Mitsubishi Electric MR-J5D User Manual Download Page 101

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5 CHARACTERISTICS

5.3 Dynamic brake characteristics

HK-KT634W

MR-J5D_-100G4
MR-J5D_-200G4

MR-J5D_-350G4

HK-KT7M34W

MR-J5D_-100G4
MR-J5D_-200G4

MR-J5D_-350G4

Servo motor

Drive unit

Waveform

1000

2000

3000

4000

5000

6000

7000

Dynamic brake time constant

[ms]

Servo motor speed [r/min]

1000

2000

3000

4000

5000

6000

7000

Dynamic brake time constant

[ms]

Servo motor speed [r/min]

1000

2000

3000

4000

5000

6000

7000

Dynamic brake time constant

[ms]

Servo motor speed [r/min]

1000

2000

3000

4000

5000

6000

7000

Dynamic brake time constant

[ms]

Servo motor speed [r/min]

Summary of Contents for MR-J5D

Page 1: ...MR J5D User s Manual Hardware MR J5D_ _G_ MR J5D_ _G_ _N1 Mitsubishi Electric AC Servo System ...

Page 2: ......

Page 3: ... Please follow the instructions of both levels because they are important to personnel safety Forbidden actions and required actions are indicated by the following diagrammatic symbols In this manual precautions for hazards that can lead to property damage instructions for other functions and other information are shown separately in the POINT area After reading this manual keep it accessible to t...

Page 4: ...ck do not attempt to wire the converter unit drive unit until it has been mounted To prevent an electric shock connect the protective earth PE terminal of the converter unit drive unit to the protective earth PE of the cabinet then connect the grounding lead wire to the ground To prevent an electric shock do not touch the conductive parts WARNING To prevent an electric shock do not operate the swi...

Page 5: ...se the following related manuals to ensure that the servo is used safely For the related manuals refer to the User s Manual Introduction Rotary Servo Motor This manual is necessary primarily for installing wiring and using options The manual is necessary for adjustment of operation status The manual is necessary for using communication functions The manual is necessary for specifying the causes of...

Page 6: ...values if necessary according to the following table Quantity SI metric unit U S customary unit Mass 1 kg 2 2046 lb Length 1 mm 0 03937 inch Torque 1 N m 141 6 oz inch Moment of inertia 1 10 4 kg m2 5 4675 oz inch2 Load thrust load axial load 1 N 0 2248 lbf Temperature N C 9 5 32 N F ...

Page 7: ...Fan unit removal procedure 22 Fan unit installation procedure 23 2 5 IP20 compatible terminal block 24 Side protection cover 24 Side protection cover installation procedure 25 2 6 Restrictions when using this product at an altitude exceeding 1000 m and up to 2000 m 26 2 7 Installing the mounting attachment 27 Selection of attachment for power regeneration converter units 28 Selecting the attachmen...

Page 8: ... 5 4 Cable flex life 112 5 5 Inrush currents at power on of control circuit 113 CHAPTER 6 OPTIONS AND PERIPHERAL EQUIPMENT 114 6 1 Cables connector sets 114 Combinations of cables connector sets 115 MR D05UDL3M B STO cable 117 Ethernet cable 118 Bus bar 119 6 2 MR Configurator2 120 Engineering tool 120 Precautions for using USB communication function and Ethernet communication function 120 6 3 Sel...

Page 9: ...or compliance with stop category 1 IEC EN 60204 1 144 Precautions for compliance with stop category 0 IEC EN 60204 1 144 Connection example for CN8 connector 145 External I O signal connection example using an external safety relay unit 146 8 4 Detailed explanation of interfaces 147 Sink I O interface 147 Source I O interface 149 CHAPTER 9 USING FUNCTIONAL SAFETY 150 9 1 Function block diagram 150...

Page 10: ...ystem architecture 166 10 3 Signals and wiring 169 Encoder cable configuration diagram 169 10 4 Startup 171 Servo parameter setting 171 Checking position data of the load side encoder 176 10 5 Basic functions 177 Homing 177 Operation from controller 181 Fully closed loop control error detection function 181 About MR Configurator2 183 10 6 Options and peripheral equipment 185 MR J4FCCBL03M branch c...

Page 11: ...tary Servo Motor User s Manual HK series Page 162 USING A FULLY CLOSED LOOP SYSTEM 5 Connecting options Connect options Page 114 OPTIONS AND PERIPHERAL EQUIPMENT 6 Other precautions If using the absolute position detection system and the functional safety perform wiring and settings as necessary Page 135 ABSOLUTE POSITION DETECTION SYSTEM Page 139 USING STO FUNCTION Page 150 USING FUNCTIONAL SAFET...

Page 12: ...ut power of servo motors kW Continuous rating of the MR CV_ kW Maximum value of total output power of servo motors kW 1 2 Instantaneous maximum rating of the MR CV_ kW Total unit width of the MR J5D_ 1500 mm Selection example The following information explains how to select a power regeneration converter unit to connect the drive units and servo motors listed below MR CV_ 11K4 18K4 30K4 37K4 45K4 ...

Page 13: ...er unit selected should be the MR CV18K4 1 kW 1 kW 3 kW 0 2 s 0 1 s 0 1 s 0 1 s 0 1 s 0 3 s 0 3 s 0 2 s 0 3 s 0 2 s 0 2 s 0 3 s 0 2 s 0 2 s 0 1 s 0 1 s 0 2 s 0 2 s 0 1 s 0 1 s 0 1 s 0 1 s 0 3 s 0 1 s 0 1 s 0 1 s 0 1 s 12 kW 9 kW 7 kW 7 kW 3 kW 5 kW 4 kW 4 kW 6 kW 0 1 s 0 2 s 3 kW 21 kW HK ST5024M HK ST2024M HK ST2024M 0 1 s 0 1 s 0 7 s 0 1 s 0 1 s 6 kW 15 kW 0 1 s 0 2 s 4 kW HK ST7024M 0 7 s 4 kW ...

Page 14: ...ame as those listed in the following table However for geared servo motors the maximum torque does not increase even when they are combined with a drive unit whose combination allows for increased torque as specified in the following table 400 V class drive unit Standard torque Increased torque 1 Use servo motors manufactured after September 2020 Otherwise AL 01A Servo motor combination error occu...

Page 15: ...its are the same as those for the HK ST1724W 2 Use servo motors manufactured after December 2020 Otherwise AL 01A Servo motor combination error occurs 3 Use servo motors manufactured after April 2021 Otherwise AL 01A occurs HK RT series 400 V class drive unit Standard torque Increased torque Rotary servo motor Drive unit MR J5D_ 100_4 200_4 350_4 500_4 700_4 HK ST_4_W 1 130 HK ST524W 2 2 HK ST1024...

Page 16: ... to the power input terminals L11 L21 of the drive unit satisfies the defined specifications For the power supply specifications refer to Drive unit standard specifications in User s Manual Introduction Check that the CNP3A connector of the drive unit and A axis servo motor the CNP3B connector and B axis servo motor and the CNP3C connector and C axis servo motor are connected and that the phases U...

Page 17: ... motor and the CN2C connector and the encoder of the C axis servo motor are securely connected in the drive unit using a motor cable or encoder cable I O signal wiring Check that I O signals are 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 circuit power...

Page 18: ...nit and servo motor Handling cables Check that the wiring cables have not been stressed Check that the encoder cable has been used within its flex life Page 112 Cable flex life Check that the connector of the servo motor has not been stressed Environment Check that signal cables and power cables have not been shorted primarily by wire offcuts and metallic dust ...

Page 19: ...tors to impacts Doing so may cause a connection failure malfunction or other failures Use the product within the specified environment For the environment refer to Drive unit standard specifications in the User s Manual Introduction To prevent a fire or injury from occurring in the event of an earthquake or other natural disaster securely install mount and wire the drive unit as stated in the user...

Page 20: ... and drive unit does not stagnate When using heat generating equipment install it with full consideration of heat generation so that the converter unit and drive unit are not affected Mount the converter unit and drive unit on a perpendicular wall in the correct vertical direction Installation MR CV_ power regeneration converter unit MR J5D_ drive unit Connect the drive unit to the right side of t...

Page 21: ...4 Drive unit converter unit Variable dimensions mm W1 W2 W3 W4 W5 MR CV11K4 90 60 15 MR CV18K4 90 60 15 MR J5D 60 width 60 30 MR J5D 75 width 75 30 W1 W3 394 W2 W4 W5 360 Approx 8 Approx 17 Approx 10 Approx 410 Approx 8 Approx 10 Approx 17 Approx W3 2 M5 screw 2 M5 screw Approx 380 Converter unit Drive unit ...

Page 22: ... mm W1 W2 W3 W4 W5 W6 MR CV30K4 150 90 30 MR CV37K4 150 90 30 MR CV45K4 150 90 30 MR CV55K4 300 240 30 MR CV75K4 300 240 30 MR J5D 60 width 60 30 15 MR J5D 75 width 75 45 15 W1 W3 394 W2 W4 W6 394 W5 Approx W3 2 M5 screw Approx 8 Approx 8 2 M5 screw Approx W8 Approx 8 Approx 8 Converter unit Drive unit Approx 410 Approx 402 ...

Page 23: ...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 flex life range Prevent the cable insulator from being cut by sharp chips or from touching and rubbing against the machine corners Prevent the cables from getting stepped on by workers or run over by ve...

Page 24: ...ALLATION 2 4 Fan unit replacement procedure Fan unit removal procedure 1 Remove the screws that fixed the fan unit Keep the removed screws for installation of the new fan unit 2 Pull out the fan unit vertically ...

Page 25: ...Fan unit installation procedure 1 Insert the positioning part of the fan unit vertically while aligning it to the positioning part of the main unit case 2 Tighten the fan unit with screws Use the same screws as those used for the fan unit before replacement ...

Page 26: ...rotection cover optional to the rightmost unit and lock the terminal block cover so that the terminal block conforms to IP20 The external dimensions before and after mounting the side protection cover do not change Side protection cover Dimensions Drive unit Side protection cover model MR J5D_ MR J5DCASE01 ...

Page 27: ...2 Open the terminal block cover and insert the side protection cover along the slit on the right side of the terminal block If the control circuit power supply is wired from the right side pass the wire through the groove on the side cover to prevent it from getting caught 3 Close the terminal block cover and set the lock of the terminal block cover to LOCK Turn it clockwise ...

Page 28: ...ssipation effects decrease in proportion to the decrease in air density 5 C per 1000 m use the product within the ambient temperature range shown in the following figure Input voltage Generally withstand voltage decreases as altitude increases however there is no restriction on the withstand voltage Parts with a service life Smoothing capacitor The capacitor will reach the end of its service life ...

Page 29: ... Attachment for power regeneration converter units Drive unit Attachment for drive units MR CV11K4 MR CV18K4 MR ADCACN090 MR J5D1_ MR J5D2_ MR J5D3_ No attachment required MR CV30K4 MR CV37K4 MR CV45K4 MR ADCACN150 MR J5D1_ MR J5D2 100G4 MR J5D2 200G4 MR J5D2 350G4 MR J5D3_ MR ADACN060 MR J5D2 500G4 MR J5D2 700G4 MR ADACN075 MR CV55K4 MR CV75K4 MR ADCACN300 MR J5D1_ MR J5D2 100G4 MR J5D2 200G4 MR ...

Page 30: ...nt to the cabinet first and then to the converter unit At the removal it is possible to remove both the mounting attachment and the converter unit or the converter unit alone 1 Attach the mounting attachment to the power regeneration converter unit MR CV11K4 MR CV18K4 MR CV30K4 MR CV37K4 MR CV45K4 MR CV55K4 MR CV75K4 MR ADCACN090 Power regeneration converter unit Mounting screw 2 Screw size M5 Tig...

Page 31: ... 29 2 2 Install the power regeneration converter unit to the cabinet MR CV11K4 MR CV18K4 MR CV30K4 MR CV37K4 MR CV45K4 MR CV55K4 MR CV75K4 Mounting screw 4 Screw size M5 Tightening torque 3 24 N m Mounting screw 4 Screw size M5 Tightening torque 3 24 N m ...

Page 32: ... also possible to install the mounting attachment to the cabinet first and then to the drive unit At the removal it is possible to remove both the mounting attachment and the drive unit or the drive unit alone 1 Install the mounting attachment to the drive unit 2 Install the drive unit to the cabinet Drive unit Mounting screw 2 Screw size M5 Tightening torque 3 24 N m Mounting attachment Mounting ...

Page 33: ...95 2 3 180 80 90 16 2 32 4 72 8 39 4 92 11 24 124 5 68 73 5 25 6 258 5 216 256 6 255 5 6 TE3 TE1 TE2 PE TE1 L21 L11 TE3 L L TE2 PE L1 L2 L3 Cooling fan exhaust φ6 mounting hole Terminal assignment Approx 80 Intake TE1 Screw size M5 Tightening torque 2 0 N m TE2 Screw size M6 Tightening torque 3 0 N m TE3 Screw size M4 Tightening torque 1 2 N m PE Screw size M5 Tightening torque 2 0 N m ...

Page 34: ...24 5 150 26 37 5 88 1 5 108 113 5 49 52 24 285 5 288 5 TE3 TE1 TE2 PE TE1 L21 L11 TE3 L L TE2 PE L1 L2 L3 2 φ6 mounting hole Approx 80 Intake Cooling fan exhaust Terminal assignment TE1 Screw size M8 Tightening torque 6 0 N m TE2 Screw size M6 Tightening torque 3 0 N m TE3 Screw size M4 Tightening torque 1 2 N m PE Screw size M8 Tightening torque 6 0 N m ...

Page 35: ... 5 285 5 152 240 30 394 TE3 TE2 2 TE2 1 PE TE1 TE1 L L TE2 2 L L TE2 1 PE L1 L2 L3 L21 L11 TE3 Cooling fan exhaust 2 φ6 mounting hole Terminal assignment Approx 80 Intake 2 M10 for eyebolt TE1 Screw size M8 Tightening torque 6 0 N m TE2 1 Screw size M6 Tightening torque 3 0 N m TE2 2 Screw size M6 Tightening torque 3 0 N m TE3 Screw size M4 Tightening torque 1 2 N m PE Screw size M8 Tightening tor...

Page 36: ...CNP3A L21 L11 TE3 L L TE2 PE W V U E φ6 mounting hole 4 M5 Screw Approx 8 Approx 60 Approx 40 Approx 8 Approx 410 Approx 120 Approx 100 Mounting hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Terminal block location diagram drawn with the cover removed TE2 Screw size M6 Tightening torque 3 0 N m TE3 Screw size M4 Tightening torque 1 2 N m PE Screw size M5 Tightening ...

Page 37: ... L TE2 PE W V U E φ6 mounting hole 4 M5 Screw Approx 8 Approx 60 Approx 40 Approx 8 Approx 410 Approx 120 Approx 100 Mounting hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Terminal block location diagram drawn with the cover removed TE2 Screw size M6 Tightening torque 3 0 N m TE3 Screw size M4 Tightening torque 1 2 N m PE Screw size M5 Tightening torque 2 0 N m Term...

Page 38: ...1 L11 TE3 L L TE2 PE W V U E φ6 mounting hole 4 M5 Screw Approx 8 Approx 60 Approx 40 Approx 8 Approx 410 Approx 120 Approx 100 Mounting hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Terminal block location diagram drawn with the cover removed TE2 Screw size M6 Tightening torque 3 0 N m TE3 Screw size M4 Tightening torque 1 2 N m PE Screw size M5 Tightening torque 2...

Page 39: ...B L21 L11 TE3 L L TE2 PE W V U E φ6 mounting hole 4 M5 Screw Approx 8 Approx 60 Approx 40 Approx 8 Approx 410 Approx 120 Approx 100 Mounting hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Terminal block location diagram drawn with the cover removed TE2 Screw size M6 Tightening torque 3 0 N m TE3 Screw size M4 Tightening torque 1 2 N m PE Screw size M5 Tightening torq...

Page 40: ... 310 107 11 139 5 24 53 58 5 30 Approx 8 Approx 75 Approx 40 Approx 8 Approx 410 Approx 120 Approx 100 Mounting hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Terminal block location diagram drawn with the cover removed TE2 Screw size M6 Tightening torque 3 0 N m TE3 Screw size M4 Tightening torque 1 2 N m PE Screw size M5 Tightening torque 2 0 N m Terminal assignmen...

Page 41: ...A CNP3B CNP3C L21 L11 TE3 L L TE2 PE W V U E 30 φ6 mounting hole 4 M5 Screw Approx 8 Approx 60 Approx 40 Approx 8 Approx 410 Approx 120 Approx 100 Mounting hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Terminal block location diagram drawn with the cover removed TE2 Screw size M6 Tightening torque 3 0 N m TE3 Screw size M4 Tightening torque 1 2 N m PE Screw size M5 ...

Page 42: ...30 310 CN2A CN2B CN2C CNP3B CNP3C φ6 mounting hole 4 M5 Screw Approx 8 Approx 60 Approx 40 Approx 8 Approx 410 Approx 120 Approx 100 Mounting hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Terminal block location diagram drawn with the cover removed TE2 Screw size M6 Tightening torque 3 0 N m TE3 Screw size M4 Tightening torque 1 2 N m PE Screw size M5 Tightening tor...

Page 43: ...ier to malfunction and not to output signals disabling protective circuits such as the emergency stop If the wires are not properly secured to the terminal block the poor contact may cause the wires and terminal block to generate heat Be sure to secure the wires with the specified torque Connecting the servo motor for an incorrect axis to the power outputs U V W or CN2_ of the drive unit may cause...

Page 44: ... same as EM1 To prevent malfunction avoid bundling the converter unit drive unit s power lines input output and signal cables together or running them parallel to each other Separate the power lines from the signal cables Provide adequate protection to prevent an unexpected restart after an instantaneous power failure Configure wiring so that the main circuit power supply is shut off and the servo...

Page 45: ...shuts off the main circuit power supply by protection coordination after the servo motor stops 5 Install an overcurrent protection device molded case circuit breaker fuse etc to protect the branch circuit Page 123 Molded case circuit breakers fuses 6 For wire size and overcurrent protection device selection refer to the following Page 121 Selection example of wires 7 Use the MR ACDL_M for the prot...

Page 46: ...DOCOM CVST 14 15 DICOM EM2 8 13 M U V W E E M 4 3 4 CN2_ CN2_ 5 6 5 6 5 6 RA2 RA1 3 CN23 CN4 CN40A CN40B CN8 CN8 CN40A CN1A CN40B CN1B CN3 CN3 CN1A CN1B RA2 3 AC reactor Drive unit Drive unit Encoder Encoder Drive unit error Ready for operation OFF ON Drive unit error Emergency stop switch Controller Dedicated bus bar Dedicated bus bar Short circuit connector supplied Short circuit connector suppl...

Page 47: ...MC SK MCCB DOCOM CVST 14 15 DICOM EM2 8 13 L L L L DOCOM CVST 14 15 DICOM EM2 8 13 M U V W E E M 4 4 CN2_ CN2_ RA2 RA3 RA1 3 MC 1 CN25 CN4 CN40A CN40B CN8 CN8 CN40A CN1A CN40B CN1B CN3 CN3 CN1A CN1B RA3 RA1 3 RA2 3 5 6 Drive unit Drive unit Encoder Encoder Drive unit error Ready for operation OFF ON Drive unit error Emergency stop switch Controller AC reactor Dedicated bus bar Dedicated bus bar Sh...

Page 48: ...U V W E E M 4 4 CN2_ CN2_ 5 6 5 6 5 6 MC 1 CN25 CN4 CN40A CN40B CN8 CN8 CN40A CN1A CN40B CN1B CN3 CN3 CN1A CN1B RA3 RA1 3 RA2 3 MC SK RA2 RA3 RA1 3 Drive unit Drive unit Encoder Encoder Controller AC reactor Dedicated bus bar Dedicated bus bar Short circuit connector supplied Short circuit connector supplied Protection coordination cable 7 Protection coordination cable 7 Power regeneration convert...

Page 49: ... adjustment bar MR DCBAR024 B05 between the TE2 terminal block and the bus bar and screw it in Page 119 Adjustment bar Connect L and L of the converter unit and L and L of the drive unit using the dedicated bus bar as follows The figure is drawn with the terminal cover removed When connecting multiple drive units to the converter unit arrange them in descending order of capacity per axis of the dr...

Page 50: ...nal connections 3 2 Example I O signal connections Precautions Do not connect CN1A and CN1B connectors to a network other than the network used by this drive unit Doing so may cause a malfunction In the torque mode EM2 functions the same as EM1 ...

Page 51: ... ALM Malfunction is on normally closed contact 8 In the initial setting INP In position is assigned to this pin The device of the pin can be changed with Pr PD08 9 The devices of these pins can be changed with servo parameters Pr PD07 to Pr PD09 10 The devices of these pins can be changed with servo parameters Pr PD03 to Pr PD05 11 To prevent an unexpected restart of the drive unit configure a cir...

Page 52: ...2 3 4 Forward rotation stroke end Electromagnetic brake interlock Reverse rotation stroke end In position 8 Proximity dog 13 Malfunction 7 Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Encoder Z phase pulse differential line driver Control common USB cable Network Network Touch probe1 Touch probe2 10 9 13 Short circuit connector 12 Protection coordin...

Page 53: ...is differential line driver Encoder B phase pulse for A axis differential line driver Encoder A phase pulse for B axis differential line driver Encoder B phase pulse for B axis differential line driver Control common USB cable Network Network 9 13 AND in position 8 13 Forced stop 2 3 4 Forward rotation stroke end for A axis Reverse rotation stroke end for A axis Proximity dog for A axis Forward ro...

Page 54: ...nd 450 mA maximum for the MR J5D3 _G_ The amperage will not exceed 350 mA MR J5D2 _G_ and 450 mA MR J5D3 _G_ when all I O signals are used Reducing the number of I O points decreases the current capacity For the amperage required for interfaces refer to the following Page 77 Digital input interface DI 1 Although the diagram shows the input signal and the output signal each using a separate 24 V DC...

Page 55: ...lse for A axis differential line driver Encoder B phase pulse for A axis differential line driver Encoder A phase pulse for B axis differential line driver Encoder B phase pulse for B axis differential line driver Control common USB cable Network Network 9 13 AND in position 8 13 Forced stop 2 3 4 Forward rotation stroke end for A axis Reverse rotation stroke end for A axis Proximity dog for A axi...

Page 56: ...e Signals such as output signals may be unstable at power on Power on procedure 1 Wire the power supply using a magnetic contactor between the power supply and the main circuit power supply L1 L2 L3 of a converter unit by referring to the following section Switch off the magnetic contactor as soon as an alarm occurs Page 42 Example power circuit connections 2 Switch on the control circuit power su...

Page 57: ... 01B may occur ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 100 ms 4 5 ms 10 ms 100 ms 4 5 ms 100 ms 5 ms 100 ms 5 ms 1 2 1 No alarm ON Alarm OFF No alarm ON Alarm OFF Drive unit second unit Control circuit power supply Drive unit first unit Control circuit power supply Ready on command from controller Servo on command from controller Drive unit first unit Ba...

Page 58: ...on each power connector Use the supplied drive unit power connector for wiring CNP3_ CNP3A CNP3B CNP3C connectors all have the same shape Ensure that they are connected properly Connector 1 For 2 axis drive units 2 For 3 axis drive units Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manufacturer Size Insulator OD CNP3A BVF 7 62HP 04 180MSF4 SN BK BX LRP 24 to 8 AWG 10 ...

Page 59: ...r Twist the core wires lightly and straighten them as follows A ferrule can also be used when connecting to the connectors If using a ferrule choose from one of the ferrules and the crimping tools shown below Wire size Ferrule model Phoenix Contact Crimping tool Weidmüller Sleeve without insulation cover Sleeve with insulation cover 24 to 8 AWG 1 5 mm2 to 10 mm2 1 5 mm2 to 6 mm2 PZ 6 5 Insulator C...

Page 60: ...the wire insulator is not caught by the spring and that the conductive part of the stripped wire is not exposed 3 Pull out 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 For solid wire or treated tip wire If the wiring cannot be performed as shown in the following...

Page 61: ... 3 4 Connectors and pin assignments Precautions The pin assignments of the connectors are as viewed from the cable connector wiring section For information on the functional safety I O signal connector CN8 refer to the following page Page 139 USING STO FUNCTION ...

Page 62: ...2AL connectors are connected to the protective earth terminal in the drive unit Front view of drive unit Bottom view of drive unit 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 MO1 LG LZ LB LA MO2 LG LZR LBR LAR LG TPR2 LSN TPR3 DOCOM DOCOM MBR DICOM TPR1 LSP EM1 DOCOM ALM INP No Symbol Symbol No 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 BAT CN2A MXR MX 4 MRR2 2 LG...

Page 63: ...are connected to the protective earth terminal in the drive unit Front view of drive unit Bottom view of drive unit 1 This is for the MR J5D3 _G_ 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 MO1 LG LB B LA B LB A LA A MO2 LG LBR B LAR B LBR A LAR A LG DI2 B DI1 B DI3 B DI2 A DI3 A MBR C MBR B MBR A DICOM EM1 DOCOM CALM CINP DI2 C DI1 C DI3 C DI1 A No Symbo...

Page 64: ... Impossible CN3 13 EM2 Impossible CN3 27 Pr PD39 TPR2 Possible CN3 28 Pr PD04 LSN Impossible CN3 29 Pr PD05 DOG Possible Connector pin No Servo parameter Initially assigned device TPR assignment I O signal interface type CN3 11 Pr PD51 common to all axes Possible DI 1 CN3 12 Pr PD03 A axis LSP A Impossible CN3 13 EM2 Impossible CN3 25 Pr PD04 B axis LSN B Impossible CN3 26 Pr PD03 B axis LSP B Imp...

Page 65: ...Detailed explanation Forced stop 2 EM2 DI 1 Page 63 EM2 Forced stop 2 Forced stop 1 EM1 DI 1 Page 63 EM1 Forced stop 1 Forward rotation stroke end LSP DI 1 Page 64 LSP Forward rotation stroke end LSN Reverse rotation stroke end Reverse rotation stroke end LSN DI 1 Proportional control PC DI 1 Page 64 PC Proportional control Gain switching CDP DI 1 Page 64 CDP Gain switching Gain switching 2 CDP2 D...

Page 66: ... a speed exceeding the speed limit value CDP Gain switching Turn on CDP to use the values of Pr PB29 to Pr PB36 and Pr PB56 to Pr PB60 as the load to motor inertia ratio and individual gain values When both CDP and CDP2 are on the setting of CDP2 is prioritized For details refer to GAIN SWITCHING FUNCTION in the following manual MR J5 User s Manual Adjustment CDP2 Gain switching 2 Turn on CDP2 to ...

Page 67: ...owing Devices that can be used in factory settings Devices which become available by servo parameter settings These devices enable the touch probe function which latches the current position with sensor input or by other means Turning on this device latches the current position For details refer to Touch probe in the following manual MR J5 User s Manual Function Drive unit TPR1 TPR2 TPR3 MR J5D1 _...

Page 68: ... ALM DO 1 CN3 16 Pr PD08 INP CN3 32 Pr PD07 MBR Connector pin No Servo parameter Initially assigned device I O signal interface type CN3 15 Pr PD09 common to all axes ALM DO 1 CN3 16 Pr PD08 common to all axes INP CN3 31 Pr PD07 B axis MBR B CN3 32 Pr PD07 A axis MBR A Connector pin No Servo parameter Initially assigned device I O signal interface type CN3 15 Pr PD09 common to all axes ALM DO 1 CN...

Page 69: ... enabled CDPS DO 1 Page 68 CDPS Variable gain enabled Variable gain enabled 2 CDPS2 DO 1 Page 68 CDPS2 Variable gain enabled 2 Absolute position erased ABSV DO 1 Page 69 ABSV Absolute position erased Tough drive in progress MTTR DO 1 Page 69 MTTR Tough drive in progress Fully closed loop selection CLDS DO 1 Page 69 CLDS Fully closed loop control in progress Converter stop CVST DO 1 Page 69 CVST Co...

Page 70: ...hes the following range SA turns on Set speed Set speed 0 05 20 r min mm s When the set speed is 20 r min mm s or less SA is always on The device cannot be used in the position mode and torque mode WNG Warning WNG turns on when a warning occurs If a warning is not occurring WNG 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 drive unit BWNG Battery warning If A...

Page 71: ... converter main circuit occurs MR J5 User s Manual Troubleshooting MBR Electromagnetic brake interlock MBR is off in the servo off state or at an alarm occurrence If using the device set an operation delay time of the electromagnetic brake in Pr PC02 For details refer to Electromagnetic brake interlock function in the following manual MR J5 User s Manual Function VLC Limiting speed If the speed re...

Page 72: ...d reached the off level is called a hysteresis width The hysteresis width is 20 r min for this drive unit 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 For details refer to Torque limit in the following manual MR J5 User s Manual Function DOA General purpose output A ...

Page 73: ...ulse differential 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 drive units do not support this output signal For details refer to A B Z phase pulse ...

Page 74: ...24 V DC external power supply For source interfaces connect the negative terminal of the 24 V DC external power supply DOCOM Digital output I F power supply Input 24 V DC 24 V DC 10 300 mA for I O interfaces For sink interfaces connect the negative terminal of the 24 V DC external power supply For source interfaces connect the positive terminal of the 24 V DC external power supply LG Monitor commo...

Page 75: ...A LG 24 CN3 14 32 15 16 DOCOM ALM INP 5 USB D GND D 2 3 5 CN5 MBR MR2 MRR2 MX2 MXR2 CN2L 6 RA1 RA3 RA2 3 4 3 2 4 7 8 LG CN3 MO1 MO2 LG 18 2 3 EM2 CN3 13 LSP 12 LSN 28 DOG 29 TPR1 11 27 8 TPR2 DICOM 2 4 Drive unit 24 V DC 1 Isolated Differential line driver output 35 mA or less Servo motor Encoder External encoder Encoder Analog monitor Forced stop Approx 6 2 kΩ Approx 4 3 kΩ Approx 6 2 kΩ Approx 4...

Page 76: ...d to use a single 24 V DC power supply 2 Signals can be assigned to these pins with servo parameters Pr PD03 to Pr PD05 3 Signals can be assigned to these pins with servo parameters Pr PD07 to Pr PD09 4 This diagram shows a sink I O interface 5 The signal cannot be used in the velocity mode and torque mode 6 Refer to Parts identification in User s Manual Introduction for connecting an external enc...

Page 77: ... M CN2A 20 4 LAR A LB A LBR A LA B LAR B LB B LBR B 24 LG CNP3A E 3 2 4 7 8 MR MRR MX MXR LG E M CN2B CNP3B 3 2 4 7 8 MR MRR MX MXR LG E M CN2C CNP3C CN3 MO1 MO2 LG 18 2 3 E E E E E Drive unit 24 V DC 1 24 V DC 1 Approx 6 2 kΩ Approx 4 3 kΩ Approx 6 2 kΩ Approx 4 3 kΩ Approx 6 2 kΩ Approx 6 2 kΩ Approx 4 3 kΩ Approx 6 2 kΩ Approx 6 2 kΩ Approx 4 3 kΩ Differential line driver output 35 mA or less I...

Page 78: ...C power supply for illustrative purposes the system can be configured to use a single 24 V DC power supply 2 Signals can be assigned to these pins with servo parameters Pr PD03 to Pr PD05 3 Signals can be assigned to these pins with servo parameters Pr PD07 to Pr PD09 4 This diagram shows a sink I O interface 5 For 3 axis drive units ...

Page 79: ...gital output interface DO 1 This is a circuit in which the collector of the output transistor is the output terminal When the output transistor is turned on the current flows to 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 m...

Page 80: ...tput pulse Open collector type Interface Maximum output current 35 mA 150 Ω LA LB LZ LAR LBR LZR SD LG 100 Ω LAR LBR LZR SD LA LB LZ Am26LS32 or equivalent High speed photocoupler Drive unit Drive unit T LA LAR LB LBR LZ LZR π 2 Servo motor CCW rotation 400 μs or more SD LG OP SD LG OP Photocoupler 5 V to 24 V DC Drive unit Drive unit ...

Page 81: ... WIRING 3 6 Interface 79 3 Analog output AO 1 1 The output voltage varies depending on the output contents LG MO1 MO2 Output voltage 10 V 1 Maximum output current 1 mA Resolution 10 bits or its equivalent Drive unit ...

Page 82: ..._G_ approximately 6 2 kΩ Page 73 Internal connection diagram 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 drive unit 1 If the voltage drop a maximum of 2 6 V interferes with the relay opera...

Page 83: ... use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard Configure an electromagnetic brake circuit that interlocks with the external emergency stop switch Before operating the servo motor confirm that the electromagnetic brake operates properly For the power supply of the electromagnetic brake use the power supply designed exc...

Page 84: ...3 axis drive unit 4 Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes the system can be configured to use a single 24 V DC power supply 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 24 V DC 4 24 V DC for electromagnetic brake...

Page 85: ... standard specifications in the User s Manual Introduction and Standard specifications in the MR CV Power Regeneration Converter Unit User s Manual 2 To ground the servo motor connect the grounding lead wire to the drive unit and then connect the wire from the drive unit to the ground via the protective earth PE terminal of the cabinet Do not connect the wire directly to the protective earth PE te...

Page 86: ...CNP3A L21 L11 TE3 L L TE2 PE W V U E φ6 mounting hole 2 M5 Screw Approx 40 Approx 10 Approx 380 Approx 120 Approx 100 Mounting hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Approx 60 Approx 10 Terminal assignment TE2 Screw size M6 Tightening torque 3 0 N m TE3 Screw size M4 Tightening torque 1 2 N m PE Screw size M5 Tightening torque 2 0 N m Terminal block location ...

Page 87: ...V U E PE φ6 mounting hole 2 M5 Screw Approx 10 Approx 60 Approx 40 Approx 10 Approx 380 Approx 120 Mounting hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m TE2 Screw size M6 Tightening torque 3 0 N m TE3 Screw size M4 Tightening torque 1 2 N m PE Screw size M5 Tightening torque 2 0 N m Terminal assignment Approx 100 Cooling fan exhaust Intake Terminal block location d...

Page 88: ...TE2 PE W V U E PE φ6 mounting hole Approx 40 Approx 100 Approx 120 Approx 10 Approx 10 2 M5 Screw Approx 60 Mounting hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Terminal assignment TE2 Screw size M6 Tightening torque 3 0 N m TE3 Screw size M4 Tightening torque 1 2 N m PE Screw size M5 Tightening torque 2 0 N m Approx 380 Terminal block location diagram drawn with ...

Page 89: ...E W V U E PE φ6 mounting hole Terminal assignment TE2 Screw size M6 Tightening torque 3 0 N m TE3 Screw size M4 Tightening torque 1 2 N m PE Screw size M5 Tightening torque 2 0 N m Cooling fan exhaust Intake Approx 10 Approx 10 Mounting screw Screw size M5 Tightening torque 3 24 N m Mounting hole location diagram Approx 380 Approx 100 Approx 120 Approx 40 Approx 60 2 M5 Screw Terminal block locati...

Page 90: ... PE W V U E Approx 100 Approx 120 Approx 75 Approx 380 Approx 10 Approx 10 Approx 40 2 M5 Screw φ6 mounting hole Cooling fan exhaust Intake TE2 Screw size M6 Tightening torque 3 0 N m TE3 Screw size M4 Tightening torque 1 2 N m PE Screw size M5 Tightening torque 2 0 N m Terminal assignment Mounting hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Terminal block locatio...

Page 91: ...TE3 L L TE2 PE W V U E PE Approx 40 Approx 100 Approx 120 Approx 10 Approx 10 Approx 60 Approx 380 2 M5 Screw φ6 mounting hole Terminal assignment TE2 Screw size M6 Tightening torque 3 0 N m TE3 Screw size M4 Tightening torque 1 2 N m PE Screw size M5 Tightening torque 2 0 N m Mounting hole location diagram Mounting screw Screw size M5 Tightening torque 3 24 N m Terminal block location diagram dra...

Page 92: ... W V U E PE Terminal assignment TE2 Screw size M6 Tightening torque 3 0 N m TE3 Screw size M4 Tightening torque 1 2 N m PE Screw size M5 Tightening torque 2 0 N m Approx 100 Approx 120 Cooling fan exhaust Intake 2 M5 Screw Approx 10 Approx 10 Approx 60 φ6 mounting hole Mounting screw Screw size M5 Tightening torque 3 24 N m Mounting hole location diagram Approx 40 Approx 380 Terminal block locatio...

Page 93: ...ions Obtain the wiring instructions from the manufacturer and wire connectors appropriately CN3 connector SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 1 16 22 65 15 6 13 25 63 3 5 2 15 52 5 3 5 17 32 34 8 39 5 22 4 11 0 Unit mm ...

Page 94: ...tem the unbalanced torque should be kept at 70 or lower of the rated torque This drive unit 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 drive unit The drive unit may malfunction regardless of the electronic thermal protection if torque exceeding 100 of the rated torque is generated too frequently ...

Page 95: ...ime s Load ratio rated current ratio of rotary servo motor In servo lock In operation 100 200 300 400 500 600 0 10 1 100 1000 0 1 Operating time s Load ratio rated current ratio of rotary servo motor In servo lock In operation 100 200 300 400 500 600 0 10 1 100 1000 0 1 Operating time s Load ratio rated current ratio of rotary servo motor In servo lock In operation ...

Page 96: ... 1 axis drive unit Multi axis drive unit Drive unit Drive unit generated heat W Area required for heat dissipation m2 At rated output At servo off MR J5D1 100_ 100 30 2 MR J5D1 200_ 150 30 3 MR J5D1 350_ 210 30 4 2 MR J5D1 500_ 380 30 7 6 MR J5D1 700_ 450 30 9 Drive unit Drive unit generated heat W Area required for heat dissipation m2 At rated output At servo off MR J5D2 100_ Connected to one axi...

Page 97: ...e that P is the sum of all losses generated in the cabinet For the amount of heat generated by the drive unit refer to the following Page 94 Amount of heat generated by the drive unit A indicates the effective area for heat dissipation but if the cabinet is directly installed on an insulated wall that extra amount must be added to the cabinet s surface area The required heat dissipation area will ...

Page 98: ...ely 1000 times if the dynamic brake is used to stop the motor from the rated speed once every 10 minutes If using EM1 Forced stop 1 frequently in non emergency situations enable EM1 Forced stop 1 after the servo motor has come to a complete stop Servo motors for MR J5 may have the different coasting distance from that of the previous model The time constant for the electronic dynamic brake will be...

Page 99: ... constant A working part generally has a friction force Therefore the 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 Dy...

Page 100: ...5D_ 100G4 HK KT434W MR J5D_ 100G4 MR J5D_ 200G4 6 6 6 8 7 7 2 7 4 7 6 7 8 8 0 1000 2000 3000 4000 5000 6000 7000 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 1 2 3 4 5 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 1 2 3 4 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 400...

Page 101: ... 3000 4000 5000 6000 7000 0 2 4 6 8 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 2 4 6 8 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 5 10 15 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 5 10 15 20 Dynamic brake time constant τ ms Servo motor spee...

Page 102: ...Servo motor Drive unit Waveform 0 1000 2000 3000 4000 5000 6000 7000 0 5 10 15 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 5 10 15 20 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 5 10 15 20 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 103: ...0 5000 6000 7000 0 5 10 15 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 5 10 15 20 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 5 10 15 20 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 5 10 15 20 Dynamic brake time constant τ ms Servo motor speed r...

Page 104: ...00 6000 7000 0 5 10 15 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 5 10 15 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 3500 0 2 4 6 8 0 500 1500 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 500 1000 1500 2000 2500 3000 3500 0 2 4 6 8 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 105: ...o motor Drive unit Waveform 0 1000 2000 3000 4000 5000 6000 7000 0 10 20 30 40 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 10 20 30 40 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 10 20 30 40 50 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 106: ...5000 6000 7000 0 5 10 15 20 25 30 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 10 20 30 40 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 5 10 15 20 25 30 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 10 20 30 40 Dynamic brake time constant τ ms Serv...

Page 107: ...00 2000 2500 3000 3500 4000 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 0 5 10 15 20 25 500 1500 2500 3500 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 10 20 30 40 50 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 10 20 30 40 50 60 Dynamic brake time constant τ ms ...

Page 108: ... 7000 0 10 20 30 40 50 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 10 20 30 40 50 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 10 20 30 40 50 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 10 20 30 40 50 Dynamic brake time constant τ ms Servo motor...

Page 109: ... 5 10 15 20 25 30 35 500 1500 2500 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 10 20 30 40 50 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 10 20 30 40 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 10 20 30 40 Dynamic brake time constant τ ms Servo...

Page 110: ... Drive unit Waveform 0 1000 2000 3000 4000 5000 6000 7000 0 5 10 15 20 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 2 4 6 8 10 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 2 4 6 8 10 12 14 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 111: ...or Drive unit Waveform 0 1000 2000 3000 4000 5000 6000 7000 0 2 4 6 8 10 12 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 5 10 15 20 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 5 10 15 20 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 112: ...t Waveform 0 1000 2000 3000 4000 5000 6000 7000 0 2 4 6 8 10 12 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 2 4 6 8 10 12 14 Dynamic brake time constant τ ms Servo motor speed r min 0 1000 2000 3000 4000 5000 6000 7000 0 2 4 6 8 10 12 Dynamic brake time constant τ ms Servo motor speed r min ...

Page 113: ...00 V class Series Model Permissible load to motor inertia ratio multiplier HK KT HK KT053W 34 HK KT13W 34 HK KT1M3W 34 HK KT434W 37 HK KT634W 37 HK KT7M34W 37 HK KT1034W 33 HK KT634UW 27 HK KT1034UW 24 HK KT1534W 10 HK KT2034W 9 HK KT2024W 29 HK ST HK ST524W 26 HK ST1024W 16 HK ST1724W 11 HK ST2024AW 7 when 2000 r min or less 29 HK ST3024W 28 HK ST2024W 2 when 2000 r min or less 12 HK ST3524W 4 wh...

Page 114: ...eakage The values are calculated from fully disconnected cables and do not take into account wear from electrical characteristics sheath abrasion or insulation deterioration Allow for some deviation in 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 High flex life cable for moving parts Stand...

Page 115: ...at power on Therefore use products with the specifications described on the following page Page 123 Molded case circuit breakers fuses When circuit protectors are used it is recommended that the inertia delay type which is not tripped by an inrush current be used 400 V class The following shows the inrush currents reference data that will flow when 480 V AC is applied Drive unit Inrush currents A0...

Page 116: ...determined by the lowest IP rating of all the components Purchase the cable and connector options indicated in this section for this drive unit Use the cables provided by Mitsubishi Electric and Mitsubishi Electric System Service Co Ltd When fabricating a cable select a wire suitable for the application As an example of selecting a power cable suitable for the application the 2018 edition of NFPA ...

Page 117: ...its 3 For 3 axis drive units 4 3 6 2 5 7 MR Configurator2 1 1 1 1 Controller To servo motor encoder To load side encoder To servo motor power supply To Converter unit Ethernet cable 1 Ethernet cable 1 Network Setup software To C axis servo motor encoder 3 To B axis servo motor encoder 2 3 To A axis servo motor encoder To A axis servo motor power supply To B axis servo motor power supply 2 3 To C a...

Page 118: ...ersonal computer 3 STO cable MR D05UDL3M B a Connector set 2069250 1 TE Connectivity Connection cable for the CN8 connector 4 Short circuit connector Supplied with the drive unit 5 I O and monitor connector MR ADCN3 CN3 connector DFMC1 5 16 STF 3 5 Phoenix Contact With pin number printing 6 Protection coordination cable MR ACDL_M Cable length 0 2 m 0 5 m a Plug 10120 3000PE Shell kit 10320 56F0 00...

Page 119: ...l wiring diagram 1 Do not use the two core wires with orange insulators with red or black dots Cable model Cable length Cable OD 1 Application MR D05UDL3M B 3 m 5 7 mm Connection cable for the CN8 connector CN8 MR D05UDL3M B Top view of drive unit 1 2 3 6 7 STO2 TOFB1 TOFB2 STO1 TOFCOM 8 4 5 STOCOM 1 2 1 6 4 8 3 5 7 CN8 connector Yellow dots black Yellow dots red Gray dots black Viewed from the co...

Page 120: ...itching hub Class A can also be used there are restrictions on the type of topology that can be used For further information refer to MELSEC iQ R Motion Module User s Manual Startup When branching the CC Link IE Field Network Basic network using a switching hub use a hub with a transmission speed of 100 Mbps or higher For switching hubs that do not have the auto negotiation function set the transm...

Page 121: ...TE2 terminal block by the thickness of the conductor Therefore overlap and screw the adjustment bar MR DCBAR024 B05 Page 47 How to use the bus bar Left side unit 1 Right side unit 1 Bus bar model Number of packages per set MR CV11K4 MR CV18K4 MR J5D1_ MR J5D2 100G4 MR J5D2 200G4 MR J5D2 350G4 MR J5D3_ MR DCBAR077 B02 2 MR J5D2 500G4 MR J5D2 700G4 MR DCBAR092 B02 2 MR CV30K4 MR CV37K4 MR CV45K4 MR ...

Page 122: ...re connect the personal computer to the drive unit with the following procedure 1 Disconnect the power plug of the personal computer from the AC power socket 2 Check that the power plug has been disconnected and connect the computer to the drive unit 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 i...

Page 123: ...300527 To comply with other standards use wires that comply with each standard Selection requirements for the wire size are as follows Construction requirements Single wire set in midair Wiring length 30 m or less The following shows the wires used for wiring Use the wires given in this section or equivalent wires L11 L21 U V W E U V W E M 1 Control circuit power supply lead Drive unit 2 Servo mot...

Page 124: ...ion to the terminal block use the screws included with the terminal block 3 The wires are selected based on the largest rated current among the servo motors to be combined 4 The minimum wire size required by the National Electrical Code is AWG 14 2 mm2 Selection example of crimp terminals Drive unit 2 Wire mm2 1 3 1 L11 L21 U V W E MR J5D1 100G4 1 25 to 2 AWG 16 to 14 a 4 1 25 to 2 AWG 16 to 14 MR...

Page 125: ...ollowing manual MR CV Power Regeneration Converter Unit User s Manual Selection example for control circuit power supply Install an overcurrent protection device molded case circuit breaker fuse etc to protect the branch circuit For crossover wiring of the control circuit power supply Wire L11 and L21 as follows Refer to the following items for wires Page 124 Molded case circuit breaker Page 124 F...

Page 126: ...e units exceeds 14 use two power supplies The following is an example of wiring the control circuit when 25 drive units are connected 1 Install a dedicated molded case circuit breaker for the control circuit power supply Do not share the molded case circuit breaker with the main circuit power supply Number of connected converter units drive units Voltage AC V 1 2 3 4 5 6 7 8 9 10 11 12 13 14 Molde...

Page 127: ...ctor fuse 400 V class Recommended wire 400 V class Drive unit 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 J5D_ _G_ 30 A frame 5 A 480 1 600 1 600 Power regeneration converter unit Semiconductor fuse 700 V SCCR 100 kA Manufactured by Eaton Bussman MR CV11K4 170M1413 40 A MR CV18K4 170M1416 80 A MR CV30K4 ...

Page 128: ...ignal transmission and connect the external conductor of the cable to the SD terminal For grounding refer to the following Page 83 Grounding Reduction techniques for external noises that cause the converter unit drive unit 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 converter unit drive u...

Page 129: ...ear the main circuit cables and those transmitted through the power supply cables 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 electric channels Noise transmitted through power cable Route 7 Noise sneaking from grounding...

Page 130: ...ed together electromagnetic and static induction noise is transmitted to the signal cables causing malfunctions Take the following precautions to protect the signal cables against noise Provide maximum clearance between easily affected devices and the converter unit drive unit Provide maximum clearance between easily affected signal cables and the I O cables of the converter unit drive unit Avoid ...

Page 131: ...00 mm or less from the drive unit When connecting the network cable from outside the cabinet connect it to the ground plate 5 mm to 10 mm away from the cabinet entrance To reinforce noise reduction techniques installing a data line filter TDK ZCAT1730 0730 to the network cable is recommended Install the data line filter to a place 80 mm or less from the drive unit Inside the cabinet When using cab...

Page 132: ...t When using cable clamp fittings When using a data line filter Inside the cabinet Outside the cabinet Cable clamp fitting Locate 5 mm to 10 mm away from the cabinet entrance Top view of drive unit Inside the cabinet Outside the cabinet Data line filter 80 mm or less Top view of drive unit ...

Page 133: ...alling a data line filter onto cables such as the encoder cable For example ZCAT3035 1330 by TDK ESD SR 250 by TOKIN GRFC 13 by Kitagawa Industries and E04SRM563218 by SEIWA ELECTRIC are available as data line filters As a reference example the impedance specifications of the ZCAT3035 1330 TDK are indicated below These impedances are reference values and not guaranteed values Unit mm Impedance Ω 1...

Page 134: ...ike 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 Rated voltage AC V C μF 20 R Ω 30 Test voltage Dimensions Unit mm 250 0 5 50 1 2W Between terminals 625 V AC 50 Hz 60 Hz 60 s Between terminal and case 2000 V AC 50 60 Hz 60 s MC SK MC OFF ON Relay Surge killer Surge killer 20 cm...

Page 135: ...ogether and clamp them in place 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 AERSBAN _SET The cable clamp comes as a set with the grounding plate Dimensions Unit mm 1 Screw hole for grounding Connect it to the ground plate of the cabinet Model A B C Accessory fitti...

Page 136: ... Power Regeneration Converter Unit User s Manual Servo motor leakage current example Igm Drive unit leakage current example Iga 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 4 2 to 5 0 5 6 to 7 0 7 Drive unit Leakage current mA MR J5D1 100_ MR J5D1 200_ MR J5D1 350_ 0 3 MR J5D1 500_ MR J5D1 700_ 0 5 MR J5D2 100_ MR J5D2 200_ MR J5D2 350_ 0 3 MR J5D2 500_ MR J5D2 ...

Page 137: ...onditions When an incremental type encoder is being used Stroke less coordinate system for infinite positioning and the like in combination with a controller other than a Mitsubishi Electric motion module Precautions Even when using a servo motor with battery less absolute position encoder absolute position data is erased under the following conditions If the absolute position data is erased perfo...

Page 138: ...Set Pr PA03 Absolute position detection system to 1 enabled absolute position detection system Homing After the absolute position detection system is enabled AL 025 Absolute position erased occurs at the initial startup Then ABSV Absolute position erased turns on Refer to CONTROL MODE in the following manual and perform homing MR J5 User s Manual Function CN1_ CN2A CN2B CN2C CN4 Controller Servo m...

Page 139: ...ition data is erased by servo motor replacement Perform homing again before operation No Item Screen operation MR Configurator2 System architecture 1 1 Motor machine side pulse unit value Acquires and displays values in the unit of the servo motor machine side pulses from the drive unit of the specified axis 2 Command pulse unit value Current position Acquires and displays the command pulse unit v...

Page 140: ...0 r min or higher 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 Home position data Command position Current positio...

Page 141: ...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 startup repair or adjust the machines in which these components are installed They must be familiar with all applicable local regulations and laws in which machines with these components are installed particularly the standar...

Page 142: ...ring and adjustment thoroughly read the installation guide of each individual safety related component In the safety circuit use components that are confirmed safe or meet the required safety standards The STO function does not guarantee that the drive part of the servo motor will not rotate due to external or other forces Safety is not assured until safety related components of the system are com...

Page 143: ... unit has alarms and warnings for maintenance compatible with the Mitsubishi 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 EM2 Forced stop 2 ...

Page 144: ...top deceleration 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 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 and...

Page 145: ...from outside to 1 ms or less How to pull out the STO cable The following shows how to pull out the STO cable from the CN8 connector of the drive unit 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 STO1 state Between TOFB2 and TOFCOM STO2 state Between TOFB1 and TOFB2 STO state STO OFF O...

Page 146: ...If STO is turned off during operation the servo motor stops with the dynamic brake stop stop category 0 Precautions for compliance with stop category 0 IEC EN 60204 1 Before turning off STO STO1 and STO2 make the servo off state or turn off EM1 Forced stop 1 If servo parameter STO timing error selection is set to 1 Not detected wiring to EM1 can be omitted Configure an external sequence that has t...

Page 147: ...e can be confirmed Refer to the following for a connection example Page 146 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 whether STO input diagnosis by TOFB output is performed or not For details refer to Pr PF18 in the following manual MR J5 G MR J5W G User s Manual Parame...

Page 148: ...nual 1 To enable Emergency switching off for the shut off by the STO function of the drive unit change S1 to EMG The stop category at this time is 0 Page 144 Precautions for compliance with stop category 1 IEC EN 60204 1 24 V 0 V S2 K3 24V XS0 XS1 Z00 Z10 Z20 X0 COM0 24G X1 COM1 Z01 Z11 Z21 K3 CN8 KM1 CN3 EM1 EM2 STO1 TOFB1 TOFCOM TOFB2 STO2 STOCOM M KM1 KM1 EMG S4 S3 Fuse Safety relay module MELS...

Page 149: ...section and connect them with external devices Page 142 Functional safety I O signal connector CN8 and pin assignments Sink I O interface Digital input interface DI 1 This is an input circuit in which the photocoupler cathode side is the input terminal Transmit signals from a sink open collector type transistor output relay switch etc VCES 1 0 V ICEO 100 μA STO1 STO2 STOCOM TR For transistor Appro...

Page 150: ...s A maximum of 5 2 V voltage drop occurs in the drive unit When outputting each of two STO states by using each TOFB 1 If the voltage drop a maximum of 2 6 V interferes with the relay operation apply high voltage a maximum of 26 4 V from an external source When outputting two STO states by using one TOFB 1 If the voltage drop a maximum of 5 2 V interferes with the relay operation apply high voltag...

Page 151: ...ge drop occurs in the drive unit When outputting each of two STO states by using each TOFB 1 If the voltage drop a maximum of 2 6 V interferes with the relay operation apply high voltage a maximum of 26 4 V from an external source When outputting two STO states by using one TOFB 1 If the voltage drop a maximum of 5 2 V interferes with the relay operation apply high voltage a maximum of 26 4 V from...

Page 152: ...ly 24 V DC Electromagnetic brake Encoder Control Output signal 1 Self diagnosis Parameter Safety sub function STO function SS1 function SS2 function SBC function SLS function SSM function SOS function SLI function SDI function SLT function SM function Safety sub function processing part 1 Parameter Settings Output device control Input device control Self diagnosis Parameter Safety sub function STO...

Page 153: ...signal 1 Self diagnosis Parameter Safety sub function STO function SS1 function SS2 function SBC function SLS function SSM function SOS function SLI function SDI function SLT function SM function Safety sub function processing part 1 CC Link IE TSN network CC Link IE TSN network CC Link IE TSN network equipment Parameter Settings MELSEC iQ R series safety remote I O module Output device control In...

Page 154: ...e following are examples of the MR J5D1 _G_ Safety sub function control by input device CN5 CN3 CN8 CN1A CN2A CN1B MR Configurator2 WVUE Personal computer Servo motor Safety light curtain Emergency stop switch Safety signal Safety programmable controller Network Network I O signal ...

Page 155: ...itecture 153 9 Safety sub function control by network CN5 CN3 CN1A CN2A CN1B MR Configurator2 WVUE CC Link IE TSN CC Link IE TSN Personal computer Servo motor Safety light curtain Emergency stop switch Safety signal I O signal Network Network ...

Page 156: ...SDIA Open between SDIA and SDICOM Turning on SDIA Close between SDIA and SDICOM DI 1 SDIB CN8 5 Input the status of SDIB Turning off SDIB Open between SDIB and SDICOM Turning on SDIB Close between SDIB and SDICOM DI 1 SDOCOM CN8 8 Common terminal for the SDOA and SDOB output signals DO 1 SDOA CN8 6 The signal that outputs the status assigned to SDOA SDOA turned on Closes between SDOA and SDOCOM SD...

Page 157: ...Although the diagram shows the input signal and the output signal each using a separate 24 V DC power supply for illustrative purposes the system can be configured to use a single 24 V DC power supply For sink input interface 1 Separate the external input wiring into two routes SDIA and SDIB 2 Supply 24 V DC 10 to interfaces from an external source If all the I O points have been used there must b...

Page 158: ...supply For sink output interface 1 Separate the external output wiring into two routes SDOA and SDOB 2 Supply 24 V DC 10 to interfaces from an external source If all the I O points have been used there must be a total current capacity of 0 2 A remaining Reducing the number of I O points decreases the current capacity Refer to section 9 6 for information on the voltages required for interfaces Alth...

Page 159: ...or type transistor output relay switch etc Sink input This is an input circuit in which the photocoupler cathode side is the input terminal Transmit signals from a sink open collector type transistor output relay switch etc SDICOM SDIA SDIB 24 V IN 0 V IN Approx 4 4 kΩ Approx 4 4 kΩ 24 V DC Control output 1 Control output 2 External device 24 V DC 5 mA 24 V DC 5 mA SDICOM SDIA SDIB 24 V IN 0 V IN ...

Page 160: ...tem so that the electromagnetic brake activates when SBCS SBC output turns off It is not necessary to use MBR electromagnetic brake interlock of the drive unit For information on the operation sequence when the SBC function is used refer to SBC function in the following manual MR J5 User s Manual Function 1 Configure a circuit which interlocks with an emergency stop switch to shut off 2 Do not use...

Page 161: ...section of the cable after the grounding point Strip part of the shielded cable then ground the exposed portion of the cable on a large surface of the cabinet A metal cable clamp can also be used to ground the cable shown below Mask the painted internal wall of the cabinet that touches the cable clamp Exposed shield Grounding the shield Ground the both ends of the CN8 cable with the cable clamp Th...

Page 162: ...e assigned to pins of the CN8 connector The safety level Category 4 PL e SIL 3 can be achieved with input signal diagnostics A1 24 V A2 0 V 24 V 0 V FLEXB US FLEXB US 24 V 0 V X1 X2 A1 24 V Q1 Q2 Q3 A2 0 V WS0 CPU0 WS0 XTIO SDOCOM CN8 CN8 SDOA SDOB SDICOM SDIA SDIB S1 CN1A CN8 KM1 QX_ COM I1 I2 I3 I4 Safety controller MELSEC WS series Safety I O module WS0 XTIO CPU module WSO CPU0 Application Appl...

Page 163: ...allows execution of safety sub functions via CC Link IE TSN Network Wiring can be reduced using this method CN1A CN1B KM1 P1 P2 P1 P2 X0 X1 T0 T1 R6SFM RD78G RJ71GN11 T2 NZ2GNSS2 16DTE NZ2GNSS2 8D S1 MELSEC iQ R series safety CPU Safety sub function Control circuit Servo motor KM1 Magnetic contactor S1 Safety switch CC Link IE TSN network Drive unit ...

Page 164: ... can be used contact your local sales office When a fully closed loop system is used for a 1 axis drive unit if a communication cycle shorter than 125 µs is set AL 09E A Communication cycle setting warning occurs When a fully closed loop system is used for a 2 axis drive unit if a communication cycle shorter than 250 µs is set AL 09E A occurs A B Z phase differential output rotary encoders cannot ...

Page 165: ...o motor side information and load side information Advantage The gain during operation can be increased and thus the settling time can be shorten by switching the information type to control the position as follows the servo motor side information during operation and the load side information during stops When the servo motor stops it stops with the accuracy at the load side Fully closed loop con...

Page 166: ...trol when the servo motor is operating When Pr PE08 is set to 4500 fully closed loop control is always enabled Dual feedback filter equivalent block diagram The following shows a dual feedback filter equivalent block diagram for dual feedback control 1 Set ω dual feedback filter band with Pr PE08 Fully closed loop dual feedback filter FBD FBN CDV CMX S Servo motor side feedback pulses load side re...

Page 167: ...e unit If a 2 axis drive unit is used AL 070 occurs For a 2 axis drive unit use a two wire type encoder cable Note that four wire type serial interface compatible encoders and A B Z phase pulse train interface compatible encoders cannot be used Load side encoder Pr PA01 1 Operation mode selection 0 Standard control mode Linear encoder Rotary servo motor manufactured by Mitsubishi Electric A B Z ph...

Page 168: ...tem can be supported In that case batteries are unnecessary CNP3A CN2AL CN2A Controller Position command control signal Table Servo motor encoder signal Linear encoder head Servo motor Drive unit Load side encoder signal A B Z phase pulse train interface or serial interface Linear encoder compatible with A B Z phase pulse train interface linear encoder compatible with two wire or four wire type se...

Page 169: ... linear encoder an absolute position detection system can be supported In that case batteries are unnecessary CNP3A CN2A Controller Position command control signal Table Servo motor encoder signal Linear encoder head Servo motor Drive unit Linear encoder compatible with two wire type serial interface 1 Load side encoder signal ...

Page 170: ... an HK KT servo motor an absolute position detection system can be supported without using batteries CNP3A CN2AL CN2A 1 Controller Position command control signal Servo motor encoder signal Drive unit Load side encoder signal Servo motor A B Z phase differential output encoder two wire type or four wire type rotary encoder or synchronous encoder Driving part CNP3A CN2A 1 2 Controller Position comm...

Page 171: ...ending on the load side encoder Encoder cable configuration diagram for linear encoders For linear encoder cables refer to OPTION CABLES CONNECTOR SETS in the following manual MR J5 Partner s Encoder User s Manual The encoder cable to be used differs depending on the load side encoder 1 axis drive unit The linear encoder can be connected without using an MR J4FCCBL03M branch cable In addition a fo...

Page 172: ...sconnect the power cable during the insulation protection 2 Use the servo motor in the range not exceeding the maximum servo motor speed described in Standard specifications list in the Rotary Servo Motor User s Manual HK series 2 axis drive unit 1 Use two wire type encoder cables Four wire type encoder cables cannot be used 2 When the motor type of the servo motor is HK KT_W a maximum of 240 V is...

Page 173: ...3 0 Absolute position detection system selection has been set to 1 Enabled AL 037 2 Parameter combination error occurs This setting is enabled when 1 fully closed loop control mode is selected in Pr PA01 4 Fully closed loop operation mode selection Pr PA01 4 Fully closed loop operation mode selection Pr PE01 0 Fully closed loop function selection Semi closed loop control fully closed loop control ...

Page 174: ...e correctly possibly causing a collision that results in an accident or damage to other devices Pr PC27 0 Encoder pulse count polarity selection is not related to Pr PA14 Travel direction selection Set this parameter according to the relationship between the servo motor and the linear encoder rotary encoder Do not set the incorrect direction in Pr PC27 0 Encoder pulse count polarity selection Duri...

Page 175: ...oad side encoder pulses The relation is as follows Select a load side encoder of which the number of load side encoder pulses per servo motor revolution is within the following range 4096 212 Number of load side encoder pulses per servo motor revolution 67108864 226 Example settings of a ball screw direct connection with a linear encoder resolution of 0 05 μm Conditions Servo motor resolution 6710...

Page 176: ... rev Servo motor side pulley diameter 30 mm Rotary encoder side pulley diameter 20 mm Rotary encoder resolution 67108864 pulses rev If the pulley ratio or reduction ratio is not one to one calculate the electronic gear by taking that into consideration d2 20 mm d1 30 mm Servo motor Rotary encoder Driving part Pulley diameter Pulley diameter Pr PE04 Pr PE05 67108864 30 67108864 20 1 1 3 2 ...

Page 177: ...to or smaller than a half of the setting value for PG2 To shorten the settling time Increase the value for the dual feedback filter To suppress vibration Decrease the value for the dual feedback filter Load side encoder resolution setting When using an A B Z phase differential output rotary encoder set the resolution in Pr PE51 Load side encoder resolution setting When using an A B Z phase differe...

Page 178: ...rrectly 3 Checking the load side encoder feedback direction setting the polarity of the load side encoder Move the device load side encoder manually in servo off status to confirm that the directions of the cumulative feedback pulses of the servo motor encoder after taking the gear into consideration and the load side cumulative feedback pulses are matched If the directions are mismatched reverse ...

Page 179: ...Z phase must be passed through when a rotary encoder is used during a period from a home position return start until the dog signal turns off For the linear encoder a home position reference mark of the linear encoder is necessary in the homing direction In addition place the proximity dog position one half of the rotation or more before the reference mark Precautions To execute homing securely in...

Page 180: ...ng on home position reference mark signal of the linear encoder has a certain width Specifications differ depending on the linear encoder Example When the Z phase is recognized at startup The position where the signal turns on depends on the direction in which the home position is passed through In a case where homing is always required to be completed at the same position such as dog type homing ...

Page 181: ...tion shift distance When the stroke end is detected The following figure shows the operation of Homing method 11 The homing direction of Homing method 43 is opposite to that of Homing method 11 1 Home position shift distance can be changed with Pr PT07 0 r min Linear encoder home position Creep speed Creep speed Home position shift distance 1 Home position Homing direction Servo motor speed Machin...

Page 182: ...m homing Rotary encoder of a serial communication servo motor If using the rotary encoder of a serial communication servo motor as the load side encoder the home position is at the load side Z phase position 0 r min Homing direction Linear servo motor speed Reverse rotation Homing automatically starts from this position Homing start position Forward rotation Stroke end 1 Linear encoder home positi...

Page 183: ...d loop control error detection function Speed deviation error detection Set Pr PE03 0 Fully closed loop control error Detection function selection to 1 speed deviation error detection to enable the speed deviation error detection When the difference between the servo motor side feedback speed 1 and the load side feedback speed 3 is equal to or more than the value of Pr PE06 Fully closed loop contr...

Page 184: ...hange the setting value as necessary Detecting multiple deviation errors Multiple deviation errors can be detected when Pr PE03 0 Fully closed loop control error Detection function selection is set as follows Refer to the following for the error detection method Page 181 Speed deviation error detection Page 182 Position deviation error detection Pr PE03 0 Fully closed loop control error Detection ...

Page 185: ... starts from 0 Click Clear to reset the value to 0 In reverse rotation the value is negative pulse e Load side encoder droop pulses Droop pulses of the deviation counter between a load side position and a command are displayed In reverse rotation the value is negative pulse f Servo motor side cumulative feedback pulses before gear The feedback pulses from the servo motor encoder are counted and di...

Page 186: ...enabled k Parameter Setting F B pulse electronic gear With this servo parameter the feedback pulse electronic gears Pr PE04 Fully closed loop control Feedback pulse electronic gear 1 Numerator and Pr PE05 Fully closed loop control Feedback pulse electronic gear 1 Denominator for servo motor encoder pulses can be displayed and set Page 173 Setting the feedback pulse electronic gear l Parameter Sett...

Page 187: ... the following manual MR J5 Partner s Encoder User s Manual 1 Receptacle 36210 0100PL Shell kit 36310 3200 008 3M 2 Plug 36110 3000FD Shell kit 36310 F200 008 3M LG 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 THM2 THM1 MXR SEL THM2 THM1 SEL MX BAT SD 3 4 1 CN2 1 MOTOR 2 0 3 m MR P5 MRR SD MR P5 MRR 3 4 1 4 MRR 2 8 6 1 P5 5 10 3 MR 7 9 4 2 8 6 1 5 10 3 7 9 BAT 2 THM2 6 7 MX LG LG 2 MXR 8 BAT SEL 9 10 5 THM1 ...

Page 188: ... loop control cannot be performed Set Pr PE01 0 Fully closed loop function selection to 0 Always enabled If Pr PE01 0 Fully closed loop function selection is set to 1 switching by fully closed loop selection command from the controller and by input device CLD AL 037 Parameter error occurs Use the encoder within the range of 32 bit absolute position data When using the degree unit the infinite feed...

Page 189: ...10 USING A FULLY CLOSED LOOP SYSTEM 10 7 Absolute position detection system 187 10 MEMO ...

Page 190: ...tion June 2021 IB NA 0300548ENG A First edition This manual confers no industrial property rights or any 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 191: ...ou acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of pro...

Page 192: ...trademark or registered trademark 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 IB NA 0300548ENG A ...

Page 193: ......

Page 194: ...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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