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5. PARAMETERS

5.2 Gain/Filter Parameters (No. PB )

POINT

Parameter whose symbol is preceded by * is made valid with the following

conditions.
* : Set the parameter value, switch power off once after setting, and then

switch it on again, or perform the controller reset.

5.2.1 Parameter list

No.

Symbol

Name

Initial Value

Unit

PB01

FILT

Adaptive tuning mode (Adaptive filter )

0000h

PB02

VRFT

Vibration suppression control filter tuning mode
(Advanced vibration suppression control)

0000h

PB03

For manufacturer setting

PB04

FFC

Feed forward gain

PB05

For manufacturer setting

500

PB06

GD2

Ratio of load inertia moment to servo motor inertia moment

7.0

times

PB07

PG1

Model loop gain

rad/s

PB08

PG2

Position loop gain

rad/s

PB09

VG2

Speed loop gain

823

rad/s

PB10

VIC

Speed integral compensation

33.7

PB11

VDC

Speed differential compensation

980

PB12

For manufacturer setting

PB13

NH1

Machine resonance suppression filter 1

4500

PB14

NHQ1

Notch form selection 1

0000h

PB15

NH2

Machine resonance suppression filter 2

4500

PB16

NHQ2

Notch form selection 2

0000h

PB17

For manufacturer setting

0000

PB18

LPF

Low-pass filter

3141

rad/s

PB19

VRF1

Vibration suppression control vibration frequency setting

100.0

PB20

VRF2

Vibration suppression control resonance frequency setting

100.0

PB21

For manufacturer setting

0.00

PB22

0.00

PB23

VFBF

Low-pass filter selection

0000h

PB24

*MVS

Slight vibration suppression control selection

0000h

PB25

For manufacturer setting

0000h

PB26

*CDP

Gain changing selection

0000h

PB27

CDL

Gain changing condition

PB28

CDT

Gain changing time constant

PB29

GD2B

Gain changing ratio of load inertia moment to servo motor inertia moment

7.0

times

PB30

PG2B

Gain changing position loop gain

rad/s

PB31

VG2B

Gain changing speed loop gain

823

rad/s

PB32

VICB

Gain changing speed integral compensation

33.7

PB33 VRF1B Gain changing vibration suppression control vibration frequency setting

100.0

PB34 VRF2B Gain changing vibration suppression control resonance frequency setting

100.0

PB35

For manufacturer setting

0.00

PB36

0.00

PB37

100

PB38

0.0

PB39

0.0

PB40

0.0

PB41

1125

Содержание MR-J3-B

Страница 1: ...General Purpose AC Servo MODEL MR J3 B SERVO AMPLIFIER INSTRUCTION MANUAL SSCNET Compatible J3 Series ...

Страница 2: ...ous conditions resulting in death 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 d...

Страница 3: ... and you may get an electric shock 2 To prevent fire note the following CAUTION Do not install the servo amplifier servo motor and regenerative brake resistor on or near combustibles Otherwise a fire may cause When the servo amplifier has become faulty switch off the main servo amplifier power side Continuous flow of a large current may cause a fire When a regenerative brake resistor is used use a...

Страница 4: ...l conditions Conditions Environment Servo amplifier Servo motor 0 to 55 non freezing 0 to 40 non freezing During operation 32 to 131 non freezing 32 to 104 non freezing 20 to 65 non freezing 15 to 70 non freezing Ambient temperature In storage 4 to 149 non freezing 5 to 158 non freezing In operation 90 RH or less non condensing 80 RH or less non condensing Ambient humidity In storage 90 RH or less...

Страница 5: ...arameter settings must not be changed excessively Operation will be insatiable 4 Usage CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately Any person who is involved in disassembly and repair should be fully competent to do the work Before resetting an alarm make sure that the run signal of the servo amplifier is off to prev...

Страница 6: ...estarting operation When power is restored after an instantaneous power failure keep away from the machine because the machine may be restarted suddenly design the machine so that it is secured against hazard if restarted 6 Maintenance inspection and parts replacement CAUTION With age the electrolytic capacitor of the servo amplifier will deteriorate To prevent a secondary accident due to a fault ...

Страница 7: ... the product fails install appropriate backup or failsafe functions in the system EEP ROM life The number of write times to the EEP ROM which stores parameter settings etc is limited to 100 000 If the total number of the following operations exceeds 100 000 the servo amplifier and or converter unit may fail when the EEP ROM reaches the end of its useful life Write to the EEP ROM due to parameter s...

Страница 8: ... EMC Installation Guidelines IB NA 67310 2 Low voltage directive The low voltage directive applies also to servo units alone Hence they are designed to comply with the low voltage directive This servo is certified by TUV third party assessment organization to comply with the low voltage directive 3 Machine directive Not being machines the servo amplifiers need not comply with this directive 2 PREC...

Страница 9: ...ctive earth PE of the control box b Do not connect two ground cables to the same protective earth PE terminal Always connect the cables to the terminals one to one PE terminals PE terminals c If a leakage current breaker is used to prevent an electric shock the protective earth PE terminals of the servo amplifier must be connected to the corresponding earth terminals 6 Wiring a The cables to be co...

Страница 10: ...s of the cables described in Section 11 8 meet the following requirements To meet the other requirements follow Table 5 and Appendix C in EN60204 1 Ambient temperature 40 104 C F Sheath PVC polyvinyl chloride Installed on wall surface or open table tray c Use the EMC filter for noise reduction 8 Performing EMC tests When EMC tests are run on a machine device into which the servo amplifier has been...

Страница 11: ...rent circuit the servo amplifier conforms to the above circuit 4 Capacitor discharge time The capacitor discharge time is as listed below To ensure safety do not touch the charging section for 15 minutes after power off Servo amplifier Discharge time min MR J3 10B 20B 1 MR J3 40B 60B 10B1 20B1 2 MR J3 70B 3 MR J3 40B1 4 MR J3 100B 5 MR J3 200B 350B 9 MR J3 500B 700B 10 5 Options and auxiliary equi...

Страница 12: ... codes For installation in Canada branch circuit protection must be provided in accordance with the Canada Electrical Code and any applicable provincial codes About the manuals This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the General Purpose AC servo MR J3 B for the first time Always purchase them and use the MR J3 B safely Relevant manuals Manual...

Страница 13: ...A 12 MEMO ...

Страница 14: ...2 2 2 4 SSCNET cable laying 2 3 2 5 Inspection Items 2 5 2 6 Parts Having Service Lives 2 5 3 SIGNALS AND WIRING 3 1 to 3 36 3 1 Input power supply circuit 3 2 3 2 I O signal Connection Example 3 6 3 3 Explanation of Power Supply System 3 8 3 3 1 Signal explanations 3 8 3 3 2 Power on sequence 3 9 3 3 3 CNP1 CNP2 CNP3 wiring method 3 10 3 4 Connectors and signal arrangements 3 16 3 5 Signal device...

Страница 15: ...n MR Configurator 4 8 4 5 2 Motorless operation in controller 4 10 5 PARAMETERS 5 1 to 5 26 5 1 Basic Setting Parameters No PA 5 1 5 1 1 Parameter list 5 1 5 1 2 Parameter write inhibit 5 2 5 1 3 Selection of regenerative brake option 5 3 5 1 4 Using absolute position detection system 5 3 5 1 5 Forced stop input selection 5 4 5 1 6 Auto tuning 5 5 5 1 7 In position range 5 6 5 1 8 Selection of ser...

Страница 16: ...lock diagram 7 1 7 2 Adaptive filter 7 1 7 3 Machine resonance suppression filter 7 4 7 4 Advanced Vibration Suppression Control 7 6 7 5 Low pass filter 7 10 7 6 Gain changing function 7 10 7 6 1 Applications 7 10 7 6 2 Function block diagram 7 11 7 6 3 Parameters 7 12 7 6 4 Gain changing operation 7 14 8 TROUBLESHOOTING 8 1 to 8 8 8 1 Alarms and warning list 8 1 8 2 Remedies for alarms 8 2 8 3 Re...

Страница 17: ... breakers fuses magnetic contactors 11 39 11 10 Power Factor Improving DC Reactor 11 40 11 11 Power factor improving reactors 11 41 11 12 Relays Recommended 11 41 11 13 Surge absorbers Recommended 11 42 11 14 Noise reduction techniques 11 42 11 15 Leakage current breaker 11 48 11 16 EMC filter Recommended 11 50 12 ABSOLUTE POSITION DETECTION SYSTEM 12 1 to 12 4 12 1 Features 12 1 12 2 Specificatio...

Страница 18: ...rque limit with clamping circuit is put on the servo amplifier in order to protect the power transistor of main circuit from the overcurrent caused by rapid acceleration deceleration or overload In addition torque limit value can be changed to desired value with parameter As this new series has the USB communication function a servo configuration software installed personal computer or the like ca...

Страница 19: ...ol Model speed control Position command input Model position Actual position control Actual speed control Current control Model torque Virtual motor Virtual encoder CN2 MR J3BAT Optional battery for absolute position detection system U V W U V W M E1 Current detection Model speed Note2 Note1 CON1 Regene rative TR P1 P2 Power factor improving DC reactor N CN5 USB USB Personal computer Controller or...

Страница 20: ...namic brake Current detector Control circuit power supply Electro magnetic brake Servo motor Current detection Regenerative brake Model position control Model speed control Model position Actual position control Actual speed control Current control Model torque Virtual motor Virtual encoder Model speed Optional battery for absolute position detection system Fan Position command input CN5 USB USB P...

Страница 21: ...stem Dynamic brake Built in Protective functions Overcurrent shut off regenerative overvoltage shut off overload shut off electronic thermal relay servo motor overheat protection encoder error protection regenerative brake error protection undervoltage instantaneous power failure protection overspeed protection excessive error protection Structure Self cooled open IP00 Force cooling open IP00 Self...

Страница 22: ...in search function Personal computer changes gains automatically and searches for overshoot free gains in a short time MR Configurator servo configuration software MRZJW3 SETUP221E is necessary for this function Slight vibration suppression control Suppresses vibration of 1 pulse produced at a servo motor stop Parameters No PB24 Auto tuning Automatically adjusts the gain to optimum value if load a...

Страница 23: ...3PH 1PH200 230V 50Hz 3PH 1PH200 230V 60Hz 2 Model 10 0 1 60 0 6 40 0 4 20 0 2 MR J3 B Series SSCNET compatible Rated output Symbol Rated output kW 200 2 100 1 70 0 75 300 3 5 Rating plate MR J3 100B or less MR J3 200B 350B None Note 1 3 phase 200 to 230VAC 1 phase 230VAC Note 1 1 phase 230V is supported by the MR J3 70B or less 2 No supplied to the servo amplifier of MR J3 60B or more Symbol Power...

Страница 24: ...ervo motors The same combinations apply to the models with electromagnetic brakes Servo motors HF SP Servo amplifier HF MP HF KP 1000r min 2000r min MR J3 10B 1 053 13 053 13 MR J3 20B 1 23 23 MR J3 40B 1 43 43 MR J3 60B 51 52 MR J3 70B 73 73 MR J3 100B 81 102 MR J3 200B 121 201 152 202 MR J3 350B 352 MR J3 500B 502 MR J3 700B 702 ...

Страница 25: ...ion connector CN5 Connect with the personal computer Section 3 1 Section 3 3 Section 11 5 I O signal connector CN3 Used to connect digital I O signals More over an analog monitor is output Section 3 2 Section 3 4 Control circuit connector CNP2 Connect the control circuit power supply regenerative brake option Section 3 1 Section 3 3 SSCNET cable connector CN1A Section 3 2 Section 3 4 Used to conne...

Страница 26: ...on Detailed Explanation Used to connect the servo system controller or the front axis servo amplifier Section 3 2 Section 3 4 Section 3 2 Section 3 4 Used to connect the rear axis servo amplifier For the final axis puts a cap SSCNET cable connector CN1B Section 3 1 Section 3 3 Motor power supply connector CNP3 Connect the servo motor Encoder connector CN2 Connector for connection of the servo moto...

Страница 27: ...ction 3 2 Section 3 4 Battery holder Contains the battery for absolute position data backup Section 12 3 DC reactor terminal block TE3 Used to connect the DC reactor Section 3 1 Section 3 3 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Control circuit terminal block TE2 Used to connect the control circuit power supply Section 3 1 Se...

Страница 28: ...s the battery for absolute position data backup Section 12 3 Section 3 2 Section 3 4 SSCNET cable connector CN1A Section 3 2 Section 3 4 Used to connect the rear axis servo amplifier For the final axis puts a cap SSCNET cable connector CN1B Used to connect the servo system controller or the front axis servo amplifier DC reactor terminal block TE3 Used to connect the DC reactor Section 3 1 Section ...

Страница 29: ...ng the front cover make sure that the charge lamp is off more than 15 minutes after power off Otherwise you may get an electric shock For MR J3 500B or more Removal of the front cover A A Hold the ends of lower side of the front cover with both hands Pull up the cover supporting at point A Pull out the front cover to remove ...

Страница 30: ...N Reinstallation of the front cover Front cover setting tab A A Insert the front cover setting tabs into the sockets of servo amplifier 2 places Pull up the cover supporting at point A Setting tab Push the setting tabs until they click ...

Страница 31: ...o amplifier CN1A or Cap CN3 CN1A CN1B CN2 CN4 R S T Line noise filter FR BLF01 Magnetic contactor MC No fuse breaker NFB or fuse Regenerative brake option Power factor improving DC reactor FR BEL Note2 Note2 Junction terminal block Servo motor Note1 Battery unit MR J3BAT Note3 3 phase 200V to 230VAC power supply or 1 phase 230VAC power supply Note 1 The battery unit option is used for the absolute...

Страница 32: ...ry unit MR J3BAT Line noise filter FR BSF01 Magnetic contactor MC No fuse breaker NFB or fuse Junction terminal block Servo motor Servo system controller or Front axis servo amplifier Rear servo amplifier CN1A or Cap MR Configurator Servo configuration software Personal computer Note 1 The battery unit option is used for the absolute position detection system in the position control mode 2 The pow...

Страница 33: ...mproving DC reactor FR BEL Note3 Note2 Servo amplifier Junction terminal block MR Configurator Servo configuration software Personal computer Note1 Battery unit MR J3BAT Servo system controller or Front axis servo amplifier Rear servo amplifier CN1A or Cap Servo motor Note 1 The battery unit option is used for the absolute position detection system in the position control mode 2 The AC reactor can...

Страница 34: ...Configurator Servo configuration software Personal computer Servo amplifier Note2 Power factor improving DC reactor FR BEL Servo system controller or Front axis servo amplifier Rear servo amplifier CN1A or Cap Note1 Battery unit MR J3BAT Servo motor Junction terminal block Note 1 The battery unit option is used for the absolute position detection system in the position control mode 2 The AC reacto...

Страница 35: ...ng DC reactor FR BEL Servo amplifier Regenerative brake Servo motor Junction terminal block MR Configurator Servo configuration software Personal computer Servo system controller or Front axis servo amplifier Rear servo amplifier CN1A or Cap Note1 Battery unit MR J3BAT Note 1 The battery unit option is used for the absolute position detection system in the position control mode 2 The AC reactor ca...

Страница 36: ...le matter from entering the servo amplifier Do not block the intake exhaust ports of the servo amplifier Otherwise a fault may occur Do not subject the servo amplifier to drop impact or shock loads as they are precision equipment Do not install or operate a faulty servo amplifier When the product has been stored for an extended period of time consult Mitsubishi 2 1 Installation direction and clear...

Страница 37: ...oreign materials 1 When installing the unit in a control box prevent drill chips and wire fragments from entering the servo amplifier 2 Prevent oil water metallic dust etc from entering the servo amplifier through openings in the control box or a fan installed on the ceiling 3 When installing the control box in a place where there are much toxic gas dirt and dust conduct an air purge force clean a...

Страница 38: ...e connector with bundle material in order to prevent SSCNET cable from putting its own weight on CN1A CN1B connector of servo amplifier Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius and it should not be twisted Optical cord Loose slack Recommended product NK clamp SP type NIX INC Cable Connector Bundle material When laying cable fix and hold i...

Страница 39: ... with the door of control box or others 5 Twisting If optical fiber is twisted it will become the same stress added condition as when local lateral pressure or bend is added Consequently transmission loss increases and the breakage of optical fiber may occur at worst 6 Disposal When incinerating optical cable cord used for SSCNET hydrogen fluoride gas or hydrogen chloride gas which is corrosive an...

Страница 40: ...when it has not yet reached the end of its life which depends on the operating method and environmental conditions For parts replacement please contact your sales representative Part name Life guideline Smoothing capacitor 10 years Relay Number of power on and number of emergency stop times 100 000 times Cooling fan 10 000 to 30 000hours 2 to 3 years Servo amplifier Absolute position battery Refer...

Страница 41: ...2 6 2 INSTALLATION MEMO ...

Страница 42: ...cables to correct terminals to prevent a burst fault etc Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction Otherwise the signal is not output due to a fault disabling the forced stop EM1 and other protective circuits RA DOCOM DICOM 24VDC Servo Amplifier C...

Страница 43: ...a controller forced stop is made valid A no fuse breaker NFB must be used with the input cables of the main circuit power supply 1 For 3 phase 200 to 230VAC power supply to MR J3 10B to MR J3 350B NFB MC L1 L2 L3 ALM RA1 P1 P2 P DICOM DOCOM L11 L21 N D C U V W CNP1 CNP3 PE CNP2 U V W 2 3 4 1 M CN2 24VDC DOCOM 3 phase 200 to 230VAC Servo amplifier Note 1 Note 2 Forced stop Servo motor Note 3 Motor ...

Страница 44: ...Always connect P1 P2 Factory wired When using the power factor improving DC reactor refer to Section 11 10 2 Always connect P D Factory wired When using the regenerative brake option refer to Section 11 2 3 For connection of the servo amplifier and servo motor use of the option cable is recommended Refer to Section 11 1 for selection of the cable 4 If deactivating output of trouble ALM with parame...

Страница 45: ...Always connect P1 P2 Factory wired The power factor improving DC reactor cannot be used 2 Always connect P D Factory wired When using the regenerative brake option refer to Section 11 2 3 For connection of the servo amplifier and servo motor use of the option cable is recommended Refer to Section 11 1 for selection of the cable 4 If deactivating output of trouble ALM with parameter change configur...

Страница 46: ...e 4 DOCOM Note 1 Always connect P1 P2 Factory wired When using the power factor improving DC reactor refer to Section 11 10 2 When using the regenerative brake option refer to Section 11 2 3 For connection of the servo amplifier and servo motor use of the option cable is recommended Refer to Section 11 1 for selection of the cable 4 If deactivating output of trouble ALM with parameter change confi...

Страница 47: ...ouble Note11 Impogetion CN3 Note12 CN1A CN1B MR J3 B 2 axis Note7 Note9 Cap Note1 CN1B SW1 2 1 SW2 SW1 2 1 SW2 Between electrodes 11 LG Control common Note8 Note8 CN1A CN1B MR J3 B Note7 SW1 2 1 SW2 Note8 CN1A CN1B MR J3 B Note7 SW1 2 1 SW2 Note8 Note13 14 24VDC Power supply Note10 Note3 4 Forced stop Note14 DICOM EM1 DOCOM 3 axis n axis Note6 SSCNET cable option Note6 SSCNET cable option Analog m...

Страница 48: ...m to 50m 50m 7 The wiring of the second and subsequent axes is omitted 8 Up to eight axes n 1 to 8 may be connected Refer to Section 3 13 for setting of axis selection 9 Make sure to put a cap on the unused CN1A CN1B 10 Supply 24VDC 10 150mA current for interfaces from the outside 150mA is the value applicable when all I O signals are used The current capacity can be decreased by reducing the numb...

Страница 49: ... built in regenerative brake resistor connect between P D terminals Wired by default When using regenerative brake option disconnect between P D terminals and connect regenerative brake option to P terminal and C terminal 2 MR J3 500B 700B MR J3 500B and 700B do not have D terminal When using servo amplifier built in regenerative brake resistor connect P terminal and C terminal Wired by default Wh...

Страница 50: ... servo on command within 3s the main circuit power supply is switched on Refer to paragraph 2 in this section 2 Timing chart 3s ON OFF ON OFF ON OFF 10ms 95ms 95ms Base circuit Servo on command from controller SON accepted Main circuit Control circuit power 3 Forced stop CAUTION Install an forced stop circuit externally to ensure that operation can be stopped and power shut off immediately If the ...

Страница 51: ...0 connector 56125 0118 terminal For CNP2 51240 0500 connector 56125 0118 terminal For CNP3 51241 0300 connector 56125 0118 terminal Crimping tool CNP57349 5300 Connector applicable cable example Cable finish OD to 3 8mm b Termination of the cables Solid wire After the sheath has been stripped the cable can be used as it is 8 to 9mm Sheath Core Twisted wire Use the cable after stripping the sheath ...

Страница 52: ...xis Rear axis CNP2 Twin type connector for CNP2 2 MR J3 200B MR J3 350B a Servo amplifier power supply connectors Servo amplifier power supply connectors CNP3 CNP1 CNP2 Applicable cable example Cable finish OD to 5mm Applicable cable example Cable finish OD to 3 8mm Connector for CNP2 54927 0510 molex Connector for CNP3 PC4 3 STF 7 62 CRWH phoenix contact Connector for CNP1 PC4 6 STF 7 62 CRWH pho...

Страница 53: ...se a contact fault Alternatively a bar terminal may be used to put the wires together Cable size Bar terminal type mm 2 AWG For 1 cable For 2 cables Crimping tool Maker 0 34 22 AI0 34 8TQ 0 5 20 AI0 5 8WH AI TWIN2 0 5 8WH 0 75 18 AI0 75 8GY AI TWIN2 0 75 8GY 1 18 AI1 8RD AI TWIN2 1 8RD 1 5 16 AI1 5 8BK AI TWIN2 1 5 8BK 2 5 14 AI2 5 8BU AI TWIN2 2 5 8BU CRIMPFOX ZA3 Phoenix Contact 2 CNP2 CNP2 is t...

Страница 54: ...ervo amplifier is packed with the cable connection lever 54932 0000 Molex Unit mm 3 4 M X J 5 4 9 3 2 20 6 10 4 9 6 5 3 4 7 7 7 7 7 3 4 4 9 2 Cable connection procedure 1 Attach the cable connection lever to the housing Detachable 2 Push the cable connection lever in the direction of arrow 3 Hold down the cable connection lever and insert the cable in the direction of arrow 4 Release the cable con...

Страница 55: ...R0 3 22 R0 3 3 to 3 5 2 When using the flat blade screwdriver part 1 1 Insert the screwdriver into the square hole Insert it along the top of the square hole to insert it smoothly 2 If inserted properly the screwdriver is held 3 With the screwdriver held insert the cable in the direction of arrow Insert the cable as far as it will go 4 Releasing the screwdriver connects the cable ...

Страница 56: ...sert the cable into PC4 6 STF 7 62 CRWH or PC4 3 STF 7 62 CRWH connector Insert the core of the cable into the opening and tighten the screw with a flat blade screwdriver so that the cable does not come off Tightening torque 0 5 to 0 6N m 4 425 to 5 31 lb in Before inserting the cable into the opening make sure that the screw of the terminal is fully loose When using a cable of 1 5mm 2 or less two...

Страница 57: ...nnector Refer to Section 11 6 The frames of the CN2 and CN3 connectors are connected to the PE earth terminal in the amplifier The 3M make connector is shown When using any other connector refer to Section 11 1 2 CN2 4 2 LG 8 MDR 6 1 P5 5 10 3 MR 7 MD 9 BAT MRR CN4 CN2L CN2 CN1B CN1A CN3 CN5 CHARGE L2 U W V D L12 L11 C P N P1 P2 L3 L1 OPEN CN3 Connector for the front axis of CN1A SSCNET cable Conn...

Страница 58: ...h the base circuit is shut off and the dynamic brake is operated Turn EM1 on short between commons in the forced stop state to reset that state When parameter No PA 04 is set to 1 automatically ON always ON can be set inside DI 1 DI1 CN3 19 DI 1 DI2 CN3 2 DI 1 DI3 CN3 12 Devices can be assigned for DI1 DI2 DI3 with controller setting For devices that can be assigned refer to the controller instruc...

Страница 59: ...width Parameter No PC07 4 1 2 3 ZPS turns on 1 when the servo motor is decelerated to 50r min and ZPS turns off 2 when the servo motor is accelerated to 70r min again ZPS turns on 3 when the servo motor is decelerated again to 50r min and turns off 4 when the servo motor speed has reached 70r min The range from the point when the servo motor speed has reached ON level and ZPS turns on to the point...

Страница 60: ...nt position is reached The minimum pulse width is about 400 s For home position return using this pulse set the creep speed to 100r min or less Analog monitor 1 MO1 CN3 4 Used to output the data set in parameter No PC09 to across MO1 LG in terms of voltage Resolution 10 bits Analog monitor 2 MO2 CN3 14 Used to output the data set in parameter No PC10 to across MO2 LG in terms of voltage Resolution...

Страница 61: ...e 50ms or more 60ms or more NO Brake operation Brake operation Power on Power off Note Note Switch off the main circuit power as soon as an alarm occurs 1 Overcurrent overload 1 or overload 2 If operation is repeated by switching control circuit power off then on to reset the overcurrent 32 overload 1 50 or overload 2 51 alarm after its occurrence without removing its cause the servo amplifier and...

Страница 62: ... monitor Servo amplifier 2 4 7 8 MR MRR MD MDR LG Encoder E Servo motor Note 1 USB M D GND VBUS D 1 2 3 5 CN5 LG 1 MBR DOCOM 24VDC Forced stop CN2 Note 3 Approx 5 6k Approx 5 6k INP Note 3 DC 10V DC 10V Note 1 Signal can be assigned for these pins with host controller setting For contents of signals refer to the instruction manual of host controller 2 This signal cannot be used with speed loop mod...

Страница 63: ...source input DICOM VCES 1 0V ICEO 100 A TR 24VDC 10 5 6k For transistor Approx 5mA Switch 150mA Servo amplifier EM1 etc 2 Digital output interface DO 1 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 Permissible current 40mA or less inrush current 100mA or less A maximum of 2 6V voltage drop occu...

Страница 64: ...LA LB LZ LAR LBR LZR LG SD LA LB LZ LAR LBR LZR SD Servo amplifier Servo amplifier Am26LS32 or equivalent High speed photocoupler 150 100 b Output pulse Servo motor CCW rotation LA LAR LB LBR LZ LZR T 2 400 s or more 4 Analog output LG MO1 Servo amplifier Output voltage 10V Max 1mA Max Output current Resolution 10 bit MO2 ...

Страница 65: ...ce type Perform wiring according to the following interfaces 1 Digital input interface DI 1 EM1 etc Servo amplifier Switch Approx 5mA DICOM VCES 1 0V ICEO 100 A 24VDC 10 150mA Approx 5 6k 2 Digital output interface DO 1 A maximum of 2 6V voltage drop occurs in the servo amplifier If polarity of diode is reversed servo amplifier will fail Servo amplifier ALM etc Load DOCOM 24VDC 10 150mA ...

Страница 66: ...securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell External conductor Sheath External conductor Pull back the external conductor to cover the sheath Sheath Core Strip the sheath Screw Screw Ground plate Cable ...

Страница 67: ...CN1B CN1A Cap SSCNET cable SSCNET cable 2 How to connect disconnect cable POINT CN1A CN1B connector is put a cap to protect light device inside connector from dust For this reason do not remove a cap until just before mounting SSCNET cable Then when removing SSCNET cable make sure to put a cap Keep the cap for CN1A CN1B connector and the tube for protecting light code end of SSCNET cable in a plas...

Страница 68: ... it may cause malfunctions If it becomes dirty wipe with a bonded textile etc Do not use solvent such as alcohol Click Tab b Removal With holding a tab of SSCNET cable connector pull out the connector When pulling out the SSCNET cable from servo amplifier be sure to put the cap on the connector parts of servo amplifier to prevent it from becoming dirty For SSCNET cable attach the tube for protecti...

Страница 69: ...ply U V W Use of the optional cable and connector set is recommended for connection between the servo amplifier and servo motor When the options are not available use the recommended products Refer to Section 11 1 for details of the options 1 For grounding connect the earth cable of the servo motor to the protective earth PE terminal of the servo amplifier and connect the ground cable of the servo...

Страница 70: ...n cable MR PWS1CBL2M A1 L MR PWS1CBL2M A2 L MR PWS1CBL2M A1 H MR PWS1CBL2M A2 H MR PWS2CBL03M A1 L MR PWS2CBL03M A2 L CNP3 AWG 19 red AWG 19 white AWG 19 black U V W Servo motor Servo amplifier Extension cable 50m or less 2m or less U V W M AWG 19 green yellow Note Relay connector for extension cable Note Relay connector for motor power supply cable Note Use of the following connectors is recommen...

Страница 71: ...nt Refer to Section 11 1 For types other than those prepared as optional equipment refer to Section 3 in Servomotor Technical Reference Vol 2 to select Servo motor side connectors Servo motor Encoder Power supply Electromagnetic brake HF SP52 to 152 HF SP51 81 MS3102A18 10P HF SP202 to 502 HF SP121 201 MS3102A22 22P HF SP702 CN10 R10P DDK CE05 2A32 17RD B CM10 R2P DDK a c b Detector connector sign...

Страница 72: ...ctromagnetic brake Note the following when the servo motor equipped with electromagnetic brake is used 1 Do not share the 24VDC interface power supply between the interface and electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake 2 The brake will operate when the power 24VDC switches off 3 Switch off the servo on command after the servo motor has sto...

Страница 73: ...eration delay time to prevent a drop Servo motor speed Electromagnetic brake interlock MBR ON OFF Base circuit Invalid ON Valid OFF ON OFF Servo on command from controller Electromagnetic brake operation delay time Tb Coasting 0 r min 95ms 95ms 2 Forced stop command from controller or forced stop EM1 ON OFF Servo motor speed Electromagnetic brake interlock MBR ON OFF Base circuit Invalid ON Valid ...

Страница 74: ... Electromagnetic brake Control circuit power Note 15 to 100ms 10ms Electromagnetic brake operation delay time Note 2 Note Changes with the operating status 5 Only main circuit power supply off control circuit power supply remains on Servo motor speed ON OFF Base circuit Electromagnetic brake interlock MBR Invalid ON Valid OFF Alarm No Yes ON OFF Main circuit power supply Dynamic brake Dynamic brak...

Страница 75: ... motor power supply cable pulled from the servo motor should be within 2m long Refer to Section 11 8 for the wire used for the extension cable AWG20 AWG20 MR BKS1CBL2M A1 L MR BKS1CBL2M A2 L MR BKS1CBL2M A1 H MR BKS1CBL2M A2 H MR BKS2CBL03M A1 L MR BKS2CBL03M A2 L B1 B2 24VDC power supply for electromagnetic brake 50m or less Extension cable To be fabricated Note 2 2m or less Servo motor Note 3 Re...

Страница 76: ... 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 L1 L2 L3 L11 L21 CN1A NFB MC CN2 U V W M U V W Control box Servo amplifier Line filter Protective earth PE Outer box Servo motor Encoder Note Power supply 3 phase 200 to 230VAC 1 phase 230VAC or 1 phase 100 to 120VAC Servo sys...

Страница 77: ...E D C B A 9 Rotary axis setting switch SW1 Down Up Test operation select switch SW2 1 Set the test operation select switch to the Up position when performing the test operation mode by using MR Configurator Servo configuration Spare Be sure to set to the Down position Note SW2 Note This table indicates the status when the switch is set to Down Default Spare Rotary axis setting switch SW1 Descripti...

Страница 78: ...efer to Section 4 1 2 Surrounding environment check Check the surrounding environment of the servo amplifier and servo motor Refer to Section 4 1 3 Axis No settings Confirm that the axis No settings for rotary axis setting switch SW1 and servo system controller are consistent Refer to Section 3 12 Parameter setting Set the parameters as necessary such as the used control mode and regenerative brak...

Страница 79: ...W Servo amplifier Servo motor 2 The power supplied to the servo amplifier should not be connected to the servo motor power supply terminals U V W To do so will fail the connected servo amplifier and servo motor U V W U V W M Servo amplifier Servo motor 3 The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier M Servo amplifier Servo motor 4 P1 P2 should be conn...

Страница 80: ... reactor should be connected across P1 P2 Refer to Section 11 10 P1 P2 Servo amplifier Note Power factor improving DC reactor Note Always disconnect the wiring across P1 P2 2 I O signal wiring a The I O signals should be connected correctly Use DO forced output to forcibly turn on off the pins of the CN3 connector This function can be used to perform a wiring check In this case switch on the contr...

Страница 81: ...e initial value is selected After setting the above parameters switch power off once Then switch power on again to make the set parameter values valid 3 Servo on Switch the servo on in the following procedure 1 Switch on main circuit control circuit power supply 2 The controller transmits the servo on command When placed in the servo on status the servo amplifier is ready to operate and the servo ...

Страница 82: ...ote1 When alarm warning No is displayed Flicker display Flicker display Flicker display If warning other than E6 or E7 occurs during the servo on flickering the second place of decimal point indicates that it is during the servo on Note 1 2 3 The right hand segments of b01 c02 and d16 indicate the axis number Below example indicates Axis1 Initial data communication with servo system controller Ini...

Страница 83: ...itializing completion During the completion process for initial data communication with servo system controller A A Initializing standby The power supply of servo system controller is turned off during the power supply of servo amplifier is on Note 1 b Ready OFF The ready off signal from the servo system controller was received Note 1 d Servo ON The ready off signal from the servo system controlle...

Страница 84: ...confirm that the servo motor rotates correctly under the commands from the controller Make sure that the servo motor rotates in the following procedure Give a low speed command at first and check the rotation direction etc of the servo motor If the servo motor does not operate in the intended direction check the input signal Test operation with servo motor and machine connected In this step connec...

Страница 85: ...s on or off and whether the servo system controller is connected or not Exercise control on the jog operation screen of the MR Configurator servo configuration software 1 Operation pattern Item Initial value Setting range Speed r min 200 0 to max speed Acceleration deceleration time constant ms 1000 0 to 50000 2 Operation method Operation Screen control Forward rotation start Click the Forward but...

Страница 86: ...set button d Output signal DO forced output Output signals can be switched on off forcibly independently of the servo status Use this function for output signal wiring check etc Exercise control on the DO forced output screen of the MR Configurator servo configuration software 2 Operation procedure a Jog operation positioning operation program operation DO forced output 1 Switch power off 2 Set SW...

Страница 87: ...set the selection of motorless operation to Invalid in servo parameter setting of servo system controller Motorless operation will be invalid condition after switching on power supply next time a Load conditions Load Item Condition Load torque 0 Load inertia moment ratio Same as servo motor inertia moment b Alarms The following alarms and warning do not occur However the other alarms and warnings ...

Страница 88: ...rs No PA allows the setting of the basic parameters at the time of introduction 5 1 Basic Setting Parameters No PA POINT Parameter whose symbol is preceded by is made valid with the following conditions Set the parameter value switch power off once after setting and then switch it on again or perform the controller reset Set the parameter value switch power off once and then switch it on again Nev...

Страница 89: ...ing parameter settings With the setting of parameter No PA19 write can be disabled to prevent accidental changes The following table indicates the parameters which are enabled for reference and write by the setting of parameter No PA19 Operation can be performed for the parameters marked Parameter No PA19 Setting Setting Operation Basic Setting Parameters No PA Gain Filter Parameters No PB Extensi...

Страница 90: ...rake resistor is not used For MR J3 20B or more built in regenerative brake resistor is used 01 FR BU FR RC 02 MR RB032 03 MR RB12 04 MR RB32 05 MR RB30 06 MR RB50 08 MR RB31 09 MR RB51 0 0 Parameter No PA02 5 1 4 Using absolute position detection system Parameter No Symbol Name Initial Value Unit Setting Range PA03 ABS Absolute position detection system 0000h Refer to the text POINT This paramete...

Страница 91: ...f then on after setting or when the controller reset has been performed The servo forced stop function is voidable Selection of servo forced stop 0 Valid Forced stop EM1 is used 1 Invalid Forced stop EM1 is not used Parameter No PA04 0 0 0 When not using the forced stop EM1 of servo amplifier set the selection of servo forced stop to Invalid 1 At this time the forced stop EM1 automatically turns o...

Страница 92: ...gain adjustment mode Gain adjustment mode setting 2 3 1 Setting 0 Manual mode Automatically set parameter No Note Gain adjustment mode Interpolation mode Auto tuning mode 1 Auto tuning mode 2 PB06 PB08 PB09 PB10 Parameter No PA08 PB06 PB07 PB08 PB09 PB10 PB07 PB08 PB09 PB10 0 0 0 Note The parameters have the following names Parameter No Name PB06 Ratio of load inertia moment to servo motor inertia...

Страница 93: ...0 95 9 5 16 1 21 108 0 6 18 1 22 121 7 7 20 4 23 137 1 8 23 0 24 154 4 9 25 9 25 173 9 10 29 2 26 195 9 11 32 9 27 220 6 12 37 0 28 248 5 13 41 7 29 279 9 14 47 0 30 315 3 15 52 9 31 355 1 16 Middle response 59 6 32 Middle response 400 0 5 1 7 In position range Parameter No Symbol Name Initial Value Unit Setting Range PA10 INP In position range 100 pulse 0 to 50000 POINT This parameter cannot be u...

Страница 94: ...ward rotation CCW Reverse rotation CW 5 1 9 Encoder output pulse Parameter No Symbol Name Initial Value Unit Setting Range PA15 ENR Encoder output pulse 4000 pulse rev 1 to 65535 POINT This parameter is made valid when power is switched off then on after setting or when the controller reset has been performed Used to set the encoder pulses A phase B phase output by the servo amplifier Set the valu...

Страница 95: ...A B phase pulses are as indicated below 4 5600 A B phase output pulses 1400 pulse 2 For output division ratio setting Set 1 in parameter No PC03 The number of pulses per servo motor revolution is divided by the set value Output pulse pulses rev Resolution per servo motor revolution Set value For instance set 8 to Parameter No pa15 the actually output A B phase pulses are as indicated below A B pha...

Страница 96: ...1 0000h PB15 NH2 Machine resonance suppression filter 2 4500 Hz PB16 NHQ2 Notch form selection 2 0000h PB17 For manufacturer setting 0000 PB18 LPF Low pass filter 3141 rad s PB19 VRF1 Vibration suppression control vibration frequency setting 100 0 Hz PB20 VRF2 Vibration suppression control resonance frequency setting 100 0 Hz PB21 For manufacturer setting 0 00 PB22 0 00 PB23 VFBF Low pass filter s...

Страница 97: ...cy Response of mechanical system Notch depth Filter tuning mode selection 0 0 0 0000h Setting Filter adjustment mode Automatically set parameter 0 Filter OFF Note 1 Filter tuning mode Parameter No PB13 Parameter No PB14 2 Manual mode Note Parameter No PB13 and PB14 are fixed to the initial values When this parameter is set to 1 the tuning is completed after positioning is done the predetermined nu...

Страница 98: ...ession control tuning mode Advanced vibration suppression control Parameter No PB19 Parameter No PB20 2 Manual mode Note Parameter No PB19 and PB20 are fixed to the initial values When this parameter is set to 1 the tuning is completed after positioning is done the predetermined number or times for the predetermined period of time and the setting changes to 2 When the vibration suppression control...

Страница 99: ...er No PA08 is set to 3 this parameter can be set manually 37 rad s 1 to 1000 PB09 VG2 Speed loop gain Set this parameter when vibration occurs on machines of low rigidity or large backlash Higher setting increases the response level but is liable to generate vibration and or noise When auto tuning mode 1 2 manual mode and interpolation mode is selected the result of auto tuning is automatically us...

Страница 100: ...000h Refer to Name and function column PB15 NH2 Machine resonance suppression filter 2 Set the notch frequency of the machine resonance suppression filter 2 Set parameter No PB16 notch shape selection 2 to 1 to make this parameter valid 4500 Hz 100 to 4500 PB16 NHQ2 Notch shape selection 2 Select the shape of the machine resonance suppression filter 2 Notch depth selection Setting value Depth Gain...

Страница 101: ...n Refer to Section 7 4 4 Setting parameter No PB02 vibration suppression control tuning mode to 1 automatically changes this parameter When parameter No PB02 is set to 2 this parameter can be set manually 100 0 Hz 0 1 to 100 0 PB21 0 00 PB22 For manufacturer setting Do not change this value by any means 0 00 PB23 VFBF Low pass filter selection Select the low pass filter Low pass filter selection 0...

Страница 102: ...g ratio of load inertia moment to servo motor inertia moment Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid This parameter is made valid when the auto tuning is invalid parameter No PA08 3 7 0 times 0 to 300 0 PB30 PG2B Gain changing position loop gain This parameter cannot be used in the speed control mode Set the position loop gain when the...

Страница 103: ...ppression control when the gain changing is valid This parameter is made valid when the parameter No PB02 setting is 2 and the parameter No PB26 setting is 1 When using the vibration suppression control gain changing always execute the changing after the servo motor has stopped 100 0 Hz 0 1 to 100 0 PB35 0 00 PB36 For manufacturer setting Do not change this value by any means 0 00 PB37 100 PB38 0 ...

Страница 104: ...ncoder output pulses selection 0000h PC04 COP1 Function selection C 1 0000h PC05 COP2 Function selection C 2 0000h PC06 For manufacturer setting 0000h PC07 ZSP Zero speed 50 r min PC08 For manufacturer setting 0 PC09 MOD1 Analog monitor output 1 0000h PC10 MOD2 Analog monitor output 2 0001h PC11 MO1 Analog monitor 1 offset 0 mV PC12 MO2 Analog monitor 2 offset 0 mV PC13 For manufacturer setting 0 ...

Страница 105: ...vision ratio setting 0 0 A phase B phase A phase B phase A phase B phase 0000h Refer to Name and function column PC04 COP1 Function selection C 1 Select the encoder cable communication system selection 0 0 Encoder cable communication system selection 0 Two wire type 1 Four wire type The following encoder cables are of 4 wire type MR EKCBL30M L MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H The other en...

Страница 106: ...ulses Note 1 3 Bus voltage 8V 400V Item 0 0 0000h Refer to Name and function column PC10 MOD2 Analog monitor 2 output Used to selection the signal provided to the analog monitor 2 MO2 output Refer to Section 5 3 3 C B 5 6 7 8 9 A D 0 1 2 3 4 Analog monitor 2 MO2 output selection Note1 Encoder pulse unit 2 8V is outputted at the maximum torque 3 It can be used by the absolute position detection sys...

Страница 107: ...d on 1 Not need to pass motor Z phase after the power supply is switched on 0 0 0 0000h Refer to Name and function column PC18 0000h PC19 0000h PC20 For manufacturer setting Do not change this value by any means 0000h PC21 BPS Alarm history clear Used to clear the alarm history Alarm history clear 0 Invalid 1 Valid When alarm history clear is made valid the alarm history is cleared at next power o...

Страница 108: ...d to set the offset voltage for the analog monitor 2 MO2 999 to 999 2 Set content The servo amplifier is factory set to output the servo motor speed to analog monitor 1 MO1 and the torque to analog monitor MO2 The setting can be changed as listed below by changing the parameter No PC14 and PC12 value Refer to 3 for the measurement point Setting Output item Description Setting Output item Descripti...

Страница 109: ...CW direction 10000 pulse 0 10 V 10 V 9 Droop pulses Note 1 10V 100000 pulses 100000 pulse CW direction CCW direction 100000 pulse 0 10 V 10 V A Feedback position Note 1 2 10V 1 Mpulses 1M pulse CW direction CCW direction 1M pulse 0 10 V 10 V B Feedback position Note 1 2 10V 10 Mpulses 10M pulse CW direction CCW direction 10M pulse 0 10 V 10 V C Feedback position Note 1 2 10V 100 Mpulses 100M pulse...

Страница 110: ...er Torque Position command Differ ential 5 3 4 Alarm history clear The servo amplifier stores one current alarm and five past alarms from when its power is switched on first To control alarms which will occur during operation clear the alarm history using parameter No PC21 before starting operation Clearing the alarm history automatically returns to 0 After setting this parameter is made valid by ...

Страница 111: ...0000h PD03 0000h PD04 0000h PD05 0000h PD06 0000h PD07 D01 Output signal device selection 1 CN3 pin 13 0005h PD08 D02 Output signal device selection 2 CN3 pin 9 0004h PD09 D03 Output signal device selection 3 CN3 pin 15 0003h PD10 For manufacturer setting 0000h PD11 0004h PD12 0000h PD13 0000h PD14 D0P3 Function selection D 3 0000h PD15 For manufacturer setting 0000h PD16 0000h PD17 0000h PD18 000...

Страница 112: ...3 02 RD 0C ZSP 03 ALM 0D For manufacturer setting Note 3 04 INP Note 1 0E For manufacturer setting Note 3 05 MBR 0F CDPS 06 DB 10 For manufacturer setting Note 3 07 TLC 11 ABSV Note 1 08 WNG 12 to 1F For manufacturer setting Note 3 09 BWNG 20 to 3F For manufacturer setting Note 3 Note 1 It becames always OFF in speed control mode Note 2 It becames SA in speed control mode Note 3 For manufacturer s...

Страница 113: ...ce Select the warning WNG and trouble ALM output status at warning occurrence 0 1 Setting 0 1 0 1 WNG ALM Warning occurrence 0 1 0 1 WNG ALM Warning occurrence Note Device status Note 0 off 1 on Output of Servo amplifier 0000h Refer to Name and function column PD15 0000h PD16 For manufacturer setting Do not change this value by any means 0000h PD17 0000h PD18 0000h PD19 0000h PD20 0000h PD21 0000h...

Страница 114: ...rameters Manually set parameters Auto tuning mode 1 initial value 0001 Always estimated GD2 parameter No PB06 PG2 parameter No PB08 PG1 parameter No PB07 VG2 parameter No PB09 VIC parameter No PB10 Response level setting of parameter No 2 Auto tuning mode 2 0002 PG2 parameter No PB08 PG1 parameter No PB07 VG2 parameter No PB09 VIC parameter No PB10 GD2 parameter No PB06 Response level setting of p...

Страница 115: ...nal computer 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 from the personal computer to the servo and measuring the machine response You can grasp the machine resonance frequency and determine the notch frequency of the machine resonance suppression filter Y...

Страница 116: ...rformed properly if the following conditions are not satisfied Time to reach 2000r min is the acceleration deceleration time constant of 5s or less Speed is 150r min or higher The ratio of load inertia moment to servo motor inertia moment 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 torqu...

Страница 117: ...he load inertia moment ratio is already known or if estimation cannot be made properly chose the auto tuning mode 2 parameter No PA08 0002 to stop the estimation of the load inertia moment ratio Switch in above diagram turned off and set the load inertia moment ratio parameter No 34 manually From the preset load inertia moment ratio parameter No PB06 value and response level parameter No PA09 the ...

Страница 118: ...cedure is as follows END Yes No Yes No No Yes Auto tuning adjustment Acceleration deceleration repeated Load inertia moment ratio estimation value stable Auto tuning conditions not satisfied Estimation of load inertia moment ratio is difficult Adjust response level setting so that desired response is achieved on vibration free level Acceleration deceleration repeated Requested performance satisfie...

Страница 119: ...ion filter parameter No PB13 to PB16 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to Section 7 1 for filter tuning mode and machine resonance suppression filter Setting of parameter No PA09 Machine characteristic Response level setting Machine rigidity Machine resonance frequency guideline Guideline of corresponding ...

Страница 120: ...tor inertia moment 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 integra...

Страница 121: ...on set the time constant of this integral control Increasing the setting lowers the response level However if the load inertia moment 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 ...

Страница 122: ...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 within the vibration free range and return slightly if vibration takes place Decrease the time constant of the speed integral compensation 7 Increase the position loop gain and ret...

Страница 123: ... 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 2 setting 1 ratio of load inertia moment to servo motor inertia moment 2 setting 3 Model loop gain PG1 Parameter No PB07 This parameter determines the response level to a posi...

Страница 124: ... auto tuning mode Select the auto tuning mode 1 2 During operation increase the response level setting parameter No PA09 and return the setting if vibration occurs Adjustment in auto tuning mode 1 3 Check the values of model loop gain Check the upper setting limits 4 Set the interpolation mode parameter No PA08 0000 Select the interpolation mode 5 Using the model loop gain value checked in step 3 ...

Страница 125: ...e Resonance Frequency Hz Parameter No PA09 Setting Guideline for Machine Resonance Frequency Hz 1 10 0 2 11 3 3 12 7 1 15 4 14 3 5 16 1 6 18 1 2 20 7 20 4 8 23 0 3 25 9 25 9 4 30 10 29 2 11 32 9 5 35 12 37 0 13 41 7 6 45 14 47 0 7 55 15 52 9 16 59 6 8 70 17 67 1 18 75 6 9 85 19 85 2 20 95 9 A 105 21 108 0 22 121 7 B 130 23 137 1 C 160 24 154 4 25 173 9 D 200 26 195 9 27 220 6 E 240 28 248 5 29 279...

Страница 126: ...filter 1 Function Adaptive filter 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 filter characteristics frequency depth are set automatically you need not be conscious of the resonance frequency of a mechanical system Mechanica...

Страница 127: ...ode parameter No PB01 Filter tuning mode selection 0 0 0 Parameter No 60 Setting Filter adjustment mode Automatically set parameter 0 Filter OFF Note 1 Filter tuning mode Parameter No PB13 Parameter No PB14 2 Manual mode Note Parameter No PB19 and PB20 are fixed to the initial values ...

Страница 128: ...r No PB01 turns to 0002 or 0000 Decrease the response until vibration or unusual noise is resolved End Yes No No Yes Increase 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 parameter No PB01 to 0001 If assumption fails after tuning is execut...

Страница 129: ...achine resonance suppression filter is a filter function notch filter which decreases the gain of the specific frequency to suppress the resonance of the mechanical system You can set the gain decreasing frequency notch frequency gain decreasing depth and width Mechanical system response level Machine resonance point Frequency Notch depth Notch frequency Frequency Notch width Notch depth You can u...

Страница 130: ...se if you set a wrong resonance frequency or a too deep notch If the frequency of machine resonance is unknown decrease the notch frequency from higher to lower ones in order The optimum notch frequency is set at the point where vibration is minimal A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration A deeper notch has a higher...

Страница 131: ...rameter No PB02 0 0 0 Parameter No PB02 Vibration suppression control tuning mode Setting Vibration Suppression Control Tuning Mode Automatically Set Parameter 0 Vibration suppression control OFF Note 1 Vibration suppression control tuning mode Advanced vibration suppression control Parameter No PB19 Parameter No PB20 2 Manual mode Note Parameter No PB19 and PB20 are fixed to the initial values PO...

Страница 132: ...ed Execute or re execute vibration suppression control tuning Set parameter No PB02 to 0001 Decrease the response until vibration of workpiece end 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 the machine analyzer or from machine end vibration waveform set the vibration su...

Страница 133: ...ator machine analyzer or external FFT equipment 1Hz 90deg 100H Gain characteristic Phase Vibration suppression control vibration frequency Anti resonance frequency Parameter No PB19 Vibration suppression control resonance frequency Parameter No PB20 Resonance of more than 100Hz is not the target of control b When vibration can be confirmed using monitor signal or external sensor t t Motor end vibr...

Страница 134: ...cy can be confirmed using the machine analyzer or external FFT device do not set the same value but set different values to improve the vibration suppression performance A vibration suppression control effect is not produced if the relationship between the model loop gain parameter No PB07 value and vibration frequency is as indicated below Make setting after decreasing PG1 e g reduce the response...

Страница 135: ...ction parameter No PB23 Parameter No PB23 Low pass filter selection 0 Automatic setting initial value 1 Manual setting parameter No PB18 setting 7 6 Gain changing function This function can change the gains You can change between gains during rotation and gains during stop or can use an external signal to change gains during operation 7 6 1 Applications This function is used when 1 You want to inc...

Страница 136: ...6 GD2B Parameter No PB29 PG2 Parameter No PB08 PG2B Parameter No PB30 VG2 Parameter No PB09 VG2B Parameter No PB31 VIC Parameter No PB10 VICB Parameter No PB32 CDS Parameter No PB27 VRF1 Parameter No PB19 VRF1B Parameter No PB33 VRF2 Parameter No PB20 VRF2B Parameter No PB34 Command pulse frequency Droop pulses Model speed Control command of controller Comparator Changing Valid GD2 value Valid PG2...

Страница 137: ...after changing PB30 PG2B Gain changing position loop gain 2 rad s Used to set the value of the after changing position loop gain 2 PB31 VG2B Gain changing speed loop gain 2 rad s Used to set the value of the after changing speed loop gain PB32 VICB Gain changing speed integral compensation ms Used to set the value of the after changing speed integral compensation PB26 CDP Gain changing selection U...

Страница 138: ...in the first digit and second digit If you set 1 in the first digit here you can use the control command from controller is valid for gain changing Gain changing selection Under any of the following conditions the gains change on the basis of the parameter No PB29 to PB32 settings 0 Invalid 1 Control command from controller is valid 2 Command frequency Parameter No PB27 setting 3 Droop pulse value...

Страница 139: ...Gain changing speed integral compensation 50 ms PB26 CDP Gain changing selection 0001 Changed by ON OFF of Input signal PB28 CDT Gain changing time constant 100 ms PB33 VRF1B Gain changing vibration suppression control vibration frequency setting Used to set the value of the after changing vibration suppression control vibration frequency setting Hz PB34 VRF2B Gain changing vibration suppression c...

Страница 140: ...B30 PG2B Gain changing position loop gain 84 rad s PB31 VG2B Gain changing speed loop gain 4000 rad s PB32 VICB Gain changing speed integral compensation 50 ms PB26 CDP Gain changing selection 0003 Changed by droop pulses PB27 CDS Gain changing condition 50 pulse PB28 CDT Gain changing time constant 100 ms b Changing operation CDT 100ms 0 Droop pulses pulses Change of each gain CDS CDS Before chan...

Страница 141: ...7 16 7 SPECIAL ADJUSTMENT FUNCTIONS MEMO ...

Страница 142: ...12 Memory error1 RAM E6 Servo forced stop warning 13 Clock error E8 Cooling fan speed reduction warning 15 Memory error2 EEP ROM E9 Main circuit off warning 16 Encoder error1 At power on E7 Controller forced stop warning 17 Board error EC Overload warning 2 19 Memory error3 Flash ROM Warnings ED Output watt excess warning 1A Motor combination error 20 Encoder error2 24 Main circuit error 25 Absolu...

Страница 143: ...Regenerative error 30 Overload 1 50 Overload 2 51 The alarm can be deactivated by switching power off then on or by the error reset command CPU reset from the servo system controller For details refer to Section 8 1 When an alarm occurs the trouble ALM switches off and the dynamic brake is operated to stop the servomotor At this time the display indicates the alarm No The servo motor comes to a st...

Страница 144: ...witched on after disconnection of all cables but the control circuit power supply cable Change the servo amplifier 1A Motor combination error Wrong combination of servo anplifier and servo motor Wrong combination of servo amplifier and servo motor connected Use correct combination 1 Encoder connector CN2 disconnected Connect correctly 2 Encoder cable faulty Wire breakage or shorted Repair or chang...

Страница 145: ...istor faulty Checking method 1 The regenerative brake option has overheated abnormally 2 The alarm occurs even after removal of the built in regenerative brake resistor or regenerative brake option Change the servo amplifier 1 Small acceleration deceleration time constant caused overshoot to be large Increase acceleration deceleration time constant 2 Servo system is instable to cause overshoot 1 R...

Страница 146: ... severed Change the cable 34 Receive error 1 SSCNET communication error Continuously communication error with about 3 5ms interval 4 Noise entered the servo amplifier Take noise suppression measures 1 Command given is greater than the maximum speed of the servo motor Review opration program 2 Servo system controller failure Change the servo system controller 3 Noise entered the servo amplifier Tak...

Страница 147: ...rvo system is instable and hunting 1 Repeat acceleration deceleration to execute auto tuning 2 Change auto tuning response setting 3 Set auto tuning to OFF and make gain adjustment manually 3 Machine struck something 1 Review operation pattern 2 Install limit switches 4 Wrong connection of servo motor Servo amplifier s output terminals U V W do not match servo motor s input terminals U V W Connect...

Страница 148: ...ble 8A USB communication time out error Communication with MR Configurator in test operation mode stopped for longer than the specified time 1 USB cable breakage Change the USB cable 1 USB cable fault Open cable or short circuit Change the USB cable 8E USB communication error Serial communication error occurred between servo amplifier and communication device e g personal computer 2 Communication ...

Страница 149: ...or The multi revolution counter value of the absolute position encoder exceeded the maximum revolution range 3 The movement amount from the home position exceeded a 32767 rotation or 37268 rotation in succession Make home position setting again E4 Parameter warning Parameter outside setting range Parameter value set from servo system controller is outside setting range Set it correctly E6 Servo fo...

Страница 150: ... and 1 phase 230VAC power supply models For a single phase 100 to 120VAC power supply refer to the terminal signal layout Mass 0 8 kg 1 76 lb L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Screw size M4 Tightening torque 1 2 N m 10 lb in Terminal signal layout Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 lb in For 3 phase 200 to 230VAC and 1 phase 230VAC L1 L2 N P1...

Страница 151: ...lies to the 3 phase 200 to 230VAC and 1 phase 230VAC power supply models For a single phase 100 to 120VAC power supply refer to the terminal signal layout Mass 1 0 kg 2 21 lb L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Screw size M4 Tightening torque 1 2 N m 10 lb in Terminal signal layout Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 in P C D L11 L21 U V W CNP3 ...

Страница 152: ...ND DIRECTION CNP3 CNP1 CNP2 14 25 5 68 With MR J3BAT 6 mounting hole 6 42 Mass 1 4 kg 3 09 lb Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 lb in L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP3 CNP2 CNP1 PE terminal Screw size M4 Tightening torque 1 2 N m 10 lb in Terminal signal layout ...

Страница 153: ...mounting hole 195 21 4 80 FAN WIND DIRECTION 68 6 85 With MR J3BAT 6 Mass 1 4 kg 3 09 lb 3 24 N m 28 7 lb in U V W CNP3 P C D L11 L21 CNP2 L1 L2 L3 N P1 P2 CNP1 Terminal signal layout PE terminal Screw size M4 Tightening torque Mounting screw Screw size M5 Tightening torque 1 2 N m 10 lb in ...

Страница 154: ... ground M4 Mass 4 6 kg 10 1 lb Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 ib in V W TE2 N L11 L21 TE3 L1 L2 L3 P TE1 Terminal screw M4 Tightening torque 1 2 N m Terminal signal layout PE terminal C U P1 P2 Built in regenerative brake resistor lead terminal fixing screw Terminal screw M3 5 Tightening torque 0 8 N m Terminal screw M4 Tightening torque 1 2 N m Terminal screw M4 Tigh...

Страница 155: ...3 places for ground M4 Mass 6 2 kg 13 7 lb Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 ib in V W TE2 N L11 L21 TE3 L1 L2 L3 P TE1 Terminal screw M4 Tightening torque 1 2 N m Terminal signal layout PE terminal C U P1 P2 Terminal screw M3 5 Tightening torque 0 8 N m Terminal screw M4 Tightening torque 1 2 N m Terminal screw M4 Tightening torque 1 2 N m Built in regenerative brake re...

Страница 156: ...CN1A CN1B connector Unit mm F0 PF2D103 F0 PF2D103 S 2 3 20 9 0 2 1 7 4 8 13 4 15 6 7 9 3 17 6 0 2 8 2 3 1 7 4 8 13 4 15 6 7 9 3 17 6 0 2 20 9 0 2 8 2 For CN2 connector Receptacle 36210 0100JL Shell kit 36310 3200 008 Unit mm 34 8 39 5 22 4 11 0 ...

Страница 157: ...etc are indicated here 10 0 14 0 12 0 Each type of dimention Connector Shell kit A B 10120 3000VE 10320 52F0 008 22 0 33 3 b Threaded type Model Connector 10120 3000VE Shell kit 10320 52A0 008 Note This is not available as option and should be user prpared 0 472 Unit mm 12 0 33 3 22 0 23 8 39 0 12 7 14 0 10 0 5 7 27 4 Logo etc are indicated here ...

Страница 158: ...circumference temperature into 0 to 45 or use it at 75 or a smaller effective load ratio 1000 100 10 1 0 1 0 50 150 200 250 300 100 Note Load ratio Operation time s During operation During servo lock a HF MP053 13 HF KP053 13 1000 100 10 1 0 1 0 50 150 200 250 300 100 Note Load ratio Operation time s During operation During servo lock b HF MP23 to 73 HF KP23 to 73 HF SP51 52 81 102 1000 100 10 1 0...

Страница 159: ...motor Note 1 Power supply capacity kVA At rated torque With servo off m2 ft2 HF MP053 0 3 25 15 0 5 5 4 HF MP13 0 3 25 15 0 5 5 4 MR J3 10B 1 HF KP053 13 0 3 25 15 0 5 5 4 HF MP23 0 5 25 15 0 5 5 4 MR J3 20B 1 HF KP23 0 5 25 15 0 5 5 4 HF MP43 0 9 35 15 0 7 7 5 MR J3 40B 1 HF KP43 0 9 35 15 0 7 7 5 HF SP52 1 0 40 15 0 8 8 5 MR J3 60B HF SP51 1 0 40 15 0 8 8 5 HF MP73 1 3 50 15 1 0 10 8 MR J3 70B H...

Страница 160: ...osure Refer to Table 10 1 for heat generated by the servo amplifier A indicates the effective area for heat dissipation but if the enclosure is directly installed on an insulated wall that extra amount must be added to the enclosure s surface area The required heat dissipation area will vary wit the conditions in the enclosure If convection in the enclosure is poor and heat builds up effective hea...

Страница 161: ...quivalent value on servo motor shaft kg cm 2 oz in 2 Brake time constant s te Delay time of control section s For 7kW or less servo there is internal relay delay time of about 30ms For 11kW to 22kW servo there is delay time of about 100ms caused by a delay of the external relay and a delay of the magnetic contactor built in the external dynamic brake Speed r min 0 0 1000 2000 5 10 15 20 25 3000 40...

Страница 162: ... built in dynamic brake may burn If there is a possibility that the load inertia moment may exceed the value contact Mitsubishi Servo amplifier Load inertia moment ratio times MR J3 10B 1 MR J3 20B 1 MR J3 40B 1 MR J3 60B MR J3 70B MR J3 100B MR J3 200B 30 MR J3 350B 16 MR J3 500B 15 MR J3 700B Note 15 Note The value is 5 when used at motor speed over 2000r min ...

Страница 163: ...ndicates the inrush currents reference data that will flow when the maximum permissible voltage 253VAC is applied at the power supply capacity of 2500kVA and the wiring length of 1m 3 28ft Inrush Currents A0 p Servo Amplifier Main circuit power supply L1 L2 L3 Control circuit power supply L11 L21 MR J3 10B to 60B 30A Attenuated to approx 5A in 10ms MR J3 70B 100B 54A Attenuated to approx 12A in 10...

Страница 164: ...amp is off more than 15 minutes after power off then confirm the voltage with a tester or the like Otherwise you may get an electric shock CAUTION Use the specified auxiliary equipment and options Unspecified ones may lead to a fault or fire 11 1 Cable Connector Sets As the cables and connectors used with this servo purchase the options indicated in this section ...

Страница 165: ...o anplifier attachment Note CN4 Servo amplifier CN5 CN1A CN1B CN2 CN3 Servo motor HF MP HF KP 21 22 23 19 20 3 4 5 6 7 8 13 14 9 10 11 12 To 24VDC power supply for electromagnetic brake 31 Battery unit MR J3BAT Encoder connector Brake connector Power supply connector Servo motor HF SP 24 25 27 26 28 29 30 Power supply connector Brake connector Encoder connector Junction type cable length more than...

Страница 166: ... 3 Motor power supply cable MR PWS1CBL M A1 L Cable length 2 5 10m IP65 Load side lead 4 Motor power supply cable MR PWS1CBL M A1 H Cable length 2 5 10m Power supply connector HF MP series HF KP series Refer to Section 11 1 3 for details IP65 Load side lead Long flex life 5 Motor power supply cable MR PWS1CBL M A2 L Cable length 2 5 10m IP65 Opposite to load side lead 6 Motor power supply cable MR...

Страница 167: ...CBL03M A2 L Cable length 0 3m Brake connector HF MP series HF KP series Refer to Section 11 1 4 for details IP55 Opposite to load side lead 15 Encoder cable MR J3ENCBL M A1 L Cable length 2 5 10m IP65 Load side lead 16 Encoder cable MR J3ENCBL M A1 H Cable length 2 5 10m Encoder connector HF MP series HF KP series Refer to Section 11 1 2 1 for details IP65 Opposite to load side lead Long flex life...

Страница 168: ... details IP67 27 Brake connector set MR BKCNS1 Straight plug CM10 SP2S L Socket contact CM10 22SC S2 100 DDK For HF SP series IP67 28 Power supply connector set MR PWCNS4 Plug CE05 6A18 10SD B BSS Cable clamp CE3057 10A 1 D265 DDK Example of applicable cable Wire size 2mm2 AWG14 to 3 5mm2 AWG12 Cable finish D 10 5 to 14 1mm For HF SP51 81 For HF SP52 152 IP67 29 Power supply connector set MR PWCNS...

Страница 169: ...on Electronics Industry Ltd 34 SSCNET cable MR J3BUS M B Cable length 30 to 50m Refer to Section 11 1 5 Outside panel long distance cable For CN5 connector minB connector 5 pins For personal computer connector A connector 35 USB cable MR J3USBCBL3M Cable length 3m For connection with PC AT compatible personal computer 36 Connector set MR CCN1 Connector 10120 3000VE Shell kit 10320 52F0 008 3M or s...

Страница 170: ...a Connection of servo amplifier and servo motor Servo amplifier 2 1 Servo motor HF MP HF KP MR J3ENCBL M A2 L MR J3ENCBL M A2 H 2 1 Servo motor HF MP HF KP MR J3ENCBL M A1 L MR J3ENCBL M A1 H or CN2 Cable Model 1 For CN2 Connector 2 For Encoder Connector MR J3ENCBL M A1 L MR J3ENCBL M A1 H Receptacle 36210 0100JL Shell kit 536310 3200 008 3M or equivalent View seen from wiring side Note Signal lay...

Страница 171: ...M H MR EKCBL50M H The servo amplifier and servo motor cannot be connected with these cables only The servo motor side encoder cable MR J3JCBL03M A1 L or MR J3JCBL03M A2 L is required The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model The cables of the lengths with the symbols are available Cable Length Cable Model 0 3m 2m 5m 10m 20m 30m 40m 5...

Страница 172: ...9 1001 Cover A 54594 1015 Cover B 54595 1005 Shell cover 58935 1000 Shell body 58934 1000 Terminal 59351 8187 Cable clamp 58937 0000 Screw 58203 0010 Molex or equivalent MR EKCBL M L MR EKCBL M H View seen from wiring side Note Signal layout 1 P5 3 MR 7 MD 9 BAT 4 2 LG 8 6 10 5 MRR MDR Note Keep open the pins shown with Especially pin 10 is provided for manufacturer adjustment If it is connected w...

Страница 173: ...7 9 SD 1 2 8 9 P5G MR MRR SHD P5E BAT BAT Note Plate MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H Servo amplifier side Encoder side P5 LG 1 2 MR MRR 3 4 MDR 8 5 3 7 4 MD 7 9 SD 1 2 8 9 P5G MR MRR MDR MD SHD P5E 6 CONT BAT BAT Note Plate Note Always make connection for use in an absolute position detection system Wiring is not necessary for use in an incremental system When fabricating the cable use t...

Страница 174: ...58937 0000 Screw 58203 0010 Molex Junction connector Housing 1 172161 9 Connector pin 170359 1 Tyco Electronics or equivalent Cable clamp MTI 0002 Toa Electric Industries 3 MR J3JCBL03M A1 L MR J3JCLB03M A2 L The servo amplifier and servo motor cannot be connected with these cables only The servo motor side encoder cable MR EKCBL M L H is required Cable Model Cable Length Protective Structure Flex...

Страница 175: ...t 1473226 1 Cable clamp 316454 1 Tyco Electronics MR 1 2 3 MRR BAT MD 4 5 6 MDR P5 7 8 9 LG SHD Signal layout View seen from wiring side CONT Connector 1674320 1 Crimping tool for ground clip 1596970 1 Crimping tool for receptacle contact 1596847 Tyco Electronics 9 SHD 7 MDR 5 MR 3 P5 1 CONT 8 MD 6 P5G 4 MRR 2 BAT View seen from wiring Signal layout b Internal wiring diagram P5 LG 7 8 MR MRR 1 2 1...

Страница 176: ... Cable Model 1 For CN2 Connector 2 For Encoder Connector MR J3ENSCBL M L Receptacle 36210 0100JL Shell kit 536310 3200 008 3M or equivalent View seen from wiring side Note Signal layout 4 2 LG 8 MDR 6 1 P5 5 10 3 MR 7 MD 9 BAT MRR MR J3ENSCBL M H Note Keep open the pins shown with Especially pin 10 is provided for manufacturer adjustment If it is connected with any other pin the servo amplifier ca...

Страница 177: ...nnector Encoder side connector Plate P5 LG 1 2 MR MRR 3 4 4 8 9 SD 1 2 5 10 LG MR MRR SHD P5 BAT BAT MR J3ENSCBL50M H MR J3ENSCBL40M H MR J3ENSCBL30M H MR J3ENSCBL20M H c When fabricating the encoder cable When fabricating the cable prepare the following parts and tool and fabricate it according to the wiring diagram in b Refer to Section 11 8 for the specifications of the used cable Parts Tool De...

Страница 178: ...P HF KP HF SP servo motor a Connection of servo amplifier and servo motor Servo amplifier 1 2 Servo motor Note Encoder cable MR J3BTCBL03M 3 Battery CN2 Note For the detector cable refer to 1 2 3 and 4 in this section Cable Model 1 For CN2 Connector 1 Junction Connector 2 For Battery Connector MR J3BTCBL03M Receptacle 36210 0100JL Shell kit 36310 3200 008 3M or equivalent Plug 36110 3000FD Shell k...

Страница 179: ...o load side lead MR PWS2CBL M A1 L 03 IP55 Standard For HF MP HF KP servo motor Load side lead MR PWS2CBL M A2 L 03 IP55 Standard For HF MP HF KP servo motor Opposite to load side lead 1 Connection of servo amplifier and servo motor Servo amplifier 1 CNP3 connector supplied with servo amplifier Servo motor HF MP HF KP MR PWS1CBL M A2 L MR PWS1CBL M A2 H MR PWS2CBL03M A2 L CNP3 1 Servo motor HF MP ...

Страница 180: ...P HF KP servo motor Opposite to load side lead MR PWS2CBL M A1 L 03 IP55 Standard For HF MP HF KP servo motor Load side lead MR PWS2CBL M A2 L 03 IP55 Standard For HF MP HF KP servo motor Opposite to load side lead 1 Connection of servo amplifier and servo motor 1 Servo motor HF MP HF KP 24VDC power supply for electromagnetic brake MR BKS1CBL M A2 L MR BKS1CBL M A2 H MR BKS2CBL03M A2 L 1 Servo mot...

Страница 181: ... A 5 10 20 Standard Using outside panel standard cable Note MR J3BUS M B 30 40 50 Long flex Using long distance cable Note For cable of 30m or less contact our company 2 Specifications Description SSCNET cable model MR J3BUS M MR J3BUS M A MR J3BUS M B SSCNET cable length 0 15m 0 3 to 3m 5 to 20m 30 to 50m Minimum bend radius 25mm Enforced covering cord 50mm Cord 25mm Enforced covering cord 50mm C...

Страница 182: ... 100 L Note Protective tube Note Dimension of connector part is the same as that of MR J3BUS015M c MR J3BUS5M A to MR J3BUS20M A MR J3BUS30M B to MR J3BUS50M B Refer to the table of this section 1 for cable length L Distortion dimension mm SSCNET cable A B MR J3BUS5M A to MR J3BUS20M A 100 30 MR J3BUS30M B to MR J3BUS50M B 150 50 Unit mm A A L Note Protective tube B B Note Dimension of connector p...

Страница 183: ...eneration occurs continuously in vertical motion applications or when it is desired to make an in depth selection of the regenerative brake option a Regenerative energy calculation Use the following table to calculate the regenerative energy M Friction torque Unbalance torque TF TU Servo motor speed Generated torque Time Up No tf 1 cycle Down Driving Regenerative Tpsd2 t2 t3 t4 t1 Tpsa2 Tpsd1 Tpsa...

Страница 184: ...erated 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 brake option ER J Es Ec Calculate the power consumption of the regenerative brake option on th...

Страница 185: ...n across P C The G3 and G4 terminals act as a thermal sensor G3 G4 are disconnected when the regenerative brake option overheats abnormally D P C G4 G3 C P Servo amplifier Regenerative brake option Note2 5m max Always remove the lead from across P D Fan Note 1 Note 1 When using the MR RB50 forcibly cool it with a cooling fan 1 0m3 min 92 or so 2 Make up a sequence which will switch off the magneti...

Страница 186: ...mplifier built in regenerative brake resistor Regenerative brake option Fan Note 1 Note 1 When using the MR RB51 forcibly cool it with a cooling fan 1 0m3 min 92 or so 2 Make up a sequence which will switch off the magnetic contactor MC when abnormal heating occurs G3 G4 contact specifications Maximum voltage 120V AC DC Maximum current 0 5A 4 8VDC Maximum capacity 2 4VA When using the regenerative...

Страница 187: ...ke resistor lead terminal fixing screw For the MR RB51 install the cooling fan as shown 82 5 40 82 5 133 Fan installation screw hole dimensions 2 M3 screw hole for fan installation Depth 10 or less Screw hole already machined Recommended fan Toyo Denki s TL396A or equivalent Fan Terminal block Thermal relay Installation surface Horizontal installation Vertical installation Top Bottom Unit mm ...

Страница 188: ...generative brake option LA LB LC LD kg lb MR RB032 30 15 119 99 0 5 1 1 LA 5 LB TE1 6 6 156 168 144 12 6 12 20 LD 1 6 LC MR RB 6 mounting hole G3 G4 P C MR RB12 40 15 169 149 1 1 2 4 b MR RB30 MR RB31 MR RB32 Unit mm Terminal block P C G3 G4 Tightening torque 1 2 N m 10 lb in Terminal screw M4 Mounting screw Screw M6 Tightening torque 5 4 N m 47 8 lb in Mass Regenerative brake option kg lb MR RB30...

Страница 189: ... G3 C P Terminal screw M4 Tightening torque 1 2 N m 10 lb in 49 82 5 200 223 2 3 108 120 12 7 30 8 12 5 350 162 5 133 82 5 162 5 7 14 slot Fan mounting screw 2 M3 screw On opposite side 12 5 17 Wind blows in the arrow direction G4 G3 C P Mounting screw Regenerative brake option MR RB50 Mass Screw M6 lb kg MR RB51 12 3 5 6 ...

Страница 190: ...o the MR RB regenerative brake option the brake unit can return larger power Hence use the this brake unit when the MR RB cannot provide sufficient regenerative brake capability When using the brake unit set 01 in parameter No PA02 1 Selection Brake unit Resistor unit Permissible Continuous Power kw Max Instantaneous Power kw Applicable Servo Amplifier FR BU 15K FR BR 15K 0 99 16 5 FR BU 30K FR BR...

Страница 191: ...ers or two sets of brake units to one servo amplifier P N PR P N P P PR P PR PR P P N P N Servo amplifier Servo amplifier Brake unit Resistor unit 5m or less 5m or less 10m or less 10m or less Brake unit Twist Twist Resistor unit 3 Outside dimensions a Brake unit FR BU Unit mm D K F BA B E AA A C E EE F K Note Control circuit terminals Main circuit terminals Operation display Note Ventilation port...

Страница 192: ... BR 15K 170 100 450 432 410 220 6 35 6 1 6 20 15 66 139 FR BR 30K 340 270 600 582 560 220 10 35 10 2 20 30 33 069 11 4 Power regeneration converter When using the power regeneration converter set 01 in parameter No PA02 1 Selection The converters can continuously return 75 of the nominal regenerative power They are applied to the servo amplifiers of the MR J3 500B to MR J3 700B Power regeneration ...

Страница 193: ...OM Forced stop 24VDC P2 P1 Note 4 Note 2 CN3 CN3 Note 1 When not using the phase detection terminals fit the jumpers across RX R SX S and TX T If the jumpers remain removed the FR RC will not operate 2 When using servo amplifiers of 5kW and 7kW always remove the lead of built in regenerative brake resistor connected to P terminal and C terminal 3 When setting not to output Trouble ALM with paramet...

Страница 194: ...pprox Mass kg Ib FR RC 15K 270 200 450 432 195 10 10 8 3 2 87 19 41 888 FR RC 30K 340 270 600 582 195 10 10 8 3 2 90 31 68 343 4 Mounting hole machining dimensions When the power regeneration converter is fitted to a totally enclosed type box mount the heat generating area of the converter outside the box to provide heat generation measures At this time the mounting hole having the following dimen...

Страница 195: ...er to Section 11 14 2 c 2 Connection of MR J2HBUS M cable and junction terminal block LG DI2 1 2 DOC MO1 3 4 LZ 8 LB 7 9 SD Shell DO2 5 6 10 DICO DICO LA LG DI3 11 12 DO0 MO2 13 14 LZR 18 LBR 17 19 DI1 15 16 20 EM1 DO1 LAR Shell Shell Shell 1 2 3 4 8 7 9 5 6 10 11 12 13 14 18 17 19 15 16 20 1 2 3 4 8 7 9 5 6 10 11 12 13 14 18 17 19 15 16 20 1 2 3 4 8 7 9 5 6 10 11 12 13 14 18 17 19 15 16 20 LG DI2...

Страница 196: ...11 33 11 OPTIONS AND AUXILIARY EQUIPMENT 3 Outline drawings of junction terminal block Unit mm TB E 6 36 5 27 8 18 8 7 62 44 11 54 63 4 5 4 5 5 4 60 50 9 3 27 M3 5L M3 6L 1 42 6 2 ...

Страница 197: ...n of Windows R 98 Windows R Me Windows R 2000 Professional Windows R XP Professional and Windows R XP Home Edition operates Processor Pentium R 133MHz or more Windows R 98 Windows R 2000 Professional Pentium R 150MHz or more Windows R Me Pentium R 300MHz or more Windows R XP Professional Windows R XP Home Edition Memory 24MB or more Windows R 98 32MB or more Windows R Me Windows R 2000 Professiona...

Страница 198: ...ant with the Packing Standard 903 When a self certificate is necessary for battery safety tests contact our branch or representative For more information consult our branch or representative As of May 2005 1 Purpose of use for MR J3BAT This battery is used to construct an absolute position detection system Refer to Section 12 3 for the fitting method etc 2 Year and month when MR J3BAT is manufactu...

Страница 199: ...ve brake option 6 Brake unit lead or Return converter The following table lists wire sizes The wires used assume that they are 600V vinyl wires and the wiring distance is 30m 98 4ft max If the wiring distance is over 30m 98 4ft choose the wire size in consideration of voltage drop To comply with the UL C UL CSA Standard use UL recognized copper wires rated at 60 C 140 F or more for wiring Table 11...

Страница 200: ...l Wires mm 2 FR BU 15K 3 5 AWG12 FR BU 30K 5 5 AWG10 FR BU 55K 14 AWG6 FR RC 15K 14 AWG6 Table 11 2 Recommended crimping terminals Servo amplifier side crimping terminals Symbol Crimping terminal Applicable tool Maker name a 32959 47387 b 32968 59239 Tyco Electronics c FVD8 5 Body YF 1 E 4 Head YNE 38 Dice DH 111 DH 121 Japan Solderless Terminal ...

Страница 201: ...50 0 2mm2 14 7 pairs 40 0 08 105 or less 0 88 8 0 Note 3 J14B0238 0 2 7P 2 to 10 AWG22 6 3 pairs 7 0 26 53 or less 1 2 7 1 0 3 Note 4 VSVP 7 0 26 Equivalent to AWG 22 3P Ban gi shi 16823 MR J3ENSCBL M L 20 30 AWG23 12 6 pairs 12 0 18 63 3 or less 1 2 8 2 0 3 Note 4 20276 VSVCAWG 23 6P KB 0122 2 to 10 AWG22 6 3 pairs 70 0 08 56 or less 1 2 7 1 0 3 Note 4 ETEF SVP 70 0 08 Equivalent to AWG 22 3P Ban...

Страница 202: ...ass Current A Voltage V Magnetic contactor MR J3 10B 1 30A frame 5A K5 10 MR J3 20B 30A frame 5A K5 10 MR J3 40B 20B1 30A frame 10A K5 15 MR J3 60B 70B 100B 40B1 30A frame 15A K5 20 S N10 MR J3 200B 30A frame 20A K5 40 S N18 MR J3 350B 30A frame 30A K5 70 S N20 MR J3 500B 50A frame 50A K5 125 S N35 MR J3 700B 100A frame 75A K5 150 AC250 S N50 Note This servo amplifier is UL C UL listed when using ...

Страница 203: ...ve a 10cm or more clearance at each of the top and bottom and a 5cm or more clearance on each side Unit mm L F D H B or less E A or less Terminal block screw size G 2 F L notch C or less Name plate Mounting leg Dimensions mm Servo Amplifier Power Factor Improving DC Reactor A B C D E F L G H Mounting Screw Size Mass kg lb Used Power Supply mm2 MR J3 10B 20B FR BEL 0 4K 110 50 94 1 6 95 6 12 M3 5 2...

Страница 204: ...L Servo amplifier MR J3 B1 R S T X Y L1 Blank MC L2 Note For the 1 phase 230V power supply Connect the power supply to L1 L2 and leave L3 open Dimensions mm Servo amplifier Model W W1 H D D1 C Mounting screw size Terminal screw size Mass kg lb MR J3 10B 20B 10B1 FR BAL 0 4K 135 120 115 59 45 2 5 0 7 5 M4 M3 5 2 0 4 4 MR J3 40B 20B1 FR BAL 0 75K 135 120 115 69 57 2 5 0 7 5 M4 M3 5 2 8 6 17 MR J3 60...

Страница 205: ...rvo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies If peripheral devices malfunction due to noises produced by the servo amplifier noise suppression measures must be taken The measures will vary slightly with the routes of noise transmission 1 Noise reduction techniques a General reduction techniques Avoid laying power lines input and output cables and si...

Страница 206: ... main circuit cables and those transmitted through the power supply cables Noises produced by servo amplifier Noises transmitted in the air Noise radiated directly from servo amplifier Magnetic induction noise Static induction noise Noises transmitted through electric channels Noise radiated from the power supply cable Noise radiated from servo motor cable Noise transmitted through power supply ca...

Страница 207: ...I O cables of the servo amplifier 3 Avoid laying the power lines I O cables of the servo amplifier and signal cables side by side or bundling them together 4 Use shielded wires for signal and power cables or put the cables in separate metal conduits 7 When the power supply of peripheral devices is connected to the power supply of the servo amplifier system noises produced by the servo amplifier ma...

Страница 208: ... to a DC relay DC valve or the like Maximum voltage Not less than 4 times the drive voltage of the relay or the like Maximum current Not less than twice the drive current of the relay or the like Diode RA c Cable clamp fitting AERSBAN SET Generally the earth of the shielded cable may only be connected to the connector s SD terminal However the effect can be increased by directly connecting the cab...

Страница 209: ... 11 3 6 C A 6 22 17 5 35 35 L or less 10 30 7 24 0 0 2 Note Screw hole for grounding Connect it to the earth plate of the control box 24 0 3 0 Unit mm B 0 3 2 5 hole installation hole Type A B C Accessory fittings Clamp fitting L AERSBAN DSET 100 86 30 clamp A 2pcs A 70 AERSBAN ESET 70 56 clamp B 1pc B 45 ...

Страница 210: ...e the number of turns must be four or less Do not wind the grounding wire together with the 3 phase wires The filter effect will decrease Use a separate wire for grounding Example 2 Two filters are used Total number of turns 4 Power supply Servo amplifier Line noise filter NFB L3 L1 L2 Example 1 Number of turns 4 Power supply NFB L1 L2 L3 Servo amplifier Line noise filter MC MC FR BLF MR J3 350B o...

Страница 211: ...le Ig1 Leakage current on the electric channel from the leakage current breaker to the input terminals of the servo amplifier Found from Fig 11 1 Ig2 Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor Found from Fig 11 1 Ign Leakage current when a filter is connected to the input side 4 4mA per one FR BIF Iga Leakage current of the servo amp...

Страница 212: ...akage current breaker generally available Find the terms of Equation 11 2 from the diagram Ig1 20 1000 5 0 1 mA Ig2 20 1000 5 0 1 mA Ign 0 not used Iga 0 1 mA Igm 0 1 mA Insert these values in Equation 11 2 Ig 10 0 1 0 0 1 1 0 1 0 1 4 0 mA According to the result of calculation use a leakage current breaker having the rated sensitivity current Ig of 4 0 mA or more A leakage current breaker having ...

Страница 213: ... 6 61 MR J3 250B MR J3 350B Note HF3030A UN 5 5 5 12 13 MR J3 500B MR J3 700B Note HF3040A UN 1 5 6 0 13 23 Note Soshin Electric A surge protector is separately required to use any of these EMC filters Refer to the EMC Installation Guidelines 2 Connection example L1 L2 L3 L11 L21 NFB 1 2 3 4 5 6 E EMC filter Servo amplifier Note Power supply MC Note For 1 phase 230VAC power supply connect the powe...

Страница 214: ...ENT HF3030A UN HF 3040A UN J 2 H 2 G 1 F 2 E 1 D 2 3 L 6 K 3 L M C 1 B 2 A 5 C 1 Dimensions mm Model A B C D E F G H J K L M HF3030A UN 260 210 85 155 140 125 44 140 70 M5 M4 HF3040A UN 260 210 85 155 140 125 44 140 70 R3 25 length 8 M5 M4 ...

Страница 215: ...11 52 11 OPTIONS AND AUXILIARY EQUIPMENT MEMO ...

Страница 216: ...ys detects the absolute position of the machine and keeps it battery backed independently of whether the servo system controller power is on or off Therefore once home position return is made at the time of machine installation home position return is not needed when power is switched on thereafter If a power failure or a fault occurs restoration is easy Servo system controller Current position Ho...

Страница 217: ...Approx 10 000 hours battery life with power off Battery storage period 5 years from date of manufacture Note 1 Maximum speed available when the shaft is rotated by external force at the time of power failure or the like 2 Time to hold data by a battery with power off It is recommended to replace the battery in three years independently of whether power is kept on or off 2 Configuration Servo motor...

Страница 218: ...ical shock POINT The internal circuits of the servo amplifier may be damaged by static electricity Always take the following precautions Ground human body and work bench Do not touch the conductive areas such as connector pins and electrical parts directly by hand Before starting battery changing procedure make sure that the main circuit power is switched OFF with the control circuit power ON When...

Страница 219: ...vo configuration software Choose Diagnostics and Absolute Encoder Data to open the absolute position data display screen 1 Choosing Diagnostics in the menu opens the sub menu as shown below 2 By choosing Absolute Encoder Data in the sub menu the absolute encoder data display window appears 3 Press the Close button to close the absolute encoder data display window ...

Страница 220: ...ed integral compensation PB11 VDC Speed differential compensation PA11 to PA13 For manufacturer setting PB12 For manufacturer setting PA14 POL Rotation direction selection PB13 NH1 Machine resonance suppression filter 1 PA15 ENR Encoder output pulses PB14 NHQ1 Notch form selection 1 PB15 NH2 Machine resonance suppression filter 2 PB16 NHQ2 Notch form selection 2 PA16 to PA18 For manufacturer setti...

Страница 221: ...03 Output signal device selection 3 CN3 pin 15 PC07 ZSP Zero speed PC08 For manufacturer setting PC09 MOD1 Analog monitor output 1 PD010 to PD13 For manufacturer setting PC10 MOD2 Analog monitor output 2 PD14 D0P3 Function selection D 3 PC11 MO1 Analog monitor 1 offset PC12 MO2 Analog monitor 2 offset PD15 to PD32 For manufacturer setting PC13 to PC16 For manufacturer setting PC17 COP4 Function se...

Страница 222: ...App 3 Twin type connector Outline drawing for 721 2105 026 000 WAGO Unit mm Driver slot 5 25 5 Detecting hole Coding finger Latch 2 7 20 8 5 8 10 6 15 1 2 9 26 45 4 75 25 2 75 5 4 5 20 4 1 97 0 788 Wire inserting hole ...

Страница 223: ... Software version HF KP053 MR J3 10B MR J3 10B1 HF KP13 MR J3 10B MR J3 10B1 HF KP23 MR J3 20B MR J3 20B1 HF KP43 MR J3 40B MR J3 40B1 HF KP73 MR J3 70B HF SP52 MR J3 60B HF SP102 MR J3 100B HF SP152 MR J3 200B HF SP202 MR J3 200B HF SP352 MR J3 350B HF SP502 MR J3 500B HF SP702 MR J3 700B HF SP51 MR J3 60B HF SP81 MR J3 100B HF SP121 MR J3 200B HF SP201 MR J3 200B HF MP053 MR J3 10B MR J3 10B1 HF...

Страница 224: ...REVISIONS The manual number is given on the bottom left of the back cover Print Data Manual Number Revision May 2005 SH NA 030051 A First edition ...

Страница 225: ... OFFICE MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 8310 SH NA 030051 A 0505 MEE Printed in Japan Specifications subject to change without notice This Instruction Manual uses recycled paper MODEL MODEL CODE ...

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