurs stop programmable controller s signals with a sequence program 7 The pins with the same signal name are connected in the servo amplifier 8 This length applies when the command p...

Page 34: ...A3 RA4 RA1 5 RD75D LD75D QD75D 4 4 4 MR Configurator2 9 Servo amplifier 10 m or less 24 V DC Positioning module 24 V DC Malfunction 6 Zero speed detection Limiting torque In position Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Plate Control common 10 m or less 8 Control common Encoder Z phase pulse open collector Plate 2 m or less Upper limit setti...

Page 35: ...ilable when TL External torque limit selection is enabled with servo parameters Pr PD03 to Pr PD22 MR J5 User s Manual Function 9 Use SW1DNC MRC2 _ 10 If not using the STO function attach the short circuit connector that came with the servo amplifier 11 To prevent an unexpected restart of the servo amplifier configure a circuit that turns off EM2 when the main circuit power supply is turned off 46...

Page 36: ...er supply 11 24 V DC Forced stop 2 3 5 Servo on Reset Speed selection 1 Malfunction 6 Speed selection 2 Zero speed detection Forward rotation start Reverse rotation start Limiting torque Forward rotation stroke end Speed reached Reverse rotation stroke end Ready 24 V DC Upper limit setting Encoder Z phase pulse differential line driver Analog speed command 10 V rated speed Encoder A phase pulse di...

Page 37: ...nected in the servo amplifier 7 Use SW1DNC MRC2 _ 8 If not using the STO function attach the short circuit connector that came with the servo amplifier 9 To prevent an unexpected restart of the servo amplifier configure a circuit that turns off EM2 when the main circuit power supply is turned off 46 DOCOM 48 ALM 23 ZSP 25 VLC 49 RD 4 LA 5 LAR 6 LB 7 LBR 34 LG 33 OP SD CN3 6 42 15 19 18 17 21 EM2 S...

Page 38: ...ss Main circuit power supply 9 24 V DC Forced stop 2 3 Servo on Reset Speed selection 1 Malfunction 5 Speed selection 2 Zero speed detection Forward rotation selection Reverse rotation selection Limiting speed Ready 24 V DC Upper limit setting Encoder Z phase pulse differential line driver Analog torque command 8 V maximum torque Encoder A phase pulse differential line driver Upper limit setting A...

Page 39: ...alfunction 7 Forward rotation stroke end for A axis Electromagnetic brake interlock for A axis Reverse rotation stroke end for A axis Proximity dog for A axis Electromagnetic brake interlock for B axis Forward rotation stroke end for B axis Electromagnetic brake interlock for C axis 13 Reverse rotation stroke end for B axis Proximity dog for B axis Forward rotation stroke end for C axis Reverse ro...

Page 40: ...mA MR J5W3 _G when all I O signals are used The current capacity can be decreased by reducing the number of I O points For the amperage required for interfaces refer to the following Page 76 Digital input interface DI 1 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 7 If no alarm is occurring CALM...

Page 41: ...4 AND malfunction 7 Forward rotation stroke end for A axis Electromagnetic brake interlock for A axis Reverse rotation stroke end for A axis Proximity dog for A axis Electromagnetic brake interlock for B axis Forward rotation stroke end for B axis Electromagnetic brake interlock for C axis 13 Reverse rotation stroke end for B axis Proximity dog for B axis Forward rotation stroke end for C axis Rev...

Page 42: ... MR J5 _G_ and the MR J5 _A_ If using the power factor improving DC reactor disconnect P3 and P4 and connect the power factor improving DC reactor between P3 and P4 P C D Connection destination Regenerative option If using a servo amplifier built in regenerative resistor connect P and D P and D are connected as a factory setting If using a regenerative option disconnect P and D and connect the reg...

Page 43: ...directly Do not connect a magnetic contactor and others between them N Connection destination Simple converter This terminal is used to connect a servo amplifier with a power regeneration converter power regeneration common converter brake unit or simple converter Page 149 MR CM simple converter Connection destination Protective earth PE Connect a servo amplifier to the grounding terminal of a ser...

Page 44: ...ain circuit power supply is off AL 0E9 Main circuit off warning will occur Turning on the main circuit power supply stops the warning and starts the operation properly 3 When the main circuit power supply is switched on the servo amplifier will receive the servo on command after startup and initial network communication The startup time for single axis servo amplifiers is 2 5 s to 3 5 s and the st...

Page 45: ...uit power supply is not on the display shows the corresponding warning However the warning will disappear and the servo amplifier will operate properly if the main circuit is powered on 3 The servo amplifier receives the SON Servo on 2 5 s to 3 5 s after the main circuit power supply is powered on 4 Once RES Reset is turned on the base circuit is shut off and the servo motor shaft coasts Timing ch...

Page 46: ...ier Connector MR J5 10_ to MR J5 100_ MR J5 200_ MR J5 350_ Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufac turer Size Insulator OD CNP1 06JFAT SAXGDK K7 5 LA AWG 18 to 14 3 9 mm or shorter 9 J FAT OT K JST CNP2 05JFAT SAXGDK K5 0 LA CNP3 03JFAT SAXGDK K7 5 LA Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufac turer Size Insulator ...

Page 47: ...NP1 06JFAT SAXGDK K7 5 LB AWG 18 to 14 3 9 mm or shorter 9 J FAT OT K JST CNP2 05JFAT SAXGDK K5 0 LA CNP3A 04JFAT SAGG G KK AWG 18 to 14 CNP3B CNP3C Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufac turer Size Insulator OD CNP1 06JFAT SAXGFK XL LB AWG 16 to 10 4 7 mm or shorter 11 5 J FAT OT EXL JST CNP2 05JFAT SAXGDK H5 0 LA AWG 18 to 14 3 9 mm or shorter 9 CNP3A ...

Page 48: ...re into the wire insertion hole Check the wire insertion depth so that the wire insulator is not caught by the spring and that the conductive part of the stripped wire is not exposed Release the open tool to fix the wire Pull the wire lightly to confirm that the wire is surely connected In addition confirm that the ends of the core wires do not stick out of the connector Servo amplifier Wire size ...

Page 49: ...are as viewed from the cable connector wiring section For the STO I O signal connector CN8 refer to the following Page 215 USING STO FUNCTION G A For wiring to the I O signal connector CN3 securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell Screw Cable Screw Ground plate ...

Page 50: ...ected to the protective earth grounding terminal in the servo amplifier 1 The MR J5 _G servo amplifier does not have the CN2L connector 2 Refer to the following for CN8 Page 218 STO I O signal connector CN8 and pin assignment CN3 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 LSP ADIN0 DOCOM DICOM LZ LSN ADIN1 EM2 LG MBR LBR LA LB LZR LAR ALM DOG INP 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 BAT MXR M...

Page 51: ...2 Refer to the following for CN8 Page 218 STO I O signal connector CN8 and pin assignment The device assignment of the CN3 connector pins changes depending on the control mode The device of each pin which has servo parameters stated in the related servo parameter column can be changed using the stated servo parameters 2 LG 3 MO2 1 MO1 CN6 CN3 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 BAT CN2 MXR MX 2 4 6 ...

Page 52: ...1 TL Pr PD09 Pr PD10 19 I RES RES RES RES RES RES Pr PD11 Pr PD12 20 DICOM DICOM DICOM DICOM DICOM DICOM 21 DICOM DICOM DICOM DICOM DICOM DICOM 22 O INP INP SA SA SA INP Pr PD23 23 O ZSP ZSP ZSP ZSP ZSP ZSP Pr PD24 24 O INP INP SA SA SA INP Pr PD25 25 O TLC TLC TLC TLC VLC VLC VLC TLC Pr PD26 26 27 I TLA TLA TLA TLA TC TC TC TLA 28 LG LG LG LG LG LG 29 30 LG LG LG LG LG LG 31 32 33 O OP OP OP OP O...

Page 53: ...l switching mode 3 Output devices are not assigned by default Assign the output devices with Pr PD47 as necessary This pin is available only with MR J5 _A_ RJ 4 This is available as an input device of a sink interface If using it assign the input device with Pr PD43 to Pr PD46 as necessary In addition supply of 24 V DC to the CN3 12 pin 5 This is available as an input device of a source interface ...

Page 54: ...nnected to the protective earth grounding terminal in the servo amplifier 1 This is for the MR J5W3 _G servo amplifier 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 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 M...

Page 55: ...s and servo parameters for setting devices refer to the following Page 49 Connectors and pin assignment A Connector pin No Servo parameter Initially assigned device I O signal interface type CN3 2 Pr PD03 LSP DI 1 CN3 12 Pr PD04 LSN CN3 19 Pr PD05 DOG CN3 20 EM2 Connector pin No Servo parameter Initially assigned device I O signal interface type CN3 7 Pr PD03 A axis LSP A DI 1 CN3 8 Pr PD04 A axis...

Page 56: ...N DI 1 Page 56 SON Servo on Reset RES DI 1 Page 56 RES Reset External torque limit selection TL DI 1 Page 57 TL External torque limit selection Internal torque limit selection TL1 DI 1 Page 57 TL1 Internal torque limit selection Forward rotation start ST1 DI 1 Page 57 ST1 Forward rotation start ST2 Reverse rotation start Reverse rotation start ST2 DI 1 Forward rotation selection RS1 DI 1 Page 57 R...

Page 57: ...hile in the forced stop state Control switching LOP DI 1 Page 59 LOP Control switching Second acceleration deceleration selection STAB2 DI 1 Page 59 STAB2 Second acceleration deceleration selection ABS transfer mode ABSM DI 1 Page 59 ABSM ABS transfer mode ABS request ABSR DI 1 Page 59 ABSR ABS request Setting value EM2 EM1 Deceleration method Pr PA04 3 Pr PA04 2 1 EM2 or EM1 is off Alarm occurred...

Page 58: ... the load to motor inertia ratio and each gain value When both CDP and CDP2 are on the setting of CDP2 is prioritized CDP2 Gain switching 2 Turn on CDP2 to use the values of Pr PB67 to Pr PB70 as the load to motor inertia ratio and each gain value When both CDP and CDP2 are on the setting of CDP2 is prioritized Input device explanation G WG DOG Proximity dog Turning off DOG will detect a proximity...

Page 59: ...f during operation the servo motor will be decelerated to a stop according to the setting value of Pr PC02 and will be locked If Pr PC23 0 is set to 1 the servo motor will not be locked after deceleration to a stop RS1 Forward rotation selection RS2 Reverse rotation selection Select a servo motor torque generation direction The following shows the torque generation directions Input device Servo mo...

Page 60: ...2 Electronic gear selection 2 The combination of CM1 and CM2 enables to select four different electronic gear numerators set in the parameters CM1 and CM2 cannot be used in the absolute position detection system Input device Speed command SP3 SP2 SP1 0 off 0 off 0 off VC Analog speed command 0 off 0 off 1 on Pr PC05 0 off 1 on 0 off Pr PC06 0 off 1 on 1 on Pr PC07 1 on 0 off 0 off Pr PC08 1 on 0 o...

Page 61: ...otor rotates in the speed control mode or torque control mode The S pattern acceleration deceleration time constants are always uniform ABSM ABS transfer mode This is an ABS transfer mode request device If Pr PA03 0 is set to 1 and an absolute position detection system by DIO is selected ABSM will be assigned to the CN3 17 pin Page 192 ABSOLUTE POSITION DETECTION SYSTEM ABSR ABS request This is an...

Page 62: ...PD07 A axis MBR A DO 1 CN3 25 Pr PD07 B axis MBR B CN3 24 Pr PD08 common CINP CN3 11 Pr PD09 common CALM Connector pin No Servo parameter Initially assigned device I O signal interface type CN3 12 Pr PD07 A axis MBR A DO 1 CN3 25 Pr PD07 B axis MBR B CN3 13 Pr PD07 C axis MBR C CN3 24 Pr PD08 common CINP CN3 11 Pr PD09 common CALM Device name Symbol Model I O signal interface type Detailed explana...

Page 63: ...n selection 2 CDPS2 DO 1 Page 62 CDPS2 Variable gain selection 2 Absolute position undetermined ABSV DO 1 Page 62 ABSV Absolute position undetermined During tough drive MTTR DO 1 Page 62 MTTR During tough drive Electromagnetic brake interlock MBR DO 1 Page 63 MBR Electromagnetic brake interlock Limiting speed VLC DO 1 Page 63 VLC Limiting speed Zero speed detection ZSP DO 1 Page 64 ZSP Zero speed ...

Page 64: ...an absolute position detection system with a battery less ABS encoder BWNG is always off WNGSTOP Motor stop warning WNGSTOP will turn on if a warning that the motor cannot be driven occurs If a motor stop warning is not occurring WNGSTOP will turn off in 2 5 s to 3 5 s after power on or in 3 5 s to 4 0 s for a multi axis servo amplifier CDPS Variable gain selection When the gain of Gain switching ...

Page 65: ...s servo amplifier If using a linear servo motor replace r min with mm s TLC Limiting torque If the torque reaches the torque limit value when torque is generated TLC will turn on TLC will turn off in the servo off state In the torque mode TLC is off Output device explanation A MBR Electromagnetic brake interlock MBR is off in the servo off state or at alarm occurrence If using the device set an op...

Page 66: ...s used to output ABS transmission data bit 0 When Pr PA03 0 is set to 1 and the absolute position detection system by DIO is selected ABSB0 is assigned to the CN3 22 pin only during the ABS transfer mode Refer to the following for details Page 192 ABSOLUTE POSITION DETECTION SYSTEM ABSB1 ABS transmission data bit 1 This is used to output ABS transmission data bit 0 When Pr PA03 0 is set to 1 and t...

Page 67: ...to 8 V DC between TC and LG The maximum torque is generated at 8 V Refer to the following for details The torque at 8 V can be changed with Pr PC13 MR J5 User s Manual Function If a value equal to or larger than the maximum torque is input to TC the value is clamped at the maximum torque VC Analog speed command Apply 0 V DC to 10 V DC between VC and LG At 10 V the servo motor speed is the value se...

Page 68: ...A phase and B phase pulse trains 200 kpulses s will be the frequency after multiplication by four Input the forward rotation pulse train between PP and DOCOM Input the reverse rotation pulse train between NP and DOCOM For open collector type source input interface The maximum input frequency is 200 kpulses s For A phase and B phase pulse trains 200 kpulses s will be the frequency after multiplicat...

Page 69: ...ntial line driver The encoder zero point signal is output in the differential line driver type One pulse is output per servo motor revolution LZ LZR are on at the zero point position The minimum pulse width is about 400 μs For homing using this pulse set the creep speed to 100 r min or less Multi axis servo amplifiers do not support this output signal MO1 Analog monitor 1 This signal outputs the d...

Page 70: ...r source interface connect the positive terminal of the 24 V DC external power supply LG Monitor common LG is a common terminal of MO1 and MO2 SD Shield Connect the external conductor of a shielded wire to SD Power supply explanation A OPC Open collector Sink interface power supply input Position control mode When inputting a pulse train in the open collector type with sink interface supply the po...

Page 71: ...rface refer to the following Page 80 Source I O interface 4 Refer to Parts identification in the following user s manual for connecting an external encoder MR J5 G MR J5W G User s Manual Introduction 3 CN3 6 16 7 17 8 18 LA LAR LB LBR LZ LZR 2 4 7 8 MR MRR MX MXR LG PE M CN2 LG 11 EM2 CN3 20 LSP 2 LSN 12 DOG 19 5 CN3 3 13 9 15 DOCOM INP 2 ALM USB D GND D 2 3 5 CN5 MBR MR2 MRR2 MX2 MXR2 CN2L 4 DICO...

Page 72: ...70 3 SIGNALS AND WIRING 3 6 Interface Internal connection diagram A Refer to the following for the CN8 connector Page 215 USING STO FUNCTION G A ...

Page 73: ... 1 CN3 P T 2 VC VLA 27 TLA TLA TC 1 P15R 3 LG 28 LG 30 LG SD RS 422 RS 485 9 CN2 2 4 7 8 MR MRR MX MXR LG 3 1 1 DC 10 V DC 10 V P S T 1 PP 10 PG 11 NP 35 PP2 37 NP2 38 NG 36 2 1 8 8 S 29 32 39 40 28 P S T 1 P S T 1 P S T 1 E M USB D GND D 2 3 5 CN5 MR2 MRR2 MX2 MXR2 CN2L 4 6 3 2 4 7 8 LG P S T P S T 1 RA RA 3 5 5 Servo amplifier Approx 6 2 kΩ 24 V DC Approx 6 2 kΩ 24 V DC Approx 1 2 kΩ Approx 100 ...

Page 74: ...ustration of the 24 V DC power supply is divided between the input signal and the output signal for convenience However they can be configured by one 6 Refer to Parts identification in the following user s manual for connecting an external encoder MR J5 A User s Manual Introduction 7 Output devices are not assigned by default Assign the output devices with Pr PD47 as necessary 8 This device is ava...

Page 75: ...3 SIGNALS AND WIRING 3 6 Interface 73 3 Internal connection diagram WG Refer to the following for the CN8 connector Page 215 USING STO FUNCTION G A ...

Page 76: ...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 CN6 MO1 MO2 LG 3 2 1 DC 10 V DC 10 V Servo amplifier 24 V DC 6 24 V DC 6 Approx 5 6 kΩ Approx 5 6 kΩ Differential line driver output 35 mA or less Isolated A axis servo motor Encoder B axis servo motor Encoder ...

Page 77: ...Page 80 Source I O interface 3 This is for the MR J5W3 _G servo amplifier 4 In the initial setting CINP AND in position is assigned to this pin You can change the device of the pin with Pr PD08 0 5 This signal cannot be used for MR J5W3 _G servo amplifiers 6 The illustration of the 24 V DC power supply is divided between the input signal and the output signal for convenience However they can be co...

Page 78: ...g for source input Page 80 Source I O interface 1 It will be approximately 4 3 kΩ for the interface of the CN3 1 pin CN3 10 pin and CN3 19 pin of the MR J5 _G_ RJ It will be approximately 4 3 kΩ for the interface of the CN3 16 pin CN3 45 pin and CN3 50 pin of the MR J5 _A_ RJ It will be approximately 4 3 kΩ for the interface of the CN3 7 pin CN3 9 pin CN3 15 pin and CN3 22 pin of the MR J5W_ _G 2 ...

Page 79: ...nterferes with the relay operation apply high voltage a maximum of 26 4 V from an external source 2 It is 500 mA for the MR J5 _A_ Pulse train input interface DI 2 A Give a pulse train signal in the differential line driver type or open collector type Differential line driver type Interface 1 A photocoupler is used as the pulse train input interface Therefore this circuit may not operate properly ...

Page 80: ...coder output pulse DO 2 Differential line driver type Interface Maximum output current 35 mA Output pulse OPC SD DOCOM PP NP 1 Servo amplifier Max input pulse frequency 200 kpulses s 24 V DC Approx 1 2 kΩ 2 m or less 0 9 0 1 tc tLH tc tHL tF PP NP tLH tHL 0 2 μs tc 2 μs tF 3 μs 150 Ω LA LB LZ LAR LBR LZR SD LG 100 Ω LAR LBR LZR SD LA LB LZ Servo amplifier Servo amplifier Am26LS32 or equivalent Hig...

Page 81: ...log output AO 1 1 The output voltage varies depending on the output contents SD LG OP SD LG OP Servo amplifier Servo amplifier Photocoupler 5 V DC to 24 V SD LG P15R DC 15 V 2 kΩ Servo amplifier Upper limit setting 2 kΩ VC etc Approx 10 kΩ LG MO1 MO2 Servo amplifier Output voltage 10 V 1 Maximum output current 1 mA Resolution 10 bits or its equivalent ...

Page 82: ...tely 4 3 kΩ for the interface of CN3 7 pin CN3 9 pin CN3 15 pin and CN3 22 pin of the MR J5W_ _G 2 It is 500 mA for the MR J5 _A_ Digital output interface DO 1 This is a circuit in which the emitter of the output transistor is the output terminal When the output transistor is turned on the current flows from the output terminal to a load A maximum of 2 6 V voltage drop occurs in the servo amplifie...

Page 83: ...fore this circuit may not operate properly due to reduction in current if a resistor is connected to the pulse train signal line Input pulse condition PG SD NP2 NG PP2 500 mA 10 1 1 VCES 1 0 V ICEO 100 μA VCES 1 0 V ICEO 100 μA Servo amplifier Max input pulse frequency 200 kpulses s Approx 20 mA Approx 1 2 kΩ Approx 20 mA Approx 1 2 kΩ 24 V DC 0 9 0 1 tc tLH tc tHL tF PP2 NP2 tLH tHL 0 2 μs tc 2 μ...

Page 84: ... brake or provide an external brake system for holding purpose to prevent such hazard Configure an electromagnetic brake circuit that is interlocked with an external emergency stop switch Before operating the servo motor be sure to confirm that the electromagnetic brake operates properly For the power supply of the electromagnetic brake use the power supply designed exclusively for the electromagn...

Page 85: ...nnection is for the MR J5W3 _G servo amplifier 4 The illustration of the 24 V DC power supply is divided between the input signal and the output signal for convenience However they can be configured by one CALM DOCOM MBR A EM2 DICOM RA1 RA2 B RA5 2 B2 U B1 EM2 RA3 RA4 MBR B MBR C B B2 U B1 CALM RA1 MBR A RA2 MBR B RA3 B B2 U B1 MBR C RA4 3 Servo amplifier 24 V DC 4 24 V DC for electromagnetic brak...

Page 86: ...se due to di dt and dv dt of the transistor To prevent such a fault refer to the following diagram and ground it To conform to the EMC Directive refer to EMC Installation Guidelines V U U V W W CN2 L11 L1 L2 L3 L21 MC MCCB M Cabinet Servo amplifier Servo motor Line filter Encoder Power supply Connect the wire to the PE terminal of the servo amplifier Do not connect the wire directly to the protect...

Page 87: ...ounting hole 2 M5 screw Screw size Mounting screw size Mounting hole process drawing Approx 80 Approx 168 Approx 6 Approx 6 Approx 6 Approx 40 Approx 38 5 CN6 CN5 CN8 CN3 CN2 CN1A CN1B CN2L 2 CN4 P4 L1 L3 P3 L2 N CNP1 CNP2 M5 CNP3 P D L21 C L11 U W V PE M4 6 156 0 5 156 10 6 CNP2 1 CNP1 1 CNP3 1 172 165 40 6 6 170 168 PE Terminal assignment φ6 mounting hole 2 M5 screw Screw size Mounting screw siz...

Page 88: ...ew size Intake Mounting hole process drawing Approx 80 Approx 6 Approx 12 Approx 6 Approx 6 Approx 168 Approx 60 CN2 CN2L 2 CN6 CN5 CN8 CN3 CN1A CN1B CN4 P4 L1 L3 P3 L2 N CNP1 CNP2 M5 CNP3 P D L21 C L11 U W V PE M4 6 156 0 5 78 0 3 C N 4 C N 2 L2 L3 N P3 P4 L1 P C D L11 L21 U V W CNP1 1 CNP2 1 CNP3 1 6 10 156 90 6 6 6 78 6 172 165 195 C N 2 L 168 PE Terminal assignment φ6 mounting hole Cooling fan...

Page 89: ...L1 L3 P3 L2 N CNP1 CNP2 M5 CNP3 P D L21 C L11 U W V PE M4 156 0 5 156 10 6 CNP2 1 CNP1 1 CNP3 1 172 165 40 6 6 170 6 168 PE Terminal assignment φ6 mounting hole 2 M5 screw Screw size Mounting screw size Mounting hole process drawing Approx 80 Approx 40 Approx 6 Approx 6 Approx 6 Approx 168 Approx 38 5 185 42 0 3 CN8 CN6 CN3 CN2 CN1A CN5 CN2L 2 CN4 6 156 0 5 CNP2 1 CNP1 1 CNP3 1 156 6 10 6 42 12 60...

Page 90: ...ze Intake Mounting hole process drawing Exhaust Cooling fan Approx 80 Approx 90 Approx 6 Approx 6 Approx 6 Approx 6 Approx 168 CN8 CN5 CN3 CN1A CN1B CN2B CN2A CN4 CN6 P4 L1 L3 L2 N CNP1 CNP2 P D L21 C L11 6 156 0 5 CNP1 1 CNP2 1 CNP3A 1 6 10 156 60 6 172 195 6 6 CNP3B 1 W V U 2 1 A B CNP3A CNP3B W V U 2 1 A B 168 PE PE M5 M4 Terminal assignment φ6 mounting hole Exhaust Cooling fan MR J5W2 44G only...

Page 91: ...e 3 M5 screw Mounting screw size Intake Mounting hole process drawing Approx 80 Approx 85 Approx 6 Approx 6 Approx 6 Approx 168 CN8 CN5 CN3 CN1A CN1B CN2B CN2C CN2A CN4 CN6 6 156 0 5 CNP1 1 CNP2 1 CNP3A 1 10 156 75 6 172 195 6 6 CNP3B 1 63 0 5 CNP3C 1 CNP3C 63 6 6 168 PE P4 L1 L3 L2 N CNP1 CNP2 P D L21 C L11 W V U 2 1 A B W V U 2 1 A B CNP3A CNP3B W V U 2 1 A B PE M5 M4 Terminal assignment φ6 moun...

Page 92: ...Jack screw M2 6 type This connector is not available as an option Connector Shell kit Variable dimensions A B C D E 10120 3000PE 10320 52F0 008 22 0 33 3 14 0 10 0 12 0 Connector Shell kit Variable dimensions A B C D E F 10120 3000PE 10320 52A0 008 22 0 33 3 14 0 10 0 12 0 27 4 E B A 23 8 39 0 12 7 C D Unit mm Logo or others are indicated here E B A 23 8 39 0 12 7 C 5 2 F D Unit mm Logo or others ...

Page 93: ...e as an option Connector Shell kit Variable dimensions A B C D E 10150 3000PE 10350 52F0 008 41 1 52 4 18 0 14 0 17 0 Connector Shell kit Variable dimensions A B C D E F 10150 3000PE 10350 52A0 008 41 1 52 4 18 0 14 0 17 0 46 5 E B A 23 8 39 0 12 7 C D Unit mm Logo or others are indicated here E B A 23 8 39 0 12 7 C 5 2 F D Unit mm Logo or others are indicated here ...

Page 94: ...le as an option Connector Shell kit Variable dimensions A B C D E 10126 3000PE 10326 52F0 008 25 8 37 2 14 0 10 0 12 0 Connector Shell kit Variable dimensions A B C D E F 10126 3000PE 10326 52A0 008 25 8 37 2 14 0 10 0 12 0 31 3 E B A 23 8 39 0 12 7 C D Unit mm Logo or others are indicated here E B A 23 8 39 0 12 7 C 5 2 F D Unit mm Logo or others are indicated here ...

Page 95: ...4 DIMENSIONS 4 4 CN3_ connector WG 93 4 SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 34 8 39 5 22 4 11 0 Unit mm ...

Page 96: ...left side of the continuous or dotted lines in the following graphs For the system where the unbalanced torque occurs such as a vertical axis the unbalanced torque of the machine should be kept at 70 or lower of the rated torque This servo amplifier has a servo motor overload protection function The servo motor overload current is set on the basis of 115 rated current full load current of the serv...

Page 97: ...G MR J5W3 444G MR J5 60_ MR J5 70_ MR J5W2 77G 0 1 1 10 100 1000 0 5 10 15 Operation time s Output current Arms 0 1 1 10 100 1000 0 5 10 15 20 Operation time s Output current Arms 0 1 1 10 100 1000 0 5 10 15 20 25 Operation time s Output current Arms 0 1 1 10 100 1000 0 10 20 30 40 Operation time S Output current Arms ...

Page 98: ...ics MR J5 100_ MR J5W2 1010G MR J5 200_ MR J5 350_ 0 1 1 10 100 1000 0 10 20 30 40 Operation time S Output current Arms 0 1 1 10 100 1000 0 20 40 60 Operation time s Output current Arms 0 1 1 10 100 1000 0 20 40 60 80 100 Operation time s Output current Arms ...

Page 99: ...A 0 3 MR J5 20G A 0 3 MR J5 40G A 0 3 HK KT1M3W MR J5 20G A 0 5 MR J5 40G A 0 5 MR J5 60G A 0 5 HK KT13UW MR J5 10G A 0 3 MR J5 20G A 0 3 MR J5 40G A 0 3 HK KT23W MR J5 20G A 0 5 MR J5 40G A 0 5 MR J5 60G A 0 5 HK KT43W MR J5 40G A 0 9 MR J5 60G A 0 9 MR J5 70G A 0 9 HK KT63W MR J5 70G A 1 3 MR J5 100G A 1 3 MR J5 200G A 1 3 HK KT23UW MR J5 20G A 0 5 MR J5 40G A 0 5 MR J5 60G A 0 5 HK KT43UW MR J5...

Page 100: ...0G A 1 9 MR J5 350G A 2 HK KT2024W MR J5 100G A 1 9 MR J5 200G A 1 9 MR J5 350G A 2 1 HK ST series Standard voltage 200 V HK ST52W MR J5 60G A 1 MR J5 70G A 1 MR J5 100G A 1 HK ST102W MR J5 100G A 1 7 MR J5 200G A 1 7 MR J5 350G A 1 8 HK ST172W MR J5 200G A 3 MR J5 350G A 3 2 HK ST202AW MR J5 200G A 3 5 MR J5 350G A 3 5 HK ST302W MR J5 350G A 4 9 HK ST202W MR J5 200G A 3 5 MR J5 350G A 3 5 HK ST35...

Page 101: ... 3 MR J5W3 222G 0 3 MR J5W3 444G 0 3 HK KT1M3W MR J5W2 22G 0 5 MR J5W2 44G 0 5 MR J5W3 222G 0 5 MR J5W3 444G 0 5 HK KT13UW MR J5W2 22G 0 3 MR J5W2 44G 0 3 MR J5W3 222G 0 3 MR J5W3 444G 0 3 HK KT series Standard voltage 200 V HK KT23W MR J5W2 22G 0 5 MR J5W2 44G 0 5 MR J5W3 222G 0 5 MR J5W3 444G 0 5 HK KT43W MR J5W2 44G 0 9 MR J5W2 77G 0 9 MR J5W2 1010G 0 9 MR J5W3 444G 0 9 HK KT63W MR J5W2 77G 1 3...

Page 102: ...W3 222G 0 6 MR J5W3 444G 0 6 HK KT634W MR J5W2 44G 0 8 MR J5W2 77G 0 8 MR J5W2 1010G 0 8 MR J5W3 444G 0 8 HK KT7M34W MR J5W2 44G 0 9 MR J5W2 77G 0 9 MR J5W2 1010G 0 9 MR J5W3 444G 0 9 HK KT1034W MR J5W2 77G 1 1 MR J5W2 1010G 1 1 HK KT1534W MR J5W2 77G 1 5 MR J5W2 1010G 1 5 HK KT2034W MR J5W2 1010G 1 9 HK KT2024W MR J5W2 1010G 1 9 HK ST series Standard voltage 200 V HK ST52W MR J5W2 77G 1 MR J5W2 1...

Page 103: ... the regenerative option refer to the following Page 136 Regenerative option Servo amplifier Servo amplifier generated heat W 1 Area required for heat dissipation m2 At rated output At servo off MR J5 10_ 25 15 0 5 MR J5 20_ 25 15 0 5 MR J5 40_ 35 15 0 7 MR J5 60_ 40 15 0 8 MR J5 70_ 50 15 1 0 MR J5 100_ 50 15 1 0 MR J5 200_ 90 20 1 8 MR J5 350_ 130 20 2 6 Servo amplifier Servo amplifier generated...

Page 104: ...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 possible Therefore arrangement of the equipment in the cabine...

Page 105: ...ne decelerates from the rated speed to a stop once in 10 minutes Be sure to enable EM1 Forced stop 1 after the servo motor stops when using EM1 Forced stop 1 frequently in situations other than an emergency Servo motors for MR J5 may have the different coasting distance from that of the previous model The time constant τ for the electronic dynamic brake will be shorter than that of the normal dyna...

Page 106: ...ime constant A working part generally has a friction force Therefore actual coasting distance will be shorter than the maximum coasting distance calculated with the following equation 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 Dyn...

Page 107: ... HK KT1M3W MR J5 20_ MR J5 40_ MR J5 60_ MR J5W2 22G MR J5W2 44G MR J5W3 222G MR J5W3 444G HK KT13UW MR J5 10_ MR J5 20_ MR J5 40_ MR J5W2 22G MR J5W2 44G MR J5W3 222G MR J5W3 444G 0 2 4 6 8 10 12 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 7 8 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 7 0 2000 4000...

Page 108: ...5W2 1010G Motor Amplifier Waveform 0 5 10 15 20 25 0 2000 4000 6000 8000 Servo motor speed r min Dynamic brake time constant τ ms 0 5 10 15 20 25 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 0 2000 4000 6000 8000 Dynamic brake time constant τ ...

Page 109: ...mplifier Waveform 0 2 4 6 8 10 12 14 16 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 19 5 20 20 5 21 21 5 22 22 5 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 7 8 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 20 40 60 80 100 120 0 2000 4000 6000 8000 Dynamic brake time constant τ ms...

Page 110: ...J5W2 44G MR J5W3 444G MR J5 70_ MR J5W2 77G MR J5W2 1010G Motor Amplifier Waveform 0 10 20 30 40 50 60 70 80 90 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 35 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 111: ...fier Waveform 0 5 10 15 20 25 30 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 29 5 30 30 5 31 31 5 32 32 5 33 33 5 34 34 5 35 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 112: ...2 1010G MR J5 200_ MR J5 350_ Motor Amplifier Waveform 0 1000 2000 3000 4000 5000 6000 7000 23 24 25 26 27 28 29 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 0 1000 2000 3000 4000 5000 6000 7000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 113: ... Motor Amplifier Waveform 0 5 10 15 20 25 30 35 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 35 40 45 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 0 2000 4000 6000 8000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 114: ... 40 40 5 41 41 5 0 1000 2000 3000 4000 5000 6000 7000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 0 1000 2000 3000 4000 5000 6000 7000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 0 1000 2000 3000 4000 5000 6000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 0 1000 2000 3000 4000 5000 6000 Dynamic brake time c...

Page 115: ... 20_ MR J5 40_ MR J5 60_ MR J5W2 22G MR J5W2 44G MR J5W3 222G MR J5W3 444G Motor Amplifier Waveform 0 1 2 3 4 5 6 7 0 500 1000 1500 2000 2500 3000 3500 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 7 8 9 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 116: ...5W2 1010G Motor Amplifier Waveform 0 1 2 3 4 5 6 7 8 9 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 7 8 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 0 0 5 1 1 5 2 2 5 3 3 5 4 4 5 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 117: ...2 77G MR J5W2 1010G Motor Amplifier Waveform 0 5 10 15 20 25 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 7 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 118: ...aveform 0 2 4 6 8 10 12 14 16 18 0 500 1000 1500 2000 2500 3000 3500 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 0 500 1000 1500 2000 2500 3000 3500 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 0 500 1000 1500 2000 2500 3000 3500 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 119: ...ifier Waveform 0 2 4 6 8 10 12 14 0 500 1000 1500 2000 2500 3000 Dynamic brake time constant τ ms Servo motor speed r min 13 13 5 14 14 5 15 15 5 16 0 500 1000 1500 2000 2500 3000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 0 500 1000 1500 2000 2500 3000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 120: ...18 6 18 8 19 0 500 1000 1500 2000 2500 3000 Dynamic brake time constant τ ms Servo motor speed r min 0 1 2 3 4 5 6 0 500 1000 1500 2000 2500 3000 Dynamic brake time constant τ ms Servo motor speed r min 11 5 11 6 11 7 11 8 11 9 12 12 1 12 2 12 3 12 4 12 5 0 500 1000 1500 2000 Dynamic brake time constant τ ms Servo motor speed r min 0 0 5 1 1 5 2 2 5 3 3 5 0 500 1000 1500 2000 Dynamic brake time co...

Page 121: ...ifier Waveform 0 50 100 150 200 250 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 10 20 30 40 50 60 70 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 10 20 30 40 50 60 70 80 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 122: ... 50 60 70 80 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 35 40 45 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 35 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo ...

Page 123: ...or Amplifier Waveform 0 2 4 6 8 10 12 14 16 18 0 500 1000 1500 2000 2500 3000 Dynamic brake time constant τ ms Servo motor speed r min 0 10 20 30 40 50 60 0 1000 2000 3000 4000 5000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 0 1000 2000 3000 4000 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 124: ...60_ MR J5W2 44G MR J5W3 444G MR J5 70_ MR J5W2 77G Motor Amplifier Waveform 0 10 20 30 40 50 60 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 35 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 125: ...or Amplifier Waveform 0 10 20 30 40 50 60 70 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 126: ... 25 30 35 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 18 20 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 30 31 32 33 34 35 36 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor...

Page 127: ... 4 5 6 7 8 9 0 200 400 600 800 1000 1200 1400 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 30 35 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 2 4 6 8 10 12 14 16 18 20 0 500 1000 1500 2000 Dynamic brake time constant τ ms Servo motor speed r min 0 5 10 15 20 25 0 500 1000 1500 2000 2500 Dynamic brake time constant τ ms Servo motor...

Page 128: ...Permissible load to motor inertia ratio multiplier HK KT HK KT053W 34 HK KT13W 34 HK KT13UW 10 HK KT1M3W 25 HK KT23W 23 when less than 6000 r min 28 HK KT23UW 10 HK KT43W 23 HK KT43UW 10 HK KT63W 30 HK KT7M3W 20 HK KT7M3UW 10 HK KT103W 20 HK KT103UW 20 HK KT153W 30 HK KT203W 30 HK KT202W 30 HK KT434W 30 HK KT634W 30 HK KT7M34W 20 HK KT1034W 30 HK KT1534W 30 HK KT2034W 30 HK KT2024W 30 HK ST HK ST5...

Page 129: ...anteed values provide a little allowance for these values a 1 108 5 107 1 107 5 106 1 106 5 105 1 105 5 104 1 104 5 103 1 103 4 7 10 20 40 70 100 200 b a b Number of bending times time Bend radius mm Long bending life encoder cable Long bending life dual cable type Long bending life single cable type Standard encoder cable Standard dual cable type Standard single cable type ...

Page 130: ...in circuit power supply will be the same 200 V class WG The following shows the inrush currents reference data that will flow when 240 V AC is applied Servo amplifier Inrush currents A0 P Main circuit power supply L1 L2 L3 Control circuit power supply L11 L21 MR J5 10_ MR J5 20_ MR J5 40_ MR J5 60_ 17 A attenuated to approx 3 A in 20 ms 20 A to 30 A attenuated to approx 1 A in 20 ms MR J5 70_ MR J...

Page 131: ...ion against ingress of dust and water drops when they are connected to a servo amplifier or servo motor If the IP ratings of the cable connector servo amplifier and servo motor vary the overall IP rating depends on the lowest IP rating of all components Purchase the cable and connector options indicated in this section for this servo amplifier Refer to the following for options for servo motor pow...

Page 132: ...vo amplifier Ethernet cable Junction terminal block manufactured by Toho Technology Corporation To servo motor power supply Battery MR BAT6V1SET or MR BAT6V1SET A To servo motor encoder To load side encoder Battery case MR BT6VCASE Battery MR BAT6V1 5 1 2 6 5 7 8 10 CNP2 CNP1 CN5 CN6 CN3 CN8 CN1 CN2 CN2L CN4 CNP3 MR Configurator2 4 3 MR TB50 Servo amplifier Setup software Controller Junction termi...

Page 133: ...6A CNP2 CNP1 CN5 CN3 CN8 CN1A CN1B CN2B CN2A CN2C CN4 CNP3A CNP3B CNP3C MR Configurator2 Setup software Controller Servo amplifier Ethernet cable Junction terminal block To C axis servo motor power supply To B axis servo motor power supply To C axis servo motor encoder To A axis servo motor power supply To B axis servo motor encoder To A axis servo motor encoder Servo amplifier Battery case MR BT6...

Page 134: ...XL LA JST Applicable wire size 1 25 mm2 to 5 5 mm2 AWG 16 to 10 Insulator OD to 4 7 mm CNP2 connector 05JFAT SAXGDK H5 0 LA JST Applicable wire size 0 8 mm2 to 2 1 mm2 AWG 18 to 14 Insulator OD to 3 9 mm CNP3 connector 03JFAT SAXGFK XL LA JST Applicable wire size 1 25 mm2 to 5 5 mm2 AWG 16 to 10 Insulator OD to 4 7 mm Supplied with 1 axis servo amplifiers of 2 kW and 3 5 kW Open tool J FAT OT EXL ...

Page 135: ...onnector set MR CCN1 Connector 10120 3000PE Shell kit 10320 52F0 008 3M or equivalent For MR J5 _G_ MR J3CN1 Connector 10150 3000PE Shell kit 10350 52F0 008 3M or equivalent For MR J5 _A_ MR J2CMP2 Connector 10126 3000PE Shell kit 10326 52F0 008 3M or equivalent For MR J5W_ _G Quantity 1 MR ECN1 Connector 10126 3000PE Shell kit 10326 52F0 008 3M or equivalent MR J5W_ _G Quantity 20 4 Junction term...

Page 136: ...L_M Cable length 0 3 m 1 m 1 Housing PAP 02V O Contact SPHD 001G P0 5 JST 2 Connector 10114 3000PE Shell kit 10314 52F0 008 3M or equivalent For connection with battery unit Page 296 Battery 8 Junction battery cable MR BT6V2CBL_M Cable length 0 3 m 1 m 1 Housing PAP 02V O Contact SPHD 001G P0 5 JST 2 Housing PALR 02VF O Contact SPAL 001GU P0 5 JST 3 Housing PAP 02V O Contact SPHD 001G P0 5 JST Pag...

Page 137: ...itching hub use a switching hub Class B that is recommended by the CC Link Partner Association Although a switching hub Class A can also be used there are restrictions on the type of topology that can be used For details refer to the motion product manual Cable model Cable length Application MR D05UDL3M B 3 m Connection cable for the CN8 connector Item Description Cable type Category 5e or higher ...

Page 138: ...stalled Page 144 Connection of regenerative option Servo amplifier Regenerative power W Built in regenerative resistor MR RB032 40 Ω MR RB12 40 Ω MR RB14 26 Ω MR RB30 13 Ω 2 MR RB3N 9 Ω 2 MR RB34 26 Ω 2 MR RB50 13 Ω 1 MR RB5N 9 Ω 1 MR J5 10_ 30 MR J5 20_ 10 30 100 MR J5 40_ 10 30 100 MR J5 60_ 10 20 100 MR J5 70_ 30 100 300 MR J5 100_ 30 100 300 MR J5 200_ 100 300 500 MR J5 350_ 100 300 500 MR J5W...

Page 139: ...istance per servo motor revolution ΔS PB mm rev PB Ball screw lead mm LB Ball screw length mm DB Ball screw diameter mm WL Moving part mass kg FC Load antidrag setting N TL Load torque converted into equivalent value on servo motor shaft N m η Drive system efficiency μ Friction coefficient JL Load moment of inertia converted into equivalent value on servo motor shaft kg cm2 JM Moment of inertia of...

Page 140: ...erated at rated speed Efficiency varies with the servo motor speed and generated torque Since the characteristics of the electrolytic capacitor change with time allow for approximately 10 higher inverse efficiency Capacitor charging Ec Energy charged into the electrolytic capacitor in the servo amplifier Multiply the sum total of regenerative energies by the inverse efficiency and subtract the cap...

Page 141: ...he total of ERs whose subtraction results are positive and one cycle period the power consumption PR W of the regenerative resistor can be calculated with the following equation PR W total of positive ERs one cycle operation period tf Select a regenerative option based on the PR value The regenerative option is not required when the energy consumption is equal to or less than the regenerative powe...

Page 142: ...stance per servo motor revolution ΔS PB mm rev PB Ball screw lead mm LB Ball screw length mm DB Ball screw diameter mm WL Moving part mass kg FC Load antidrag setting N TL Load torque converted into equivalent value on servo motor shaft N m η Drive system efficiency μ Friction coefficient JL Load moment of inertia converted into equivalent value on servo motor shaft kg cm2 JM Moment of inertia of ...

Page 143: ...mode Inverse efficiency ηm Efficiency including some efficiencies of the servo motor and servo amplifier when rated regenerative torque is generated at rated speed Efficiency varies with the speed and generated torque Since the characteristics of the electrolytic capacitor change with time allow for approximately 10 higher inverse efficiency Capacitor charging Ec Energy charged into the electrolyt...

Page 144: ... be Es ER J ηm Es Ec If ER values are negative at all timings the regenerative option is not needed If the values of ER include positive values from the total of ERs whose subtraction results are positive and one cycle period the power consumption PR W of the regenerative resistor can be calculated with the following equation PR W total of positive ERs one cycle operation period tf The regenerativ...

Page 145: ...ve and one cycle period the power consumption PR W of the regenerative resistor can be calculated with the following equation PR W total of positive ERs one cycle operation period tf Select a regenerative option based on the PR value The regenerative option is not required when the energy consumption is equal to or less than the regenerative power of the regenerative resistor built into the servo ...

Page 146: ...f 3 5 kW or less Remove the wiring between P and D and install the regenerative option between P and C G3 and G4 are terminals for the thermal sensor Between G3 and G4 opens if the regenerative option overheats abnormally 1 When using the MR RB50 or MR RB5N forcibly cool it with a cooling fan 1 0 m3 min or more 92 mm 92 mm 2 When MR RB30 MR RB34 or MR RB3N is used forcibly cool it with a cooling f...

Page 147: ...R RB12 MR RB14 Unit mm Mass 1 1 kg TE1 terminal Applicable wire size 0 2 mm2 to 2 5 mm2 AWG 24 to 12 Tightening torque 0 5 to 0 6 N m Mounting screw Screw size M5 Tightening torque 3 24 N m 5 144 169 6 36 40 TE1 15 149 2 156 168 6 12 φ6 mounting hole Approx 20 Approx 6 G3 G4 P C ...

Page 148: ...rew size M4 Tightening torque 1 2 N m Mounting screw Screw size M6 Tightening torque 5 4 N m Regenerative option Variable dimensions Mass kg A B MR RB30 17 335 2 9 MR RB34 MR RB3N 8 5 125 8 5 7 10 90 100 B A 318 142 150 79 30 30 101 5 82 5 82 5 G4 G3 C P Screw for mounting cooling fan 2 M4 screw Intake P C G3 G4 ...

Page 149: ... torque 1 2 N m Mounting screw Screw size M6 Tightening torque 5 4 N m Regenerative option Variable dimensions Mass kg A B MR RB50 17 217 5 6 MR RB5N G4 G3 C P 2 3 49 82 5 200 A B 8 120 108 12 7 350 162 5 12 5 12 5 82 5 133 162 5 Screw for mounting cooling fan 2 M3 screw opposite side 7 14 slotted hole Intake Approx 30 P C G3 G4 ...

Page 150: ... Unit mm Mass 0 5 kg TE1 terminal Applicable wire size 0 2 mm2 to 2 5 mm2 AWG 24 to 12 Tightening torque 0 5 to 0 6 N m Mounting screw Screw size M5 Tightening torque 3 24 N m TE1 30 15 99 1 6 119 6 5 6 156 168 144 12 φ6 mounting hole Approx 20 Approx 12 Approx 6 G3 G4 P C ...

Page 151: ...se an external regenerative option set Pr PA02 0 1 Note that the simple converter does not have a regenerative function Also an external regenerative option cannot be connected to the simple converter Simple converter standard specifications Model MR CM3K Converter output rated voltage 270 V DC to 324 V DC Rated current 3 phase power supply input 20 A Main circuit power supply input Voltage Freque...

Page 152: ...m or less Transportation conditions Must be transported by ground sea or air at an atmospheric pressure of 700 hPa or more Atmospheric pressure 700 hPa to 1060 hPa equivalent to the altitude of 400 m to 3000 m Vibration resistance When there is continuous vibration 10 Hz to 57 Hz displacement amplitude 0 075 mm 57 Hz to 150 Hz acceleration amplitude 9 8 m s2 Class 3M1 IEC 60721 3 3 When there is c...

Page 153: ...le converter 151 6 External interface Configuration including peripheral equipment L1 L2 L3 N P4 N P4 L11 L21 L11 L21 MCCB MC Power supply EMC filter Simple converter Servo amplifier Servo amplifier Power factor improving AC reactor Line noise filter ...

Page 154: ... next axis amplifier 3 Overheat detection connector CN10 If overheating is detected between terminals changes to OPEN 4 Protective earth PE terminal Pin No Signal name Description 1 L1 L1 phase 2 L2 L2 phase 3 L3 L3 phase Pin No Signal name Description 1 N Bus voltage reference potential 2 No Connection 3 P4 Bus voltage plus potential 1 L1 L2 L3 N P4 T1 T2 2 3 4 1 2 3 Pin number diagram viewed fro...

Page 155: ...ction 3 TH2 Main circuit overheat protection contact 2 Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufacturer Size Insulator OD CNP1 03JFAT SAYGFK XL LB AWG 16 to 10 4 7 mm or less 11 5 mm J FAT OT EXL JST CNP2 02 16 0 JFAT SAZGFKXL LA AWG 16 to 10 4 7 mm or less 11 5 mm CNP3 02 3 2 JFAT SAYDFK K7 5 AWG 18 to 14 3 9 mm or shorter 9 mm 1 2 3 Pin number diagram viewe...

Page 156: ...1 L21 CNP2 DOCOM CN3 ALM EM2 CN3 DICOM RA2 MC SK L1 L2 L3 P C D P3 CN2 CN8 1 9 3 4 5 6 2 7 8 RA1 RA2 ALM Servo motor OFF ON Emergency stop switch Simple converter 24 V DC 100 V AC also available Servo amplifier 24 V DC 3 phase 200 V AC to 240 V AC Short circuit connector Packed with the servo amplifier To the next axis Main circuit power supply 24 V DC Electromagnetic brake Encoder 24 V DC ...

Page 157: ...EM1 of the servo amplifier when the main circuit power supply is turned off 7 When using multiple servo amplifiers connected to a common bus configure a sequence that shuts off the main circuit power supply if an alarm occurs in any of the servo amplifiers using an I O module or the like Configure a sequence in which the servo system controller will stop all the servo amplifiers if an alarm occurs...

Page 158: ...6 3 MR CM simple converter Dimensions 6 156 0 5 156 10 6 CNP2 CNP1 CN10 172 165 40 6 135 6 PE L1 L2 L3 N P4 T1 T2 168 Unit mm φ6 mounting hole 2 M5 screw Mounting hole process drawing Approx 80 Approx 6 Approx 40 Approx 6 Approx 6 Approx 168 ...

Page 159: ...tion Guidelines Page 189 EMC filter recommended Model Molded case circuit breaker Fuse Magnetic contactor Frame rated current Voltage AC V Class Current A Voltage AC V Power factor improving reactor is not used Power factor improving reactor is used MR CM3K 30 A frame 30A 30 A frame 30A 240 T 40 300 S T21 Model Capacity Molded case circuit breaker Semiconductor fuse 700 V Magnetic contactor Frame ...

Page 160: ...ter FR BIF H When using a radio noise filter FR BIF H as an EMC measure for the servo amplifier connected to the simple converter install the radio noise filter on the primary input side of the simple converter Line noise filter FR BSF01 FR BLF When using a line noise filter FR BSF01 FR BLF as an EMC measure for the servo amplifier connected to the simple converter install the line noise filter on...

Page 161: ..._M cable and junction terminal block 1 Numbers in _ indicate the cable length 05 0 5 m 1 1 m 5 5 m PS7DW 20V14B F CN3 MR J2HBUS_M AERSBAN ESET Servo amplifier Junction terminal block Cable clamp LSP 1 2 DOCOM MO1 3 4 LZ 8 LB 7 9 SD MR J2HBUS_M 1 INP 5 6 10 DICOM LA LG LSN 11 12 MBR MO2 13 14 LZR 18 LBR 17 19 DOG 15 16 20 EM2 ALM LAR 1 2 3 4 8 7 9 5 6 10 11 12 13 14 18 17 19 15 16 20 1 2 3 4 8 7 9 ...

Page 162: ... AND PERIPHERAL EQUIPMENT 6 4 Junction terminal block PS7DW 20V14B F recommended G Dimensions of junction terminal block Unit mm M3 6L M3 5L 36 5 27 8 18 8 7 62 44 11 54 63 φ4 5 4 5 5 4 60 50 9 3 27 TB E φ6 1 42 6 2 ...

Page 163: ...ICOM LG DOCOM 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 Position control mode SON P15R LG LAR LBR LZR ST1 RES DICOM ZSP TLC TLA OP SP1 LSP LOP DOCOM RD LA VC LB LZ ST2 SA SA SP2 LG LG EMG LSN ALM SD DICOM LG DOCOM 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 ...

Page 164: ...2 6 OPTIONS AND PERIPHERAL EQUIPMENT 6 5 Junction terminal block MR TB50 A Junction terminal block cable MR J2M CN1TBL_M Model explanations 05 1 0 5 1 M M M R C N T L J B 1 2 _ Model Symbol Cable length m ...

Page 165: ...rs on the CN3 connector of a servo amplifier The terminal symbol S is for the shield Ground the junction terminal block cable using the S terminal of the junction terminal block Specifications Item MR TB26A Rating AC DC 32 V 0 5 A Usable wires Stranded wire 0 08 mm2 to 1 5 mm2 AWG 28 to 14 Solid wire φ0 32 mm to 1 2 mm Wire insulator OD φ3 4 mm or less Tool 210 619 WAGO or equivalent 210 119SB WAG...

Page 166: ...ERIPHERAL EQUIPMENT 6 6 Junction terminal block MR TB26A Dimensions 1 Values in parentheses are the sizes when installed with a 35 mm DIN rail 23 6 14 1 14 1 26 6 26 27 55 57 Unit mm Approx 35 1 Approx 7 5 1 Approx 31 1 1 ...

Page 167: ...l computer from the AC power socket 2 Check that the power plug has been disconnected and connect the computer to the servo amplifier 3 Connect the power plug of the personal computer to the AC power socket When using a personal computer with battery The computer can be used as it is Connection with other devices using servo amplifier communication function When the servo amplifier is charged with...

Page 168: ...plifier is used with the DC power supply input Page 26 Using servo amplifier with DC power supply input Selection conditions of wire size are as follows Construction condition Single wire set in midair Wiring length 30 m or shorter The following shows the wires used for wiring Use the wires given in this section or equivalent wires N C P L1 L2 L3 L11 L21 U V W M 1 Main circuit power supply lead Se...

Page 169: ...rvo motor Selection example of crimp terminals 200 V class Precautions Crimp terminals are used only for ground wiring Servo amplifier Wire mm2 L1 L2 L3 L11 L21 P C U V W MR J5 10_ 2 AWG 14 a 1 25 to 2 AWG 16 to 14 1 2 AWG 14 AWG 18 to 14 MR J5 20_ MR J5 40_ MR J5 60_ MR J5 70_ MR J5 100_ MR J5 200_ 3 phase power supply input AWG 18 to 10 MR J5 200_ 1 phase power supply input 3 5 AWG 12 b MR J5 35...

Page 170: ...tion motor controller can also be used instead of a molded case circuit breaker 1 The values of the SCCR vary depending on the combination with the servo amplifier 2 1 phase input is not supported Servo amplifier Molded case circuit breaker 1 3 Fuse Magnetic contactor 2 Frame rated current Voltage AC V Class Current A Voltage AC V Power factor improving reactor is not used Power factor improving r...

Page 171: ...it breaker Type E combination motor controller can also be used instead of a molded case circuit breaker Total output of rotary servo motors Total continuous thrust of linear servo motors Total output of direct drive motors Molded case circuit breaker 3 4 Fuse Magnetic contactor 2 Frame rated current Voltage AC V Class 1 Current A Voltage AC V 300 W or less 30 A frame 5 A 240 Semiconductor 15 700 ...

Page 172: ...tic contactor with an operation delay time interval between current being applied to the coil until closure of contacts of 80 ms or less Servo amplifier Molded case circuit breaker 1 Fuse Class T Fuse Class K5 Frame rated current Voltage AC V Current A Voltage AC V Current A Voltage AC V MR J5 10_ 30 A frame 5 A 240 1 300 1 250 MR J5 20_ MR J5 40_ MR J5 60_ MR J5 70_ MR J5 100_ MR J5 200_ MR J5 35...

Page 173: ...ontinuous thrust of linear servo motors Total output of direct drive motors Molded case circuit breaker 2 Fuse Magnetic contactor 1 Frame rated current Voltage AC V Class Current A Voltage AC V 300 W or less 30 A frame 5 A 240 T 15 400 DUD N30 Over 300 W 600 W or less 150 N or less 100 W or less 30 A frame 10 A 20 Over 600 W 1 kW or less Over 150 N 300 N or less Over 100 W 252 W or less 30 A frame...

Page 174: ...J5W3 Servo amplifier Fuse Class T Fuse Class K5 Current A Voltage DC V Current A Voltage DC V MR J5 10_ 1 400 1 400 MR J5 20_ MR J5 40_ MR J5 60_ MR J5 70_ MR J5 100_ MR J5 200_ MR J5 350_ MR J5W2 _G MR J5W3 _G Servo amplifier Magnetic contactor MR J5 10_ to MR J5 100_ SD T12 MR J5 200_ MR J5 350_ SD T21 Total output of rotary servo motors Total continuous thrust of linear servo motors Total outpu...

Page 175: ... a minimum clearance of 10 cm each at the top and bottom and 5 cm at the sides 200 V class 1 Use this for grounding 2 When using the power factor improving DC reactor remove the short bar between P3 and P4 3 Maximum dimensions The dimensions vary depending on the curvature of the input output lines 4 Selection conditions of wire size are as follows Wire type 600 V Grade heat resistant polyvinyl ch...

Page 176: ...ows Wire type 600 V Grade heat resistant polyvinyl chloride insulated wire HIV wire Construction condition Single wire set in midair Servo amplifier Powerfactor improving DC reactor Dimensions mm Terminal size Mass kg Wire mm2 4 W W1 H D 3 D1 D2 D3 d MR J5 200_ FR HEL 3 7K 77 55 92 82 66 57 37 M4 M4 1 5 2 AWG 14 MR J5 350_ FR HEL 7 5K 86 60 113 98 81 72 43 M4 M5 2 5 3 5 AWG 12 W 2 W1 H D1 D3 D2 P ...

Page 177: ... power supply to L1 and L3 Leave L2 open 4 Maximum dimensions The dimensions vary depending on the curvature of the input output lines Servo amplifier Power factor improving AC reactor Dimensions mm Terminal size Mass kg W W1 H D 4 D1 D2 d MR J5 10_ MR J5 20_ FR HAL 0 4K 104 84 99 72 51 40 M5 M4 0 6 MR J5 40_ FR HAL 0 75K 104 84 99 74 56 44 M5 M4 0 8 MR J5 60_ MR J5 70_ FR HAL 1 5K 104 84 99 77 61...

Page 178: ...ous thrust of linear servo motors Total output of direct drive motors Power factor improving AC reactor 450 W or less 150 N or less 100 W or less FR HAL 0 75K From over 450 W to 600 W From over 150 N to 240 N From over 100 W to 377 W FR HAL 1 5K From over 600 W to 1 kW From over 240 N to 300 N From over 377 W to 545 W FR HAL 2 2K From over 1 kW to 2 0 kW From over 300 N to 720 N From over 545 W to...

Page 179: ...ansmission and connect the external conductor of the cable to the SD terminal Ground the servo amplifier servo motor or others together at one point Page 84 Grounding Reduction techniques for external noises that cause the servo amplifier to malfunction If there are noise sources such as a magnetic contactor an electromagnetic brake and many relays that make a large amount of noise near the servo ...

Page 180: ... located near the main circuit cables and those transmitted through the power supply cables Noise generated by servo amplifier Noise radiated directly from servo amplifier Route 1 Noises transmitted in the air Noise radiated from the power cable Route 2 Noise radiated from servo motor cable Route 3 Magnetic induction noise Routes 4 and 5 Static induction noise Route 6 Noise transmitted through ele...

Page 181: ...ling them together Insert a line noise filter to the I O cables or a radio noise filter on the input line to reduce radiated noise from the cables Use shielded wires for the signal and power lines or put the lines in separate metal conduits 4 5 6 When the power lines and the signal lines are laid side by side or bundled together magnetic induction noise and static induction noise are transmitted t...

Page 182: ... When using cable clamp fittings When using a data line filter Servo amplifier Data line filter 80 mm or less Inside the cabinet Outside the cabinet Servo amplifier Cable clamp fitting Locate 5 mm to 10 mm away from the cabinet entrance Inside the cabinet Outside the cabinet Servo amplifier Data line filter 80 mm or less ...

Page 183: ...he servo amplifier Use the following surge killer or equivalent Ex CR 50500 Okaya Electric Industries Note that a diode should be installed to a DC relay or the like Maximum voltage Not less than four times the drive voltage of the relay or the like Maximum current Not less than two times the drive current of the relay or the like Impedance Ω 10 MHz to 100 MHz 100 MHz to 500 MHz 80 150 Rated volta...

Page 184: ...n clamp several cables in a bunch The cable clamp comes as a set with the grounding plate Unit mm Dimensions Unit mm 1 Screw hole for grounding Connect it to the ground plate of the cabinet Precautions The motor cable single cable type has no shield on the outermost circumference Therefore to ground the motor cable with a cable clamp use a motor cable dual cable type Model A B C Accessory fittings...

Page 185: ...ses must be four times or less Do not pass the grounding wire through the filter Otherwise the effect of the filter will drop Wind the wires through the line noise 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 line noise filters to have the required number of passes as shown in Example 2 Place the line noise filters as clos...

Page 186: ...of the varistors refer to the manufacturer catalog Unit mm 1 For special purpose items for lead length L contact the manufacturer Power supply voltage Varistor Maximum rating Maximum limit voltage Static capacity reference value Varistor voltage rating range V1 mA Permissible circuit voltage Surge current immunity Energy immunity Rated pulse power A V AC Vrms DC V 8 20 μs A 2 ms J W pF V 200 V cla...

Page 187: ...s Ig2 B axis Igm B axis Ig2 C axis Igm C axis mA 6 2 Ig1 Leakage current on the electric channel from the earth leakage current breaker to the input terminals of the servo amplifier Page 186 Example of leakage current Ig1 Ig2 per km of CV cable run in metal conduit Ig2 Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor Page 186 Example of le...

Page 188: ...nt breaker selection example Servo motor output kW Leakage current mA 0 05 to 1 0 1 1 2 to 2 0 2 3 to 3 5 0 3 Servo amplifier Leakage current mA MR J5 10_ MR J5 20_ MR J5 40_ MR J5 60_ MR J5 70_ MR J5 100_ 0 16 MR J5 200_ MR J5 350_ 0 22 MR J5W2 22G MR J5W2 44G 0 1 MR J5W2 77G MR J5W2 1010G MR J5W3 222G MR J5W3 444G 0 15 Servo amplifier Rated sensitivity current of earth leakage current breaker mA...

Page 189: ...cs surges Find each term of formula 6 1 from the diagram Ign 0 not used Iga 0 1 mA Igm 0 1 mA Insert these values in formula 6 1 Ig 10 0 1 0 0 1 1 0 1 0 1 Ig 4 mA According to the result of calculation use an earth leakage current breaker having the rated sensitivity current Ig of 4 0 mA or more Use an earth leakage current breaker having Ig of 15 mA for the NV SP SW CP CW HW series HK KT43 2 mm2 ...

Page 190: ...Ig 10 0 1 0 0 15 1 0 1 0 1 0 1 0 1 0 1 0 1 Ig 8 5 mA According to the result of calculation use an earth leakage current breaker having the rated sensitivity current Ig of 8 5 mA or more Use an earth leakage current breaker having Ig of 15 mA for the NV SP SW CP CW HW series 2 mm2 5 m NV Ig1 Iga MR J5W3 222G Ig2 Igm M Ig2 Igm M HK KT23 HK KT23 Ig2 Igm M HK KT23 2 mm2 5 m Cable A axis servo motor C...

Page 191: ... G MR J5W G User s Manual Introduction MR J5 A User s Manual Introduction 2 The example is when a surge protector is connected Application environment Total length of servo motor power cable EMC filter Model Rated current A Rated voltage VAC Operating temperature C Mass kg Manufacturer IEC EN 61800 3 Category C2 C3 1 50 m or less FSB 10 254 HU 10 500 40 to 85 1 8 COSEL Co Ltd FSB 20 254 HU 20 FSB ...

Page 192: ... 30 254 HU Unit mm HF3010C SZB HF3020C SZB HF3030C SZB Unit mm 3 M4 3 M4 2 φ5 5 9 7 5 5 5 5 2 11 5 2 5 240 19 87 5 55 66 M4 208 M4 230 100 4 1 Terminal block cover Protective earth PE Mounting hole Output Input Protective earth PE Mounting plate φ4 5 R2 2 5 6 220 4 210 2 66 4 55 2 78 4 Approx 10 5 Approx 12 5 Approx 12 5 ...

Page 193: ...surge protectors refer to EMC Installation Guidelines RSPD series Okaya Electric Industries Unit mm LT CS WS series Soshin Electric φ4 5 66 4 55 2 78 4 220 4 210 2 R2 2 5 6 Approx 10 5 Approx 12 5 Approx 12 5 41 1 28 5 1 28 1 φ4 2 0 5 5 5 1 11 1 30 0 200 4 5 0 5 1 3 2 Resin Lead Case 19 38 28 250 22 5 8 5 25 4 φ4 3 4 Operation status display Vinyl wire Grounding wire ...

Page 194: ...ning and the like in combination with a controller other than a Mitsubishi Electric motion module Restrictions A The absolute position detection system cannot be configured in the following conditions When an incremental type encoder is being used Speed control mode and torque control mode Infinite long positioning and the like stroke less coordinate system Changing electronic gear after homing Th...

Page 195: ...ection system to 1 Enabled absolute position detection system Servo parameter setting A Set Pr PA03 Absolute position detection system to 1 Enabled absolute position detection system by DIO Homing After the absolute position detection system is enabled AL 025 Absolute position erased occurs at the initial startup Then ABSV Absolute position undetermined turns on Refer to Control mode in the follow...

Page 196: ...he value of servo motor machine edge pulse unit is acquired from the servo amplifier of the target axis and displayed 2 Command pulse unit value The value of command pulse unit is acquired from the servo amplifier of the target axis and displayed 3 CYC G WG The pulse data of the servo motor load side position within one revolution is acquired from the servo amplifier of the target axis and display...

Page 197: ...gher position mismatch may occur Item Description System Electronic battery backup type Maximum revolution range Home position 32767 rev Maximum speed at power failure r min 1 Rotary servo motor manufactured by Mitsubishi Electric 8000 only when the acceleration deceleration time until 8000 r min is 0 2 s or longer LSO 1XO Controller Servo amplifier Home position data Non volatile memory Command p...

Page 198: ...ys and power off on weekends Item Description System Electronic battery backup type Maximum revolution range Home position 32767 rev Maximum speed at power failure r min 1 Direct drive motor manufactured by Mitsubishi Electric 500 only when acceleration deceleration time until 500 r min is 0 1 s or longer Battery backup time 2 Direct drive motor manufactured by Mitsubishi Electric Approximately 50...

Page 199: ...ower off on weekends Item Description System Electronic battery backup type Maximum revolution range Home position 32767 rev Maximum speed at power failure r min 1 Direct drive motor manufactured by Mitsubishi Electric 500 only when acceleration deceleration time until 500 r min is 0 1 s or longer Battery backup time 2 Direct drive motor manufactured by Mitsubishi Electric Approximately 10000 hour...

Page 200: ...COM 15 SON 42 EM2 17 ABSM 18 ABSR 22 ABSB0 23 ABSB1 25 ABST DICOM DOCOM 47 21 DICOM 49 RD 1 P15R 33 OP 41 47 10 PP 11 PG 35 NP 36 NG 1 P15R 27 TLA 28 LG SD CN3 RA2 Servo amplifier Forward rotation stroke end 1 Reverse rotation stroke end External torque limit selection Reset Forced stop 2 Output Servo on Electromagnetic brake output ABS transfer mode ABS request ABS transmission data bit 0 Input R...

Page 201: ... transfer error occurs refer to the following and take corrective action Page 213 Absolute position data transfer errors MR J5 User s Manual Troubleshooting 5 Homing Homing is required in the following case At system set up At servo amplifier replacement At servo motor replacement When AL 025 Absolute position erased has occurred In the absolute position detection system by executing a homing at s...

Page 202: ...equest on Repeated for 32 bits Transmission data set Monitoring timer ABST ABS transmission data ready off Current position data The data is read in units of two bits and the read data is shifted by two bits to the right and written as the lowest bits This step is repeated until 32 bit data is configured 16 times Reading 2 bits Shift and add ABSR ABS request off ABST ABS transmission data ready on...

Page 203: ...eceived If a warning occurs ABSM transfer can be received 2 If ABSM is turned off during the ABSM transfer mode the ABS transfer mode is interrupted and AL 0E5 ABS time out warning occurs If SON is turned off RES is turned on or EM2 is turned off during the ABS transfer mode AL 0E5 occurs 3 The output signal functions of ABST ABSB0 and ABSB1 are switched by the following conditions 4 ABSM transfer...

Page 204: ... In response to ABSR the servo outputs the lower 2 bits of ABS and turns off ABST 4 The programmable controllers recognizes that the ABST has turned off ABS 2 bits data have been outputted reads the lower 2 bits of ABST and turns off ABSR 5 The servo turns on ABST to respond to the next request Step 3 to 6 are repeated until 32 bit data and the 6 bit checksum have been transmitted 6 After receivin...

Page 205: ...of the received absolute position data using the sequence program and compare it with the checksum code sent from the servo The following shows how to calculate the checksum The checksum will add every ABS 2 bit data inputted to the total The checksum is 6 bit data Example Absolute value data 10 FFFFFFF6h Therefore the checksum of 10 is 2Dh 1111 1111 1111 0110 10 FFFF FFF6 10b 01b 11b 11b 11b 11b ...

Page 206: ... s after ABST is turned on this will be treated as a transmission error and Al 0E5 ABS time out warning occurs ABS request on time time out check applied to 32 bit absolute position data in 2 bit units checksum If the ABSR is not turned off by the programmable controller within 5 s after ABST is turned off this will be treated as a transmission error and AL 0E5 occurs OFF ON OFF ON OFF ON 5 s ABSM...

Page 207: ...he ABS transfer If the ABS transfer mode is turned on and after the transfer starts if the ABSM is turned off before the 19th ABS transmission data ready this will be treated as a transmission error and AL 0E5 occurs OFF ON OFF ON OFF ON 5 s 1 2 3 4 18 19 1 2 3 4 18 19 ABSM ABS transfer mode Does not turn OFF ABSR ABS request ABST ABS transmission data ready Alarm AL 0E5 ABS time out warning No al...

Page 208: ...equired then turn on SON again If the absolute position data transmission is not completed normally even after retry perform the ABS checksum error and error processing When a checksum error occurs the start command should be interlocked with ABST to disable the positioning operation The following shows an example of three retries are performed OFF ON OFF ON OFF ON OFF ON 1 2 3 4 18 19 1 2 3 4 18 ...

Page 209: ... alarm factor cancel the alarm and then turn on ABSM During reset ABSM is received OFF ON OFF ON OFF ON OFF ON OFF ON 100 ms OFF ON OFF ON OFF ON SON Servo on RES Reset ABSM ABS transfer mode During ABS transfer ABSR ABS request ABST ABS transmission data ready ABSB0 ABS transmission data bit 0 ABSB1 ABS transmission data bit 1 Absolute position data Base circuit ALM Malfunction RD Ready Operation...

Page 210: ... amplifier simultaneously send the latched current position to the controller side and the servo amplifier sets this data as the position command value However since the base circuit is off during a forced stop the status does not switch to servo lock Therefore if the servo motor is rotated by external force or the like after ABSM is turned on this travel distance is accumulated in the servo ampli...

Page 211: ...However the base circuit and RD turn on after the forced stop is canceled OFF ON OFF ON OFF ON OFF ON OFF ON 100 ms OFF ON OFF ON SON Servo on RES Reset ABSM ABS transfer mode During ABS transfer ABSR ABS request ABST ABS transmission data ready ABSB0 ABS transmission data bit 0 ABSB1 ABS transmission data bit 1 Absolute position data Base circuit RD Ready Operation possible ...

Page 212: ...ory as the home position absolute position data CR should be turned on after checking that INP has turned on If this condition is not satisfied AL 096 Home position setting warning occurs If homing is performed correctly the alarm is automatically canceled The number of homing times is limited to 100000 OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON Servo motor Proximity dog DOG Proximity dog INP In po...

Page 213: ...vo on should be turned on after checking that INP has turned on If this condition is not satisfied AL 096 Home position setting warning occurs If homing is performed correctly the alarm is automatically canceled The number of homing times is limited to 100000 Homing can be performed during the servo off OFF ON OFF ON OFF ON OFF ON OFF ON Manual feeding with JOG operation or others Servo motor INP ...

Page 214: ...lers continue outputting the command pulse Since this causes a discrepancy between the absolute position data of the servo amplifier and the programmable controller position mismatch will occur if the operation is continued When the servo amplifier has detected the stroke end release stroke end detection by JOG operation and the like urn on SON again or cycle the power By cycling the power the abs...

Page 215: ...e time out 2 After the ABS transfer mode signal turns on check the time it takes to turn off ABS transfer time If the ABS transfer time is longer than 5 s this will be treated as a transmission error and as such perform ABS communication error Perform the ABS communication error if AL 0E5 occurs in the servo amplifier due to an ABS transfer mode completion time time out OFF ON OFF ON OFF ON 1 s AB...

Page 216: ...servo amplifier is detected If the ABS request time is longer than 1 s this will be treated as an error in ABSR or ABST and as such perform ABS communication error Perform the ABS communication error if AL 0E5 occurs in the servo amplifier due to ABS request off time time out OFF ON OFF ON OFF ON 1 s ABSM ABS transfer mode ABSR ABS request Does not turn OFF ABST ABS transmission data ready Alarm A...

Page 217: ...ier The purpose of this function is as follows Uncontrolled stop according to stop category 0 of IEC EN 60204 1 Preventing unexpected restart CAUTION The following basic safety instructions must be read carefully and fully to prevent injury to persons or damage to property Only qualified personnel are authorized to install start up repair or adjust the machines in which these components are instal...

Page 218: ...em Perform all risk assessments to the machine or the entire system To prevent accumulation of malfunctions perform function checks at regular intervals based on the risk assessments of the machine or the system Regardless of the system safety level malfunction checks should be performed at least once per year If the upper and lower power modules in the servo amplifier are shorted and damaged simu...

Page 219: ...subishi Electric Drive Safety function MR J5 User s Manual Troubleshooting CN8 M Base power supply for upper arm Shut off signal STO1 Shut off Monitor signal TOFB1 Base power supply for lower arm Power module Shut off signal STO2 Shut off Monitor signal TOFB2 Servo motor ON OFF ON OFF ON OFF ON OFF 0 r min 8 ms Servo motor speed EM2 Forced stop 2 Magnetic contactor Base circuit Energy supply to th...

Page 220: ...ration by turning off EM2 Forced stop 2 DI 1 STO2 CN8 5 Input the STO status of STO2 STO state base circuit shut off Open between STO2 and STOCOM STO release state in driving Close between STO2 and STOCOM Before turning off STO2 be sure to stop the servo motor in the servo off state or with forced stop deceleration by turning off EM2 Forced stop 2 DI 1 TOFCOM CN8 8 Common terminal for the TOFB1 an...

Page 221: ... With the clip 1 of the STO cable plug pressed in the direction of the arrow hold the plug 2 and pull out Input signal Status STO1 STO2 Between TOFB1 and TOFCOM Monitoring the status of STO1 Between TOFB2 and TOFCOM Monitoring the status of STO2 Between TOFB1 and TOFB2 Monitoring STO status of the servo amplifier OFF OFF ON STO state base circuit shut off ON STO state base circuit shut off ON STO ...

Page 222: ...ing diagram is for source interface For sink interface refer to the following Page 222 Sink I O interface 1 With TOFB whether the servo is in the STO state can be confirmed Refer to the following for a connection example Page 221 External I O signal connection example using an external safety relay unit The safety level depends on the setting value of Pr PF18 STO diagnosis error detection time and...

Page 223: ...ncy switching off for the shut off by the STO function of the servo amplifier change S1 to EMG The stop category at this time is 0 If STO is turned off while the servo motor is rotating AL 063 STO timing error occurs 24 V 0 V S2 K3 24V XS0 XS1 Z00 Z10 Z20 X0 COM0 24G X1 COM1 Z01 Z11 Z21 K3 CN8 KM1 CN3 20 EM1 EM2 STO1 TOFB1 TOFCOM TOFB2 STO2 STOCOM M KM1 KM1 EMG S4 S3 Fuse Safety relay module MELSE...

Page 224: ...e output terminal When the output transistor is turned on the current flows from the collector terminal 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 inrush current 100 mA or less A maximum of 5 2 V voltage drop occurs in the servo ampli...

Page 225: ...o STO states by using one TOFB 1 If the voltage drop maximum of 5 2 V interferes with the relay operation apply high voltage maximum of 26 4 V from external source TOFCOM TOFB2 TOFB1 Servo amplifier If polarity of diode is reversed servo amplifier will malfunction Load 24 V DC 10 1 300 mA ...

Page 226: ... V voltage drop occurs in the servo amplifier When outputting each of two STO states by using each TOFB 1 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 When outputting two STO states by using one TOFB 1 If the voltage drop maximum of 5 2 V interferes with the relay operation apply high voltage maximum of 26 4 V fr...

Page 227: ...ference home position 1048576 pulses unit initial value One servo motor revolution unit Homing pitch can be changed with servo parameter setting Page 233 Magnetic pole detection method setting ABSOLUTE POSITION DETECTION SYSTEM Absolute position encoder battery Not required Differs depending on the servo motor The following alarms and warnings are not detected AL 025 Absolute position erased AL 09...

Page 228: ...ection triggers AL 016 4 This is for MR J5 _A RJ servo amplifier The MR J5 _A servo amplifier does not have the CN2L connector 1 C N 4 L2 L3 N P3 P4 P C D L11 L21 U V W L1 C N 1 C N 5 C N 6 C N 8 C N 2 C N 3 C N 2 L MCCB R S T P C L11 L21 P3 P4 W V U L1 L2 L3 MC FR BSF01 FR HEL CN5 MR Configurator2 CN6 CN8 CN3 CN2 CN2L 4 SCALE THM 2 3 Power supply Molded case circuit breaker Personal computer Magn...

Page 229: ...Setting of linear servo motor series and linear servo motor type Setting of linear encoder direction and linear servo motor direction 1 What is the type of the linear encoder Incremental linear encoder Absolute position linear encoder Linear encoder resolution setting 1 Perform the magnetic pole detection 1 Change the setting to disable the magnetic pole detection Positioning operation check in te...

Page 230: ... of the linear encoder set Pr PC27 0 Encoder pulse count polarity selection to 0 Linear servo motor positive direction and linear encoder increasing direction If the positive direction of the linear servo motor does not match the increasing direction of the linear encoder set Pr PC27 0 to 1 Linear servo motor positive direction and linear encoder decreasing direction Servo parameter Description PC...

Page 231: ...inear encoder decreasing direction the positive direction of the linear servo motor matches the increasing direction of the linear encoder and the linear servo motor is operated in the positive direction Linear encoder resolution setting Set the ratio to the linear encoder resolution with Pr PL02 Linear encoder resolution setting Numerator and Pr PL03 Linear encoder resolution setting Denominator ...

Page 232: ...t be accepted or an alarm may occur An alarm may occur when the linear encoder is mounted improperly or when the linear encoder resolution setting Pr PL02 Linear encoder resolution setting Numerator and Pr PL03 Linear encoder resolution setting Denominator or the setting value of Pr PL09 is incorrect For the machine whose friction becomes 30 or more of the continuous thrust the direct drive motor ...

Page 233: ...c pole detection Voltage level to 10 as a guide value Execute positive direction travel or negative direction travel with Positioning operation in the test operation mode on MR Configurator2 Set the travel distance to 0 at this time The magnetic pole detection is performed Is Pr PL09 the final value Perform one of the following operations alarm reset servo amplifier power cycling or software reset...

Page 234: ...ial servo on after cycling the power 1 Cycle the power of the servo amplifier Alternatively reset the software Set the load to mass of the linear servo motor primary side ratio with Pr PL17 1 Load to motor mass ratio load to motor inertia ratio selection 2 Execute positive direction travel or negative direction travel with Positioning operation in the test operation mode on MR Configurator2 Set th...

Page 235: ...e detection change Pr PL01 0 to 0 Magnetic pole detection disabled Setting of magnetic pole detection voltage level by position 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 Gui...

Page 236: ...ng value and make sure that the accuracy of the magnetic pole detection is as required Setting example In this example set the final setting value of Pr PL09 Magnetic pole detection Voltage level to 49 setting value at the alarm occurrence 70 0 7 Setting of response performance and load to motor mass ratio by minute position detection method When using the minute position detection method set the ...

Page 237: ...d the linear servo motor perform the magnetic pole detection again The magnetic pole detection improves in accuracy when performed with no load For incremental encoder For the incremental linear encoder the magnetic pole detection is required every time the power is turned on or the software is reset By turning on the servo on command from the controller after the power on the magnetic pole detect...

Page 238: ...H3 LM F LM U2 LM K2 Medium thrust Continuous thrust Less than 400 N Large thrust Continuous thrust 400 N or more Pitch against magnetic pole mm 48 30 60 48 Linear servo motor series LM H3 LM F LM U2 LM K2 Medium thrust Continuous thrust Less than 400 N Large thrust Continuous thrust 400 N or more Pitch against magnetic pole mm 48 30 60 48 LSN 1 LSP 1 Servo on position Magnetic pole detection start...

Page 239: ...servo amplifier before replacement 2 Write the read magnetic pole information to the servo amplifier after replacement 3 To ensure safety perform the test operation with the torque limited and confirm that the servo motor can be operated safely Migration method of the magnetic pole information How to read magnetic pole information from servo amplifier before replacement 1 Open the project in MR Co...

Page 240: ...Use MR Configurator2 Installation and wiring Setting of linear servo motor series and linear servo motor type Setting of linear encoder direction and linear servo motor direction 1 What is the type of the linear encoder Incremental linear encoder Absolute value linear encoder Linear encoder resolution setting 1 Perform the magnetic pole detection 1 Change the setting to disable the magnetic pole d...

Page 241: ...tion of the linear encoder set Pr PC45 0 Encoder pulse count polarity selection to 0 Linear servo motor positive direction and linear encoder increasing direction If the positive direction of the linear servo motor does not match the increasing direction of the linear encoder set Pr PC45 0 to 1 Linear servo motor positive direction and linear encoder decreasing direction Servo parameter Descriptio...

Page 242: ...ng direction the positive direction of the linear servo motor matches the increasing direction of the linear encoder and the linear servo motor is operated in the positive direction Linear encoder resolution setting Set the ratio to the linear encoder resolution with Pr PL02 Linear encoder resolution setting Numerator and Pr PL03 Linear encoder resolution setting Denominator Precautions The settin...

Page 243: ... be accepted or an alarm may occur An alarm may occur when the linear encoder is mounted improperly or when the linear encoder resolution setting Pr PL02 Linear encoder resolution setting Numerator and Pr PL03 Linear encoder resolution setting Denominator or the setting value of Pr PL09 is incorrect For the machine whose friction becomes 30 or more of the continuous thrust the direct drive motor m...

Page 244: ...ue Execute positive direction travel or negative direction travel with Positioning operation in the test operation mode on MR Configurator2 Set the travel distance to 0 at this time The magnetic pole detection is performed Is Pr PL09 the final value Perform one of the following operations alarm reset servo amplifier power cycling or software reset Has AL 027 Initial magnetic pole detection error o...

Page 245: ...e power of the servo amplifier Alternatively reset the software Set the load to mass of the linear servo motor primary side ratio with Pr PL17 1 Load to motor mass ratio load to motor inertia ratio selection Execute positive direction travel or negative direction travel with Positioning operation in the test operation mode on MR Configurator2 Set the travel distance to 0 at this time The magnetic ...

Page 246: ...solute position linear encoder set Pr PL01 0 Servo motor magnetic pole detection selection to 1 Magnetic pole detection at initial servo on after cycling the power After the completion of the magnetic pole detection change Pr PL01 0 to 0 Magnetic pole detection disabled Servo parameter Description PL08 2 Magnetic pole detection Stroke limit enabled disabled selection 0 Enabled 1 Disabled Initial v...

Page 247: ...Set the value to approximately 70 of the value which triggers AL 050 AL 051 AL 033 AL 0E1 and AL 0EC If AL 027 Initial magnetic pole detection error occurs with this value specify a value intermediate between the value set at occurrence of AL 050 AL 051 AL 033 AL 0E1 and AL 0EC and the value set at the magnetic pole detection alarm occurrence as the final setting value 3 Perform the magnetic pole ...

Page 248: ...otor inertia ratio selection Initial value 0 Setting of identification signal amplitude by minute position detection method If AL 032 Overcurrent AL 050 Overload 1 AL 051 Overload 2 or AL 0E1 Overload warning 1 occurs at the magnetic pole detection by the minute position detection method set a smaller value for Pr PL18 Magnetic pole detection Minute position detection method Identification signal ...

Page 249: ...iming chart 1 The magnetic pole detection time indicates the operation time when LSP Forward rotation stroke end and LSN Reverse rotation stroke end are on Linear servo motor movement when LSP Forward rotation stroke end and LSN Reverse rotation stroke end are on 1 When LSP Forward rotation stroke end or LSN Reverse rotation stroke end is turned off during the magnetic pole detection the operation...

Page 250: ...h power on is not required How to replace servo amplifier without magnetic pole detection Refer to the following Page 237 How to replace servo amplifier without magnetic pole detection Linear servo motor series LM H3 LM F LM U2 LM K2 Medium thrust Continuous thrust Less than 400 N Large thrust Continuous thrust 400 N or more Pitch against magnetic pole mm 48 30 60 48 Servo parameter Description PL...

Page 251: ...coder is used the home position is the position per 1048576 pulses changeable with Pr PL01 2 Homing stop interval setting with reference to the linear encoder home position reference mark that passed through first after a homing start Change the setting value of Pr PL01 according to the linear encoder resolution Servo parameter Description PL01 2 Homing stop interval setting 0 213 8192 pulse 1 217...

Page 252: ...en an incremental encoder is used Pr PL01 2 Stop interval pulse Linear encoder resolution 0 001 µm 0 005 μm 0 01 μm 0 02 μm 0 05 μm 0 8192 0 008 0 041 0 082 0 164 0 410 1 131072 0 131 0 655 1 311 2 621 6 554 2 262144 0 262 1 311 2 621 5 243 13 107 Recommended value 3 1048576 1 049 5 243 10 486 Recommended value 20 972 Recommended value 52 429 4 4194304 4 194 20 972 Recommended value 41 943 83 886 ...

Page 253: ...ion reference mark is set as the home position The following figure shows the operation of Homing method 34 1 Home position shift distance can be changed with Pr PT07 Home position shift distance When the stroke end is detected The following figure shows the operation of Homing method 11 1 Home position shift distance can be changed with Pr PT07 Home position shift distance 0 r min 1 Homing direct...

Page 254: ...tion where LZ Encoder Z phase pulse is turned on depends on the direction of home position passing In cases where each homing is required to be completed at the same position such as dog type homing start homing with the same direction Point to note for linear encoder without home position reference mark For the linear encoder without home position reference mark LZ Encoder Z phase pulse of the se...

Page 255: ... linear encoder have different reference home positions at homing For the incremental linear encoder a home position reference mark of the linear encoder is necessary in the homing direction To execute a homing securely in the following example start the homing after moving the linear servo motor to the LSN with the JOG operation and others ON OFF 1048576 pulses 1 0 mm s Homing direction Homing sp...

Page 256: ...20 1048567 pulse 4 222 4194304 pulse 5 224 16777216 pulse 6 226 67108864 pulse 7 230 1073741824 pulse Initial value 3 220 1048567 pulses Pr PL01 2 Stop interval pulse Linear encoder resolution 0 001 µm 0 005 μm 0 01 μm 0 02 μm 0 05 μm 0 8192 0 008 0 041 0 082 0 164 0 410 1 131072 0 131 0 655 1 311 2 621 6 554 2 262144 0 262 1 311 2 621 5 243 13 107 Recommended value 3 1048576 1 049 5 243 10 486 Re...

Page 257: ...hange the setting value of Pr PL01 2 Homing stop interval setting in accordance with the linear encoder resolution Incremental linear encoder When the linear encoder home position reference mark exists in the homing direction In the case of a dog type homing after the proximity dog signal rear end is detected the nearest reference home position shifted by the home position shift distance is used a...

Page 258: ...hase is recognized at startup The position where LZ Encoder Z phase pulse is turned on depends on the direction of home position passing In cases where each homing is required to be completed at the same position such as dog type homing always start homing with the same direction Point to note for linear encoder without home position reference mark For the linear encoder without home position refe...

Page 259: ...ing 1 This can be changed with Pr PL01 For data set type homing For a data set type homing when CR Clear is turned on the position control counter is cleared and the current position is stored as the home position data into the non volatile memory backup memory 1 This can be changed with Pr PL01 ON OFF 1048576 pulses 1 0 mm s Homing direction Homing speed Creep speed Linear servo motor speed Proxi...

Page 260: ... error detection function selection Refer to the following table Initial value 3 Position deviation error detection Set Pr PL04 0 AL 042 Servo control error detection function selection to 1 to enable the position deviation error detection When the difference between the model feedback position 1 and the feedback position 2 in the figure is equal to or more than the value of Pr PL05 Position devia...

Page 261: ...tion error detection Page 259 Speed deviation error detection Page 259 Thrust deviation error detection Pr PL04 0 AL 042 Servo control error detection function selection Initial value 3 Linear servo control error controller reset condition selection Select the reset condition of the linear servo control error When Pr PL04 3 AL 042 Servo control error detection controller reset condition selection ...

Page 262: ... differ depending on the linear encoder type ID The ID No of the linear encoder is displayed Data 1 For the incremental type linear encoder the counter from powering on is displayed For the absolute position type linear encoder the absolute position data is displayed Data 2 For the incremental type linear encoder the distance number of pulses from the reference mark Z phase is displayed For the ab...

Page 263: ...ng function If the following conditions are not satisfied the auto tuning mode 1 may not operate properly Time to reach 2000 mm s is the acceleration deceleration time constant of 5 s or less The linear servo motor speed is 50 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 higher of the continuous thru...

Page 264: ...iquid cooling 50 100 150 200 250 300 0 0 1 10 1 100 1000 In operation Operating time s In servo lock Load ratio 0 0 1 10 1 100 1000 100 200 300 400 Operating time s In operation In servo lock Load ratio 100 200 300 400 500 600 0 0 1 10 1 100 1000 In operation Operating time s In servo lock Load ratio 50 100 150 200 250 300 0 0 1 10 1 100 1000 In operation Operating time s In servo lock Load ratio ...

Page 265: ...plicable when the power factor improving reactor is not used Linear servo motor primary side Servo amplifier Power supply capacity kVA Servo amplifier generated heat W Area required for heat dissipation m2 At rated output At servo off LM H3P2A 07P BSS0 MR J5 40_ 0 9 35 15 0 7 LM H3P3A 12P CSS0 0 9 35 15 0 7 LM H3P3B 24P CSS0 MR J5 70_ 1 3 50 15 1 0 LM H3P3C 36P CSS0 1 9 50 15 1 0 LM H3P3D 48P CSS0...

Page 266: ...CSS0 0 9 LM H3P3B 24P CSS0 1 3 LM H3P3C 36P CSS0 1 9 LM H3P7A 24P ASS0 1 3 LM U2PAB 05M 0SS0 0 5 LM U2PAD 10M 0SS0 0 9 LM U2PAF 15M 0SS0 0 9 LM U2PBB 07M 1SS0 0 5 LM U2PBD 15M 1SS0 1 0 LM U2PBF 22M 1SS0 1 3 LM K2P1A 01M 2SS1 0 9 LM K2P2A 02M 1SS1 1 3 Servo amplifier Servo amplifier generated heat W 1 At servo off C At rated output MR J5W2 22G 20 Sum of the total amount of heat generated by the ser...

Page 267: ... 47 10 4 LM H3P7D 96P ASS0 6 18 10 4 9 59 10 5 LM U2PAB 05M 0SS0 5 72 10 2 1 72 10 4 LM U2PAD 10M 0SS0 2 82 10 2 8 60 10 5 LM U2PAF 15M 0SS0 1 87 10 2 5 93 10 5 LM U2PBB 07M 1SS0 3 13 10 2 1 04 10 4 LM U2PBD 15M 1SS0 1 56 10 2 5 18 10 5 LM U2PBF 22M 1SS0 4 58 10 2 1 33 10 5 LM U2P2B 40M 2SS0 1 47 10 3 1 27 10 5 LM U2P2C 60M 2SS0 1 07 10 3 7 66 10 6 LM U2P2D 80M 2SS0 9 14 10 4 5 38 10 6 LM FP2B 06M...

Page 268: ...inear encoder Perform magnetic pole detection in the incremental system and disable magnetic pole detection after detection Enable the absolute position detection system with Pr PA03 Absolute position detection system Alarm detection AL 025 Absolute position erased AL 092 Battery cable disconnection warning AL 09F Battery warning and AL 0E3 Absolute position counter warning are not detected Backup...

Page 269: ... Servo motor magnetic pole alignment Magnetic pole detection Required Not required adjusted before shipping Automatically executed at the first servo on after the power is turned on In the absolute position detection system the magnetic pole detection can be disabled with Pr PL01 Page 273 Magnetic pole detection method setting ABSOLUTE POSITION DETECTION SYSTEM Absolute position encoder battery Re...

Page 270: ...te position detection system 4 This is for MR J5 _A RJ servo amplifier The CN2L connector is not used for the direct drive servo system 1 R S T C N 4 L2 L3 N P3 P4 P C D L11 L21 U V W L1 C N 1 C N 5 C N 6 C N 8 C N 2 C N 3 C N 2 L CN5 P C L11 L21 P3 P4 MR Configurator2 CN6 CN8 CN3 CN2 W V U L1 L2 L3 MC CN2L 4 FR BSF01 FR HEL MCCB Power supply Molded case circuit breaker Magnetic contactor Analog m...

Page 271: ...olute position detection system Incremental system Absolute position detection system Set Pr PA03 0 Absolute position detection system selection to 1 Cancel AL 025 Absolute position erased 4 Can the Z phase pulse of the direct drive motor manufactured by Mitsubishi Electric be turned on manually Perform the magnetic pole detection 1 Turn on the Z phase pulse of the direct drive motor by using the ...

Page 272: ... has advantages and disadvantages Refer to the following for the characteristics of each method Page 230 Outline of magnetic pole detection Select a magnetic pole detection method suitable for the usage In the initial value the position detection method is selected Precautions on magnetic pole detection For the magnetic pole detection the direct drive motor automatically starts to move simultaneou...

Page 273: ...Magnetic pole detection Voltage level to 10 as a guide value Execute Forward rotation CCW or Reverse rotation CW with Positioning operation in the test operation mode on MR Configurator2 Set the travel distance to 0 at this time The magnetic pole detection is performed Is Pr PL09 the final value Perform one of the following operations alarm reset servo amplifier power cycling or software reset Has...

Page 274: ...at initial servo on after cycling the power 1 Cycle the power of the servo amplifier Alternatively reset the software Set the moment of inertia ratio for the direct drive motor with Pr PL17 1 Load to motor mass ratio load to motor inertia ratio selection 2 Execute Forward rotation CCW or Reverse rotation CW with Positioning operation in the test operation mode on MR Configurator2 Set the travel di...

Page 275: ...at the magnetic pole detection is required When the magnetic pole detection by the position detection method is not completed For an absolute position detection system set Pr PL01 0 Servo motor magnetic pole detection selection to 1 Magnetic pole detection at initial servo on after cycling the power After the completion of the magnetic pole detection change Pr PL01 0 to 0 Magnetic pole detection d...

Page 276: ... approximately 70 of the value which triggers AL 050 AL 051 AL 033 AL 0E1 and AL 0EC If AL 027 Initial magnetic pole detection error occurs with this value specify a value intermediate between the value set at occurrence of AL 050 AL 051 AL 033 AL 0E1 and AL 0EC and the value set at the magnetic pole detection alarm occurrence as the final setting value 3 Perform the magnetic pole detection again ...

Page 277: ...tio is unknown perform the magnetic pole detection by the position detection method and then perform the auto tuning to set an estimated value PL17 0 Response selection Initial value 0 Pr PL17 1 Load to motor mass ratio load to motor inertia ratio selection Initial value 0 Setting value Responsiveness 0 1 2 3 4 5 6 7 8 9 A B C D E F Setting value Load to motor mass ratio load to motor inertia rati...

Page 278: ... turned on or the software is reset By turning on the servo on command from the controller after the power on the magnetic pole detection is automatically carried out Therefore there is no need to set Pr PL01 0 Servo motor magnetic pole detection selection for executing magnetic pole detection Timing chart 1 The magnetic pole detection time indicates the operation time when LSP Forward rotation st...

Page 279: ...gnetic pole detection disabled To omit magnetic pole detection at each power on after magnetic pole detection turn on the Z phase pulse of the direct drive motor in the JOG operation and set Pr PL01 0 to 0 Magnetic pole detection disabled 10 3 Startup A When using a direct drive motor set Pr PA01 1 Operation mode selection to 6 Direct drive motor control mode After power on the Z phase mark of the...

Page 280: ...olute position erased 5 Can the Z phase pulse of the direct drive motor manufactured by Mitsubishi Electric be turned on manually Perform the magnetic pole detection 6 Transfer of absolute position data Cancel AL 093 ABS data transfer warning 7 Turn on the Z phase pulse of the direct drive motor by using the JOG operation of the controller 1 2 Manually turn on the Z phase pulse of the direct drive...

Page 281: ...me For the magnetic pole detection of vertical axis with direct drive motors refer to the following Direct Drive Motor User s Manual Outline of magnetic pole detection Before the positioning operation of the direct drive motor perform the magnetic pole detection When starting up the equipment use the test operation mode positioning operation of MR Configurator2 The magnetic pole detection includes...

Page 282: ...ide value Execute Forward rotation CCW or Reverse rotation CW with Positioning operation in the test operation mode on MR Configurator2 Set the travel distance to 0 at this time The magnetic pole detection is performed Is Pr PL09 the final value Perform one of the following operations alarm reset servo amplifier power cycling or software reset Has AL 027 Initial magnetic pole detection error occur...

Page 283: ...Cycle the power of the servo amplifier Alternatively reset the software Set the load to mass of the direct drive motor inertia ratio with Pr PL17 1 Load to motor mass ratio load to motor inertia ratio selection Execute Forward rotation CCW or Reverse rotation CW with Positioning operation in the test operation mode on MR Configurator2 Set the travel distance to 0 at this time The magnetic pole det...

Page 284: ...solute position detection system set Pr PL01 0 Servo motor magnetic pole detection selection to 1 Magnetic pole detection at initial servo on after cycling the power After the completion of the magnetic pole detection change Pr PL01 0 to 0 Magnetic pole detection disabled Servo parameter Description PL08 2 Magnetic pole detection Stroke limit enabled disabled selection 0 Enabled 1 Disabled Initial...

Page 285: ...d 2 Set the value to approximately 70 of the value which triggers AL 050 AL 051 AL 033 AL 0E1 and AL 0EC If AL 027 Initial magnetic pole detection error occurs with this value specify a value intermediate between the value set at occurrence of AL 050 AL 051 AL 033 AL 0E1 and AL 0EC and the value set at the magnetic pole detection alarm occurrence as the final setting value 3 Perform the magnetic p...

Page 286: ...unknown perform the magnetic pole detection by the position detection method and then perform the auto tuning to set an estimated value PL17 0 Response selection Initial value 0 Pr PL17 1 Load to motor mass ratio load to motor inertia ratio selection Initial value 0 Setting value Responsiveness 0 1 2 3 4 5 6 7 8 9 A B C D E F Setting value Load to motor mass ratio load to motor inertia ratio 0 10 ...

Page 287: ... turned on or the software is reset By turning on the servo on command from the controller after the power on the magnetic pole detection is automatically carried out Therefore there is no need to set Pr PL01 0 Servo motor magnetic pole detection selection for executing magnetic pole detection Timing chart 1 The magnetic pole detection time indicates the operation time when LSP Forward rotation st...

Page 288: ...ute the magnetic pole detection Refer to the following Page 276 Operation at magnetic pole detection 2 After the completion of the magnetic pole detection change Pr PL01 0 Servo motor magnetic pole detection selection to 0 Magnetic pole detection disabled To omit magnetic pole detection at each power on after magnetic pole detection turn on the Z phase pulse of the direct drive motor in the JOG op...

Page 289: ...PL04 0 The detection level can be changed with Pr PL05 Pr PL06 and Pr PL07 Precautions For the servo control error detection function the position and speed deviation error detections are enabled by default Pr PL04 0 AL 042 Servo control error detection function selection 3 Servo control error detection selection function Select the servo control error detection function Pr PL04 0 AL 042 Servo con...

Page 290: ...04 0 to 4 to enable torque deviation error detection When the difference between the command torque 5 and the feedback torque 6 in the figure is equal to or more than the value of Pr PL07 Torque thrust deviation error detection level 1 to 1000 AL 042 3 Servo control error by torque thrust deviation occurs and the servo motor stops The initial value of this detection level is 100 Change the setting...

Page 291: ...eristics Servo parameter Description PL04 3 AL 042 Servo control error detection controller reset condition selection 0 Reset disabled reset by powering off on or software reset enabled 1 Reset enabled Initial value 0 Reset disabled TM RFM002C20 TM RFM004C20 TM RFM006C20 TM RFM006E20 TM RFM012E20 TM RFM018E20 TM RFM012G20 TM RFM040J10 TM RFM048G20 TM RFM072G20 TM RFM120J10 TM RFM240J10 TM RG2M002C...

Page 292: ... J5 20_ 0 5 25 15 0 5 TM RU2M004E30 TM RG2M004E30 MR J5 40_ 0 7 35 15 0 7 TM RU2M004E30 TM RG2M009G30 0 9 35 15 0 7 TM RU2M009G30 TM RFM002C20 MR J5 20_ 0 25 25 15 0 5 TM RFM004C20 MR J5 40_ 0 38 35 15 0 7 TM RFM006C20 MR J5 60_ 0 53 40 15 0 8 TM RFM006E20 0 46 40 15 0 8 TM RFM012E20 MR J5 70_ 0 81 50 15 1 0 TM RFM018E20 MR J5 100_ 1 3 50 15 1 0 TM RFM012G20 MR J5 70_ 0 71 50 15 1 0 TM RFM048G20 M...

Page 293: ...erated heat will not change Calculation method of power supply capacity Calculate the power supply capacity for one servo amplifier from the following tables Power supply capacity for one servo amplifier at rated output 1 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 Servo amplifier power sup...

Page 294: ...servo amplifier for one direct drive motor 1 The value inside applies when the torque is increased Servo amplifier Servo amplifier generated heat W 1 At servo off C At rated output MR J5W2 22G 20 Sum of the total amount of heat generated by the servo amplifier for all direct drive motors to be connected B and the amount of heat generated by the servo amplifier at servo off C MR J5W2 44G 20 MR J5W2...

Page 295: ... 0 r min 0 10 40 50 60 70 30 20 100 200 300 018 006 012 400 500 Time constant τ ms Speed 0 r min 0 10 30 40 50 60 072 048 20 012 100 200 300 400 500 Time constant τ ms Speed r min 0 0 60 120 040 240 50 100 150 200 70 80 50 40 30 20 10 Time constant τ ms Speed r min 0 0 25 30 20 15 10 5 0 100 200 300 400 500 600 Time constant τ ms Speed r min 0 0 5 15 20 25 30 10 0 100 200 300 400 500 600 Time cons...

Page 296: ...servo on after power on triggers the magnetic pole detection and AL 093 ABS data transfer warning will occur The magnetic pole detection is enabled at initial servo on Pr PL01 0 Servo motor magnetic pole detection selection set to 1 Magnetic pole detection at initial servo on after cycling the power The Z phase pulse of the direct drive motor manufactured by Mitsubishi Electric has not turned on W...

Page 297: ...Refer to the following for details Page 200 Absolute position data transfer protocol 2 When the magnetic pole detection is performed AL 093 ABS data transfer warning occurs OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON 100 ms 100 ms 1 1 1 1 1 1 2 Power supply First servo on after power on Second or later servo on SON Servo on ABSM ABS transfer mode During ABS transfer During ABS transfer ABSR A...

Page 298: ...ery Applicable batteries differ depending on servo amplifiers Select a proper battery Applications of the batteries Combination of battery and servo amplifier MR BAT6V1SET battery For the specifications and the year and month of manufacture of the built in MR BAT6V1 battery refer to the following Page 308 MR BAT6V1 battery Parts identification and dimensions Unit mm Mass 55 g including MR BAT6V1 b...

Page 299: ...ore until the charge light of the servo amplifier turns off Checking the voltage between P and N using the tester etc is recommended 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 Replacing batteries with the control circuit...

Page 300: ...t the connector of the battery without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the connector of the battery Install a battery and insert the plug into the CN4 connector While pressing the lock release lever pull out the connector While pressing the lock release lever slide the battery case toward you ...

Page 301: ...AT6V1SET reaches the end of its life replace the built in MR BAT6V1 battery 1 While pressing the locking part open the cover 2 Replace the battery with a new MR BAT6V1 battery 3 Press the cover until it is fixed with the projection of the locking part to close the cover Cover Locking part MR BAT6V1 Projection ...

Page 302: ...facture of the built in MR BAT6V1 battery refer to the following Page 308 MR BAT6V1 battery Parts identification and dimensions Unit mm Mass 55 g including MR BAT6V1 battery Battery connection Connect as follows 27 4 51 37 5 Connector for servo amplifier Case CN4 CN2 MR BAT6V1SET A Servo amplifier Encoder cable Servo motor ...

Page 303: ...eas such as connector pins and electrical parts directly by hand Replacing batteries with the control circuit power supply off will erase the absolute position data Before replacing batteries check that the new battery is within battery life Battery installation and removal procedure Fitting method Servo amplifiers with a battery holder on the bottom cannot have wiring for grounding when batteries...

Page 304: ...BAT6V1SET A reaches the end of its life replace the built in MR BAT6V1 battery 1 While pressing the locking part open the cover 2 Replace the battery with a new MR BAT6V1 battery 3 Press the cover until it is fixed with the projection of the locking part to close the cover Tab Cover Projection four places ...

Page 305: ...BAT6V1 batteries No batteries are included in the battery case Prepare MR BAT6V1 batteries separately Number of connectable servo motors One MR BT6VCASE can hold the absolute position data of up to four axes of direct drive motors Direct drive motors in the incremental system are included as the axis numbers Linear servo motors are not counted as the axis numbers Dimensions Unit mm Mass 0 18 kg 12...

Page 306: ...y on triggers AL 09F 1 Low battery However the absolute position data will not be erased Assembly of the battery unit Replace all the batteries with new ones at the same time at battery replacement Install five MR BAT6V1 batteries to the MR BT6VCASE battery case Things to be prepared Product name Model Quantity Remark Battery case MR BT6VCASE 1 MR BT6VCASE is a case used for connecting and mountin...

Page 307: ...se MR BT6VCASE Disassembly of the case MR BT6VCASE is shipped assembled To mount MR BAT6V1 batteries the case needs to be disassembled 1 Remove the two screws using a Phillips head screwdriver 2 Remove the cover Screw Cover CON2 CON3 CON1 CON4 CON5 BAT1 BAT2 BAT3 BAT4 BAT5 Parts identification ...

Page 308: ...irection the connector will break Place the MR BAT6V1 lead wire in the duct designed to store lead wires Insert MR BAT6V1 to the holder in the same procedure in the order from BAT2 to BAT5 3 Bring out the lead wire from the space between the ribs and bend the wire as shown in the figure to store the wire in the duct Connect the lead wire to the connector Be careful not to get the lead wire caught ...

Page 309: ...rts 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 Battery cable removal Precautions Pulling out the connector of the MR BT6V1CBL and MR BT6V2CBL without the lock release lever pressed may damage the CN4 connector of the servo amplifier or the conn...

Page 310: ... from the production date regardless of the connection status Item Description Battery pack 2CR17335A CR17335A 2 pcs connected in series Nominal voltage V 6 Nominal capacity mAh 1650 Storage temperature C 0 to 55 Operating temperature C 0 to 55 Lithium content g 1 2 Mercury content Less than 1 ppm Dangerous goods class Not subject to the dangerous goods Class 9 MR J5 G MR J5W G User s Manual Intro...

Page 311: ...tion remark 0 3 m 1 m MR BT6V1CBL_M 03 1 Standard For connecting to MR BT6VCASE MR BT6V2CBL_M 03 1 Standard For junction Figure Components Description 1 Cable VSVC 7 0 18 2C 2 Connector Housing PAP 02V O Contact SPHD 001G P0 5 JST 3 Connector Connector 10114 3000PE Shell kit 10314 52F0 008 3M or equivalent Figure Components Description 1 Cable VSVC 7 0 18 2C 2 Cable 3 Connector Housing PAP 02V O C...

Page 312: ...Description July 2019 SH NA 030298ENG A First edition This manual confers no industrial property rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual ...

Page 313: ...nowledge 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 its spare parts cannot be ordered after its stop of productio...

Page 314: ...ademarks or registered trademarks of Mitsubishi Electric Corporation in Japan and or other countries All other product names and company names are trademarks or registered trademarks of their respective companies SH NA 030298ENG A ...

Page 315: ......

Page 316: ...notice When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN ...

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