Mitsubishi Electric MELSERVO-JE MR-JE-100A Скачать руководство пользователя страница 225

Страница: 225 / 310

8. TROUBLESHOOTING

8 - 4

Alarm code

Alarm deactivation

No.

CN1

(Bit 2)

CN1

(Bit 1)

CN1

(Bit 0)

Name

Detailed

display

Detail name

Stop

method

(Note 2,

Alarm

reset

(RES)

Press
the
"SET"
button
on the
current
alarm
screen.

Power

off to

(Note 4)

USB communication time-

out error

8A.1

USB communication time-out error

Alarm

8E.1

USB communication receive error

8E.2

USB communication checksum error

USB communication error

8E.3

USB communication character error

8E.4

USB communication command error

8E.5

USB communication data number error

88888

Watchdog

8888._ Watchdog

Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence.

2. Stop method indicates as follows:

DB: Stop with dynamic brake
SD: Forced stop deceleration

3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04].

4. To cancel the alarm, turn off the power and check that the 5-digit, 7-segment LED display is off, and then turn on the power.

Содержание MELSERVO-JE MR-JE-100A

Страница 1: ...General Purpose AC Servo MR JE _A SERVO AMPLIFIER INSTRUCTION MANUAL MODEL MR JE _A SERVO AMPLIFIER INSTRUCTION MANUAL General Purpose Interface AC Servo B B ...

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

Страница 3: ...connect a magnetic contactor between the power supply and the power supply L1 L2 and L3 of the servo amplifier in order to configure a circuit that shuts down the power supply on the side of the servo amplifier s power supply If a magnetic contactor is not connected continuous flow of a large current may cause a fire when the servo amplifier malfunctions When using the regenerative resistor switch...

Страница 4: ...solate them from all impact loads When you keep or use the equipment please fulfill the following environment Item Environment Operation 0 C to 55 C non freezing Ambient temperature Storage 20 C to 65 C non freezing Operation Ambient humidity Storage 90 RH or less non condensing Ambience Indoors no direct sunlight free from corrosive gas flammable gas oil mist dust and dirt Altitude 1000 m or less...

Страница 5: ...are shown for sink interfaces unless stated otherwise The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuits may not operate DOCOM Control output signal Servo amplifier RA For sink output interface 24 V DC DOCOM Control output signal 24 V DC Servo amplifier RA For source output in...

Страница 6: ...tromagnetic brake may not hold the motor shaft To ensure safety install a stopper on the machine side 5 Corrective actions CAUTION When it is assumed that a hazardous condition may occur due to a power failure or product malfunction use a servo motor with an electromagnetic brake or external brake to prevent the condition Configure an electromagnetic brake circuit so that it is activated also by a...

Страница 7: ...000 the servo amplifier may malfunction when the EEP ROM reaches the end of its useful life Write to the EEP ROM due to parameter setting changes Write to the EEP ROM due to device changes Compliance with global standards Refer to appendix 2 for the compliance with global standard About the manual You must have this Instruction Manual and the following manuals to use this servo Ensure to prepare t...

Страница 8: ...e control mode 3 13 3 3 Explanation of power supply system 3 15 3 3 1 Signal explanations 3 15 3 3 2 Power on sequence 3 16 3 3 3 Wiring CNP1 and CNP2 3 17 3 4 Connectors and pin assignment 3 19 3 5 Signal device explanations 3 21 3 6 Detailed explanation of signals 3 29 3 6 1 Position control mode 3 29 3 6 2 Speed control mode 3 34 3 6 3 Torque control mode 3 36 3 6 4 Position speed control switc...

Страница 9: ... up 4 7 4 3 Startup in speed control mode 4 9 4 3 1 Power on and off procedures 4 9 4 3 2 Stop 4 9 4 3 3 Test operation 4 10 4 3 4 Parameter setting 4 11 4 3 5 Actual operation 4 12 4 3 6 Trouble at start up 4 12 4 4 Startup in torque control mode 4 13 4 4 1 Power on and off procedures 4 13 4 4 2 Stop 4 13 4 4 3 Test operation 4 14 4 4 4 Parameter setting 4 15 4 4 5 Actual operation 4 15 4 4 6 Tro...

Страница 10: ... 6 3 6 2 2 Display transition and operation procedure of one touch tuning 6 5 6 2 3 Caution for one touch tuning 6 13 6 3 Auto tuning 6 14 6 3 1 Auto tuning mode 6 14 6 3 2 Auto tuning mode basis 6 15 6 3 3 Adjustment procedure by auto tuning 6 16 6 3 4 Response level setting in auto tuning mode 6 17 6 4 Manual mode 6 18 6 5 2 gain adjustment mode 6 22 7 SPECIAL ADJUSTMENT FUNCTIONS 7 1 to 7 26 7 ...

Страница 11: ...ets 11 2 11 2 Regenerative option 11 4 11 2 1 Combination and regenerative power 11 4 11 2 2 Selection of regenerative option 11 5 11 2 3 Parameter setting 11 6 11 2 4 Selection of regenerative option 11 7 11 2 5 Dimensions 11 10 11 3 Junction terminal block MR TB50 11 12 11 4 MR Configurator2 11 14 11 5 Selection example of wires 11 16 11 6 Molded case circuit breakers fuses magnetic contactors r...

Страница 12: ...cision positioning and smooth speed control of machine tools and general industrial machines but also line control and tension control With one touch tuning and real time auto tuning you can automatically adjust the servo gains according to the machine The tough drive function drive recorder function and preventive maintenance support function strongly support machine maintenance The servo amplifi...

Страница 13: ...A D D A USB Personal computer Analog two channel CN1 U U U C L3 L2 L1 Dynamic brake circuit Current detection Overcurrent protection Voltage detection Base amplifier U V W U V W Diode stack Relay P Note 1 B RA 24 V DC B1 B2 M Control circuit power CHARGE lamp Regene rative TR Current encoder Regenerative option Electromagnetic brake DI O control Servo on Input command pulse Start Malfunction etc N...

Страница 14: ...current protection Voltage detection Base amplifier Control circuit power Electromagnetic brake Model position Current control Actual position control Actual speed control Virtual motor Virtual encoder Position command input Model speed Model torque Model position control Model speed control Analog monitor two channel Personal computer Analog two channel DI O control Servo on Input command pulse S...

Страница 15: ...01 or less load fluctuation 0 to 100 0 power fluctuation 10 0 2 or less ambient temperature 25 C 10 C when using analog speed command Speed control mode Torque limit Set by parameter setting or external analog input 0 V DC to 10 V DC maximum torque Analog torque command input 0 V DC to 8 V DC maximum torque input impedance 10 kȍ to 12 kȍ Torque control mode Speed limit Set by parameter setting or ...

Страница 16: ...eries Gain switching function You can switch gains during rotation and during stop and can use an input device to switch gains during operation Section 7 2 Advanced vibration suppression control II This function suppresses vibration at the arm end or residual vibration Section 7 1 5 Adaptive filter II Servo amplifier detects mechanical resonance and sets filter characteristics automatically to sup...

Страница 17: ...n terms of voltage in real time Pr PC14 Pr PC15 MR Configurator2 Using a personal computer you can perform the parameter setting test operation monitoring and others Section 11 4 One touch tuning Gain adjustment is performed just by one click on a certain button on MR Configurator2 or operation section Section 6 2 Tough drive function This function makes the equipment continue operating even under...

Страница 18: ... The year and month of manufacture Country of origin KCC REI MEK TC300A745G51 DATE 2013 05 MR JE 10A AC SERVO SER S33001001 POWER INPUT OUTPUT STD IEC EN61800 5 1 MAN IB NA 0300194 Max Surrounding Air Temp 55 C IP20 100W 3AC AC200 240V 0 9A 1 5A 50 60Hz 3PH170V 0 360Hz 1 1A TOKYO 100 8310 JAPAN MADE IN JAPAN 2 Model The following describes what each block of a model name indicates Series Rated out...

Страница 19: ...e one touch tuning mode Section 4 5 Section 6 2 3 USB communication connector CN3 Connect with the personal computer Section 11 4 4 I O signal connector CN1 Digital I O signal analog input signal and analog monitor output are connected Section 3 2 Section 3 4 5 Encoder connector CN2 Used to connect the servo motor encoder Section 3 4 6 Power connector CNP1 Input power supply built in regenerative ...

Страница 20: ... 6 2 3 USB communication connector CN3 Connect with the personal computer Section 11 4 4 I O signal connector CN1 Digital I O signal analog input signal and analog monitor output are connected Section 3 2 Section 3 4 5 Encoder connector CN2 Used to connect the servo motor encoder Section 3 4 6 Power connector CNP1 Input power supply and regenerative option are connected Section 3 1 Section 3 3 7 R...

Страница 21: ...rator2 CN1 CN2 W V U L1 L2 L3 Note 2 Magnetic contactor MC Molded case circuit breaker R S T Junction terminal block Note 1 Power supply Note 1 A 1 phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR JE 70A or less For 1 phase 200 V AC to 240 V AC connect the power supply to L1 and L3 Leave L2 open For the power supply specifications refer to section 1 3 2 Depending ...

Страница 22: ...actor MC Molded case circuit breaker R S T Junction terminal block Note 1 Power supply Servo motor Note 1 For the power supply specifications refer to section 1 3 2 Depending on the power supply voltage and operation pattern bus voltage can decrease This can shift the mode to the dynamic brake deceleration during forced stop deceleration When dynamic brake deceleration is not required slow the tim...

Страница 23: ...1 FUNCTIONS AND CONFIGURATION 1 12 MEMO ...

Страница 24: ... servo amplifier Do not block the intake and exhaust areas of the servo amplifier Otherwise it may cause a malfunction Do not drop or strike the servo amplifier Isolate it from all impact loads Do not install or operate the servo amplifier which has been damaged or has any parts missing When the product has been stored for an extended period of time contact your local sales office When handling th...

Страница 25: ...y cause a malfunction MR JE 40A to MR JE 100A have a regenerative resistor on their back face The regenerative resistor generates heat of 100 C higher than the ambient temperature Please fully consider heat dissipation installation position etc when mounting it 1 Installation clearances of the servo amplifier a Installation of one servo amplifier 40 mm or more 10 mm or more 10 mm or more 40 mm or ...

Страница 26: ...ttom 100 mm or more 1 mm 30 mm or more 40 mm or more Cabinet 1 mm Leaving clearance Mounting closely 2 Others When using heat generating equipment such as the regenerative option install them with full consideration of heat generation so that the servo amplifier is not affected Install the servo amplifier on a perpendicular wall in the correct vertical direction 2 2 Keep out foreign materials 1 Wh...

Страница 27: ...ce and or inspection turn off the power and wait for 15 minutes or more until the charge lamp turns off Otherwise an electric shock may occur In addition when confirming whether the charge lamp is off or not always confirm it from the front of the servo amplifier To avoid an electric shock only qualified personnel should attempt inspections For repair and parts replacement contact your local sales...

Страница 28: ...e and operating conditions The capacitor will reach the end of its life in 10 years of continuous operation in normal air conditioned environment 40 C surrounding air temperature or less 2 Relays Contact faults will occur due to contact wear arisen from switching currents Relays will reach the end of their lives depending on their power supply capacity when the number of power on times and number ...

Страница 29: ...2 INSTALLATION 2 6 MEMO ...

Страница 30: ...nsure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuits may not operate DOCOM Control output signal Servo amplifier RA For sink output interface 24 V DC DOCOM Control output signal 24 V DC Servo amplifier RA For ...

Страница 31: ... servo amplifier power supply If input voltage exceeds the upper limit of the specification the servo amplifier will break down The servo amplifier has a built in surge absorber varistor to reduce noise and to suppress lightning surge The varistor can break down due to its aged deterioration To prevent a fire use a molded case circuit breaker or fuse for input power supply Connecting a servo motor...

Страница 32: ...m shows sink I O interface For source I O interface refer to section 3 9 3 4 For connecting servo motor power wires refer to HF KN HF SN Servo Motor Instruction Manual 5 Use a magnetic contactor with an operation delay time interval between current being applied to the coil until closure of contacts of 80 ms or less Depending on the power supply voltage and operation pattern bus voltage can decrea...

Страница 33: ... use of the option cable is recommended For selecting cables refer to HF KN HF SN Servo Motor Instruction Manual 3 This diagram shows sink I O interface For source I O interface refer to section 3 9 3 4 For connecting servo motor power wires refer to HF KN HF SN Servo Motor Instruction Manual 5 Use a magnetic contactor with an operation delay time interval between current being applied to the coil...

Страница 34: ...face refer to section 3 9 3 4 For connecting servo motor power wires refer to HF KN HF SN Servo Motor Instruction Manual 5 Use a magnetic contactor with an operation delay time interval between current being applied to the coil until closure of contacts of 80 ms or less Depending on the power supply voltage and operation pattern bus voltage can decrease This can shift the mode to the dynamic brake...

Страница 35: ...tor Note 7 CN1 LG DICOM 10 m or less Note 8 41 20 46 49 10 11 35 9 3 36 CLEARCOM 12 15 16 14 13 11 CLEAR RDYCOM READY PULSE F PULSE F PG0 PG0 COM PULSE R PULSE R 18 10 17 9 DOCOM CR RD PP PG NP NG LZ LZR 8 Note 10 Note 7 CN1 Positioning module LD75D QD75D Note 14 In position Control common SD RA1 RA2 RA3 24 V DC Note 4 24 V DC Note 4 24 V DC Note 4 Plate Note 1 2 m or less 10 m or less 0 V to 10 V...

Страница 36: ...tion stroke end normally closed contact 6 ALM Malfunction turns on in normal alarm free condition normally closed contact When this signal is switched off at occurrence of an alarm the output of the programmable controller should be stopped by the sequence program 7 The pins with the same signal name are connected in the servo amplifier 8 This length applies to the command pulse train input in the...

Страница 37: ...10 Note 13 Note 7 CN1 Positioning module LD75D QD75D 24 V DC Note 4 12 In position SD RA1 RA2 RA3 24 V DC Note 4 12 24 V DC Note 4 12 Note 1 2 m or less 10 m or less 42 15 19 43 44 21 27 SD EM2 SON RES LSP LSN DICOM TLA LG 28 Note 7 CN1 Note 9 MR Configurator2 Note 7 CN1 CN3 Note 11 Power supply Note 14 0 V to 10 V Encoder A phase pulse differential line driver Encoder B phase pulse differential l...

Страница 38: ... controller FX3U _ _MT ES Note 11 S S 24 V 0 V Programmable controller power supply 2 m or less Note 8 24 V DC Note 4 24 V DC Note 4 24 V DC Note 4 Note 15 Note 12 Note 13 Note 14 X _ _ _ INP 24 SD 2 m or less 26 MO1 30 LG 29 MO2 10 V DC 10 V DC SD Note 7 CN1 0 V to 10 V Malfunction Note 6 Zero speed detection Encoder A phase pulse differential line driver Encoder Z phase pulse differential line d...

Страница 39: ...figured by one 5 When starting operation always turn on EM2 Forced stop 2 LSP Forward rotation stroke end and LSN Reverse rotation stroke end normally closed contact 6 ALM Malfunction turns on in normal alarm free condition normally closed contact When this signal is switched off at occurrence of an alarm the output of the programmable controller should be stopped by the sequence program 7 The pin...

Страница 40: ... in the correct direction If it is connected reversely the servo amplifier will malfunction and will not output signals disabling EM2 Forced stop 2 and other protective circuits 3 The forced stop switch normally closed contact must be installed 4 Supply 24 V DC 10 to interfaces from outside The total current capacity is up to 300 mA 300 mA is the value applicable when all I O signals are used The ...

Страница 41: ... 10 m or less 24 V DC Note 4 12 10 V to 10 V 0 V to 10 V Forward rotation start Reverse rotation start Forced stop 2 Servo on Forward rotation stroke end Reverse rotation stroke end Note 3 5 Note 5 Servo amplifier Plate Plate Plate Note 11 Power supply Speed reached Ready Malfunction Note 6 Zero speed detection Encoder A phase pulse differential line driver Encoder Z phase pulse differential line ...

Страница 42: ...nnect the protective earth PE terminal marked of the servo amplifier to the protective earth PE of the cabinet 2 Connect the diode in the correct direction If it is connected reversely the servo amplifier will malfunction and will not output signals disabling EM2 Forced stop 2 and other protective circuits 3 The forced stop switch normally closed contact must be installed 4 Supply 24 V DC 10 to in...

Страница 43: ...RS1 RS2 RA1 RA2 RA3 2 m or less 26 MO1 30 LG 29 MO2 10 V DC 10 V DC SD 10 m or less 24 V DC Note 4 10 Forward rotation start Reverse rotation start Forced stop 2 Servo on Note 3 Note 9 Power supply Plate Plate Plate Ready Malfunction Note 5 Zero speed detection Encoder A phase pulse differential line driver Encoder Z phase pulse differential line driver Encoder B phase pulse differential line driv...

Страница 44: ...do not have a built in regenerative resistor When using a regenerative option disconnect wires of P and C for the built in regenerative resistor And then connect wires of the regenerative option to P and C 2 MR JE 200A or more When using a servo amplifier built in regenerative resistor connect P and D factory wired When using a regenerative option disconnect P and D and connect the regenerative op...

Страница 45: ... 3 5 s after the power supply is switched on Therefore when SON Servo on is switched on simultaneously with the power supply the base circuit will switch on in about 2 5 s to 3 5 s and the RD Ready will switch on in further about 5 ms making the servo amplifier ready to operate Refer to 2 of this section 3 When RES Reset is switched on the base circuit is shut off and the servo motor shaft coasts ...

Страница 46: ... Table 3 1 Connector and applicable wire Applicable wire Connector Receptacle assembly Size Insulator OD Stripped length mm Open tool Manu facturer CNP1 09JFAT SAXGDK H5 0 AWG 18 to 14 3 9 mm or shorter 9 J FAT OT JST b MR JE 200A MR JE 300A CNP1 CNP2 Servo amplifier Table 3 2 Connector and applicable wire Applicable wire Connector Receptacle assembly Size Insulator OD Stripped length mm Open tool...

Страница 47: ...size For one For two Crimp terminal Phoenix Contact AWG 16 AI1 5 10BK AI TWIN2 1 5 10BK MR JE 10A to MR JE 100A AWG 14 AI2 5 10BU AWG 16 AI1 5 10BK AI TWIN2 1 5 10BK AWG 14 AI2 5 10BU AI TWIN2 2 5 10BU MR JE 200A to MR JE 300A AWG 12 AI4 10GY CRIMPFOX ZA3 b Inserting wire Insert the open tool as follows and push down it to open the spring While the open tool is pushed down insert the stripped wire...

Страница 48: ...he servo amplifier front view shown is that of the MR JE 40A or less Refer to chapter 9 DIMENSIONS for the appearances and connector layouts of the other servo amplifiers CN1 The frames of the CN1 connector are connected to the protective earth terminal in the servo amplifier CN3 USB connector Refer to section 11 4 This is a connector of 3M 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 CN2 MDR MD 2 4 6 8 10 1...

Страница 49: ...11 I PG PG PG 12 OPC OPC OPC 13 14 15 I SON SON SON SON SON SON Pr PD03 Pr PD04 16 17 18 19 I RES RES ST1 ST1 ST1 RS2 RS2 RS2 RES Pr PD11 Pr PD12 20 DICOM DICOM DICOM DICOM DICOM DICOM 21 DICOM DICOM DICOM DICOM DICOM DICOM 22 23 O ZSP ZSP ZSP ZSP ZSP ZSP Pr PD24 24 O INP INP SA SA SA INP Pr PD25 25 26 O MO1 MO1 MO1 MO1 MO1 MO1 Pr PC14 27 I TLA Note 3 TLA Note 3 TLA Note 3 TLA TC TC Note 3 TC TLA ...

Страница 50: ...commons to decelerate the servo motor to a stop with commands Turn EM2 on short between commons in the forced stop state to reset that state The following shows the setting of Pr PA04 Deceleration method Pr PA04 setting EM2 EM1 EM2 or EM1 is off Alarm occurred 0 _ _ _ EM1 MBR Electromagnetic brake interlock turns off without the forced stop deceleration MBR Electromagnetic brake interlock turns of...

Страница 51: ...s Pr PD01 LSP LSN _ 4 _ _ Automatic on _ 8 _ _ Automatic on _ C _ _ Automatic on Automatic on When LSP or LSN turns off AL 99 Stroke limit warning occurs and WNG Warning turns on When using WNG enable it by setting Pr PD24 Pr PD25 and Pr PD28 External torque limit selection TL Turning off TL will enable Pr PA11 Forward torque limit and Pr PA12 Reverse torque limit and turning on it will enable TLA...

Страница 52: ...speed for operation DI 1 SP2 Note Input device DI 1 Speed selection 2 SP3 SP2 SP1 Speed command SP3 0 0 0 VC Analog speed command DI 1 Speed selection 3 0 0 1 Pr PC05 Internal speed command 1 0 1 0 Pr PC06 Internal speed command 2 0 1 1 Pr PC07 Internal speed command 3 1 0 0 Pr PC08 Internal speed command 4 1 0 1 Pr PC09 Internal speed command 5 1 1 0 Pr PC10 Internal speed command 6 1 1 1 Pr PC11...

Страница 53: ...TL External torque limit selection at the same time to make the torque less than the rated by TLA Analog torque limit DI 1 Clear CR CN1 41 Turn CR on to clear the position control counter droop pulse on its leading edge The pulse width should be 10 ms or longer The delay amount set in Pr PB03 Position command acceleration deceleration time constant is also cleared When _ _ _1 is set to Pr PD32 the...

Страница 54: ...peed 1 Torque Note 0 Off 1 On Torque position control switch mode This is used to select the control mode in the torque position control switching mode Note LOP Control mode 0 Torque 1 Position Note 0 Off 1 On Second acceleration deceleration selection STAB2 The device allows selection of the acceleration deceleration time constant at servo motor rotation in the speed control mode or torque contro...

Страница 55: ... turns off when SON Servo on turns off DO 1 Limiting torque TLC TLC turns on when a generated torque reaches a value set with any of Pr PA11 Forward torque limit Pr PA12 Reverse torque limit or TLA Analog torque limit DO 1 Zero speed detection ZSP CN1 23 ZSP turns on when the servo motor speed is zero speed 50r min or less Zero speed can be changed with Pr PC17 OFF ON Servo motor speed 20 r min Hy...

Страница 56: ... 1 The speed at 8 V can be changed with Pr PC13 If a value equal to or larger than the maximum torque is inputted to TC the value is clamped at the maximum torque Analog input Analog speed command VC CN1 2 Apply 0 V to 10 V DC between VC and LG Speed set in Pr PC12 is provided at 10 V Refer to section 3 6 2 1 If a value equal to or larger than the permissible speed is inputted to VC the value is c...

Страница 57: ... is used to output the data set in Pr PC14 to between MO1 and LG in terms of voltage Resolution 10 bits or equivalent Analog output Analog monitor 2 MO2 CN1 29 This signal outputs the data set in Pr PC15 to between MO2 and LG in terms of voltage Resolution 10 bits or equivalent Analog output 4 Power supply Control mode Device Symbol Connector pin No Function and application I O division P S T Digi...

Страница 58: ...erse the input pulse logic of the servo amplifier F series positioning module Command pulse logic setting Signal type F series positioning module fixed MR JE _A servo amplifier Pr PA13 setting Open collector type Differential line driver type Negative logic Negative logic _ _ 1 _ 1 Pulse train input a Input pulse waveform selection You can input command pulses in any of three different forms and c...

Страница 59: ...ype Connect as follows PP NP Servo amplifier PG NG SD Approximately 100 Approximately 100 Note Note Pulse train input interface is comprised of a photocoupler If a resistor is connected to the pulse train signal line it may malfunction due to reduction in current The following example shows that an input waveform has been set to the negative logic and forward reverse rotation pulse trains by setti...

Страница 60: ...es 3 RD Ready RD Ready ON OFF ON OFF Alarm No alarm SON Servo on Alarm 100 ms or shorter 10 ms or shorter 10 ms or shorter 4 Electronic gear switching The combination of CM1 and CM2 enables you to select four different electronic gear numerators set in the parameters As soon as CM1 CM2 is turned on or off the numerator of the electronic gear changes Therefore if a shock occurs at switching use the...

Страница 61: ...ut 5 relative to the voltage depending on products At the voltage of less than 0 05 V torque may vary as it may not be limited sufficiently Therefore use this function at the voltage of 0 05 V or more 5 Connection example TLA applied voltage vs torque limit value TLA applied voltage V Maximum torque Torque 0 0 0 05 Servo amplifier 24 V DC Note TL DICOM TLA LG SD 0 V to 10 V Note This diagram shows...

Страница 62: ...A11 Pr PA12 Pr PA11 Pr PA12 0 1 TLA Pr PA11 Pr PA12 TLA TLA Pr PC35 Pr PA11 Pr PA12 Pr PA11 Pr PA12 1 0 Pr PC35 Pr PA11 Pr PA12 Pr PC35 Pr PC35 TLA Pr PC35 Pr PC35 Pr PC35 1 1 TLA Pr PC35 TLA TLA Note 0 Off 1 On c TLC Limiting torque TLC turns on when the servo motor torque reaches the torque limited using the forward rotation torque limit reverse rotation torque limit or analog torque limit ...

Страница 63: ...ble indicates the rotation direction according to ST1 Forward rotation start and ST2 Reverse rotation start combination Note 1 Input device Note 2 Rotation direction VC Analog speed command ST2 ST1 Polarity 0 V Polarity Internal speed command 0 0 Stop servo lock Stop servo lock Stop servo lock Stop servo lock 0 1 CCW CW CCW 1 0 CW Stop no servo lock CCW CW 1 1 Stop servo lock Stop servo lock Stop ...

Страница 64: ...1 0 1 Pr PC09 Internal speed command 5 1 1 0 Pr PC10 Internal speed command 6 1 1 1 Pr PC11 Internal speed command 7 Note 0 Off 1 On You can change the speed during rotation To accelerate decelerate set acceleration deceleration time constant in Pr PC01 or Pr PC02 When the internal speed commands are used to command a speed the speed does not vary with the ambient temperature 2 SA Speed reached SA...

Страница 65: ...e indicates the torque generation directions determined by RS1 Forward rotation selection and RS2 Reverse rotation selection when TC Analog torque command is used Note Input device Rotation direction TC Analog torque command RS2 RS1 Polarity 0 V Polarity 0 0 Torque is not generated Torque is not generated 0 1 CCW Forward rotation in power running mode reverse rotation in regenerative mode CW Rever...

Страница 66: ...05 Internal speed limit 0 to Pr PC11 Internal speed limit 7 or the value set in the applied voltage of VLA Analog speed limit A relation between VLA Analog speed limit applied voltage and the servo motor speed is as follows When the servo motor speed reaches the speed limit value torque control may become unstable Make the set value more than 100 r min greater than the desired speed limit value Sp...

Страница 67: ... 0 VLA Analog speed limit 0 0 1 Pr PC05 Internal speed limit 1 0 1 0 Pr PC06 Internal speed limit 2 0 1 1 Pr PC07 Internal speed limit 3 1 0 0 Pr PC08 Internal speed limit 4 1 0 1 Pr PC09 Internal speed limit 5 1 1 0 Pr PC10 Internal speed limit 6 1 1 1 Pr PC11 Internal speed limit 7 Note 0 Off 1 On When the internal speed limits 1 to 7 are used to limit a speed the speed does not vary with the am...

Страница 68: ...switch modes after the servo motor has stopped When position control mode is switched to speed control mode droop pulses will be reset If LOP is switched on off at the speed higher than the zero speed the control mode cannot be changed regardless of the speed The following shows a switching timing chart Zero speed level Position control mode ON OFF ON OFF LOP Control switching ZSP Zero speed detec...

Страница 69: ...peed command and a speed command value of internal speed commands 1 to 7 enable SP1 Speed selection 1 SP2 Speed selection 2 and SP3 Speed selection 3 with Pr PD03 to Pr PD20 Note Input device SP3 SP2 SP1 Speed command value 0 0 0 VC Analog speed command 0 0 1 Pr PC05 Internal speed command 1 0 1 0 Pr PC06 Internal speed command 2 0 1 1 Pr PC07 Internal speed command 3 1 0 0 Pr PC08 Internal speed ...

Страница 70: ...FF 10V 0 Note Load torque Speed control mode Torque control mode Speed control mode Forward rotation in driving mode Note When ST1 Forward rotation start and ST2 Reverse rotation start are switched off as soon as a mode is switched to the speed control the servo motor comes to a stop according to the deceleration time constant A shock may occur at switching control modes 2 Speed setting in speed c...

Страница 71: ...og speed limit 0 0 1 Pr PC05 Internal speed limit 1 0 1 0 Pr PC06 Internal speed limit 2 0 1 1 Pr PC07 Internal speed limit 3 1 0 0 Pr PC08 Internal speed limit 4 1 0 1 Pr PC09 Internal speed limit 5 1 1 0 Pr PC10 Internal speed limit 6 1 1 1 Pr PC11 Internal speed limit 7 Note 0 Off 1 On When the internal speed command 1 is used to command a speed the speed does not vary with the ambient temperat...

Страница 72: ...de droop pulses will be reset If LOP is switched on off at the speed higher than the zero speed the control mode cannot be changed regardless of the speed The following shows a switching timing chart Zero speed level Torque control mode Position control mode Position control mode Servo motor speed TC Analog torque command ZSP Zero speed detection LOP Control switching 0 V OFF Note Note ON OFF ON 1...

Страница 73: ...d stop deceleration function When EM2 is turned off dynamic brake will start to stop the servo motor after forced stop deceleration During this sequence the display shows AL E6 Servo forced stop warning During normal operation do not use EM2 Forced stop 2 to alternate stop and drive The the servo amplifier life may be shortened 1 Connection diagram Servo amplifier Forced stop 2 DICOM EM2 24 V DC N...

Страница 74: ...ecelerate according to Pr PC51 Forced stop deceleration time constant Once the motor speed is below Pr PC17 Zero speed after completion of the deceleration command base power is cut and the dynamic brake activates Base circuit Energy supply to the servo motor 0 r min Servo motor speed MBR Electromagnetic brake interlock ON OFF Enabled ON OFF Deceleration time Command Rated speed Ordinary operation...

Страница 75: ...rake interlock ON OFF Enabled Base circuit Energy supply to the servo motor 0 r min Servo motor speed ON OFF Enabled EM2 Forced stop 2 ON OFF Pr PC16 When EM2 Forced stop 2 turns off or an alarm occurs during driving the servo motor will decelerate based on the deceleration time constant MBR Electromagnetic brake interlock will turn off and then after the delay time set in Pr PC16 the servo amplif...

Страница 76: ...an alarm occurred while the servo motor speed is zero speed or less 1 Timing chart MBR Electromagnetic brake interlock ON OFF Enabled Base circuit Energy supply to the servo motor ON OFF Actual operation of electromagnetic brake Disabled Enabled Position Travel distance ON OFF Enabled EM2 Forced stop 2 Set the base circuit shut off delay time Pr PC16 2 Adjustment Set the freefall prevention compen...

Страница 77: ...activated unless its cause is removed 3 8 1 When you use the forced stop deceleration function POINT To enable the function set 2 _ _ _ initial value in Pr PA04 1 When the forced stop deceleration function is enabled Controller command is ignored Alarm occurrence Alarm No No alarm Note Model speed command 0 and equal to or less than zero speed MBR Electromagnetic brake interlock ON OFF ON no alarm...

Страница 78: ... amplifier display 0 r min Servo motor speed ALM Malfunction No alarm Alarm No Braking by the dynamic brake Dynamic brake Braking by the electromagnetic brake Operation delay time of the electromagnetic brake Alarm occurrence 3 8 2 When you do not use the forced stop deceleration function POINT To disable the function set 0 _ _ _ in Pr PA04 The operation status during an alarm is the same as secti...

Страница 79: ... SA P S T CN1 P S T 4 5 6 7 8 9 33 34 LA LAR LB LBR LZ LZR OP LG CN1 P S T MO1 MO2 LG 26 29 30 Differential line driver output 35 mA or less Open collector output CN1 P S T 2 VC VLA 27 TLA TLA TC 3 LG 28 LG Case SD Note 2 Approx 6 2 k Approx 6 2 k Analog monitor Servo amplifier Note 4 24 V DC CN2 P S T 2 4 7 8 MR MRR MD MDR LG Encoder E Servo motor Note 3 Note 3 USB P S T D GND D 2 3 5 CN3 Note 1 ...

Страница 80: ...or the open collector pulse train input connect as follows DOCOM 46 OPC 12 20 47 PP 10 PG 11 NP 35 NG 36 DICOM DOCOM 24 V DC 3 This diagram shows sink I O interface For source I O interface refer to section 3 9 3 4 The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience However they can be configured by one ...

Страница 81: ... 2 Digital output interface DO 1 This is a circuit in which the collector side of the output transistor is the 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 ...

Страница 82: ... photocoupler If a resistor is connected to the pulse train signal line it may malfunction due to reduction in current 2 When the input pulse frequency is 4 Mpulses s set Pr PA13 to _ 0 _ _ 2 Input pulse condition 0 9 0 1 tc tLH tc tHL tF PP PG NP NG tLH tHL 50 ns tc 75 ns tF 3 µs b Open collector type 1 Interface Approximately 1 2 k Servo amplifier 24 V DC OPC PP NP DOCOM SD Max input pulse frequ...

Страница 83: ...en collector type Interface Maximum sink current 35 mA Photocoupler Servo amplifier OP LG SD Servo amplifier OP LG SD 5 V DC to 24 V DC b Differential line driver type 1 Interface Maximum output current 35 mA 150 100 Am26LS32 or equivalent Servo amplifier LA LB LZ LAR LBR LZR SD LG High speed photocoupler Servo amplifier LAR LBR LZR SD LA LB LZ ...

Страница 84: ... LAR LB LBR LZ LZR OP Servo motor CCW rotation 5 Analog input Input impedance 10 kȍ to 12 kȍ VC etc LG SD Approx 10 k Servo amplifier 6 Analog output Output voltage 10 V Note Maximum output current 1 mA Resolution 10 bits or equivalent LG MO1 MO2 Servo amplifier Note Output voltage range varies depending on the monitored signal ...

Страница 85: ...er DICOM Approximately 5 mA VCES 1 0 V ICEO 100 A TR 2 Digital output interface DO 1 This is a circuit in which the emitter side of the output transistor is the output terminal When the output transistor is turned on the current flows from the output terminal to a load A maximum of 2 6 V voltage drop occurs in the servo amplifier Note 24 V DC 10 300 mA Servo amplifier ALM etc DOCOM Load If polarit...

Страница 86: ...e Otherwise it may cause a malfunction POINT Refer to HF KN HF SN Servo Motor Instruction Manual for specifications such as the power supply capacity and operation delay time of the electromagnetic brake Refer to HF KN HF SN Servo Motor Instruction Manual for the selection of a surge absorber for the electromagnetic brake Note the following when the servo motor with an electromagnetic brake is use...

Страница 87: ... 5 times of the minimum delay time where the moving part will not drop down for a vertical axis system etc Approx 95 ms Approx 95 ms MBR Electromagnetic brake interlock Note 1 ON OFF ON OFF 0 r min Base circuit Servo motor speed SON Servo on ON OFF Coasting Tb Operation delay time of the electromagnetic brake Release Activate Position command Note 4 Electromagnetic brake Release delay time and ext...

Страница 88: ...s been activated 2 The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor c Alarm occurrence The operation status during an alarm is the same as section 3 8 d Power off MBR Electromagnetic brake interlock Note 2 ON OFF Base circuit ON OFF Alarm AL 10 Undervoltage No alarm Alarm Approx 10 ms Dynamic brake Dynamic brake Electromagn...

Страница 89: ...c brake MBR Electromagnetic brake interlock Operation delay time of the electromagnetic brake Approx 210 ms Approx 210 ms Electromagnetic brake has released Note ON OFF Base circuit ON OFF Servo motor speed EM1 Forced stop Disabled ON Enabled OFF 0 r min Approx 10 ms Note ON Electromagnetic brake is not activated OFF Electromagnetic brake has been activated c Alarm occurrence The operation status ...

Страница 90: ...se due to di dt and dv dt of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 Ensure to connect the wire to the PE terminal of the servo amplifier Do not connect the wire directly to the grounding of the cabinet Line filter Note Power supply V U Cabinet Servo motor M U V W W ...

Страница 91: ...3 SIGNALS AND WIRING 3 62 MEMO ...

Страница 92: ...onment check Check whether the servo amplifier and servo motor are wired correctly using visual inspection DO forced output function section 4 5 8 etc Refer to section 4 1 2 Check the surrounding environment of the servo amplifier and servo motor Refer to section 4 1 3 Set the parameters as necessary such as the used operation mode and regenerative option selection Refer to chapter 5 and sections ...

Страница 93: ...f the servo motor is connected to the PE terminal of the servo amplifier Servo amplifier Servo motor M 4 The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor securely using the encoder cable c When you use an option and peripheral equipment 1 When you use a regenerative option for 1 kW or less servo amplifiers The built in regenerative resistor and wirings...

Страница 94: ... b A voltage exceeding 24 V DC is not applied to the pins of the CN1 connector c Between SD and DOCOM of the CN1 connector should not be shorted Servo amplifier DOCOM SD CN1 4 1 3 Surrounding environment 1 Cable routing a The wiring cables should not be stressed b The encoder cable should not be used in excess of its bending life Refer to section 10 4 c The connector of the servo motor should not ...

Страница 95: ... the following situations occurs the servo amplifier suspends the running of the servo motor and brings it to a stop Refer to section 3 10 for the servo motor with an electromagnetic brake Operation command Stopping condition Switch off SON Servo on The base circuit is shut off and the servo motor coasts Alarm occurrence The servo motor decelerates to a stop with the command With some alarms howev...

Страница 96: ...switches on 2 Switch on LSP Forward rotation stroke end and LSN Reverse rotation stroke end 3 When a pulse train is input from the controller the servo motor starts rotating Give a low speed command at first and check the rotation direction etc of the servo motor If the machine does not operate in the intended direction check the input signal In this step connect the servo motor with the machine a...

Страница 97: ...l communication error 1 MR EKCBL30M L MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H In the position control mode the servo amplifier can be used by merely changing the basic setting parameters Pr PA _ _ mainly As necessary set other parameters 4 2 5 Actual operation Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings Pe...

Страница 98: ...gnal indication section 4 5 7 to see if SON Servo on is on 1 SON Servo on is not input wiring mistake 2 24 V DC power is not supplied to DICOM Section 4 5 7 1 Wiring mistake a For open collector pulse train input 24 V DC power is not supplied to OPC b LSP and LSN are not on 2 Pulse is not input from the controller Section 4 5 3 Servo motor does not rotate Mistake in setting of Pr PA13 3 Input comm...

Страница 99: ...ses to be miscounted In a normal status without position shift there are the following relationships 1 Q P Output counter Cumulative command pulses 2 When Pr PA21 is 0 _ _ _ P CMX Pr PA06 CDV Pr PA07 C Cumulative command pulses Electronic gear Cumulative feedback pulses 3 When Pr PA21 is 1 _ _ _ P 131072 FBP Pr PA05 C 4 C ǻƐ M Cumulative feedback pulses Travel distance per pulse Machine position C...

Страница 100: ...erse rotation start 2 Switch off SON Servo on 3 Shut off the power 4 3 2 Stop If any of the following situations occurs the servo amplifier suspends the running of the servo motor and brings it to a stop Refer to section 3 10 for the servo motor with an electromagnetic brake Operation command Stopping condition Switch off SON Servo on The base circuit is shut off and the servo motor coasts Alarm o...

Страница 101: ...otation stroke end 3 When VC Analog speed command is input from the controller and ST1 Forward rotation start or ST2 Reverse rotation start is switched on the servo motor starts rotating Give a low speed command at first and check the rotation direction etc of the servo motor If the machine does not operate in the intended direction check the input signal In this step connect the servo motor with ...

Страница 102: ...ill result in AL 16 Encoder initial communication error 1 MR EKCBL30M L MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H When using this servo in the speed control mode change Pr PA01 setting to select the speed control mode In the speed control mode the servo can be used by merely changing the basic setting parameters Pr PA _ _ and extension setting parameters Pr PC _ _ mainly As necessary set other par...

Страница 103: ...pter 8 2 Alarm occurs Refer to chapter 8 and remove cause Chapter 8 Switch on SON Servo on Servo motor shaft is not servo locked Servo motor shaft is free 1 Check the display to see if the servo amplifier is ready to operate 2 Check the external I O signal indication section 4 5 7 to see if SON Servo on is on 1 SON Servo on is not input wiring mistake 2 24 V DC power is not supplied to DICOM Secti...

Страница 104: ...S1 Forward rotation selection and RS2 Reverse rotation selection are off 3 Turn on the power Data is displayed in 2 s after U Analog torque command is displayed 2 Power off 1 Switch off RS1 Forward rotation selection or RS2 Reverse rotation selection 2 Switch off SON Servo on 3 Shut off the power 4 4 2 Stop If any of the following situations occurs the servo amplifier suspends the running of the s...

Страница 105: ...Ready switches on 2 When TC Analog speed command is input from the controller and RS1 Forward rotation start or RS2 Reverse rotation start is switched on the servo motor starts rotating Give a low torque command at first and check the rotation direction etc of the servo motor If the machine does not operate in the intended direction check the input signal In this step connect the servo motor with ...

Страница 106: ...30M H MR EKCBL40M H MR EKCBL50M H When using this servo in the torque control mode change Pr PA01 setting to select the torque control mode In the torque control mode the servo can be used by merely changing the basic setting parameters Pr PA _ _ and extension setting parameters Pr PC _ _ mainly As necessary set other parameters 4 4 5 Actual operation Start actual operation after confirmation of n...

Страница 107: ...se Chapter 8 2 Alarm occurs Refer to chapter 8 and remove cause Chapter 8 Switch on SON Servo on Servo motor shaft is free Call the external I O signal display section 4 5 7 and check the on off status of the input signal 1 SON Servo on is not input wiring mistake 2 24 V DC power is not supplied to DICOM Section 4 5 7 Call the status display section 4 5 3 and check the input voltage of TC Analog t...

Страница 108: ...h tuning mode The operation section and display data are described below Display mode change Low High switching Decimal LED Displays the decimal points alarm presence absence etc Lit to indicate the decimal point Decimal Lit to indicate a negative when negative cannot be displayed Flickers to indicate alarm occurrence Flickers to indicate the test operation mode 5 digit 7 segment LED Displays data...

Страница 109: ...D display servo motor type ID display servo motor encoder ID display drive recorder enabled disabled display Section 4 5 4 Current alarm display alarm history display parameter error number display Section 4 5 5 Display and setting of basic setting parameters Section 4 5 6 Display and setting of gain filter parameters Display and setting of extension setting parameters Display and setting of I O s...

Страница 110: ...e load ratio Peak load ratio Instantaneous torque Within one revolution position 1 pulse unit Servo motor speed Within one revolution position 1000 pulse unit Droop pulses Cumulative command pulses Load to motor inertia ratio ABS counter Note Command pulse frequency Bus voltage Encoder inside temperature Settling time Oscillation detection frequency Number of tough drives Unit power consumption 1 ...

Страница 111: ...ervo amplifier display Forward rotation at 2500 r min Servo motor speed Reverse rotation at 3000 r min Reverse rotation is indicated by Load to motor inertia ratio 7 00 times 11252 pulses Cumulative feedback pulses 12566 pulses Lit Negative value is indicated by the lit decimal points in the upper four digits ...

Страница 112: ...es is counted and displayed The value displayed is not multiplied by the electronic gear CMX CDV 1 Torque control mode Input voltage of VLA Analog speed limit voltage is displayed Analog speed command voltage Analog speed limit voltage F V 2 Speed control mode Input voltage of VC Analog speed command voltage is displayed 1 Position control mode and speed control mode Voltage of TLA Analog torque l...

Страница 113: ...cate power running and negative value indicate regeneration Unit total power consumption 1 increment of 1 Wh TPC1 Wh Unit total power consumption is displayed by increment of 1 Wh Positive value is cumulated during power running and negative value during regeneration The values in excess of 99999 can be counted However the counter shows only the lower five digits of the actual value since the serv...

Страница 114: ... to the output signals Output signal DO forced output This allows digital output signal to be switched on off forcibly For details refer to section 4 5 8 JOG operation JOG operation can be performed when there is no command from an external controller For details refer to section 4 5 9 2 Positioning operation Positioning operation can be performed when there is no command from an external controll...

Страница 115: ... or VLA is 0 4 V or less or 0 4 V or more Note Servo motor series ID Push the SET button to show the series ID of the servo motor currently connected For indication details refer to appendix 1 of HF KN HF SN servo Motor Instruction Manual Servo motor type ID Push the SET button to show the type ID of the servo motor currently connected For indication details refer to appendix 1 of HF KN HF SN serv...

Страница 116: ...ndicates that the last alarm is AL 50 1 Thermal overload error 1 during operation Indicates the second last alarm is AL 33 1 Main circuit voltage error Indicates the third last alarm is AL 10 1 Voltage drop in the power Indicates that there is no tenth alarm in the past Indicates that there is no eleventh alarm in the past Indicates that there is no twelfth alarm in the past Alarm history Indicate...

Страница 117: ...n RES Reset 4 Use Pr PC18 to clear the alarm history 5 Push UP or DOWN to move to the next history 4 5 6 Parameter mode 1 Parameter mode transition After selecting the corresponding parameter mode with the MODE button pushing the UP or DOWN button changes the display as shown below Pr PB01 Pr PA02 Pr PA01 I O setting parameters Pr PD01 Pr PD02 Pr PD47 Pr PD48 Pr PC01 Pr PC02 Pr PC79 Extension sett...

Страница 118: ...nged Use UP or DOWN _ _ _ 2 Speed control mode To shift to the next parameter press the UP or DOWN button When changing the Pr PA01 setting change its set value then switch power off once and switch it on again to enable the new value b Parameters of 6 or more digits The following example gives the operation procedure to change the electronic gear numerator to 123456 with Pr PA06 Electronic gear n...

Страница 119: ...display the diagnostic screen Press UP twice External I O signal display screen 2 Display definition The 7 segment LED segments and CN1 connector pins correspond as shown below Input signal Output signals Always lit CN1 42 CN1 41 CN1 48 CN1 19 CN1 15 CN1 23 CN1 49 CN1 24 Light on on Light off off CN1 33 CN1 44 CN1 43 The LED segment corresponding to the pin is lit to indicate on and is extinguishe...

Страница 120: ...D Pr PD28 Note 1 I input signal O output signal 2 P position control mode S speed control mode T torque control mode P S position speed control switching mode S T speed torque control switching mode T P torque position switching mode b Symbol and signal names Symbol Signal name Symbol Signal name SON Servo on RES Reset LSP Forward rotation stroke end EM2 Forced stop 2 LSN Reverse rotation stroke e...

Страница 121: ...44 LSP CN1 43 RD CN1 49 INP CN1 24 ZSP CN1 23 b Speed control mode Light on on Light off off EM2 CN1 42 Input signal Output signals OP CN1 33 ALM CN1 48 ST2 CN1 41 ST1 CN1 19 SON CN1 15 LSN CN1 44 LSP CN1 43 RD CN1 49 SA CN1 24 ZSP CN1 23 c Torque control mode Light on on Light off off EM2 CN1 42 Input signal Output signals OP CN1 33 ALM CN1 48 RS1 CN1 41 RS2 CN1 19 SON CN1 15 RD CN1 49 ZSP CN1 23...

Страница 122: ...heck etc This operation must be performed in the servo off state by turning off SON Servo on Operation The display screen at power on Using the MODE button display the diagnostic screen Switch on off the signal below the lit segment Indicates on off of output signal Definitions of on off are the same as those for the external I O signals Light on on light off off Press UP three times Press SET for...

Страница 123: ...igurator2 is required to perform positioning operation Test operation cannot be performed if SON Servo on is not turned off 1 Mode switching The display screen at power on Select JOG operation or motor less operation in the following procedure Using the MODE button display the diagnostic screen Press UP four times Press SET for longer than 2 s When this screen appears JOG operation can be performe...

Страница 124: ...art CCW rotation Release to stop DOWN Press to start CW rotation Release to stop If the USB cable is disconnected during JOG operation using the MR Configurator2 the servo motor decelerates to a stop b Status display Press the MODE button in the JOG operation ready status to call the status display screen When the JOG operation is performed using the UP or DOWN button the servo status is displayed...

Страница 125: ...eed input field b Acceleration deceleration time constant ms Enter the acceleration deceleration time constant into the Accel decel time input field c Travel distance pulse Enter the travel distance into the Travel distance input field d LSP LSN are automatically turned on When setting the external stroke signal to automatic on click the check box to enable it When it is not selected turn on LSP a...

Страница 126: ...e settings which are set by referring to the above table click the check box of Make the aging function enabled h Forward reverse the servo motor Click the Forward CCW button to rotate the servo motor in the forward rotation direction Click the Reverse CW button to rotate the servo motor in the reverse rotation direction i Pause the servo motor Click the Pause button during servo motor rotation to...

Страница 127: ...ng operation can be performed in two or more operation patterns combined without using a controller Use this operation with the forced stop reset This operation may be used independently of whether servo on or servo off and whether a controller is connected or not Exercise control on the program operation screen of MR Configurator2 For full information refer to the MR Configurator2 Installation Gu...

Страница 128: ... Initial value Unit P S T PA01 STY Operation mode 1000h PA02 REG Regenerative option 0000h PA03 For manufacturer setting 0000h PA04 AOP1 Function selection A 1 2000h PA05 FBP Number of command input pulses per revolution 10000 PA06 CMX Electronic gear numerator command pulse multiplication numerator 1 PA07 CDV Electronic gear denominator command pulse multiplication denominator 1 PA08 ATU Auto tun...

Страница 129: ...PF Low pass filter setting 3141 rad s PB19 VRF11 Vibration suppression control 1 Vibration frequency 100 0 Hz PB20 VRF12 Vibration suppression control 1 Resonance frequency 100 0 Hz PB21 VRF13 Vibration suppression control 1 Vibration frequency damping 0 00 PB22 VRF14 Vibration suppression control 1 Resonance frequency damping 0 00 PB23 VFBF Low pass filter selection 0100h PB24 MVS Slight vibratio...

Страница 130: ...ter gain switching 0 00 PB59 VRF24B Vibration suppression control 2 Resonance frequency damping after gain switching 0 00 PB60 PG1B Model loop gain after gain switching 0 0 rad s PB61 For manufacturer setting 0 0 PB62 0000h PB63 0000h PB64 0000h 5 1 3 Extension setting parameters Pr PC_ _ Control mode No Symbol Name Initial value Unit P S T PC01 STA Acceleration time constant 0 ms PC02 STB Deceler...

Страница 131: ...lication numerator 3 1 PC34 CMX4 Command input pulse multiplication numerator 4 1 PC35 TL2 Internal torque limit 2 100 0 PC36 DMD Status display selection 0000h Analog speed command offset PC37 VCO Analog speed limit offset 0 mV Analog torque command offset PC38 TPO Analog torque limit offset 0 mV PC39 MO1 Analog monitor 1 offset 0 mV PC40 MO2 Analog monitor 2 offset 0 mV PC41 For manufacturer set...

Страница 132: ...device selection 5H 0007h PD13 DI6L Input device selection 6L 0806h PD14 DI6H Input device selection 6H 0008h PD15 For manufacturer setting 0000h PD16 0000h PD17 DI8L Input device selection 8L 0A0Ah PD18 DI8H Input device selection 8H 0000h PD19 DI9L Input device selection 9L 0B0Bh PD20 DI9H Input device selection 9H 0000h PD21 For manufacturer setting 2323h PD22 0023h PD23 0004h PD24 DO2 Output d...

Страница 133: ...ol Name Initial value Unit P S T PE01 For manufacturer setting 0000h PE02 0000h PE03 0003h PE04 1 PE05 1 PE06 400 PE07 100 PE08 10 PE09 0000h PE10 0000h PE11 0000h PE12 0000h PE13 0000h PE14 0111h PE15 20 PE16 0000h PE17 0000h PE18 0000h PE19 0000h PE20 0000h PE21 0000h PE22 0000h PE23 0000h PE24 0000h PE25 0000h PE26 0000h PE27 0000h PE28 0000h PE29 0000h PE30 0000h PE31 0000h PE32 0000h PE33 000...

Страница 134: ...PF_ _ Control mode No Symbol Name Initial value Unit P S T PF01 For manufacturer setting 0000h PF02 0000h PF03 0000h PF04 0 PF05 0 PF06 0000h PF07 1 PF08 1 PF09 0000h PF10 0000h PF11 0000h PF12 10000 PF13 100 PF14 100 PF15 2000 PF16 0000h PF17 10 PF18 0000h PF19 0000h PF20 0000h PF21 DRT Drive recorder switching time setting 0 s PF22 For manufacturer setting 200 PF23 OSCL1 Vibration tough drive Os...

Страница 135: ...PF46 0000h PF47 0000h PF48 0000h 5 2 Detailed list of parameters POINT Set a value to each x in the Setting digit columns 5 2 1 Basic setting parameters Pr PA_ _ Control mode No symbol name Setting digit Function Initial value unit P S T PA01 STY Operation mode _ _ _ x Control mode selection Select a control mode 0 Position control mode 1 Position control mode and speed control mode 2 Speed contro...

Страница 136: ...tion A 1 _ x _ _ 0h x _ _ _ Forced stop deceleration function selection 0 Forced stop deceleration function disabled EM1 2 Forced stop deceleration function enabled EM2 Refer to table 5 1 for details 2h Table 5 1 Deceleration method Deceleration method Setting value EM2 EM1 EM2 or EM1 is off Alarm occurred 0 _ _ _ EM1 MBR Electromagnetic brake interlock turns off without the forced stop decelerati...

Страница 137: ... the preset speed and or acceleration deceleration time constants CDV FBP Command pulse train Pt 0 initial value CMX Deviation counter Electronic gear Pr PA06 Pr PA07 Number of command input pulses per revolution Pr PA05 1000 to 1000000 Servo motor Encoder M 1 Electronic gear selection x _ _ _ Pr PA21 Pt servo motor resolution 131072 pulses rev Always set the electronic gear with servo off state t...

Страница 138: ...djustment mode Automatically adjusted parameter _ _ _ 0 2 gain adjustment mode 1 interpolation mode Pr PB06 Load to motor inertia ratio Pr PB08 Position loop gain Pr PB09 Speed loop gain Pr PB10 Speed integral compensation _ _ _ 1 Auto tuning mode 1 Pr PB06 Load to motor inertia ratio Pr PB07 Model loop gain Pr PB08 Position loop gain Pr PB09 Speed loop gain Pr PB10 Speed integral compensation _ _...

Страница 139: ...etting range 0 to 65535 100 pulse PA11 TLP Forward rotation torque limit You can limit the torque generated by the servo motor Set the parameter referring section 3 6 1 5 The larger value of Pr PA11 Forward rotation torque limit or Pr PA12 Reverse rotation torque limit will be the maximum output voltage 8 V Set the parameter on the assumption that the maximum torque is 100 The parameter is for lim...

Страница 140: ...are supported by 1 When inputting commands over 1 Mpulse s and 4 Mpulses s or lower set 0 Setting a value not according to the command pulse frequency may cause the following malfunctions Setting a value higher than actual command will lower noise immunity Setting a value lower than actual command will cause a position mismatch 1h x _ _ _ For manufacturer setting 0h Table 5 3 Command input pulse t...

Страница 141: ...es from the servo amplifier by using the number of output pulses per revolution dividing ratio or electronic gear ratio after multiplication by 4 To set a numerator of the electronic gear select A phase B phase pulse electronic gear setting _ _ 3 _ of Encoder output pulse setting selection in Pr PC19 The maximum output frequency is 4 6 Mpulses s Set the parameter within this range Setting range 1 ...

Страница 142: ...ting 1 enables to suppress vibrations by automatically changing setting values of Pr PB13 Machine resonance suppression filter 1 and Pr PB15 Machine resonance suppression filter 2 in case that the vibration exceed the value of the oscillation level set in Pr PF23 To output the oscillation detection alarm as a warning set Pr PF24 Vibration tough drive function selection Refer to section 7 3 for det...

Страница 143: ...verload error 4 during operation occurs set 5 0 0 3 PA24 AOP4 Function selection A 4 _ _ _ x Vibration suppression mode selection 0 Standard mode 1 3 inertia mode 2 Low response mode When you select the standard mode or low response mode Vibration suppression control 2 is not available When you select the 3 inertia mode the feed forward gain is not available Before changing the control mode during...

Страница 144: ...3 inertia mode _ _ _ 1 of Vibration suppression mode selection in Pr PA24 Refer to section 7 1 5 for details 0 Disabled 1 Automatic setting 2 Manual setting 0h _ x _ _ For manufacturer setting 0h x _ _ _ 0h PB03 PST Position command acceleration d eceleration time constant position smoothing This is used to set the constant of a primary delay to the position command You can select a control method...

Страница 145: ...target position Increasing the setting value will also increase the response level to the position command but will be liable to generate vibration and or noise The setting of the parameter will be the automatic setting or manual setting depending on the Pr PA08 setting Refer to the following table for details Setting range 1 0 to 2000 0 15 0 rad s Pr PA08 This parameter _ _ _ 0 2 gain adjustment ...

Страница 146: ... compensation Set a viscous friction torque per percent to the servo motor rated speed When the response level is low or when the torque is limited the efficiency of the parameter can be lower Setting range 0 to 100 0 PB13 NH1 Machine resonance suppression filter 1 Machine resonance suppression filter 1 Set the notch frequency of the machine resonance suppression filter 1 When Automatic setting _ ...

Страница 147: ... inertia ratio Set manually for Manual setting _ _ _ 1 When Shaft resonance suppression filter selection is Disabled _ _ _ 2 in Pr PB23 the setting value of this parameter will be disabled When you select Enabled _ _ _ 1 of Machine resonance suppression filter 4 selection in Pr PB49 the shaft resonance suppression filter is not available _ _ x x Shaft resonance suppression filter setting frequency...

Страница 148: ...nge 0 1 to 300 0 100 0 Hz PB21 VRF13 Vibration suppression control 1 Vibration frequency damping Set a damping of the vibration frequency for vibration suppression control 1 to suppress low frequency machine vibration When Vibration suppression control 1 tuning mode selection is Automatic setting _ _ _ 1 in Pr PB02 this parameter will be set automatically Set manually for Manual setting _ _ _ 2 Re...

Страница 149: ...switching CDP 2 Command frequency 3 Droop pulses 4 Servo motor speed 0h _ _ x _ Gain switching condition selection 0 Gain after switching is enabled with gain switching condition or more 1 Gain after switching is enabled with gain switching condition or less 0h _ x _ _ For manufacturer setting 0h x _ _ _ 0h PB27 CDL Gain switching condition This is used to set the value of gain switching command f...

Страница 150: ...in switching is enabled When you set a value less than 0 1 Hz the value will be the same as Pr PB20 This parameter will be enabled only when the following conditions are fulfilled Gain adjustment mode selection in Pr PA08 is Manual mode _ _ _ 3 Vibration suppression control 1 tuning mode selection in Pr PB02 is Manual setting _ _ _ 2 Gain switching selection in Pr PB26 is Input device gain switchi...

Страница 151: ...6 03 750 23 59 43 14 8 04 562 24 56 44 14 1 05 450 25 53 45 13 4 06 375 26 51 46 12 8 07 321 27 48 47 12 2 08 281 28 46 48 11 7 09 250 29 45 49 11 3 0A 225 2A 43 4A 10 8 0B 204 2B 41 4B 10 4 0C 187 2C 40 4C 10 0D 173 2D 38 4D 9 7 0E 160 2E 37 4E 9 4 0F 150 2F 36 4F 9 1 10 140 30 35 2 50 8 8 11 132 31 33 1 51 8 3 12 125 32 31 3 52 7 8 13 118 33 29 6 53 7 4 14 112 34 28 1 54 7 0 15 107 35 26 8 55 6 ...

Страница 152: ...ssion filter 4 Set the notch frequency of the machine resonance suppression filter 4 To enable the setting value select Enabled _ _ _ 1 of Machine resonance suppression filter 4 selection in Pr PB49 Setting range 10 to 4500 4500 Hz Set the shape of the machine resonance suppression filter 4 PB49 NHQ4 Notch shape selection 4 _ _ _ x Machine resonance suppression filter 4 selection 0 Disabled 1 Enab...

Страница 153: ... to suppress low frequency machine vibration When Vibration suppression control 2 tuning mode selection is Automatic setting _ _ 1 _ in Pr PB02 this parameter will be set automatically Set manually for Manual setting _ _ 2 _ To enable the digit select 3 inertia mode _ _ _ 1 of Vibration suppression mode selection in Pr PA24 Setting range 0 1 to 300 0 100 0 Hz PB54 VRF23 Vibration suppression contr...

Страница 154: ...in switching selection in Pr PB26 is Input device gain switching CDP _ _ _ 1 Switching during driving may cause a shock Be sure to switch them after the servo motor stops Setting range 0 0 to 300 0 0 0 Hz PB58 VRF23B Vibration suppression control 2 Vibration frequency damping after gain switching Set a damping of the vibration frequency for vibration suppression control 2 when the gain switching i...

Страница 155: ... No symbol name Setting digit Function Initial value unit P S T PC01 STA Acceleration time constant This is used to set the acceleration time required to reach the rated speed from 0 r min in response to VC Analog speed command and Pr PC05 Internal speed command 1 to Pr PC11 Internal speed command 7 If the preset speed command is lower than the rated speed acceleration deceleration time will be sh...

Страница 156: ... an error in the time of the arc part for the setting of the S pattern acceleration deceleration time constant The upper limit value of the actual arc part time is limited by 2000000 STA for acceleration or by 2000000 STB for deceleration Example At the setting of STA 20000 STB 5000 and STC 200 the actual arc part times are as follows During acceleration 100 ms 2000000 20000 100 ms 200 ms Therefor...

Страница 157: ...ous speed This is used to set speed 4 of internal speed commands Setting range 0 to permissible instantaneous speed 200 r min PC08 SC4 Internal speed command 4 Internal speed limit 4 This is used to set speed 4 of internal speed limits Setting range 0 to permissible instantaneous speed This is used to set speed 5 of internal speed commands Setting range 0 to permissible instantaneous speed 300 r m...

Страница 158: ...or example set 50 0 The maximum torque 50 0 100 0 is outputted If a value equal to or larger than the maximum torque is inputted to TC the value is clamped at the maximum torque Setting range 0 0 to 1000 0 100 0 _ _ x x Analog monitor 1 output selection Select a signal to output to MO1 Analog monitor 1 Refer to appendix 4 3 for detection point of output selection Refer to table 5 8 for settings 00...

Страница 159: ...u select Enabled the alarm history will be cleared at next power on After the alarm history is cleared the setting is automatically disabled 0h _ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h PC19 ENRS Encoder output pulse selection _ _ _ x Encoder output pulse phase selection Select the encoder pulse direction 0 Increasing A phase 90 in CCW 1 Increasing A phase 90 in CW 0h Servo motor r...

Страница 160: ... the speed 0 r min is performed 0h _ _ x _ For manufacturer setting 0h _ x _ _ VC VLA voltage averaging selection Select the VC VLA voltage average This is used to set the filtering time when VC Analog speed command or VLA Analog speed limit is imported Set 0 to vary the speed to voltage fluctuation in real time Increase the set value to vary the speed slower to voltage fluctuation 0h Setting valu...

Страница 161: ...ponse to VC Analog speed command and Pr PC05 Internal speed command 1 to Pr PC11 Internal speed command 7 Setting range 0 to 50000 0 ms PC32 CMX2 Commanded pulse multiplication numerator 2 To enable the parameter select Electronic gear 0 _ _ _ of Electronic gear selection in Pr PA21 Setting range 1 to 16777215 1 PC33 CMX3 Commanded pulse multiplication numerator 3 To enable the parameter select El...

Страница 162: ...t power consumption increment of 1 W 15 Unit power consumption increment of 1 kW 16 Unit total power consumption increment of 1 Wh 17 Unit total power consumption increment of 100 kWh 00h Note 1 It is for the speed control mode It will be the analog speed limit voltage in the torque control mode 2 It is for the torque control mode It will be the analog torque limit voltage in the speed control mod...

Страница 163: ...a negative value When automatic VC offset is used the automatically offset value is set to this parameter Refer to section 4 5 4 The initial value is provided before shipment by the automatic VC offset function on condition that the voltage between VLA and LG is 0 V Setting range 9999 to 9999 This is used to set the offset voltage of TC Analog torque command Setting range 9999 to 9999 PC38 TPO Ana...

Страница 164: ...ensation amount Set the compensation amount of the vertical axis freefall prevention function Set it per servo motor rotation amount The function will pull up an shaft per rotation amount to the servo motor rotation direction at the time of inputting forward rotation pulse for a positive number and at the time of inputting reverse rotation pulse for a negative number For example if a positive comp...

Страница 165: ...gnal 1 Enabled automatic on _ x _ _ BIN For manufacturer setting _ _ x _ HEX x _ _ _ BIN For manufacturer setting _ _ _ x BIN For manufacturer setting 0h _ _ x _ BIN For manufacturer setting _ x _ _ BIN LSP Forward rotation stroke end 0 Disabled Use for an external input signal 1 Enabled automatic on x _ _ _ BIN LSN Reverse rotation stroke end 0 Disabled Use for an external input signal _ x _ _ HE...

Страница 166: ...t to the same pin in all control modes Any input device can be assigned to the CN1 15 pin _ _ x x Torque control mode Device selection Refer to table 5 9 in Pr PD03 for settings 02h PD04 DI1H Input device selection 1H _ x _ _ For manufacturer setting 0h x _ _ _ 0h Any input device can be assigned to the CN1 19 pin _ _ x x Position control mode Device selection Refer to table 5 9 in Pr PD03 for set...

Страница 167: ... the CN1 44 pin _ _ x x Position control mode Device selection Refer to table 5 9 in Pr PD03 for settings 0Bh PD19 DI9L Input device selection 9L x x _ _ Speed control mode Device selection Refer to table 5 9 in Pr PD03 for settings 0Bh Any input device can be assigned to the CN1 44 pin _ _ x x Torque control mode Device selection Refer to table 5 9 in Pr PD03 for settings 00h PD20 DI9H Input devi...

Страница 168: ...888 ms 2 1 777 ms 3 2 666 ms 4 3 555 ms 4h _ _ x _ RES Reset dedicated filter selection 0 Disabled 1 Enabled 50 ms 0h _ x _ _ CR Clear dedicated filter selection 0 Disabled 1 Enabled 50 ms 0h x _ _ _ For manufacturer setting 0h PD30 DOP1 Function selection D 1 _ _ _ x Stop method selection for LSP Forward rotation stroke end off and LSN Reverse rotation stroke end off Select a stop method for LSP ...

Страница 169: ..._ _ x _ Selection of output device at warning occurrence Select ALM Malfunction output status at warning occurrence 0h Setting value Device status 0 OFF ON OFF ON WNG ALM Warning occurrence 1 OFF ON OFF ON WNG ALM Warning occurrence _ x _ _ For manufacturer setting 0h x _ _ _ 0h 5 2 5 Extension setting 2 parameters Pr PE_ _ Control mode No symbol name Setting digit Function Initial value unit P S ...

Страница 170: ... the vibration tough drive in Pr PA20 0 AL 54 Oscillation detection will occur at oscillation detection 1 AL F3 1 Oscillation detection warning will occur at oscillation detection 2 Oscillation detection function disabled 0h _ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ 0h PF25 CVAT SEMI F47 function Instantaneous power failure detection time instantaneous power failure tough drive detect...

Страница 171: ...5 PARAMETERS 5 44 MEMO ...

Страница 172: ... adjustment first execute Auto tuning mode 1 If you are not satisfied with the result of the adjustment execute Auto tuning mode 2 and Manual mode in this order 1 Gain adjustment mode explanation Gain adjustment mode Pr PA08 setting Estimation of load to motor inertia ratio Automatically set parameters Manually set parameters Auto tuning mode 1 initial value _ _ _ 1 Always estimated GD2 Pr PB06 PG...

Страница 173: ... Adjustment OK Auto tuning mode 2 No No No Adjustment OK Adjustment OK No 6 1 2 Adjustment using MR Configurator2 This section explains the functions and adjustment using the servo amplifier with MR Configurator2 Function Description Adjustment Machine analyzer With the machine and servo motor coupled the characteristic of the mechanical system can be measured by giving a random vibration command ...

Страница 174: ...requency damping PB06 GD2 Load to motor inertia ratio PB23 VFBF Low pass filter selection PB07 PG1 Model loop gain PB47 NHQ3 Notch shape selection 3 PB08 PG2 Position loop gain PB48 NH4 Machine resonance suppression filter 4 PB09 VG2 Speed loop gain PB49 NHQ4 Notch shape selection 4 PB10 VIC Speed integral compensation PB51 NHQ5 Notch shape selection 5 PB12 OVA Overshoot amount compensation PE41 E...

Страница 175: ...election AUTO Push the MODE and SET buttons at the same time for 3 s or more to switch to the response mode selection AUTO without going through the initial screen of the one touch tuning AUTO The initial value of response mode is AUTO basic mode As necessary push the UP or DOWN button to select AUTO H high mode or AUTO L low mode Start Startup of the system Operation One touch tuning start Respon...

Страница 176: ... Response mode selection Select a response mode from three modes in the one touch tuning window of MR Configurator2 Response mode Explanation High mode This mode is for high rigid system Basic mode This mode is for standard system Low mode This mode is for low rigid system Refer to the following table for selecting a response mode ...

Страница 177: ...6 Response mode Machine characteristic Low mode Basic mode High mode Response Guideline of corresponding machine Low response High response General machine tool conveyor Arm robot Precision working machine Inserter Mounter Bonder ...

Страница 178: ...iving will start one touch tuning If the start button is pushed while the motor stops C 0 0 2 or C 0 0 4 will be displayed at status in error code Refer to table 6 2 of 1 d of this section for error codes During processing of one touch tuning the status will be displayed in the progress window as follows One touch tuning will be finished at 100 Completing the one touch tuning starts writing tuning...

Страница 179: ... operation interval of the continuous operation is short Maintain the operation interval during motor driving about 200 ms C005 Load to motor inertia ratio misestimated 1 The estimation of the load to motor inertia ratio at one touch tuning was a failure Drive the motor with meeting conditions as follows Time to reach 2000 r min is the acceleration deceleration time constant of 5 s or less Speed i...

Страница 180: ... to value before tuning in the one touch tuning window of MR Configurator2 enables to rewrite the parameter to the value before pushing the start button In addition pushing Return to initial value in the one touch tuning window enables to rewrite the parameter to the initial value When clearing one touch tuning is completed the following window will be displayed returning to initial value ...

Страница 181: ...hrough the initial screen of the one touch tuning AUTO a Response mode selection Select a response mode of the one touch tuning from 3 modes with UP or DOWN Refer to 1 a of this section for a guideline of response mode Response mode selection display Low mode This mode is for low rigid system Basic mode This mode is for standard system High mode This mode is for high rigid system DOWN UP ...

Страница 182: ...rt writing the auto tuned parameters to the servo amplifier The one touch tuning progress is displayed with 0 to 100 The decimal point moves left to right in rotation during the tuning To switch the display to the status display during the tuning push the MODE button One touch tuning in progress Complete c Stop of one touch tuning The stop symbol and error code C 000 cancel during tuning will be d...

Страница 183: ...interval Stop symbol Initial screen Pushing the SET button will switch to the initial screen e If an alarm occurs If an alarm occurs during tuning one touch tuning will be forcibly terminated and the alarm No will be displayed One touch tuning in progress Alarm display f If a warning occurs If a warning occurs during tuning the alarm No of the warning will be displayed When the warning is one whic...

Страница 184: ...touch tuning clear mode is in progress The clear mode symbol flickers for 3 s Clearing one touch tuning is completed the initial screen will be displayed One touch tuning clear mode display initializing Initial screen Auto mode Clear mode Back mode 6 2 3 Caution for one touch tuning 1 The tuning is not available in the torque control mode 2 The one touch tuning cannot be executed while an alarm or...

Страница 185: ...formed properly if all of the following conditions are not satisfied Time to reach 2000 r min is the acceleration deceleration time constant of 5 s or less Speed is 150 r min or higher The load to motor inertia ratio is 100 times or less The acceleration deceleration torque is 10 or more of the rated torque Under operating conditions which will impose sudden disturbance torque during acceleration ...

Страница 186: ...d to motor inertia ratio or failed to estimate set Gain adjustment mode selection to Auto tuning mode 2 _ _ _ 2 in Pr PA08 to stop the estimation turning off the switch in above diagram and set the load to motor inertia ratio Pr PB06 manually From the preset load to motor inertia ratio Pr PB06 value and response Pr PA09 the optimum loop gains are automatically set on the basis of the internal gain...

Страница 187: ...tment procedure is as follows Auto tuning adjustment Acceleration deceleration repeated Auto tuning conditions are not satisfied Estimation of load to motor inertia ratio is difficult Load to motor inertia ratio estimation value stable Set Pr PA08 to _ _ _ 2 and set Pr PB06 Load to motor inertia ratio manually Adjust response level setting so that desired response is achieved on vibration free lev...

Страница 188: ...Pr PB51 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to section 7 1 1 and 7 1 2 for settings of the adaptive tuning mode and machine resonance suppression filter Pr PA09 Machine characteristic Machine characteristic Setting value Response Guideline for machine resonance frequency Hz Setting value Response Guideline f...

Страница 189: ...If the estimate value with auto tuning is correct setting change is not required 4 Set a slightly smaller value to the model loop gain Set a slightly larger value to the speed integral compensation 5 Increase the speed loop gain within the vibration and unusual noise free range and return slightly if vibration takes place Increase the speed loop gain 6 Decrease the speed integral compensation with...

Страница 190: ...ver if the load to motor inertia ratio is large or the mechanical system has any vibratory element the mechanical system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following expression Speed integral compensation setting ms 2000 to 3000 Speed loop gain 1 Load to motor inertia ratio 3 Pr PB07 Model loop gain This parameter determines the...

Страница 191: ...annot be achieved response may be increased by suppressing resonance with the adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 8 Suppression of machine resonance Section 7 1 1 and 7 1 2 10 While checking the settling characteristic and motor status fine adjust each gain Fine adjustment c Parameter adjustment 1 Pr PB09 Speed loop gain This parameter determi...

Страница 192: ...e mechanical system is liable to vibrate Position loop gain guideline 1 Load to motor inertia ratio Speed loop gain 8 1 4 1 to 4 Pr PB07 Model loop gain This parameter determines the response level to a position command Increasing the value improves track ability to a position command but a too high value will make overshoot liable to occur at settling Estimated model loop gain 1 Load to motor ine...

Страница 193: ... tuning Parameter Symbol Name PB06 GD2 Load to motor inertia ratio PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation b Manually adjusted parameter The following parameters are adjustable manually Parameter Symbol Name PA09 RSP Auto tuning response PB07 PG1 Model loop gain 2 2 gain adjustment mode 2 Use 2 gain adjustment mode 2 when proper gain adjustment can...

Страница 194: ... _ 4 and then set the load to motor inertia ratio manually in Pr PB06 Check the load to motor inertia ratio 6 Set the model loop gain of all the axes to be interpolated to the same value At that time adjust to the setting value of the axis which has the smallest model loop gain Set position loop gain 7 Considering the interpolation characteristic and motor status fine adjust the model loop gain an...

Страница 195: ...6 NORMAL GAIN ADJUSTMENT 6 24 MEMO ...

Страница 196: ...bration may increase if you set an incorrect resonance frequency or set notch characteristics too deep or too wide If the frequency of machine resonance is unknown decrease the notch frequency from higher to lower ones in order The optimum notch frequency is set at the point where vibration is minimal A deeper notch has a higher effect on machine resonance suppression but increases a phase delay a...

Страница 197: ... that is reset with vibration tough drive function Parameter automatically adjusted with one touch tuning Machine resonance suppression filter 1 PB01 PB13 PB14 The filter can be set automatically with Filter tuning mode selection in Pr PB01 PB13 PB01 PB13 PB14 Machine resonance suppression filter 2 PB15 PB16 PB15 PB15 PB16 Machine resonance suppression filter 3 PB46 PB47 PB47 Machine resonance sup...

Страница 198: ...lter 3 selection in Pr PB47 How to set the machine resonance suppression filter 3 Pr PB46 and Pr PB47 is the same as for the machine resonance suppression filter 1 Pr PB13 and Pr PB14 d Machine resonance suppression filter 4 Pr PB48 and Pr PB49 To use this filter select Enabled _ _ _ 1 of Machine resonance suppression filter 4 selection in Pr PB49 However enabling the machine resonance suppression...

Страница 199: ... the manual setting Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics 1 Function Adaptive filter II adaptive tuning is a function in which the servo amplifier detects machine vibration for a predetermined period of time and sets the filter characteristics automatically to suppress mechanical system vibration Since the fi...

Страница 200: ...rease the response setting Has vibration or unusual noise occurred Has vibration or unusual noise been resolved Using the machine analyzer set the filter manually Yes No Execute or re execute adaptive tuning Set Pr PB01 to _ _ _ 1 Factor The response has increased to the machine limit The machine is too complicated to provide the optimum filter If assumption fails after tuning is executed at a lar...

Страница 201: ...t resonance suppression filter selection 0 Automatic setting 1 Manual setting 2 Disabled 0 1 0 To set Pr PB17 Shaft resonance suppression filter automatically select Automatic setting To set Pr PB17 Shaft resonance suppression filter manually select Manual setting The setting values are as follows Shaft resonance suppression filter setting frequency selection Setting value Frequency Hz Setting val...

Страница 202: ...in adjustment mode selection in Pr PA08 is Auto tuning mode 2 _ _ _ 2 Manual mode _ _ _ 3 or 2 gain adjustment mode 2 _ _ _ 4 The machine resonance frequency supported in the vibration suppression control tuning mode is 1 0 Hz to 100 0 Hz As for the vibration out of the range set manually Stop the servo motor before changing the vibration suppression control related parameters Otherwise it may cau...

Страница 203: ...he predetermined number of times For manual setting adjust the vibration suppression control 1 with Pr PB19 to Pr PB22 and vibration suppression control 2 with Pr PB52 to Pr PB55 2 Parameter Set Pr PB02 Vibration suppression control tuning mode advanced vibration suppression control II When you use a vibration suppression control set Vibration suppression control 1 tuning mode selection When you u...

Страница 204: ...d device is resolved End Yes No No Yes Increase the response setting Has vibration of workpiece end device increased Has vibration of workpiece end device been resolved Using a machine analyzer or considering load side vibration waveform set the vibration suppression control manually Factor Estimation cannot be made as load side vibration has not been transmitted to the servo motor side The respon...

Страница 205: ... PB07 Vibration suppression control 2 Pr PB19 Pr PB52 Pr PB52 5 0 0 1 Pr PB07 Pr PB53 5 0 0 1 Pr PB07 Pr PB07 2ʌ 0 3 Pr PB19 8 1 Pr PB52 1 1 Pr PB52 Pr PB19 5 5 Measure work side vibration and device shake with the machine analyzer or external measuring instrument and set the following parameters to adjust vibration suppression control manually Setting item Vibration suppression control 1 Vibratio...

Страница 206: ...n suppression control 2 Vibration frequency anti resonance frequency Pr PB52 Vibration suppression control 2 Resonance frequency Pr PB53 Resonance of more than 300 Hz is not the target of control b When vibration can be confirmed using monitor signal or external sensor t Motor side vibration droop pulses Position command frequency t External acceleration pickup signal etc Vibration suppression con...

Страница 207: ...ge When Pr PB45 Command notch filter is changed during the positioning operation the changed setting is not reflected The setting is reflected approximately 150 ms after the servo motor stops after servo lock 1 Function Command notch filter has a function that lowers the gain of the specified frequency contained in a position command By lowering the gain load side vibration such as work side vibra...

Страница 208: ... 2 33 1 31 3 29 6 28 1 26 8 25 6 24 5 23 4 22 5 21 6 20 8 20 1 19 4 18 8 18 2 17 6 16 5 15 6 14 8 14 1 13 4 12 8 12 2 11 7 11 3 10 8 10 4 10 0 9 7 9 4 9 1 8 8 8 3 7 8 7 4 7 0 6 7 6 4 6 1 5 9 5 6 5 4 5 2 5 0 4 9 4 7 4 5 Notch depth 0 1 2 3 4 5 6 7 8 9 A B C D E F Setting value Depth dB Pr PB45 40 0 24 1 18 1 14 5 12 0 10 1 8 5 7 2 6 0 5 0 4 1 3 3 2 5 1 8 1 2 0 6 7 2 Gain switching function You can ...

Страница 209: ...29 Enabled GD2 value PG1 Pr PB07 PG1B Pr PB60 Enabled PG1 value PG2 Pr PB08 PG2B Pr PB30 Enabled PG2 value VG2 Pr PB09 VG2B Pr PB31 Enabled VG2 value VIC Pr PB10 VICB Pr PB32 Enabled VIC value VRF11 Pr PB19 VRF11B Pr PB33 Enabled VRF11 value VRF12 Pr PB20 VRF12B Pr PB34 Enabled VRF12 value CDL Pr PB27 VRF13 Pr PB21 VRF13B Pr PB35 Enabled VRF13 value VRF14 Pr PB22 VRF14B Pr PB36 Enabled VRF14 value...

Страница 210: ...t the switching condition in the first digit and second digit Gain switching selection 0 Disabled 1 Input device CDP gain switching 2 Command frequency 3 Droop pulses 4 Servo motor speed 0 0 Gain switching condition 0 Gain after switching is enabled with gain switching condition or more 1 Gain after switching is enabled with gain switching condition or less Pr PB26 b Pr PB27 Gain switching conditi...

Страница 211: ...quency damping after gain switching Vibration suppression control 1 Resonance frequency damping PB22 VRF14 Vibration suppression control 1 Resonance frequency damping PB36 VRF14B Vibration suppression control 1 Resonance frequency damping after gain switching Vibration suppression control 2 Vibration frequency PB52 VRF21 Vibration suppression control 2 Vibration frequency PB56 VRF21B Vibration sup...

Страница 212: ...ng examples 1 When you choose switching by input device CDP a Setting Parameter Symbol Name Setting value Unit PB06 GD2 Load to motor inertia ratio 4 00 Multiplier PB07 PG1 Model loop gain 100 rad s PB08 PG2 Position loop gain 120 rad s PB09 VG2 Speed loop gain 3000 rad s PB10 VIC Speed integral compensation 20 ms PB19 VRF11 Vibration suppression control 1 Vibration frequency 50 Hz PB20 VRF12 Vibr...

Страница 213: ...VRF24B Vibration suppression control 2 Resonance frequency damping after gain switching 0 05 b Switching timing chart After switching gain 63 4 CDT 100 ms Before switching gain Gain switching CDP gain switching OFF ON OFF Model loop gain 100 ĺ 50 ĺ 100 Load to motor inertia ratio 4 00 ĺ 10 00 ĺ 4 00 Position loop gain 120 ĺ 84 ĺ 120 Speed loop gain 3000 ĺ 4000 ĺ 3000 Speed integral compensation 20...

Страница 214: ...0 Multiplier PB30 PG2B Gain switching position loop gain 84 rad s PB31 VG2B Gain switching speed loop gain 4000 rad s PB32 VICB Speed integral compensation after gain switching 50 ms PB26 CDP Gain switching selection 0003 switching by droop pulses PB27 CDL Gain switching condition 50 pulse PB28 CDT Gain switching time constant 100 ms b Switching timing chart After switching gain 63 4 CDT 100 ms Be...

Страница 215: ...Pr PB15 as follows 1 One touch tuning execution section 6 2 2 Manual setting section 5 2 2 The vibration tough drive function operates when a detected machine resonance frequency is within 30 for a value set in Pr PB13 Machine resonance suppression filter 1 or Pr PB15 Machine resonance suppression filter 2 To set a detection level of the function set sensitivity in Pr PF23 Vibration tough drive Os...

Страница 216: ...r is enabled for the initial setting Machine resonance suppression filter 5 PB50 PB51 The setting of this filter is disabled while you use the robust filter The robust filter is disabled for the initial setting Command pulse train Command filter Encoder Servo motor PWM M Load Machine resonance suppression filter 1 Pr PB13 Pr PB15 Pr PB46 Machine resonance suppression filter 2 Machine resonance sup...

Страница 217: ...wer detection time for the power supply can be changed by Pr PF25 SEMI F47 function Instantaneous power failure detection time instantaneous power failure tough drive detection time In addition AL 10 2 Bus voltage drop detection level for the bus voltage is changed automatically POINT MBR Electromagnetic brake interlock will not turn off during the instantaneous power failure tough drive Selecting...

Страница 218: ...n Instantaneous power failure detection time instantaneous power failure tough drive detection time MTTR During tough drive turns on after the instantaneous power failure is detected MBR Electromagnetic brake interlock turns off when the alarm occurs Power supply Bus voltage Undervoltage level 158 V DC ALM Malfunction Pr PF25 Instantaneous power failure time MTTR During tough drive MBR Electromagn...

Страница 219: ...he bus voltage decreases lower than 158 V DC within the instantaneous power failure time AL 10 Undervoltage occurs when the bus voltage decrease lower than 158 V DC regardless of the enabled instantaneous power failure tough drive Power supply Bus voltage Undervoltage level 158 V DC ALM Malfunction Pr PF25 Instantaneous power failure time MTTR During tough drive MBR Electromagnetic brake interlock...

Страница 220: ...instantaneous power failure time The operation continues without alarming Power supply Bus voltage Undervoltage level 158 V DC ALM Malfunction Pr PF25 Instantaneous power failure time MTTR During tough drive MBR Electromagnetic brake interlock Base circuit ON OFF ON OFF ON OFF ON OFF ON OFF WNG Warning ON OFF ...

Страница 221: ...7 SPECIAL ADJUSTMENT FUNCTIONS 7 26 MEMO ...

Страница 222: ...with the dynamic brake after forced stop deceleration For the alarms and warnings written DB in the stop method column the servo motor stops with the dynamic brake without forced stop deceleration Table 8 1 Alarm list Alarm code Alarm deactivation No CN1 49 Bit 2 CN1 23 Bit 1 CN1 24 Bit 0 Name Detailed display Detail name Stop method Note 2 3 Alarm reset RES Press the SET button on the current ala...

Страница 223: ...rror 6 DB 17 1 Board error 1 DB 17 0 0 0 Board error 17 3 Board error 2 DB 17 4 Board error 3 DB 19 1 FLASH ROM error 1 DB 19 0 0 0 Memory error 3 FLASH ROM 19 2 FLASH ROM error 2 DB 1A 1 1 0 Servo motor combination error 1A 1 Servo motor combination error DB 1E 1 1 0 Encoder initial communication error 2 1E 1 Encoder malfunction DB 1F 1 1 0 Encoder initial communication error 3 1F 1 Incompatible ...

Страница 224: ...on error DB 45 0 1 1 Main circuit device overheat Note 1 45 1 Main circuit device overheat error SD Note 1 Note 1 Note 1 46 1 Abnormal temperature of servo motor 1 SD Note 1 Note 1 Note 1 46 0 1 1 Servo motor overheat Note 1 46 5 Abnormal temperature of servo motor 3 DB Note 1 Note 1 Note 1 46 6 Abnormal temperature of servo motor 4 DB Note 1 Note 1 Note 1 47 0 1 1 Cooling fan error 47 2 Cooling f...

Страница 225: ...0 0 0 USB communication error 8E 3 USB communication character error SD 8E 4 USB communication command error SD 8E 5 USB communication data number error SD 88888 Watchdog 8888 _ Watchdog SD Note 1 Leave for about 30 minutes of cooling time after removing the cause of occurrence 2 Stop method indicates as follows DB Stop with dynamic brake SD Forced stop deceleration 3 This is applicable when Pr PA...

Страница 226: ...E6 1 Forced stop warning SD E8 Cooling fan speed reduction warning E8 1 Decreased cooling fan speed warning E9 1 Servo on signal on during main circuit off DB E9 Main circuit off warning E9 2 Bus voltage drop during low speed operation DB EC Overload warning 2 Note 1 EC 1 Overload warning 2 ED Output watt excess warning ED 1 Output watt excess warning F0 1 Instantaneous power failure tough drive w...

Страница 227: ...re Check 2 2 Power supply voltage is low The voltage is lower than 160 V AC Review the voltage of the power supply Check if the voltage of the power supply is 160 V AC or lower The voltage is higher than 160 V AC Check 3 3 An instantaneous power failure has occurred for longer time than the specified time The time will be 60 ms when Pr PA20 is _ 0 _ _ The time will be the value set in Pr PF25 when...

Страница 228: ...ocess error Alarm content The process did not complete within the specified time Display Detail name Cause Check method Check result Action 14 1 1 It is incorrect Set it correctly Control process error 1 The parameter setting is incorrect Check if the parameter setting is incorrect It is correct Check 2 2 Something near the device caused it It has a failure Take countermeasures against its cause C...

Страница 229: ...error occurred while tuning results was processed Check if the alarm occurs after an hour from power on It takes less than an hour Check 3 3 Something near the device caused it Check the power supply for noise Check if the connector is shorted It has a failure Take countermeasures against its cause Alarm No 16 Name Encoder initial communication error 1 Alarm content An error occurred in the commun...

Страница 230: ...ning It is not repeatable Replace the servo motor Replace the servo motor and then check the repeatability It is repeatable Check 7 7 Something near the device caused it Check the noise ambient temperature vibration etc It has a failure Take countermeasures against its cause 16 5 Encoder initial communication Transmission data error 1 Check it with the check method for AL 16 1 16 6 Encoder initial...

Страница 231: ...er Disconnect the cables except the power supply and then check the repeatability It is not repeatable Check 2 2 Something near the device caused it Check the noise ambient temperature etc It has a failure Take countermeasures against its cause 19 2 FLASH ROM error 2 Check it with the check method for AL 19 1 Alarm No 1A Name Servo motor combination error Alarm content The combination of servo amp...

Страница 232: ...on between an encoder and servo amplifier Display Detail name Cause Check method Check result Action 20 1 1 An encoder cable is malfunctioning It has a failure Repair or replace the cable Check if the encoder cable is disconnected or shorted It has no failure Check 2 Encoder normal communication Receive data error 1 2 The servo amplifier is malfunctioning It is not repeatable Replace the servo amp...

Страница 233: ...or 2 21 9 Encoder data error 2 Check it with the check method for AL 21 1 Alarm No 24 Name Main circuit error Alarm content A ground fault occurred on the servo motor power lines A ground fault occurred at the servo motor Display Detail name Cause Check method Check result Action 24 1 1 The servo amplifier is malfunctioning It occurs Replace the servo amplifier Ground fault detected by hardware de...

Страница 234: ...ervo amplifier Regeneration feedback signal error A detection circuit of the servo amplifier is malfunctioning Remove the regenerative option or built in regenerative resistor and then check if the alarm occur at power on The alarm does not occur Check 2 2 Something near the device caused it Check the noise ground fault ambient temperature etc It has a failure Take countermeasures against its caus...

Страница 235: ...he noise ambient temperature etc It has a failure Take countermeasures against its cause 32 2 1 The servo gain is high Check if an oscillation is occurring An oscillation is occurring Reduce the speed loop gain Pr PB09 An oscillation is not occurring Check 2 Overcurrent detected at software detection function during operation 2 The servo amplifier is malfunctioning It occurs Replace the servo ampl...

Страница 236: ...table Check 5 5 Power supply voltage high Check the input voltage It is over 264 V AC Reduce the input voltage It is 264 V AC or less Check 6 6 Something near the device caused it Check the noise ambient temperature etc It has a failure Take countermeasures against its cause Alarm No 35 Name Command frequency error Alarm content Input pulse frequency of command pulse is too high Display Detail nam...

Страница 237: ...Replace the servo amplifier and then check the repeatability It is not repeatable Replace the servo amplifier Alarm No 46 Name Servo motor overheat Alarm content The servo motor overheated Display Detail name Cause Check method Check result Action 46 1 1 It is over 40 C Lower the ambient temperature Abnormal temperature of servo motor 1 Ambient temperature of the servo motor has exceeded 40 C Chec...

Страница 238: ... is incorrect Check the wiring of U V and W It is correct Check 3 3 It is not released Release the electromagnetic brake The electromagnetic brake has not released The electromagnetic brake has been activated Check if the electromagnetic brake is released during operation It is released Check 4 4 Check the effective load ratio The effective load ratio is high Reduce the load Or use a larger capaci...

Страница 239: ...electromagnetic brake is released It is released Check 5 5 Check the effective load ratio The effective load ratio is high Reduce the load Or use a larger capacity motor A current was applied to the servo amplifier in excess of its continuous output current The effective load ratio is small Check 6 6 It is not correct Connect it correctly The connection destination of the encoder cable is incorrec...

Страница 240: ...sufficient Check the peak load ratio The torque is saturated Reduce the load or review the operation pattern Or use a larger capacity motor The torque is not saturated Check 5 5 The servo amplifier is malfunctioning It is not repeatable Replace the servo amplifier Replace the servo amplifier and then check the repeatability It is repeatable Check 6 6 An encoder is malfunctioning Replace the servo ...

Страница 241: ...ion pattern Or use a larger capacity motor The torque is not saturated Check 7 7 Power supply voltage dropped Check the bus voltage value The bus voltage is low Check the power supply voltage and power supply capacity The bus voltage is high Check 8 8 Acceleration deceleration time constant is too short Set a longer deceleration time constant and then check the repeatability It is not repeatable I...

Страница 242: ...t Action 56 2 1 It is not repeatable Adjust the deceleration time constant Over speed during forced stop The forced stop deceleration time constant is short Increase the parameter setting value of Pr PC51 and then check the repeatability It is repeatable Check 2 2 The torque limit has been enabled The limiting torque is in progress Review the torque limit value Check if the limiting torque is in p...

Страница 243: ...nctioning Replace the servo amplifier and then check the repeatability It is not repeatable Replace the servo amplifier 8E 2 USB communication checksum error 1 The setting of the personal computer etc is incorrect Check the setting of the personal computer etc It is incorrect Review the settings 8E 3 1 The transmitted character is out of specifications Check the character code at the time of trans...

Страница 244: ... specifications Check 2 2 The communication protocol is failure It is not conforming Modify the transmission data according to the communication protocol Check if transmission data conforms the communication protocol It is conforming Check 3 3 The setting of the personal computer etc is incorrect Check the setting of the personal computer etc It is incorrect Review the settings Alarm No 88888 Name...

Страница 245: ... the range of specifications Alarm No 99 Name Stroke limit warning Alarm content The stroke limit signal is off Display Detail name Cause Check method Check result Action 99 1 1 It is not connected Connect it correctly Forward rotation stroke end off The forward rotation stroke limit switch has not connected Check if the limit switch is connected correctly It is connected Check 2 2 The forward rot...

Страница 246: ...stop 1 The load was over 85 to the alarm level of AL 51 2 Thermal overload error 3 during operation Check it with the check method for AL 51 2 E1 8 Thermal overload error 4 during a stop 1 The load was over 85 to the alarm level of AL 50 6 Thermal overload error 4 during a stop Check it with the check method for AL 50 6 Alarm No E6 Name Servo forced stop warning Alarm content EM2 EM1 Forced stop t...

Страница 247: ...ad warning 2 1 The load is too large or the capacity is not enough Check the effective load ratio The effective load ratio is high Reduce the load Replace the servo motor with the one of larger capacity Alarm No ED Name Output watt excess warning Alarm content The status in which the output wattage speed torque of the servo motor exceeded the rated output continued steadily Display Detail name Cau...

Страница 248: ...y It is repeatable Replace the servo amplifier F2 2 Drive recorder Data miswriting warning 1 Data were not written to the drive recorder area Check if the records have all written They have all written Delete the records in the drive recorder window of MR Configurator2 If records cannot be written after deletion replace the servo amplifier Alarm No F3 Name Oscillation detection warning Alarm conte...

Страница 249: ...8 TROUBLESHOOTING 8 28 MEMO ...

Страница 250: ... The built in regenerative resistor lead wire is mounted only in MR JE 40A 6 PE CNP1 CN1 CN2 CN3 Mass 0 8 kg L2 L3 P C U V W L1 PE Terminal CNP1 Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m Approx 6 Approx 50 156 0 5 Approx 6 Approx 6 Approx 168 2 M5 screw Mounting hole process drawing ...

Страница 251: ...mounting hole 6 PE CNP1 CN1 CN2 CN3 Mass 1 5 kg L2 L3 P C U V W L1 PE Terminal CNP1 Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m Approx 6 Approx 6 Approx 168 156 0 5 Approx 70 42 0 3 Approx 22 Approx 6 3 M5 screw Mounting hole process drawing ...

Страница 252: ...e CNP2 PE Cooling fan air intake Exhaust CN1 CN2 CN3 Mass 2 1 kg L2 L3 N C D P U V W L1 CNP2 Terminal CNP1 Screw size M4 Tightening torque 1 2 N m PE Mounting screw Screw size M5 Tightening torque 3 24 N m Approx 90 78 0 3 Approx 6 Approx 6 Approx 168 156 0 5 Approx 6 Approx 6 Mounting hole process drawing 3 M5 screw ...

Страница 253: ...ed here D Variable dimensions Connector Shell kit A B C D E 10150 3000PE 10350 52F0 008 41 1 52 4 18 0 14 0 17 0 b Jack screw M2 6 type This is not available as option Unit mm E B A 23 8 39 0 12 7 C Logo etc are indicated here 5 2 F D Variable dimensions Connector Shell kit A B C D E F 10150 3000PE 10350 52A0 008 41 1 52 4 18 0 14 0 17 0 46 5 ...

Страница 254: ...9 DIMENSIONS 9 5 2 SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 Unit mm 34 8 39 5 22 4 11 0 ...

Страница 255: ...9 DIMENSIONS 9 6 MEMO ...

Страница 256: ... 2 occurs if the maximum current is applied continuously for several seconds due to machine collision etc Use the equipment on the left side area of the continuous or broken line in the graph For the system where the unbalanced torque occurs such as a vertical axis system it is recommended that the unbalanced torque of the machine be kept at 70 or less of the motor s rated torque This servo amplif...

Страница 257: ...HF KN13 HF KN23 HF KN43 HF KN73 HF SN52 HF SN102 HF SN152 HF SN202 HF SN302 Note If operation that generates torque more than 100 of the rating is performed with an abnormally high frequency in a servo motor stop status servo lock status or in a 30 r min or less low speed operation status the servo amplifier may malfunction regardless of the electronic thermal protection Fig 10 1 Electronic therma...

Страница 258: ...t change Table 10 1 Power supply capacity and generated loss per servo motor at rated output Note 2 Servo amplifier generated heat W Servo amplifier Servo motor Note 1 Power supply capacity kVA At rated output With servo off Area required for heat dissipation m 2 MR JE 10A HF KN13 0 3 25 15 0 5 MR JE 20A HF KN23 0 5 25 15 0 5 MR JE 40A HF KN43 0 9 35 15 0 7 HF KN73 1 3 50 15 1 0 MR JE 70A HF SN52 ...

Страница 259: ...e cabinet Refer to table 10 1 for heat generated by the servo amplifier A indicates the effective area for heat dissipation but if the cabinet is directly installed on an insulated wall that extra amount must be added to the cabinet s surface area The required heat dissipation area will vary with the conditions in the cabinet If convection in the cabinet is poor and heat builds up effective heat d...

Страница 260: ... dynamic brake is operated Use equation 10 2 to calculate an approximate coasting distance to a stop The dynamic brake time constant Ĳ varies with the servo motor and machine operation speeds Refer to 2 of this section A working part generally has a friction force Therefore actual coasting distance will be shorter than a maximum coasting distance calculated with the following equation V0 OFF ON Ma...

Страница 261: ...ermissible load to motor inertia when the dynamic brake is used Use the dynamic brake under the load to motor inertia ratio indicated in the following table If the ratio is higher than this value the dynamic brake may burn If there is a possibility that the ratio may exceed the value contact your local sales office The values of the permissible load to motor inertia ratio in the table are the valu...

Страница 262: ...llowing table indicates the inrush currents reference data that will flow when 240 V AC is applied at the power supply capacity of 2500 kVA and the wiring length of 1 m Even when you use a 1 phase 200 V AC power supply with MR JE 10A to MR JE 70A the inrush currents will be the same Servo amplifier Inrush currents A0 P MR JE 10A MR JE 20A MR JE 40A 32 A attenuated to approx 3 A in 20 ms MR JE 70A ...

Страница 263: ...10 CHARACTERISTICS 10 8 MEMO ...

Страница 264: ...vent a malfunction or a fire POINT We recommend using HIV wires to wire the servo amplifiers options and peripheral equipment Therefore the recommended wire sizes may differ from those used for the previous servo amplifiers 11 1 Cable connector sets POINT The IP rating indicated for cables and connectors is their protection against ingress of dust and raindrops when they are connected to a servo a...

Страница 265: ...or power supply electromagnetic brake and encoder Note Personal computer 5 1 Packed with the servo amplifier To 24 V DC power supply for electromagnetic brake Servo motor Encoder connector Servo amplifier Operation panel Controller 2 3 4 CN3 CN1 CN2 Power connector Brake connector CNP1 Note Connectors for 1 kW or less Refer to section 3 3 3 1 b for 2 kW or more ...

Страница 266: ...fier power connector CNP2 Connector 03JFAT SAXGFK XL JST Applicable wire size AWG 16 to 10 Insulator OD to 4 7 mm 2 Junction terminal block cable Junction terminal block connector Connector D7950 B500FL 3M CN1 connector Connector 10150 6000EL Shell kit 10350 3210 000 3M or equivalent For junction terminal block connection MR J2M CN1TBL_M Cable length 0 5 m 1 m Refer to section 11 3 3 CN1 connector...

Страница 267: ... and regenerative power The power values in the table are resistor generated powers and not rated powers Regenerative power W Servo amplifier Built in regenerative resistor MR RB032 40 ȍ MR RB12 40 ȍ MR RB30 13 ȍ MR RB32 40 ȍ Note MR RB50 13 ȍ MR JE 10A 30 MR JE 20A 30 100 MR JE 40A 10 30 100 MR JE 70A 20 30 100 300 MR JE 100A 20 30 100 300 MR JE 200A 100 300 500 MR JE 300A 100 300 500 Note Always...

Страница 268: ...ve tpsd2 t2 t3 t4 t1 tpsa2 tpsd1 tpsa1 1 2 3 4 5 6 7 8 Formulas for calculating torque and energy in operation Regenerative power Torque applied to servo motor N m Energy E J 1 T1 9 55 104 JL ˤ JM V tpsa1 1 TU TF E1 2 0 1047 V T1 tpsa1 2 T2 TU TF E2 0 1047 V T2 t1 3 T3 9 55 104 JL ˤ JM V tpsa2 1 TU TF E3 2 0 1047 V T3 tpsa2 4 8 T4 T8 TU E4 E8 0 No regeneration 5 T5 9 55 104 JL ˤ JM V tpsd2 1 TU TF...

Страница 269: ... generated torque allow for about 10 Capacitor charging Ec Energy charged into the electrolytic capacitor in the servo amplifier Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative option ER J Ș Es Ec Calculate the power consumption of the regenerative option on the basi...

Страница 270: ... wiring use flame resistant wires or make the wires flame resistant and keep them away from the regenerative option Always use twisted cables of max 5 m length for connection with the servo amplifier 1 MR JE 100A or less When you use a regenerative option for MR JE 40A to MR JE 100A remove wirings of P and C remove the built in regenerative resistor and then connect the regenerative option between...

Страница 271: ...he built in regenerative resistor from the power connector CNP1 Refer to 3 b of 3 3 2 2 Remove the wirings of the built in regenerative resistor from the closest position to the power connector CNP1 in order Please pay full attention not to break the wirings 3 Remove the screw fixing the built in regenerative resistor and dismount the built in regenerative resistor Note 3 1 2 Note Screw size M3 Ti...

Страница 272: ... m 3 min or more 92 mm 92 mm 2 When the ambient temperature is more than 55 C and the regenerative load ratio is more than 60 in MR RB30 and MR RB32 forcefully cool the air with a cooling fan 1 0 m 3 min or more 92 mm 92 mm A cooling fan is not required if the ambient temperature is 35 C or less A cooling fan is required for the shaded area in the following graph 100 60 0 0 Ambient temperature C 3...

Страница 273: ... to 2 5 mm 2 AWG 24 to 12 Tightening torque 0 5 to 0 6 N m Mounting screw Screw size M5 Tightening torque 3 24 N m Mass 1 1 kg 2 MR RB30 MR RB32 Unit mm 8 5 125 150 Approx 30 142 79 82 5 30 8 5 10 90 101 5 82 5 318 17 335 Air intake 7 100 Cooling fan mounting screw 2 M4 screw Terminal block P C G3 G4 Terminal screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M6 Tightening torque 5 ...

Страница 274: ...erminal block P C G3 G4 Terminal screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M6 Tightening torque 5 4 N m Mass 5 6 kg 4 MR RB032 Unit mm TE1 30 15 99 1 6 119 144 12 156 168 6 6 5 Approx 6 Approx 12 Approx 20 6 mounting hole TE1 terminal block G3 G4 P C Applicable wire size 0 2 mm 2 to 2 5 mm 2 AWG 24 to 12 Tightening torque 0 5 to 0 6 N m Mounting screw Screw size M5 Tighteni...

Страница 275: ...e use of the cable clamp fitting refer to section 11 9 2 c 2 Terminal block label Use the following for the terminal label For the input output pin assignment in the control mode refer to 4 b of this section 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 3 Dimensions Unit mm 235 50 25 Approx 25 9 2 1 50 4...

Страница 276: ...DOCOM ALM RD SD Speed VC LG LA LAR LB LBR LZ LZR SON ST1 DICOM DICOM ZSP SA MO1 TLA LG MO2 LG OP LG ST2 EM2 LSP LSN DOCOM DOCOM ALM RD SD Torque VLA LG LA LAR LB LBR LZ LZR SON RS2 DICOM DICOM ZSP MO1 TC LG MO2 LG OP LG RS1 EM2 DOCOM DOCOM ALM RD SD 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 Plate 1 2...

Страница 277: ... Pack none 1 Microsoft Windows 7 Ultimate Service Pack none 1 Microsoft Windows 7 Professional Service Pack none 1 Microsoft Windows 7 Home Premium Service Pack none 1 Microsoft Windows 7 Starter Service Pack none 1 Microsoft Windows Vista Enterprise Service Pack none 1 2 Microsoft Windows Vista Ultimate Service Pack none 1 2 Microsoft Windows Vista Business Service Pack none 1 2 Microsoft Windows...

Страница 278: ...ndows XP is used the following functions cannot be used Windows Program Compatibility mode Fast User Switching Remote Desktop Large Fonts Mode Display property DPI settings other than 96 DPI Display property For 64 bit operating system this software is compatible with Windows 7 4 When Windows 7 is used the following functions cannot be used Windows XP Mode Windows touch 5 When using this software ...

Страница 279: ...Regenerative option C P L1 L2 L3 1 Power lead Power supply Servo amplifier U V W 2 Servo motor power supply lead M Table 11 1 shows examples for using the 600 V Grade heat resistant polyvinyl chloride insulated wire HIV wire Table 11 1 Wire size selection example HIV wire Wire mm 2 Servo amplifier 1 L1 L2 L3 3 P C 2 U V W Note 1 MR JE 10A MR JE 20A MR JE 40A MR JE 70A 2 AWG 14 2 AWG 14 AWG 18 to 1...

Страница 280: ... current being applied to the coil until closure of contacts of 80 ms or less 3 S N18 can be used when auxiliary contact is not required 11 7 Power factor improving AC reactor The following shows the advantages of using power factor improving AC reactor It improves the power factor by increasing the form factor of the servo amplifier s input current It decreases the power supply capacity The input...

Страница 281: ...Note 3 40 115 77 71 57 M6 M4 1 5 MR JE 200A FR HAL 3 7K 115 Note 3 40 115 83 81 67 M6 M4 2 2 MR JE 300A FR HAL 5 5K 115 Note 3 40 115 83 81 67 M6 M4 2 3 Note 1 Use this for grounding 2 W 2 is applicable for FR HAL 0 4K to FR HAL 1 5K 3 Maximum dimensions The dimension varies depending on the input output lines 11 8 Relay recommended The following relays should be used with the interfaces Interface...

Страница 282: ...c brake and many relays which make a large amount of noise near the servo amplifier and the servo amplifier may malfunction the following countermeasures are required Provide surge absorbers on the noise sources to suppress noises Attach data line filters to the signal cables Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings Although a surge...

Страница 283: ...ndled together magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur The following techniques are required 1 Provide maximum clearance between easily affected devices and the servo amplifier 2 Provide maximum clearance between easily affected signal cables and the I O cables of the servo amplifier 3 Avoid wiring the power lines ...

Страница 284: ... 30 1 b Surge killer recommended Use of a surge killer is recommended for AC relay magnetic contactor or the like near the servo amplifier Use the following surge killer or equivalent MC SK Surge killer Relay Surge killer MC ON OFF This distance should be short within 20 cm Ex CR 50500 Okaya Electric Industries Dimensions Unit mm Rated voltage AC V C µF 20 R ȍ 30 Test voltage 250 0 5 50 1 2 W Betw...

Страница 285: ...nding plate with the cable clamp If the cable is thin clamp several cables in a bunch The cable clamp comes as a set with the grounding plate Unit mm Cable clamp A B Cable Earth plate External conductor Clamp section diagram 40 Strip the cable sheath of the clamped area cutter cable Dimensions Unit mm Earth plate Note M4 screw 11 3 6 C A 6 22 17 5 35 35 7 24 0 0 2 B 0 3 2 5 hole installation hole ...

Страница 286: ...er of times in the same direction For the power supply the effect of the filter rises as the number of passes increases but generally four passes would be appropriate For the servo motor power lines passes must be four times or less Do not pass the grounding wire through the filter or the effect of the filter will drop Wind the wires by passing through the filter to satisfy the required number of ...

Страница 287: ...xogenous noise and lightning surge from entering the servo amplifier When using a varistor connect it between each phase of the input power supply of the equipment For varistors the TND20V 431K and TND20V 471K manufactured by NIPPON CHEMI CON are recommended For detailed specification and usage of the varistors refer to the manufacturer catalog Maximum rating Maximum limit voltage Permissible circ...

Страница 288: ...subishi products K Models provided with harmonic and surge reduction techniques NV SP NV SW NV CP NV CW NV HW 1 Ign Noise filter Cable Ig1 Iga Ig2 Igm M Servo amplifier NV Cable General models BV C1 NFB NV L 3 Ig1 Leakage current on the electric channel from the earth leakage current breaker to the input terminals of the servo amplifier Found from Fig 11 2 Ig2 Leakage current on the electric chann...

Страница 289: ...cated below is an example of selecting an earth leakage current breaker under the following conditions Servo motor HF KN43 2 mm2 5 m 2 mm2 5 m M NV Ig1 Iga Ig2 Igm Servo amplifier MR JE 40A Use an earth leakage current breaker designed for suppressing harmonics surges Find the terms of equation 11 1 from the diagram Ig1 20 5 1000 0 1 mA Ig2 20 5 1000 0 1 mA Ign 0 not used Iga 0 1 mA Igm 0 1 mA Ins...

Страница 290: ...ltage V AC Leakage current mA Mass kg MR JE 10A to MR JE 100A Note HF3010A UN 10 3 5 MR JE 200A MR JE 300A Note HF3030A UN 30 250 5 5 5 Note A surge protector is separately required to use any of these EMC filters 2 Connection example MCCB Servo amplifier 1 2 3 Note 2 Surge protector RSPD 250 U4 OKAYA Electric Industries Co Ltd Note 1 Power supply 1 2 3 MC EMC filter L1 L2 L3 4 5 6 E Note 1 For 1 ...

Страница 291: ...T 11 28 3 Dimensions a EMC filter HF3010A UN Unit mm 32 2 85 2 110 4 258 4 273 2 288 4 300 5 M4 IN 3 M4 65 4 Approx 41 4 5 5 7 3 M4 HF3030A UN Unit mm 125 2 44 1 260 5 140 2 70 2 140 1 155 2 3 M5 6 R3 25 length 8 3 M5 M4 85 1 210 2 85 1 ...

Страница 292: ...11 OPTIONS AND PERIPHERAL EQUIPMENT 11 29 b Surge protector RSPD 250 U4 41 1 28 5 1 28 1 4 2 0 5 5 5 1 11 1 30 0 200 4 5 0 5 1 3 2 Lead Case Resin Unit mm 1 2 3 ...

Страница 293: ...11 OPTIONS AND PERIPHERAL EQUIPMENT 11 30 MEMO ...

Страница 294: ...persons who are engaged in electrical equipment Please note if you can take a proper engineering training at your local Mitsubishi Electric office Contact your local sales office for schedules and locations App 2 1 2 Applications of the devices MR JE servo amplifiers comply with the following safety standards IEC EN 61800 5 1 IEC EN 61800 3 App 2 1 3 Correct use Always use the MR JE servo amplifie...

Страница 295: ...rcuit breaker than ones in the table For selecting ones other than Class T fuses and molded case circuit breakers below refer to section 11 6 Servo amplifier Molded case circuit breaker 240 V AC Fuse 300 V MR JE 10A MR JE 20A MR JE 40A MR JE 70A NF50 SWU 5A 50 A frame 5 A 10 A MR JE 70A Note MR JE 100A NF50 SWU 10A 50 A frame 10 A 15 A MR JE 200A MR JE 300A NF50 SWU 15A 50 A frame 15 A 30 A Note F...

Страница 296: ...on of Conformity DoC Hereby MITSUBISHI ELECTRIC EUROPE B V declares that the servo amplifiers are in compliance with the necessary requirements and standards 2004 108 EC and 2006 95 EC For the copy of Declaration of Conformity contact your local sales office 3 USA Canada compliance This servo amplifier is designed in compliance with UL 508C and CSA C22 2 No 14 a Installation The minimum cabinet si...

Страница 297: ...afety protection and protective measures Observe the following items to ensure proper use of the MELSERVO MR JE servo amplifiers 1 Only qualified personnel and professional engineers should perform system installation 2 When mounting installing and using the MELSERVO MR JE servo amplifier always observe standards and directives applicable in the country App 2 1 5 Disposal Disposal of unusable or i...

Страница 298: ...ut MCCB or fuse Controller Encoder cable 3 phase 230 V AC Power supply 3 phase 400 V AC Transformer star connected PE MC Servo amplifier Cabinet side Machine side Encoder Servo motor L1 U V W PE CN2 CN1 L2L3 2 1 phase input MCCB or fuse Controller Encoder cable 3 phase 230 V AC Power supply 3 phase 400 V AC Transformer star connected PE MC Servo amplifier Cabinet side Machine side Encoder Servo mo...

Страница 299: ... 30 32 34 36 38 40 42 44 46 48 50 LG LA LG LAR LB LG LBR LZ OP LZR LG EM2 DICOM DICOM DOCOM DOCOM ALM CN1 PP OPC PG SON CR LSP RES ZSP RD INP LSN NP NG This is in position control mode App 2 4 2 Input output device The following shows typical I O devices Refer to section 3 5 for other devices Input device Symbol Device Connector Pin No SON Servo on 15 RES Reset 19 CR Clear 41 EM2 Forced stop 2 CN1...

Страница 300: ... Do not disassemble and or repair the equipment on customer side App 2 5 1 Inspection items It is recommended that the following points periodically be checked 1 Check for loose protective earth PE terminal screws of the servo amplifier Retighten any loose screws Tightening torque 1 2 N m 2 Check servo motor bearings brake section etc for unusual noise 3 Check the cables and the like for scratches...

Страница 301: ...ir mass Stacking in excess of the limited number of product packages is not allowed Install the servo amplifier and servo motor in a load bearing place in accordance with MR JE _A Servo Amplifier Instruction Manual Do not get on or put heavy load on the equipment Do not hold the lead wire of the regenerative resistor when transporting the servo amplifier When you keep or use it please fulfill the ...

Страница 302: ...IEC EN 60664 1 Overvoltage category III IEC EN 60664 1 Protection class I IEC EN 61800 5 1 Short circuit current rating SCCR 100 kA App 2 7 2 Servo amplifier dimensions Variable dimension table mm Servo amplifier W H D Mass kg MR JE 10A MR JE 20A MR JE 40A 50 168 135 0 8 MR JE 70A MR JE 100A 70 168 185 1 5 MR JE 200A MR JE 300A 90 168 195 2 1 W D H Front Side App 2 7 3 Mounting hole Variable dimen...

Страница 303: ...the signal provided to the output across MO1 and LG 0 0 Pr PC14 Analog monitor 2 output selection the signal provided to the output across MO2 and LG 0 0 Pr PC15 Pr PC39 and Pr PC40 can be used to set the offset voltages to the analog output voltages Setting value is 9999 mV to 9999 mV Parameter Description Setting range mV PC39 This is used to set the offset voltage of MO1 Analog monitor 1 PC40 T...

Страница 304: ...V 04 Current command Maximum current command Maximum torque command CW direction CCW direction Maximum current command Maximum torque command 0 8 V 8 V 05 The command pulse frequency 10 V 4 Mpulses s 4 Mpulse s CW direction CCW direction 4 Mpulse s 0 10 V 10 V 06 Servo motor side droop pulses Note 1 2 3 10 V 100 pulses 100 pulse CW direction CCW direction 100 pulse 0 10 V 10 V 07 Servo motor side ...

Страница 305: ...rol mode 3 Analog monitor block diagram Droop pulses Speed command Position control Speed control PWM Current control Current command Bus voltage Speed command Current encoder Servo motor Encoder Current feedback Position feedback M Command pulse Differen tiation Encoder inside temperature Servo motor speed Torque Speed command 2 ...

Страница 306: ...directive MR JE series servo amplifiers are certificated in compliance with Low voltage directive The following shows a certificate by the Certification Body Supplementation Refer to section 1 6 2 for the models shown in see Appendix 1 ...

Страница 307: ...ed Partially changed CAUTION is partially changed CAUTION is partially changed Partially changed Partially changed Partially changed Partially changed Partially changed Partially changed Partially deleted Partially added and partially changed in Pr PA13 Partially changed Partially changed Partially changed This manual confers no industrial property rights or any rights of any other kind nor does i...

Страница 308: ...hi Fu Plazz No 80 Xin Chang Road Shanghai 200003 China Setsuyo Enterprise Co Ltd 6F No 105 Wu Kung 3rd Rd Wu Ku Hsiang Taipei Hsine Taiwan Mitsubishi Electric Automation Korea Co Ltd 3F 1480 6 Gayang dong Gangseo gu Seoul 157 200 Korea Mitsubishi Electric Asia Pte Ltd 307 Alexandra Road 05 01 02 Mitsubishi Electric Building Singapore 159943 Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax 1...

Страница 309: ... failures which we are not responsible for or which you acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including it...

Страница 310: ...ications are subject to change without notice This Instruction Manual uses recycled paper MODEL MODEL CODE MR JE _A SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 1CW706 MR JE A SERVOAMPLIFIER INSTRUCTIONMANUAL B ...

Результаты поиска

Содержание MELSERVO-JE MR-JE-100A

Отзывы:

Похожие инструкции для MELSERVO-JE MR-JE-100A

Бренды по названию

Популярные бренды

Mitsubishi Electric MELSERVO-JE MR-JE-100A, Инструкция по эксплуатации

Результаты поиска

Содержание MELSERVO-JE MR-JE-100A

Отзывы:

Похожие инструкции для MELSERVO-JE MR-JE-100A

Бренды по названию

Популярные бренды