Mitsubishi Electric MR-JE-_A Скачать руководство пользователя страница 191 | Manualshive

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6. NORMAL GAIN ADJUSTMENT

6 - 4

The following parameters are set automatically with one-touch tuning. Also, "Gain adjustment mode
selection" in [Pr. PA08] will be "2 gain adjustment mode 2 (_ _ _ 4)" automatically. Other parameters will
be set to an optimum value depending on the setting of [Pr. PA09 Auto tuning response].

Table 6.1 List of parameters automatically set with one-touch tuning

Parameter Symbol

Name

Parameter Symbol

Name

PA08

ATU

Auto tuning mode

PB15

NH2

Machine resonance suppression filter 2

PA09

RSP

Auto tuning response

PB16

NHQ2 Notch shape selection 2

PB01

FILT

Adaptive tuning mode (adaptive filter II)

PB17

NHF

Shaft resonance suppression filter

PB18

LPF

Low-pass filter setting

PB02 VRFT

Vibration suppression control tuning
mode (advanced vibration suppression
control II)

PB19 VRF11

Vibration suppression control 1 -
Vibration frequency

PB20 VRF12

Vibration suppression control 1 -
Resonance frequency

PB03 PST

Position command acceleration/
deceleration time constant (position
smoothing)

PB21 VRF13

Vibration suppression control 1 -
Vibration frequency damping

PB22 VRF14

Vibration suppression control 1 -
Resonance frequency damping

PB06

GD2

Load to motor inertia ratio

PB23

VFBF Low-pass filter selection

PB07

PG1

Model loop gain

PB46

NH3

Machine resonance suppression filter 3

PB08

PG2

Position loop gain

PB47

NHQ3 Notch shape selection 3

PB09

VG2

Speed loop gain

PB48

NH4

Machine resonance suppression filter 4

PB10

VIC

Speed integral compensation

PB49

NHQ4 Notch shape selection 4

PB12

OVA

Overshoot amount compensation

PB51

NHQ5 Notch shape selection 5

PB13

NH1

Machine resonance suppression filter 1

PE41

EOP3 Function selection E-3

PB14

NHQ1 Notch shape selection 1

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Содержание MR-JE-_A

Страница 1: ...ruction Manual uses recycled paper MODEL MODEL CODE General Purpose AC Servo MR JE _A SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL MR JE _A SERVO AMPLIFIER INSTRUCTION MANUAL General Purpose Interface AC Servo 1CW706 MR JE A SERVOAMPLIFIER INSTRUCTIONMANUAL J J ...

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

Страница 3: ... a magnetic contactor is not connected continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions Always connect a molded case circuit breaker or a fuse to each servo amplifier between the power supply and the power supply L1 L2 L3 of the servo amplifier in order to configure a circuit that shuts down the power supply on the side of the servo amplifier s pow...

Страница 4: ... occur When you keep or use the equipment please fulfill the following environment Item Environment Ambient temperature Operation 0 C to 55 C non freezing Storage 20 C to 65 C non freezing Ambient humidity Operation 5 RH to 90 RH non condensing Storage Ambience Indoors no direct sunlight free from corrosive gas flammable gas oil mist dust and dirt Altitude 2000 m or less above sea level Contact yo...

Страница 5: ...bing diode installed to the DC relay for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuits may not operate DOCOM Control output signal Servo amplifier RA For sink output interface 24 V DC DOCOM Control output signal 24 V DC Servo amplifier RA For source output interface When the cable is not tightened enough to the terminal block ...

Страница 6: ...e correct combination Otherwise an electric shock fire injury etc may occur The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking For such reasons as incorrect wiring service life and mechanical structure e g where a ball screw and the servo motor are coupled via a timing belt the electromagnetic brake may not hold the motor sh...

Страница 7: ...tenance inspection and parts replacement CAUTION Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch It is recommended that the servo amplifier be replaced every 10 years when it is used in general environment When using a servo amplifier whose power has not been turned on for a long time...

Страница 8: ... the following manuals to use this servo Ensure to prepare them to use the servo safely Relevant manuals Manual name Manual No MELSERVO JE Servo Amplifier Instruction Manual Troubleshooting SH NA 030166ENG MELSERVO MR JE _A Servo Amplifier Instruction Manual Positioning Mode SH NA 030150ENG MELSERVO MR JE _A Servo Amplifier Instruction Manual Modbus RTU Protocol SH NA 030177ENG MELSERVO HG KN HG S...

Страница 9: ...A 8 MEMO ...

Страница 10: ...on example 3 7 3 2 1 Position control mode 3 7 3 2 2 Speed control mode 3 12 3 2 3 Torque control mode 3 14 3 3 Explanation of power supply system 3 16 3 3 1 Signal explanations 3 16 3 3 2 Power on sequence 3 17 3 3 3 Wiring CNP1 and CNP2 3 18 3 4 Connectors and pin assignment 3 20 3 5 Signal device explanations 3 23 3 6 Detailed explanation of signals 3 32 3 6 1 Position control mode 3 32 3 6 2 S...

Страница 11: ...g 4 7 4 2 5 Actual operation 4 7 4 2 6 Trouble at start up 4 8 4 3 Startup in speed control mode 4 10 4 3 1 Power on and off procedures 4 10 4 3 2 Stop 4 10 4 3 3 Test operation 4 11 4 3 4 Parameter setting 4 12 4 3 5 Actual operation 4 13 4 3 6 Trouble at start up 4 13 4 4 Startup in torque control mode 4 14 4 4 1 Power on and off procedures 4 14 4 4 2 Stop 4 14 4 4 3 Test operation 4 15 4 4 4 Pa...

Страница 12: ...g flowchart 6 5 6 2 2 Display transition and operation procedure of one touch tuning 6 8 6 2 3 Caution for one touch tuning 6 23 6 3 Auto tuning 6 24 6 3 1 Auto tuning mode 6 24 6 3 2 Auto tuning mode basis 6 25 6 3 3 Adjustment procedure by auto tuning 6 26 6 3 4 Response level setting in auto tuning mode 6 27 6 4 Manual mode 6 28 6 5 2 gain adjustment mode 6 32 7 SPECIAL ADJUSTMENT FUNCTIONS 7 1...

Страница 13: ... Combination and regenerative power 11 4 11 2 2 Selection of regenerative option 11 5 11 2 3 Parameter setting 11 6 11 2 4 Connection of regenerative option 11 7 11 2 5 Dimensions 11 11 11 3 Junction terminal block MR TB50 11 13 11 4 MR Configurator2 11 15 11 4 1 Specifications 11 15 11 4 2 System requirements 11 16 11 4 3 Precautions for using USB communication function 11 17 11 5 Selection examp...

Страница 14: ...vice on off 12 25 12 5 6 Disabling enabling I O devices DIO 12 25 12 5 7 Input devices on off test operation 12 26 12 5 8 Test operation mode 12 27 12 5 9 Output signal pin on off output signal DO forced output 12 30 12 5 10 Alarm history 12 31 12 5 11 Current alarm 12 32 12 5 12 Software version 12 33 APPENDIX App 1 to App 22 App 1 Peripheral equipment manufacturer for reference App 1 App 2 Compl...

Страница 15: ...6 MEMO ...

Страница 16: ...y precision positioning and smooth speed control of machine tools and general industrial machines but also line control and tension control With one touch tuning and real time auto tuning you can automatically adjust the servo gains according to the machine The tough drive function drive recorder function and preventive maintenance support function strongly support machine maintenance The servo am...

Страница 17: ...vercurrent protection Voltage detection Base amplifier U V W U V W Diode stack Relay P Note 1 B RA 24 V DC B1 B2 M Control circuit power CHARGE lamp Regene rative TR Current encoder Regenerative option Electromagnetic brake CN3 Analog monitor 2 channels I F USB A D D A USB Personal computer Analog 2 channels Servo on Input command pulse Start Malfunction etc CN1 RS 422 RS 485 Controller RS 422 RS ...

Страница 18: ...ge detection Base amplifier Control circuit power Electromagnetic brake Model position Current control Actual position control Actual speed control Virtual motor Virtual encoder Position command input Model speed Model torque Model position control Model speed control CN3 Analog monitor 2 channels I F USB A D D A USB Personal computer Analog 2 channels CN1 Servo on Input command pulse Start Malfun...

Страница 19: ...7215 1 10 A B 4000 In position range setting 0 pulse to 65535 pulses command pulse unit Error excessive 3 revolutions Torque limit Set by parameter setting or external analog input 0 V DC to 10 V DC maximum torque Speed control mode Speed control range Analog speed command 1 2000 internal speed command 1 5000 Analog speed command input 0 to 10 V DC rated speed The speed at 10 V is changeable with ...

Страница 20: ...erate them at the ambient temperatures of 0 C to 45 C or at 75 or smaller effective load ratio 3 1 Mpulse s or lower commands are supported in the initial setting When inputting commands over 1 Mpulse s and 4 Mpulses s or lower change the setting in Pr PA13 4 The RS 422 communication function is supported by servo amplifier manufactured in December 2013 or later Refer to section 1 6 1 for the year...

Страница 21: ...4 Combinations of servo amplifiers and servo motors Servo amplifier Servo motor MR JE 10A HG KN13_ MR JE 20A HG KN23_ MR JE 40A HG KN43_ MR JE 70A HG KN73_ HG SN52_ MR JE 100A HG SN102_ MR JE 200A HG SN152_ HG SN202_ MR JE 300A HG SN302_ ...

Страница 22: ...ion and during stop and can use an input device to switch gains during operation Section 7 2 Advanced vibration suppression control II This function suppresses vibration at the arm end or residual vibration Section 7 1 5 Machine resonance suppression filter This is a filter function notch filter which decreases the gain of the specific frequency to suppress the resonance of the mechanical system S...

Страница 23: ...ludes two types the vibration tough drive and the instantaneous power failure tough drive Section 7 3 Drive recorder function This function continuously monitors the servo status and records the status transition before and after an alarm for a fixed period of time You can check the recorded data on the drive recorder window on MR Configurator2 by clicking the Graph button However the drive record...

Страница 24: ...ear and month of manufacture Country of origin TOKYO 100 8310 JAPAN MADE IN JAPAN DATE 2014 11 MR JE 10A SER S4Y001001 AC SERVO POWER INPUT OUTPUT STD IEC EN61800 5 1 MAN IB NA 0300194 Max Surrounding Air Temp 55 C IP20 100W 3AC 200 240V 0 9A 1 5A 50 60Hz 3PH170V 0 360Hz 1 1A KCC REI MEK TC300A745G51 2 Model The following describes what each block of a model name indicates M R J E 1 0 A Series Rat...

Страница 25: ...he one touch tuning mode Section 4 5 Section 6 2 3 USB communication connector CN3 Connect with the personal computer Section 11 4 4 I O signal connector CN1 Digital I O signal analog input signal analog monitor output signal and RS 422 RS 485 communication controller are connected Section 3 2 Section 3 4 Chapter 12 5 Encoder connector CN2 Used to connect the servo motor encoder Section 3 4 6 Powe...

Страница 26: ...ction 6 2 3 USB communication connector CN3 Connect with the personal computer Section 11 4 4 I O signal connector CN1 Digital I O signal analog input signal analog monitor output signal and RS 422 RS 485 communication controller are connected Section 3 2 Section 3 4 Chapter 12 5 Encoder connector CN2 Used to connect the servo motor encoder Section 3 4 6 Power connector CNP1 Input power supply and...

Страница 27: ... BSF01 CN3 Servo motor Personal computer MR Configurator2 CN1 CN2 W V U L1 L2 L3 Note 2 Magnetic contactor MC Molded case circuit breaker R S T Junction terminal block Note 1 Power supply Note 1 For 1 phase 200 V AC to 240 V AC connect the power supply to L1 and L3 Leave L2 open For the power supply specifications refer to section 1 3 2 Depending on the power supply voltage and operation pattern b...

Страница 28: ...vo motor Note 1 A 1 phase 200 V AC to 240 V AC power supply may be used with the servo amplifier of MR JE 200A For 1 phase 200 V AC to 240 V AC connect the power supply to L1 and L2 Leave L3 open For the power supply specifications refer to section 1 3 2 Depending on the power supply voltage and operation pattern bus voltage can decrease This can shift the mode to the dynamic brake deceleration du...

Страница 29: ...1 FUNCTIONS AND CONFIGURATION 1 14 MEMO ...

Страница 30: ...he servo amplifier Do not block the intake and exhaust areas of the servo amplifier Otherwise it may cause a malfunction Do not drop or apply heavy impact on the servo amplifiers and the servo motors Otherwise injury malfunction etc may occur Do not install or operate the servo amplifier which has been damaged or has any parts missing When the product has been stored for an extended period of time...

Страница 31: ...y cause a malfunction MR JE 40A to MR JE 100A have a regenerative resistor on their back face The regenerative resistor generates heat of 100 C higher than the ambient temperature Please fully consider heat dissipation installation position etc when mounting it 1 Installation clearances of the servo amplifier a Installation of one servo amplifier 40 mm or more 10 mm or more 10 mm or more 40 mm or ...

Страница 32: ... 40 mm or more Cabinet Top Bottom 100 mm or more 1 mm 30 mm or more 40 mm or more Cabinet 1 mm Leaving clearance Mounting closely 2 Others When using heat generating equipment such as the regenerative option install them with full consideration of heat generation so that the servo amplifier is not affected Install the servo amplifier on a perpendicular wall in the correct vertical direction 2 2 Ke...

Страница 33: ... charge lamp turns off Otherwise an electric shock may occur In addition when confirming whether the charge lamp is off or not always confirm it from the front of the servo amplifier To avoid an electric shock only qualified personnel should attempt inspections For repair and parts replacement contact your local sales office CAUTION Do not perform insulation resistance test on the servo amplifier ...

Страница 34: ... operating conditions The capacitor will reach the end of its life in 10 years of continuous operation in normal air conditioned environment ambient temperature of 40 C or less 2 Relays Contact faults will occur due to contact wear arisen from switching currents Relays will reach the end of their lives depending on their power supply capacity when the number of power on times and number of forced ...

Страница 35: ...t temperatures of 0 C to 45 C or at 75 or smaller effective load ratio Refer to section 2 1 2 Input voltage Generally a withstand voltage decreases as the altitude increases however there is no restriction on the withstand voltage Use in the same manner as in 1000 m or less Refer to section 1 3 3 Parts having service life a Smoothing capacitor The capacitor will reach the end of its life in 10 yea...

Страница 36: ...orrect terminals Otherwise a burst damage etc may occur Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction Otherwise the emergency stop and other protective circuits may not operate DOCOM Control output signal Servo amplifier RA For sink output interface 24 V DC DO...

Страница 37: ...tage to the servo amplifier power supply If input voltage exceeds the upper limit of the specification the servo amplifier will break down The servo amplifier has a built in surge absorber varistor to reduce exogenous noise and to suppress lightning surge Exogenous noise or lightning surge deteriorates the varistor characteristics and the varistor may be damaged To prevent a fire use a molded case...

Страница 38: ...agram shows sink I O interface For source I O interface refer to section 3 9 3 4 For connecting servo motor power wires refer to HG KN HG SN Servo Motor Instruction Manual 5 Use a magnetic contactor with an operation delay time interval between current being applied to the coil until closure of contacts of 80 ms or less Depending on the power supply voltage and operation pattern bus voltage can de...

Страница 39: ... to section 11 2 2 For the encoder cable use of the option cable is recommended For selecting cables refer to HG KN HG SN Servo Motor Instruction Manual 3 This diagram shows sink I O interface For source I O interface refer to section 3 9 3 4 For connecting servo motor power wires refer to HG KN HG SN Servo Motor Instruction Manual 5 Use a magnetic contactor with an operation delay time interval b...

Страница 40: ... I O interface For source I O interface refer to section 3 9 3 4 For connecting servo motor power wires refer to HG KN HG SN Servo Motor Instruction Manual 5 Use a magnetic contactor with an operation delay time interval between current being applied to the coil until closure of contacts of 80 ms or less Depending on the power supply voltage and operation pattern bus voltage can decrease This can ...

Страница 41: ...r the encoder cable use of the option cable is recommended For cable selection refer to HG KN HG SN Servo Motor Instruction Manual 3 This diagram shows sink I O interface For source I O interface refer to section 3 9 3 4 For connection of servo motor power wires refer to HG KN HG SN Servo Motor Instruction Manual 5 Use a magnetic contactor with an operation delay time interval between current bein...

Страница 42: ...Note 7 CN1 LG DICOM 10 m or less Note 8 41 20 46 49 10 11 35 9 3 36 CLEARCOM 12 15 16 14 13 11 CLEAR RDYCOM READY PULSE F PULSE F PG0 PG0 COM PULSE R PULSE R 18 10 17 9 DOCOM CR RD PP PG NP NG LZ LZR 8 Note 10 Note 7 CN1 Positioning module LD75D QD75D RD75D In position Control common SD RA1 RA2 RA3 24 V DC Note 4 24 V DC Note 4 24 V DC Note 4 Plate Note 1 2 m or less 10 m or less 0 V to 10 V 42 15...

Страница 43: ...arm free condition normally closed contact When this signal is switched off at occurrence of an alarm the output of the programmable controller should be stopped by the sequence program 7 The pins with the same signal name are connected in the servo amplifier 8 This length applies to the command pulse train input in the differential line driver type It is 2 m or less in the open collector type 9 U...

Страница 44: ...0 Note 13 Note 7 CN1 Positioning module RD75D 24 V DC Note 4 12 In position SD RA1 RA2 RA3 24 V DC Note 4 12 24 V DC Note 4 12 Note 1 2 m or less 10 m or less 42 15 19 43 44 21 27 SD EM2 SON RES LSP LSN DICOM TLA LG 28 Note 7 CN1 Note 9 MR Configurator2 Note 7 CN1 CN3 Note 11 Power supply 0 V to 10 V Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Cont...

Страница 45: ...ontroller FX3U _ _MT ES Note 11 S S 24V 0V Programmable controller power supply 2 m or less Note 8 24 V DC Note 4 24 V DC Note 4 24 V DC Note 4 Note 12 Note 13 Note 14 X _ _ _ INP 24 SD 2 m or less 26 MO1 30 LG 29 MO2 10 V DC 10 V DC SD Note 7 CN1 0 V to 10 V Malfunction Note 6 Zero speed detection Encoder A phase pulse differential line driver Encoder Z phase pulse differential line driver Encode...

Страница 46: ...rd rotation stroke end and LSN Reverse rotation stroke end normally closed contact 6 ALM Malfunction turns on in normal alarm free condition normally closed contact When this signal is switched off at occurrence of an alarm the output of the programmable controller should be stopped by the sequence program 7 The pins with the same signal name are connected in the servo amplifier 8 Connect them wit...

Страница 47: ... is connected reversely the servo amplifier will malfunction and will not output signals disabling EM2 Forced stop 2 and other protective circuits 3 The forced stop switch normally closed contact must be installed 4 Supply 24 V DC 10 to interfaces from outside The total current capacity is up to 300 mA 300 mA is the value applicable when all I O signals are used The current capacity can be decreas...

Страница 48: ... 10 m or less 24 V DC Note 4 11 10 V to 10 V 0 V to 10 V Forward rotation start Reverse rotation start Forced stop 2 Servo on Forward rotation stroke end Reverse rotation stroke end Note 3 5 Note 5 Servo amplifier Plate Plate Plate Note 10 Power supply Speed reached Ready Malfunction Note 6 Zero speed detection Encoder A phase pulse differential line driver Encoder Z phase pulse differential line ...

Страница 49: ...terminal marked of the servo amplifier to the protective earth PE of the cabinet 2 Connect the diode in the correct direction If it is connected reversely the servo amplifier will malfunction and will not output signals disabling EM2 Forced stop 2 and other protective circuits 3 The forced stop switch normally closed contact must be installed 4 Supply 24 V DC 10 to interfaces from outside The tota...

Страница 50: ...RS1 RS2 RA1 RA2 RA3 2 m or less 26 MO1 30 LG 29 MO2 10 V DC 10 V DC SD 10 m or less 24 V DC Note 4 9 Forward rotation start Reverse rotation start Forced stop 2 Servo on Note 3 Note 8 Power supply Plate Plate Plate Ready Malfunction Note 5 Zero speed detection Encoder A phase pulse differential line driver Encoder Z phase pulse differential line driver Encoder B phase pulse differential line drive...

Страница 51: ...e a built in regenerative resistor When using a regenerative option disconnect wires of P and C for the built in regenerative resistor And then connect wires of the regenerative option to P and C 2 MR JE 200A or more When using a servo amplifier built in regenerative resistor connect P and D factory wired When using a regenerative option disconnect P and D and connect the regenerative option to P ...

Страница 52: ...e power supply is switched on Therefore when SON Servo on is switched on simultaneously with the power supply the base circuit will switch on in about 2 5 s to 3 5 s and the RD Ready will switch on in further about 5 ms making the servo amplifier ready to operate Refer to 2 in this section 3 When RES Reset is switched on the base circuit is shut off and the servo motor shaft coasts 2 Timing chart ...

Страница 53: ...nector a MR JE 10A to MR JE 100A CNP1 Servo amplifier Table 3 1 Connector and applicable wire Connector Receptacle assembly Applicable wire Stripped length mm Open tool Manu facturer Size Insulator OD CNP1 09JFAT SAXGDK H5 0 AWG 18 to 14 3 9 mm or shorter 9 J FAT OT N or J FAT OT JST b MR JE 200A MR JE 300A CNP1 CNP2 Servo amplifier Table 3 2 Connector and applicable wire Connector Receptacle asse...

Страница 54: ...CRIMPFOX ZA3 AWG 14 AI2 5 10BU MR JE 200A to MR JE 300A AWG 16 AI1 5 10BK AI TWIN2 1 5 10BK AWG 14 AI2 5 10BU AI TWIN2 2 5 10BU AWG 12 AI4 10GY b Inserting wire Insert only one wire or ferrule to each wire insertion hole Insert the open tool as follows and push down it to open the spring While the open tool is pushed down insert the stripped wire into the wire insertion hole Check the wire inserti...

Страница 55: ...PP2 CN1 37 pin and NP2 CN1 38 pin They cannot be used together The servo amplifier front view shown is that of the MR JE 40A or less Refer to chapter 9 DIMENSIONS for the appearances and connector layouts of the other servo amplifiers CN1 The frames of the CN1 connector are connected to the protective earth terminal in the servo amplifier CN3 USB connector Refer to section 11 4 This is a connector...

Страница 56: ... SON SON SON PD03 PD04 16 17 18 19 I RES RES ST1 ST1 ST1 RS2 RS2 RS2 RES PD11 PD12 20 DICOM DICOM DICOM DICOM DICOM DICOM 21 DICOM DICOM DICOM DICOM DICOM DICOM 22 23 O ZSP ZSP ZSP ZSP ZSP ZSP PD24 24 O INP INP SA SA SA INP PD25 25 26 O MO1 MO1 MO1 MO1 MO1 MO1 PC14 27 I TLA Note 3 TLA Note 3 TLA Note 3 TLA TC TC Note 3 TC TLA 28 LG LG LG LG LG LG 29 O MO2 MO2 MO2 MO2 MO2 MO2 PC15 30 LG LG LG LG LG...

Страница 57: ... torque limit selection is enabled with Pr PD03 Pr PD11 Pr PD13 Pr PD17 and Pr PD19 4 This is available with servo amplifiers with software version B7 or later 5 This is available as an input device of sink interface Input devices are not assigned by default Assign the input devices with Pr PD43 to Pr PD46 as necessary In addition supply of 24 DC V to the CN1 12 pin This is available with servo am...

Страница 58: ...d stop deceleration 2 _ _ _ EM2 MBR Electromagnetic brake interlock turns off after the forced stop deceleration MBR Electromagnetic brake interlock turns off after the forced stop deceleration EM2 and EM1 are mutually exclusive EM2 has the same function as EM1 in the torque control mode Forced stop 1 EM1 CN1 42 When using EM1 set Pr PA04 to 0 _ _ _ to enable EM1 When EM1 is turned off open betwee...

Страница 59: ...ns on When using WNG enable it by setting Pr PD24 Pr PD25 and Pr PD28 External torque limit selection TL Turning off TL will enable Pr PA11 Forward torque limit and Pr PA12 Reverse torque limit and turning on it will enable TLA Analog torque limit For details refer to section 3 6 1 5 DI 1 Internal torque limit selection TL1 To select Pr PC35 Internal torque limit 2 enable TL1 with Pr PD03 to Pr PD...

Страница 60: ...r operation DI 1 Speed selection 2 SP2 Note Input device Speed command DI 1 SP3 SP2 SP1 Speed selection 3 SP3 0 0 0 VC Analog speed command DI 1 0 0 1 Pr PC05 Internal speed command 1 0 1 0 Pr PC06 Internal speed command 2 0 1 1 Pr PC07 Internal speed command 3 1 0 0 Pr PC08 Internal speed command 4 1 0 1 Pr PC09 Internal speed command 5 1 1 0 Pr PC10 Internal speed command 6 1 1 1 Pr PC11 Interna...

Страница 61: ...TLA Analog torque limit Do not use PC Proportional control in the torque control When PC Proportional control is used in the torque control operation may be performed at a speed exceeding the speed limit value DI 1 Clear CR CN1 41 Turn CR on to clear the position control counter droop pulses on its leading edge The pulse width should be 10 ms or longer The delay amount set in Pr PB03 Position comm...

Страница 62: ...eed 1 Torque Note 0 Off 1 On Torque position control switch mode This is used to select the control mode in the torque position control switching mode Note LOP Control mode 0 Torque 1 Position Note 0 Off 1 On Second acceleration deceleration selection STAB2 The device allows selection of the acceleration deceleration time constants at servo motor rotation in the speed control mode or torque contro...

Страница 63: ...This turns off when SON Servo on turns off DO 1 Limiting torque TLC TLC turns on when a generated torque reaches a value set with any of Pr PA11 Forward torque limit Pr PA12 Reverse torque limit or TLA Analog torque limit DO 1 Zero speed detection ZSP CN1 23 ZSP turns on when the servo motor speed is zero speed 50 r min or less Zero speed can be changed with Pr PC17 OFF ON Servo motor speed 20 r m...

Страница 64: ...torque is inputted to TC the value is clamped at the maximum torque Analog input Analog speed command VC CN1 2 Apply 0 V to 10 V DC between VC and LG Speed set in Pr PC12 is provided at 10 V Refer to section 3 6 2 1 If a value equal to or larger than the permissible speed is inputted to VC the value is clamped at the permissible speed Resolution 14 bits or equivalent Analog input Analog speed limi...

Страница 65: ...e pulse is outputted per servo motor revolution This turns on when the zero point position is reached negative logic The minimum pulse width is about 400 µs For home position return using this pulse set the creep speed to 100 r min or less DO 2 Encoder Z phase pulse open collector OP CN1 33 The encoder zero point signal is outputted in the open collector type DO 2 Analog monitor 1 MO1 CN1 26 This ...

Страница 66: ...Open collector sink interface power supply input OPC CN1 12 When inputting a pulse train in the open collector type with sink interface supply this terminal with the positive power of 24 V DC Digital I F common DOCOM CN1 46 CN1 47 Common terminal of input signal such as EM2 of the servo amplifier This is separated from LG For sink interface connect of 24 V DC external power supply For source inter...

Страница 67: ...ulse logic setting Positioning module fixed MR JE _A servo amplifier Pr PA13 setting Open collector type Differential line driver type Negative logic Negative logic _ _ 1 _ 1 Pulse train input a Input pulse waveform selection You can input command pulses in any of three different forms and can choose positive or negative logic Set the command pulse train form in Pr PA13 Refer to section 5 2 1 for ...

Страница 68: ...e Connect as follows PP NP Servo amplifier PG NG SD Approximately 100 Ω Approximately 100 Ω Note Note Pulse train input interface is comprised of a photocoupler If a resistor is connected to the pulse train signal line it may malfunction due to reduction in current The following example shows that an input waveform has been set to the negative logic and forward reverse rotation pulse trains by set...

Страница 69: ...es 3 RD Ready RD Ready ON OFF ON OFF Alarm No alarm SON Servo on Alarm 100 ms or shorter 10 ms or shorter 10 ms or shorter 4 Electronic gear switching The combination of CM1 and CM2 enables you to select four different electronic gear numerators set in the parameters As soon as CM1 CM2 is turned on or off the numerator of the electronic gear changes Therefore if a shock occurs at switching use the...

Страница 70: ... torque limit value of the servo motor is as follows Torque limit values will vary about 5 relative to the voltage depending on products At the voltage of less than 0 05 V torque may vary as it may not be limited sufficiently Therefore use this function at the voltage of 0 05 V or more 5 Connection example TLA applied voltage vs torque limit value TLA applied voltage V Maximum torque Torque 0 0 0 ...

Страница 71: ...3 1 1 TLA Pr PC35 Pr PC35 Note 2 Pr PC35 Note 3 TLA Pr PC35 TLA Note 2 TLA Note 3 Note 1 0 Off 1 On 2 When Pr PD33 is set to _ 2 _ _ the value in Pr PA11 is applied Pr PD33 is available with servo amplifiers with software version B7 or later 3 When Pr PD33 is set to _ 1 _ _ the value in Pr PA12 is applied Pr PD33 is available with servo amplifiers with software version B7 or later c TLC Limiting t...

Страница 72: ...ble indicates the rotation direction according to ST1 Forward rotation start and ST2 Reverse rotation start combination Note 1 Input device Note 2 Rotation direction ST2 ST1 VC Analog speed command Internal speed command Polarity 0 V Polarity 0 0 Stop servo lock Stop servo lock Stop servo lock Stop servo lock 0 1 CCW Stop no servo lock CW CCW 1 0 CW CCW CW 1 1 Stop servo lock Stop servo lock Stop ...

Страница 73: ...1 0 1 Pr PC09 Internal speed command 5 1 1 0 Pr PC10 Internal speed command 6 1 1 1 Pr PC11 Internal speed command 7 Note 0 Off 1 On You can change the speed during rotation To accelerate decelerate set acceleration deceleration time constant in Pr PC01 or Pr PC02 When the internal speed commands are used to command a speed the speed does not vary with the ambient temperature 2 SA Speed reached SA...

Страница 74: ...e indicates the torque generation directions determined by RS1 Forward rotation selection and RS2 Reverse rotation selection when TC Analog torque command is used Note Input device Rotation direction RS2 RS1 TC Analog torque command Polarity 0 V Polarity 0 0 Torque is not generated Torque is not generated Torque is not generated 0 1 CCW Forward rotation in power running mode reverse rotation in re...

Страница 75: ...C05 Internal speed limit 0 to Pr PC11 Internal speed limit 7 or the value set in the applied voltage of VLA Analog speed limit A relation between VLA Analog speed limit applied voltage and the servo motor speed is as follows When the servo motor speed reaches the speed limit value torque control may become unstable Make the set value more than 100 r min greater than the desired speed limit value S...

Страница 76: ... 0 VLA Analog speed limit 0 0 1 Pr PC05 Internal speed limit 1 0 1 0 Pr PC06 Internal speed limit 2 0 1 1 Pr PC07 Internal speed limit 3 1 0 0 Pr PC08 Internal speed limit 4 1 0 1 Pr PC09 Internal speed limit 5 1 1 0 Pr PC10 Internal speed limit 6 1 1 1 Pr PC11 Internal speed limit 7 Note 0 Off 1 On When the internal speed limits 1 to 7 are used to limit a speed the speed does not vary with the am...

Страница 77: ...switch modes after the servo motor has stopped When position control mode is switched to speed control mode droop pulses will be reset If LOP is switched on off at the speed higher than the zero speed the control mode cannot be changed regardless of the speed The following shows a switching timing chart Zero speed level Position control mode ON OFF ON OFF LOP Control switching ZSP Zero speed detec...

Страница 78: ...peed command and a speed command value of internal speed commands 1 to 7 enable SP1 Speed selection 1 SP2 Speed selection 2 and SP3 Speed selection 3 with Pr PD03 to Pr PD20 Note Input device Speed command value SP3 SP2 SP1 0 0 0 VC Analog speed command 0 0 1 Pr PC05 Internal speed command 1 0 1 0 Pr PC06 Internal speed command 2 0 1 1 Pr PC07 Internal speed command 3 1 0 0 Pr PC08 Internal speed ...

Страница 79: ...FF 10V 0 Note Load torque Speed control mode Torque control mode Speed control mode Forward rotation in driving mode Note When ST1 Forward rotation start and ST2 Reverse rotation start are switched off as soon as a mode is switched to the speed control the servo motor comes to a stop according to the deceleration time constant A shock may occur at switching control modes 2 Speed setting in speed c...

Страница 80: ...og speed limit 0 0 1 Pr PC05 Internal speed limit 1 0 1 0 Pr PC06 Internal speed limit 2 0 1 1 Pr PC07 Internal speed limit 3 1 0 0 Pr PC08 Internal speed limit 4 1 0 1 Pr PC09 Internal speed limit 5 1 1 0 Pr PC10 Internal speed limit 6 1 1 1 Pr PC11 Internal speed limit 7 Note 0 Off 1 On When the internal speed command 1 is used to command a speed the speed does not vary with the ambient temperat...

Страница 81: ...de droop pulses will be reset If LOP is switched on off at the speed higher than the zero speed the control mode cannot be changed regardless of the speed The following shows a switching timing chart Zero speed level Torque control mode Position control mode Position control mode Servo motor speed TC Analog torque command ZSP Zero speed detection LOP Control switching 0 V OFF Note Note ON OFF ON 1...

Страница 82: ...an alarm occurs with the forced stop deceleration function disabled the servo motor will stop with the dynamic brake 3 7 1 Forced stop deceleration function When EM2 is turned off dynamic brake will start to stop the servo motor after forced stop deceleration During this sequence the display shows AL E6 Servo forced stop warning During normal operation do not use EM2 Forced stop 2 to alternate sto...

Страница 83: ... decelerate according to Pr PC51 Forced stop deceleration time constant Once the motor speed is below Pr PC17 Zero speed after completion of the deceleration command base power is cut and the dynamic brake activates Base circuit Energy supply to the servo motor 0 r min Servo motor speed MBR Electromagnetic brake interlock ON OFF Enabled ON OFF Deceleration time Command Rated speed Ordinary operati...

Страница 84: ...rake interlock ON OFF Enabled Base circuit Energy supply to the servo motor 0 r min Servo motor speed ON OFF Enabled EM2 Forced stop 2 ON OFF Pr PC16 When EM2 Forced stop 2 turns off or an alarm occurs during driving the servo motor will decelerate based on the deceleration time constant MBR Electromagnetic brake interlock will turn off and then after the delay time set in Pr PC16 the servo amplif...

Страница 85: ...an alarm occurred while the servo motor speed is zero speed or less 1 Timing chart MBR Electromagnetic brake interlock ON OFF Enabled Base circuit Energy supply to the servo motor ON OFF Actual operation of electromagnetic brake Disabled Enabled Position Travel distance ON OFF Enabled EM2 Forced stop 2 Set the base circuit shut off delay time Pr PC16 2 Adjustment Set the freefall prevention compen...

Страница 86: ... set 2 _ _ _ initial value in Pr PA04 Disable the forced stop deceleration function for a machine in which multiple axes are connected together such as a tandem structure If an alarm occurs with the forced stop deceleration function disabled the servo motor will stop with the dynamic brake 1 When the forced stop deceleration function is enabled Command is not received Alarm occurrence Alarm No No ...

Страница 87: ... amplifier display 0 r min Servo motor speed ALM Malfunction No alarm Alarm No Braking by the dynamic brake Dynamic brake Braking by the electromagnetic brake Operation delay time of the electromagnetic brake Alarm occurrence 3 8 2 When you do not use the forced stop deceleration function POINT To disable the function set 0 _ _ _ in Pr PA04 The operation status during an alarm is the same as secti...

Страница 88: ...G CN1 P S T MO1 MO2 LG 26 29 30 Differential line driver output 35 mA or lower Open collector output CN1 P S T 2 VC VLA 27 TLA TLA TC 3 LG Case SD Approx 6 2 kΩ Approx 6 2 kΩ Analog monitor Servo amplifier Note 4 24 V DC CN2 P S T 2 4 7 8 MR MRR MD MDR LG Encoder E Servo motor Note 3 Note 3 USB P S T D GND D 2 3 5 CN3 Note 1 Note 1 Note 1 Note 1 Note 1 Note 1 Note 1 10 V DC 10 V DC Note 4 24 V DC ...

Страница 89: ...COM 46 OPC 12 20 47 PP 10 PG 11 NP 35 NG 36 DICOM DOCOM PP2 37 NP2 38 24 V DC For sink input interface For source input interface 3 This diagram shows sink I O interface For source I O interface refer to section 3 9 3 4 The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience However they can be configured by one 5 To use the RS 422 RS 485 comm...

Страница 90: ...1 2 kΩ Servo amplifier 24 V DC 10 300 mA OPC CN1 10 CN1 35 DOCOM SD 10 m or less Approximately 20 mA VCES 1 0 V ICEO 2 Digital output interface DO 1 This is a circuit in which the collector of the output transistor is the output terminal When the output transistor is turned on the current will flow to the collector terminal A lamp relay or photocoupler can be driven Install a diode D for an induct...

Страница 91: ... photocoupler If a resistor is connected to the pulse train signal line it may malfunction due to reduction in current 2 When the input pulse frequency is 4 Mpulses s set Pr PA13 to _ 0 _ _ 2 Input pulse condition 0 9 0 1 tc tLH tc tHL tF PP PG NP NG tLH tHL 50 ns tc 75 ns tF 3 µs b Open collector type 1 Interface Approximately 1 2 kΩ Servo amplifier 24 V DC OPC PP NP DOCOM SD Max input pulse freq...

Страница 92: ... collector type Interface Maximum sink current 35 mA Photocoupler Servo amplifier OP LG SD Servo amplifier OP LG SD 5 V DC to 24 V DC b Differential line driver type 1 Interface Maximum output current 35 mA 150 Ω 100 Ω Am26LS32 or equivalent Servo amplifier LA LB LZ LAR LBR LZR SD LG High speed photocoupler Servo amplifier LAR LBR LZR SD LA LB LZ ...

Страница 93: ...LAR LB LBR LZ LZR OP Servo motor CCW rotation 5 Analog input Input impedance 10 kΩ to 12 kΩ VC etc LG SD Approx 10 kΩ Servo amplifier 6 Analog output Output voltage 10 V Note Maximum output current 1 mA Resolution 10 bits or equivalent LG MO1 MO2 Servo amplifier Note Output voltage range varies depending on the monitored signal ...

Страница 94: ...8 pin are used as digital input interface Approximately 1 2 kΩ Servo amplifier PP2 CN1 37 PG Switch Approximately 1 2 kΩ NP2 CN1 38 NG SD 24 V DC 10 300 mA Switch 2 Digital output interface DO 1 This is a circuit in which the emitter of the output transistor is the output terminal When the output transistor is turned on the current will flow from the output terminal to a load A maximum of 2 6 V vo...

Страница 95: ...lifier PP2 PG VCES 1 0 V ICEO Note Approximately 20 mA Approximately 20 mA Note Approximately 1 2 kΩ NP2 SD NG VCES 1 0 V ICEO 24 V DC 10 300 mA Note Pulse train input interface is comprised of a photocoupler If a resistor is connected to the pulse train signal line it may malfunction due to reduction in current 2 Input pulse condition 0 9 0 1 tc tLH tc tHL tF PP2 NP2 tLH tHL 0 2 µs tc 2 µs tF 3 µ...

Страница 96: ...nction When using EM2 Forced stop 2 use MBR Electromagnetic brake interlock for operating the electromagnetic brake Operating the electromagnetic brake without using MBR during deceleration to a stop will saturate servo motor torques at the maximum value due to brake torques of the electromagnetic brake and can result in delay of the deceleration to a stop from a set value POINT Refer to HG KN HG ...

Страница 97: ...by interlocking with the emergency stop switch 2 Do not use the 24 V DC interface power supply for the electromagnetic brake 2 Setting a Enable MBR Electromagnetic brake interlock with Pr PD03 to Pr PD20 b In Pr PC16 Electromagnetic brake sequence output set a delay time Tb from MBR Electromagnetic brake interlock off to base circuit shut off at a servo off as in the timing chart in section 3 10 2...

Страница 98: ...interlock Note 1 ON OFF ON OFF 0 r min Base circuit Servo motor speed SON Servo on ON OFF Coasting Operation delay time of the electromagnetic brake Release Activate Position command Note 4 Electromagnetic brake Release delay time and external relay etc Note 2 Note 3 0 r min Tb Pr PC16 Electromagnetic brake sequence output Note 1 ON Electromagnetic brake is not activated OFF Electromagnetic brake ...

Страница 99: ...s been activated 2 The model speed command is a speed command generated in the servo amplifier for forced stop deceleration of the servo motor c Alarm occurrence The operation status during an alarm is the same as section 3 8 d Power off MBR Electromagnetic brake interlock Note 2 ON OFF Base circuit ON OFF Alarm AL 10 Undervoltage No alarm Alarm Approx 10 ms Dynamic brake Dynamic brake Electromagn...

Страница 100: ...c brake MBR Electromagnetic brake interlock Operation delay time of the electromagnetic brake Approx 210 ms Approx 210 ms Electromagnetic brake has released Note ON OFF Base circuit ON OFF Servo motor speed EM1 Forced stop ON disabled OFF enabled 0 r min Approx 10 ms Note ON Electromagnetic brake is not activated OFF Electromagnetic brake has been activated c Alarm occurrence The operation status ...

Страница 101: ...rvo amplifier may be affected by the switching noise due to di dt and dv dt of the transistor To prevent such a fault refer to the following diagram and always ground To conform to the EMC Directive refer to EMC Installation Guidelines Ensure to connect the wire to the PE terminal of the servo amplifier Do not connect the wire directly to the grounding of the cabinet Line filter Note Power supply ...

Страница 102: ...parameters Improper settings may cause some machines to operate unexpectedly The servo amplifier heat sink regenerative resistor servo motor etc may be hot while the power is on and for some time after power off Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables During operation never touch the rotor of the servo motor Otherwise it m...

Страница 103: ...et the parameters as necessary such as the used operation mode and regenerative option selection Refer to chapter 5 and sections 4 2 4 4 3 4 and 4 4 4 For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible check whether the servo motor rotates correctly Refer to sections 4 2 3 4 3 3 and 4 4 3 For the test operation with the servo moto...

Страница 104: ...o motor is connected to the PE terminal of the servo amplifier Servo amplifier Servo motor M 4 The CN2 connector of the servo amplifier should be connected to the encoder of the servo motor securely using the encoder cable c When you use an option and peripheral equipment 1 When you use a regenerative option for 1 kW or less servo amplifiers The built in regenerative resistor and wirings should be...

Страница 105: ...oltage exceeding 24 V DC is not applied to the pins of the CN1 connector c Between Plate and DOCOM of the CN1 connector should not be shorted Servo amplifier DOCOM Plate CN1 4 1 3 Surrounding environment 1 Cable routing a The wiring cables should not be stressed b The encoder cable should not be used in excess of its bending life Refer to section 10 4 c The connector of the servo motor should not ...

Страница 106: ...ff If any of the following situations occurs the servo amplifier suspends the running of the servo motor and brings it to a stop Refer to section 3 10 for the servo motor with an electromagnetic brake Operation command Stopping condition Switch off SON Servo on The base circuit is shut off and the servo motor coasts Alarm occurrence The servo motor decelerates to a stop with the command With some ...

Страница 107: ...switches on 2 Switch on LSP Forward rotation stroke end and LSN Reverse rotation stroke end 3 When a pulse train is input from the controller the servo motor starts rotating Give a low speed command at first and check the rotation direction etc of the servo motor If the machine does not operate in the intended direction check the input signal In this step connect the servo motor with the machine a...

Страница 108: ...l communication error 1 MR EKCBL30M L MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H In the position control mode the servo amplifier can be used by merely changing the basic setting parameters Pr PA _ _ mainly As necessary set other parameters 4 2 5 Actual operation Start actual operation after confirmation of normal operation by test operation and completion of the corresponding parameter settings Pe...

Страница 109: ...rnal I O signal indication section 4 5 7 to see if SON Servo on is on 1 SON Servo on is not input wiring mistake 2 24 V DC power is not supplied to DICOM Section 4 5 7 3 Input command pulse test operation Servo motor does not rotate Check the cumulative command pulse on the status display section 4 5 3 1 Wiring mistake a For open collector pulse train input 24 V DC power is not supplied to OPC b L...

Страница 110: ...ses to be miscounted In a normal status without position shift there are the following relationships 1 Q P Output counter Cumulative command pulses 2 When Pr PA21 is 0 _ _ _ P CMX Pr PA06 CDV Pr PA07 C Cumulative command pulses Electronic gear Cumulative feedback pulses 3 When Pr PA21 is 1 _ _ _ P 131072 FBP Pr PA05 C 4 C ℓ M Cumulative feedback pulses Travel distance per pulse Machine position Ch...

Страница 111: ...top Turn off SON Servo on after the servo motor has stopped and then switch the power off If any of the following situations occurs the servo amplifier suspends the running of the servo motor and brings it to a stop Refer to section 3 10 for the servo motor with an electromagnetic brake Operation command Stopping condition Switch off SON Servo on The base circuit is shut off and the servo motor co...

Страница 112: ...otation stroke end 3 When VC Analog speed command is input from the controller and ST1 Forward rotation start or ST2 Reverse rotation start is switched on the servo motor starts rotating Give a low speed command at first and check the rotation direction etc of the servo motor If the machine does not operate in the intended direction check the input signal In this step connect the servo motor with ...

Страница 113: ...ill result in AL 16 Encoder initial communication error 1 MR EKCBL30M L MR EKCBL30M H MR EKCBL40M H MR EKCBL50M H When using this servo in the speed control mode change Pr PA01 setting to select the speed control mode In the speed control mode the servo can be used by merely changing the basic setting parameters Pr PA _ _ and extension setting parameters Pr PC _ _ mainly As necessary set other par...

Страница 114: ...cause Chapter 8 2 Switch on SON Servo on Alarm occurs Refer to chapter 8 and remove cause Chapter 8 Servo motor shaft is not servo locked Servo motor shaft is free 1 Check the display to see if the servo amplifier is ready to operate 2 Check the external I O signal indication section 4 5 7 to see if SON Servo on is on 1 SON Servo on is not input wiring mistake 2 24 V DC power is not supplied to DI...

Страница 115: ... rotation selection are off 3 Turn on the power Data is displayed in 2 s after U Analog torque command is displayed 2 Power off 1 Switch off RS1 Forward rotation selection or RS2 Reverse rotation selection 2 Switch off SON Servo on 3 Shut off the power 4 4 2 Stop Turn off SON Servo on after the servo motor has stopped and then switch the power off If any of the following situations occurs the serv...

Страница 116: ...Ready switches on 2 When TC Analog speed command is input from the controller and RS1 Forward rotation start or RS2 Reverse rotation start is switched on the servo motor starts rotating Give a low torque command at first and check the rotation direction etc of the servo motor If the machine does not operate in the intended direction check the input signal In this step connect the servo motor with ...

Страница 117: ...30M H MR EKCBL40M H MR EKCBL50M H When using this servo in the torque control mode change Pr PA01 setting to select the torque control mode In the torque control mode the servo can be used by merely changing the basic setting parameters Pr PA _ _ and extension setting parameters Pr PC _ _ mainly As necessary set other parameters 4 4 5 Actual operation Start actual operation after confirmation of n...

Страница 118: ...emove cause Chapter 8 2 Switch on SON Servo on Alarm occurs Refer to chapter 8 and remove cause Chapter 8 Servo motor shaft is free Call the external I O signal display section 4 5 7 and check the on off status of the input signal 1 SON Servo on is not input wiring mistake 2 24 V DC power is not supplied to DICOM Section 4 5 7 3 Switch on RS1 Forward rotation start or RS2 Reverse rotation start Se...

Страница 119: ...uch tuning mode The operation section and display data are described below Display mode change Low High switching Decimal LED Displays the decimal points alarm presence absence etc Lit to indicate the decimal point Decimal Lit to indicate a negative when negative cannot be displayed Blinks to indicate alarm occurrence Blinks to indicate the test operation mode 5 digit 7 segment LED Displays data M...

Страница 120: ...uch tuning Select this when performing the one touch tuning Section 6 2 Sequence display external signal display output signal DO forced output test operation software version display VC automatic offset servo motor series ID display servo motor type ID display servo motor encoder ID display drive recorder enabled disabled display Section 4 5 4 Current alarm display alarm history display parameter...

Страница 121: ...ck pulses Effective load ratio Peak load ratio Instantaneous torque Within one revolution position 1 pulse unit Servo motor speed Within one revolution position 1000 pulse unit Droop pulses Cumulative command pulses Load to motor inertia ratio ABS counter Note Command pulse frequency Bus voltage Internal temperature of encoder Settling time Oscillation detection frequency Number of tough drives Un...

Страница 122: ...ervo amplifier display Servo motor speed Forward rotation at 2500 r min Reverse rotation at 3000 r min Reverse rotation is indicated by Load to motor inertia ratio 7 00 times Cumulative feedback pulses 11252 pulses 12566 pulses Lit Negative value is indicated by the lit decimal points in the upper four digits ...

Страница 123: ...is counted and displayed The value displayed is not multiplied by the electronic gear CMX CDV Analog speed command voltage Analog speed limit voltage F V 1 Torque control mode Input voltage of VLA Analog speed limit voltage is displayed 2 Speed control mode Input voltage of VC Analog speed command voltage is displayed Analog torque command voltage Analog torque limit voltage U V 1 Position control...

Страница 124: ...power running and negative value indicate regeneration Unit total power consumption 1 1 Wh unit TPC1 Wh Unit total power consumption is displayed by increment of 1 Wh Positive value is cumulated during power running and negative value during regeneration The values in excess of 99999 can be counted However the counter shows only the lower five digits of the actual value since the servo amplifier d...

Страница 125: ...rced output This allows digital output signal to be switched on off forcibly For details refer to section 4 5 8 Test operation mode JOG operation JOG operation can be performed when there is no command from an external controller For details refer to section 4 5 9 2 Positioning operation Positioning operation can be performed when there is no command from an external controller MR Configurator2 is...

Страница 126: ...of VC or VLA is 0 4 V or less or 0 4 V or more Note Servo motor series ID Push the SET button to show the series ID of the servo motor currently connected For indication details refer to app 1 of HG KN HG SN servo Motor Instruction Manual Servo motor type ID Push the SET button to show the type ID of the servo motor currently connected For indication details refer to app 1 of HG KN HG SN servo Mot...

Страница 127: ...arm history Indicates that the last alarm is AL 50 1 Thermal overload error 1 during operation Indicates the second last alarm is AL 33 1 Main circuit voltage error Indicates the third last alarm is AL 10 1 Voltage drop in the power Indicates that there is no tenth alarm in the past Indicates that there is no eleventh alarm in the past Indicates that there is no twelfth alarm in the past Indicates...

Страница 128: ... RES Reset 4 Use Pr PC18 to clear the alarm history 5 Push UP or DOWN to move to the next history 4 5 6 Parameter mode 1 Parameter mode transition After selecting the corresponding parameter mode with the MODE button pushing the UP or DOWN button changes the display as shown below Pr PB01 Pr PA02 Pr PA01 I O setting parameters Pr PD01 Pr PD02 Pr PD47 Pr PD48 Pr PC01 Pr PC02 Pr PC79 Extension setti...

Страница 129: ...anged Use UP or DOWN _ _ _ 2 Speed control mode To shift to the next parameter press the UP or DOWN button When changing the Pr PA01 setting change its set value then switch power off once and switch it on again to enable the new value b Parameters of 6 or more digits The following example gives the operation procedure to change the electronic gear numerator to 123456 with Pr PA06 Electronic gear ...

Страница 130: ... and CN1 connector pins correspond as shown below Input signals Output signals Always lit CN1 42 CN1 41 CN1 48 CN1 19 CN1 15 CN1 23 CN1 49 CN1 24 Light on on Light off off CN1 33 CN1 44 CN1 43 CN1 35 Note 1 CN1 38 Note 2 CN1 10 Note 1 CN1 37 Note 2 Note 1 This is available with servo amplifiers with software version B7 or later 2 This is available with servo amplifiers having software version B7 o...

Страница 131: ... mode 3 This is available with servo amplifiers with software version B7 or later 4 This is available as an input device of sink interface Input devices are not assigned by default Assign the input devices with Pr PD43 to Pr PD46 as necessary In addition supply of 24 DC V to the CN1 12 pin This is available with servo amplifiers with software version B7 or later 5 This is available as an input dev...

Страница 132: ...44 LSP CN1 43 RD CN1 49 INP CN1 24 ZSP CN1 23 b Speed control mode Light on on Light off off EM2 CN1 42 Input signal Output signals OP CN1 33 ALM CN1 48 ST2 CN1 41 ST1 CN1 19 SON CN1 15 LSN CN1 44 LSP CN1 43 RD CN1 49 SA CN1 24 ZSP CN1 23 c Torque control mode Light on on Light off off EM2 CN1 42 Input signal Output signals OP CN1 33 ALM CN1 48 RS1 CN1 41 RS2 CN1 19 SON CN1 15 RD CN1 49 ZSP CN1 23...

Страница 133: ...ck etc This operation must be performed in the servo off state by turning off SON Servo on Operation The display screen at power on Using the MODE button display the diagnostic screen Switch on off the signal below the lit segment Indicates on off of output signal Definitions of on off are the same as those for the external I O signals Light on on light off off Press UP three times Press SET for l...

Страница 134: ...figurator2 is required to perform positioning operation Test operation cannot be performed if SON Servo on is not turned off 1 Mode switching The display screen at power on Select JOG operation or motor less operation in the following procedure Using the MODE button display the diagnostic screen Press UP four times Press SET for longer than 2 s When this screen appears JOG operation can be perform...

Страница 135: ...art CCW rotation Release to stop DOWN Press to start CW rotation Release to stop If the USB cable is disconnected during JOG operation using the MR Configurator2 the servo motor decelerates to a stop b Status display Press the MODE button in the JOG operation ready status to call the status display screen When the JOG operation is performed using the UP or DOWN button the servo status is displayed...

Страница 136: ...nput field b Acceleration deceleration time constant ms Enter the acceleration deceleration time constant into the Accel decel time constant input field c Travel distance pulse Enter the travel distance into the Travel distance input field d LSP LSN are automatically turned on When setting the external stroke signal to automatic on click the check box to enable it When it is not selected turn on L...

Страница 137: ...n with the repeat pattern and dwell time settings which are set by referring to the above table click the check box of Make the aging function enabled h Forward reverse the servo motor Click Forward CCW to rotate the servo motor in the forward rotation direction Click Reverse CW to rotate the servo motor in the reverse rotation direction i Pause the servo motor Click Pause during servo motor rotat...

Страница 138: ...5 Program operation Positioning operation can be performed in two or more operation patterns combined without using a controller Use this operation with the forced stop reset This operation may be used independently of whether servo on or servo off and whether a controller is connected or not Exercise control on the program operation screen of MR Configurator2 For details refer to Help of MR Confi...

Страница 139: ...4 STARTUP 4 38 MEMO ...

Страница 140: ... Setting a value out of the range Changing the fixed values in the digits of a parameter 5 1 Parameter list POINT To enable a parameter whose symbol is preceded by turn off the power for 1 s or more after setting and turn it on again However the time will be longer depending on a setting value of Pr PF25 instantaneous power failure tough drive detection time when Instantaneous power failure tough ...

Страница 141: ...etting 0000h PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000h PA24 AOP4 Function selection A 4 0000h PA25 OTHOV One touch tuning Overshoot permissible level 0 PA26 AOP5 Function selection A 5 0000h PA27 For manufacturer setting 0000h PA28 AOP6 Function selection A 6 0000h PA29 For manufacturer setting 0000h PA30 0000h PA31 0000h PA32 0000h 5 1 2 Gain filter setting parameters Pr PB_ ...

Страница 142: ...F3B Vibration suppression control 1 Vibration frequency damping after gain switching 0 00 PB36 VRF4B Vibration suppression control 1 Resonance frequency damping after gain switching 0 00 PB37 For manufacturer setting 1600 PB38 0 00 PB39 0 00 PB40 0 00 PB41 0000h PB42 0000h PB43 0000h PB44 0 00 PB45 CNHF Command notch filter 0000h PB46 NH3 Machine resonance suppression filter 3 4500 Hz PB47 NHQ3 No...

Страница 143: ...put 0 ms PC17 ZSP Zero speed 50 r min PC18 BPS Alarm history clear 0000h PC19 ENRS Encoder output pulse selection 0000h PC20 SNO Station number setting Note 0 Station PC21 SOP RS 422 communication function selection Note 0000h PC22 COP1 Function selection C 1 0020h PC23 COP2 Function selection C 2 0000h PC24 COP3 Function selection C 3 0000h PC25 For manufacturer setting 0000h PC26 COP5 Function s...

Страница 144: ... 0 PC67 0 PC68 0 PC69 0 PC70 0 PC71 0040h PC72 0000h PC73 ERW Error excessive warning level 0 rev PC74 For manufacturer setting 0000h PC75 0000h PC76 0000h PC77 0000h PC78 0000h PC79 0000h PC80 0000h 5 1 4 I O setting parameters Pr PD_ _ No Symbol Name Initial value Unit Control mode P S T PD01 DIA1 Input signal automatic on selection 1 0000h PD02 For manufacturer setting 0000h PD03 DI1L Input dev...

Страница 145: ...on D 1 0000h PD31 For manufacturer setting 0000h PD32 DOP3 Function selection D 3 0000h PD33 DOP4 Function selection D 4 0000h PD34 DOP5 Function selection D 5 0000h PD35 For manufacturer setting 0000h PD36 0000h PD37 0000h PD38 0 PD39 0 PD40 0 PD41 0000h PD42 0000h PD43 DI11L Input device selection 11L 0000h PD44 DI11H Input device selection 11H 2000h PD45 DI12L Input device selection 12L 0000h P...

Страница 146: ...3 0 0 PE44 LMCP Lost motion compensation positive side compensation value selection 0 0 01 PE45 LMCN Lost motion compensation negative side compensation value selection 0 0 01 PE46 LMFLT Lost motion filter setting 0 0 1 ms PE47 TOF Torque offset 0 0 01 PE48 LMOP Lost motion compensation function selection 0000h PE49 LMCD Lost motion compensation timing 0 0 1 ms PE50 LMCT Lost motion compensation n...

Страница 147: ...recorder switching time setting 0 s PF22 For manufacturer setting 200 PF23 OSCL1 Vibration tough drive Oscillation detection level 50 PF24 OSCL2 Vibration tough drive function selection 0000h PF25 CVAT Instantaneous power failure tough drive detection time 200 ms PF26 For manufacturer setting 0 PF27 0 PF28 0 PF29 0000h PF30 0 PF31 FRIC Machine diagnosis function Friction judgment speed 0 r min PF3...

Страница 148: ...ve option is not used For servo amplifier of 200 W or less regenerative resistor is not used For servo amplifier of 0 4 kW to 3 kW built in regenerative resistor is used 02 MR RB032 03 MR RB12 04 MR RB32 05 MR RB30 06 MR RB50 Cooling fan is required 00h _ x _ _ For manufacturer setting 0h x _ _ _ 0h PA04 _ _ _ x For manufacturer setting 0h AOP1 _ _ x _ 0h Function selection A 1 _ x _ _ 0h x _ _ _ ...

Страница 149: ...CDV 4000 If the set value is outside this range noise may be generated during acceleration deceleration or operation may not be performed at the preset speed and or acceleration deceleration time constants CDV FBP Command pulse train Pt 0 initial value CMX Deviation counter Electronic gear Pr PA06 Pr PA07 Number of command input pulses per revolution Pr PA05 1000 to 1000000 Servo motor Encoder M 1...

Страница 150: ...djustment mode Automatically adjusted parameter _ _ _ 0 2 gain adjustment mode 1 interpolation mode Pr PB06 Load to motor inertia ratio Pr PB08 Position loop gain Pr PB09 Speed loop gain Pr PB10 Speed integral compensation _ _ _ 1 Auto tuning mode 1 Pr PB06 Load to motor inertia ratio Pr PB07 Model loop gain Pr PB08 Position loop gain Pr PB09 Speed loop gain Pr PB10 Speed integral compensation _ _...

Страница 151: ...ing range 0 to 65535 100 pulse PA11 TLP Forward rotation torque limit You can limit the torque generated by the servo motor Set the parameter referring to section 3 6 1 5 The larger value of Pr PA11 Forward rotation torque limit or Pr PA12 Reverse rotation torque limit will be the maximum output voltage 8 V Set the parameter on the assumption that the maximum torque is 100 The parameter is for lim...

Страница 152: ...pulses s or less 3 Command input pulse train is 200 kpulses s or less 1 Mpulse s or lower commands are supported by 1 When inputting commands over 1 Mpulse s and 4 Mpulses s or lower set 0 Setting a value not according to the command pulse frequency may cause the following malfunctions Setting a value higher than actual command will lower noise tolerance Setting a value lower than actual command w...

Страница 153: ...ronic gear ratio after multiplication by 4 Set a numerator of the electronic gear when selecting A phase B phase pulse electronic gear setting _ _ 3 _ of Encoder output pulse setting selection in Pr PC19 The maximum output frequency is 4 6 Mpulses s Set the parameter within this range Select Output pulse setting or Dividing ratio setting in Pr PC19 Setting range 1 to 4194304 4000 pulse rev PA16 EN...

Страница 154: ...tough drive selection 0 Disabled 1 Enabled Selecting 1 enables to suppress vibrations by automatically changing setting values of Pr PB13 Machine resonance suppression filter 1 and Pr PB15 Machine resonance suppression filter 2 in case that the vibration exceed the value of the oscillation level set in Pr PF23 To output the oscillation detection alarm as a warning set Pr PF24 Vibration tough drive...

Страница 155: ...l overload error 4 during operation occurs set 5 0 0 3 PA24 AOP4 Function selection A 4 _ _ _ x Vibration suppression mode selection 0 Standard mode 1 3 inertia mode 2 Low response mode When you select the standard mode or low response mode Vibration suppression control 2 is not available When you select the 3 inertia mode the feed forward gain is not available Before changing the control mode dur...

Страница 156: ...atic setting Do not use this in the torque control mode 2 Manual setting 0h _ _ x _ For manufacturer setting 0h _ x _ _ 0h x _ _ _ Tuning accuracy selection 0 Standard 1 High accuracy The frequency is estimated more accurately in the high accuracy mode compared to the standard mode However the tuning sound may be larger in the high accuracy mode This digit is available with servo amplifier with so...

Страница 157: ...time constant setting Without time constant setting Servo motor speed Start t Setting range 0 to 65535 0 ms PB04 FFC Feed forward gain Set the feed forward gain When the setting is 100 the droop pulses during operation at constant speed are nearly zero However sudden acceleration deceleration will increase the overshoot As a guideline when the feed forward gain setting is 100 set 1 s or more as th...

Страница 158: ... automatic setting or manual setting depending on the Pr PA08 setting Refer to the following table for details Setting range 1 0 to 2000 0 37 0 rad s Pr PA08 This parameter _ _ _ 0 2 gain adjustment mode 1 interpolation mode Automatic setting _ _ _ 1 Auto tuning mode 1 _ _ _ 2 Auto tuning mode 2 _ _ _ 3 Manual mode Manual setting _ _ _ 4 2 gain adjustment mode 2 Automatic setting PB09 VG2 Speed lo...

Страница 159: ...nance suppression filter 1 When Filter tuning mode selection is set to Automatic setting _ _ _ 1 in Pr PB01 this parameter will be adjusted automatically by adaptive tuning To enable the setting value select the manual setting _ _ _ x For manufacturer setting 0h _ _ x _ Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB 0h _ x _ _ Notch width selection 0 α 2 1 α 3 2 α 4 3 α 5 0h x _ _ _ For manuf...

Страница 160: ...suppression filter setting frequency selection Refer to table 5 5 for settings Set the value closest to the frequency you need 00h _ x _ _ Notch depth selection 0 40 dB 1 14 dB 2 8 dB 3 4 dB 0h x _ _ _ For manufacturer setting 0h Table 5 5 Shaft resonance suppression filter setting frequency selection Setting value Frequency Hz Setting value Frequency Hz _ _ 0 0 Disabled _ _ 1 0 562 _ _ 0 1 Disabl...

Страница 161: ...uency machine vibration When Vibration suppression control 1 tuning mode selection is set to Automatic setting _ _ _ 1 in Pr PB02 this parameter will be set automatically When Manual setting _ _ _ 2 is selected the setting written to the parameter is used Refer to section 7 1 5 for details Setting range 0 00 to 0 30 0 00 PB22 VRF14 Vibration suppression control 1 Resonance frequency damping Set a ...

Страница 162: ...0h _ x _ _ Gain switching time constant disabling condition selection 0 Switching time constant enabled 1 Switching time constant disabled 2 Return time constant disabled Refer to section 7 2 4 for details This parameter setting is available with servo amplifiers with software version B4 or later 0h x _ _ _ For manufacturing setting 0h PB27 CDL Gain switching condition Set the value of gain switch...

Страница 163: ...e gain switching is enabled When you set a value less than 0 1 Hz the value will be the same as Pr PB20 This parameter will be enabled only when the following conditions are fulfilled Gain adjustment mode selection in Pr PA08 is Manual mode _ _ _ 3 Vibration suppression control 1 tuning mode selection in Pr PB02 is Manual setting _ _ _ 2 Gain switching selection in Pr PB26 is Input device gain swi...

Страница 164: ..._ 4 9 11 3 _ _ 0 A 225 _ _ 2 A 43 _ _ 4 A 10 8 _ _ 0 B 204 _ _ 2 B 41 _ _ 4 B 10 4 _ _ 0 C 187 _ _ 2 C 40 _ _ 4 C 10 _ _ 0 D 173 _ _ 2 D 38 _ _ 4 D 9 7 _ _ 0 E 160 _ _ 2 E 37 _ _ 4 E 9 4 _ _ 0 F 150 _ _ 2 F 36 _ _ 4 F 9 1 _ _ 1 0 140 _ _ 3 0 35 2 _ _ 5 0 8 8 _ _ 1 1 132 _ _ 3 1 33 1 _ _ 5 1 8 3 _ _ 1 2 125 _ _ 3 2 31 3 _ _ 5 2 7 8 _ _ 1 3 118 _ _ 3 3 29 6 _ _ 5 3 7 4 _ _ 1 4 112 _ _ 3 4 28 1 _ _ 5...

Страница 165: ...ssion filter 4 Set the notch frequency of the machine resonance suppression filter 4 To enable the setting value select Enabled _ _ _ 1 of Machine resonance suppression filter 4 selection in Pr PB49 Setting range 10 to 4500 4500 Hz PB49 NHQ4 Notch shape selection 4 Set the shape of the machine resonance suppression filter 4 _ _ _ x Machine resonance suppression filter 4 selection 0 Disabled 1 Enab...

Страница 166: ...e selection is set to Automatic setting _ _ 1 _ in Pr PB02 this parameter will be set automatically When Manual setting _ _ 2 _ is selected the setting written to the parameter is used The setting range of this parameter varies depending on the value in Pr PB07 If a value out of the range is set the vibration suppression control will be disabled Refer to section 7 1 5 for details To enable the set...

Страница 167: ...in switching selection in Pr PB26 is Input device gain switching CDP _ _ _ 1 Switching during driving may cause a shock Be sure to switch them after the servo motor stops Setting range 0 0 to 300 0 0 0 Hz PB58 VRF23B Vibration suppression control 2 Vibration frequency damping after gain switching Set a damping of the vibration frequency for vibration suppression control 2 when the gain switching i...

Страница 168: ..._ _ No symbol name Setting digit Function Initial value unit Control mode P S T PC01 STA Acceleration time constant Set the acceleration time required to reach the rated speed from 0 r min in response to VC Analog speed command and Pr PC05 Internal speed command 1 to Pr PC11 Internal speed command 7 If the preset speed command is lower than the rated speed acceleration deceleration time will be sh...

Страница 169: ...leration time constant may produce an error in the time of the arc part for the setting of the S pattern acceleration deceleration time constant The upper limit value of the actual arc part time is limited by 2000000 STA for acceleration or by 2000000 STB for deceleration Example At the setting of STA 20000 STB 5000 and STC 200 the actual arc part times are as follows Acceleration 100 ms 2000000 2...

Страница 170: ... range 0 to permissible instantaneous speed 300 r min Set speed 5 of internal speed limits Setting range 0 to permissible instantaneous speed PC10 SC6 Internal speed command 6 Internal speed limit 6 Set speed 6 of internal speed commands Setting range 0 to permissible instantaneous speed 500 r min Set speed 6 of internal speed limits Setting range 0 to permissible instantaneous speed PC11 SC7 Inte...

Страница 171: ...10 V 1000 pulses Note 1 _ _ 0 8 Servo motor side droop pulses 10 V 10000 pulses Note 1 _ _ 0 9 Servo motor side droop pulses 10 V 100000 pulses Note 1 _ _ 0 D Bus voltage 8 V 400 V _ _ 0 E Speed command 2 8 V max speed Note 3 _ _ 1 7 Internal temperature of encoder 10 V 128 C Note 1 Encoder pulse unit 2 The value in Pr PA11 or Pr PA12 whichever higher is applied for the maximum torque 3 The maximu...

Страница 172: ...se B phase pulse electronic gear setting When you select 1 the settings of Pr PA16 Encoder output pulses 2 will be disabled When you select 2 the settings of Pr PA15 Encoder output pulses and Pr PA16 Encoder output pulses 2 will be disabled When you select the setting do not change the settings in Pr PA06 and Pr PA07 after the power on 0h _ x _ _ For manufacturer setting 0h x _ _ _ 0h PC20 SNO Sta...

Страница 173: ... _ _ x _ For manufacturer setting 0h _ x _ _ VC VLA voltage averaging selection Select the VC VLA voltage average Set the filtering time when VC Analog speed command or VLA Analog speed limit is imported Set 0 to vary the speed to voltage fluctuation in real time Increase the set value to vary the speed slower to voltage fluctuation 0h Setting value Filtering time ms 0 0 1 0 444 2 0 888 3 1 777 4 ...

Страница 174: ...on time constant 2 To enable the parameter turn on STAB2 Speed acceleration deceleration selection Set the deceleration time required to reach 0 r min from the rated speed in response to VC Analog speed command and Pr PC05 Internal speed command 1 to Pr PC11 Internal speed command 7 Setting range 0 to 50000 0 ms PC32 CMX2 Commanded pulse multiplication numerator 2 To enable the parameter select El...

Страница 175: ...ions 14 Unit power consumption 1 W unit 15 Unit power consumption 1 kW unit 16 Unit total power consumption 1 Wh unit 17 Unit total power consumption 100 kWh unit 00h Note 1 It is for the speed control mode It will be the analog speed limit voltage in the torque control mode 2 It is for the torque control mode It will be the analog torque limit voltage in the speed control mode and position contro...

Страница 176: ...gative value When automatic VC offset is used the automatically offset value is set to this parameter Refer to section 4 5 4 The initial value is provided before shipment by the automatic VC offset function on condition that the voltage between VLA and LG is 0 V Setting range 9999 to 9999 PC38 TPO Analog torque command offset Analog torque limit offset Set the offset voltage of TC Analog torque co...

Страница 177: ...tion Set it per servo motor rotation amount The function will pull up an shaft per rotation amount to the servo motor rotation direction at the time of inputting forward rotation pulse for a positive value and at the time of inputting reverse rotation pulse for a negative value For example if a positive compensation amount is set when the Pr PA14 Rotation direction selection setting is 1 compensat...

Страница 178: ...applied Setting over 200 rev will be clamped with 200 rev When an error reaches the set value AL 9B Error excessive warning will occur When the error decreases lower than the set value the warning will be canceled automatically The minimum pulse width of the warning signal is 100 ms Set as follows Pr PC73 Error excessive warning level Pr PC43 Error excessive alarm level When you set as Pr PC73 Err...

Страница 179: ...nal input signal 1 Enabled automatic on _ x _ _ BIN For manufacturer setting x _ _ _ BIN For manufacturer setting _ x _ _ HEX _ _ _ x BIN For manufacturer setting 0h _ _ x _ BIN For manufacturer setting _ x _ _ BIN LSP Forward rotation stroke end 0 Disabled Use for an external input signal 1 Enabled automatic on x _ _ _ BIN LSN Reverse rotation stroke end 0 Disabled Use for an external input signa...

Страница 180: ...When assigning LOP Control switching assign it to the same pin in all control modes PD04 DI1H Input device selection 1H Any input device can be assigned to the CN1 15 pin _ _ x x Torque control mode Device selection Refer to table 5 9 in Pr PD03 for settings 02h _ x _ _ For manufacturer setting 2h x _ _ _ 0h PD11 DI5L Input device selection 5L Any input device can be assigned to the CN1 19 pin _ _...

Страница 181: ...ned to the CN1 44 pin _ _ x x Position control mode Device selection Refer to table 5 9 in Pr PD03 for settings 0Bh x x _ _ Speed control mode Device selection Refer to table 5 9 in Pr PD03 for settings 0Bh PD20 DI9H Input device selection 9H Any input device can be assigned to the CN1 44 pin _ _ x x Torque control mode Device selection Refer to table 5 9 in Pr PD03 for settings 00h _ x _ _ For ma...

Страница 182: ...ke end off and LSN Reverse rotation stroke end off Select a stop method for LSP Forward rotation stroke end off and LSN Reverse rotation stroke end off 0 Quick stop 1 Slow stop 0h _ _ x _ Base circuit status selection for RES Reset on 0 Base circuit shut off 1 No base circuit shut off 0h _ x _ _ For manufacturer setting 0h x _ _ _ 0h PD32 DOP3 Function selection D 3 _ _ _ x CR Clear selection Set ...

Страница 183: ...plifiers with software version B7 or later _ _ x x Position control mode Device selection This setting is invalid 00h x x _ _ Speed control mode Device selection Refer to table 5 9 in Pr PD03 for settings 00h PD44 DI11H Input device selection 11H Any input device can be assigned to the CN1 10 pin and the CN1 37 pin When 00 is set PP PP2 Forward rotation pulse Manual pulse generator will be assigne...

Страница 184: ...rs with software version C5 or later Setting range 0 to 30000 0 0 01 PE45 LMCN Lost motion compensation negative side compensation value selection Set the lost motion compensation for when forward rotation CCW switches to reverse rotation CW in increments of 0 01 assuming the rated torque as 100 This parameter is available with servo amplifiers with software version C5 or later Setting range 0 to ...

Страница 185: ...e 5 2 6 Extension setting 3 parameters Pr PF_ _ No symbol name Setting digit Function Initial value unit Control mode P S T PF09 FOP5 Function selection F 5 _ _ _ x Electronic dynamic brake selection 0 Disabled 3 Automatic enabled only for specified servo motors Refer to the following table for the specified servo motors 0h Series Servo motor HG KN HG KN053 HG KN13 HG KN23 HG KN43 HG SN HG SN52 Th...

Страница 186: ...e To disable the parameter select Disabled _ 0 _ _ of Instantaneous power failure tough drive selection in Pr PA20 When Enabled _ 1 _ _ is selected of Instantaneous power failure tough drive selection in Pr PA20 the power should be off for the setting value of this parameter 1 5 s or more before cycling the power to enable a parameter whose symbol is preceded by Setting range 30 to 2000 200 ms PF3...

Страница 187: ...5 PARAMETERS 5 48 MEMO ...

Страница 188: ...ier The following table shows the gain adjustment modes that can be set on a single servo amplifier For gain adjustment first execute Auto tuning mode 1 If you are not satisfied with the result of the adjustment execute Auto tuning mode 2 and Manual mode in this order 1 Gain adjustment mode explanation Gain adjustment mode Pr PA08 setting Estimation of load to motor inertia ratio Automatically set...

Страница 189: ... Adjustment OK Auto tuning mode 2 No No No Adjustment OK Adjustment OK No 6 1 2 Adjustment using MR Configurator2 This section explains the functions and adjustment using the servo amplifier with MR Configurator2 Function Description Adjustment Machine analyzer With the machine and servo motor coupled the characteristic of the mechanical system can be measured by giving a random vibration command ...

Страница 190: ...2 is required The one touch tuning includes two methods the user command method and the amplifier command method 1 User command method You can execute the one touch tuning with MR Configurator2 or push buttons The user command method performs one touch tuning by inputting commands from outside the servo amplifier 2 Amplifier command method You can execute the one touch tuning with MR Configurator2...

Страница 191: ...e advanced vibration suppression control II PB19 VRF11 Vibration suppression control 1 Vibration frequency PB20 VRF12 Vibration suppression control 1 Resonance frequency PB03 PST Position command acceleration deceleration time constant position smoothing PB21 VRF13 Vibration suppression control 1 Vibration frequency damping PB22 VRF14 Vibration suppression control 1 Resonance frequency damping PB0...

Страница 192: ... of MR Configurator2 and select User command method Select a response mode High mode Basic mode and Low mode in the one touch tuning window of MR Configurator2 Press Start during servo motor driving to execute one touch tuning Gains and filters will be adjusted automatically During processing of tuning the tuning progress will be displayed in in MR Configurator2 When one touch tuning is completed ...

Страница 193: ... AUTO to switch to the response mode selection AUTO Push the UP or DOWN button to select a response mode from AUTO H High mode AUTO Basic mode or AUTO L Low mode Push the SET button to start one touch tuning Push the SET button during servo motor driving Gains and filters will be adjusted automatically During processing of tuning the tuning progress will be displayed in on the display five digit s...

Страница 194: ...ne touch tuning After the tuning is started the servo motor will reciprocate automatically Executing one touch tuning during servo motor rotation will cause an error After one touch tuning is executed using the amplifier command method control will not be performed by commands from the controller Gains and filters will be adjusted automatically During processing of tuning the tuning progress will ...

Страница 195: ...6 8 6 2 2 Display transition and operation procedure of one touch tuning 1 When you use MR Configurator2 a Command method selection Select a command method from two methods in the one touch tuning window of MR Configurator2 1 2 ...

Страница 196: ...ting less than 100 pulses will cause the one touch tuning error C004 Servo motor speed Set 150 r min or higher Setting less than 150 r min may cause the one touch tuning error C005 Acceleration time constant Deceleration time constant Set the time to reach 2000 r min to 5 s or less Set an acceleration time constant deceleration time constant so that the acceleration deceleration torque is 10 or mo...

Страница 197: ...start the tuning Servo motor speed Servo motor speed Note Forward rotation 0 r min Reverse rotation Dwell time Note Deceleration time constant Note Travel distance Note Acceleration time constant Note Note It will be automatically generated in the servo amplifier Fig 6 2 Command generated by one touch tuning in the amplifier command method Item Description Travel distance An optimum travel distanc...

Страница 198: ...ponse mode from 3 modes in the one touch tuning window of MR Configurator2 Table 6 2 Response mode explanations Response mode Explanation High mode This mode is for high rigid system Basic mode This mode is for standard system Low mode This mode is for low rigid system ...

Страница 199: ...esponse mode Table 6 3 Guideline for response mode Response mode Response Machine characteristic Low mode Basic mode High mode Guideline of corresponding machine Low response General machine tool conveyor Arm robot Precision working machine Inserter Mounter Bonder High response ...

Страница 200: ...h tuning window of MR Configurator2 After the response mode is selected in 1 b in this section clicking Start will start one touch tuning If Start is clicked while the servo motor stops C002 or C004 will be displayed at status in error code Refer to 1 e in this section for error codes Click Start with the amplifier command method selected in the servo off the servo on will be automatically enabled...

Страница 201: ...ate in which control is performed from the controller cycle the power During processing of one touch tuning the progress will be displayed as follows Tuning will be completed at 100 Completing the one touch tuning will start writing tuning parameters to the servo amplifier and the following window will be displayed Select whether or not to reflect the tuning result in the project ...

Страница 202: ...op of one touch tuning During one touch tuning clicking the stop button stops one touch tuning At this time C000 is displayed at status in error code After the one touch tuning is stopped parameters will return to the values at the start of the one touch tuning When executing one touch tuning again stop the servo motor once In addition after returning the moving part to the tuning start position e...

Страница 203: ...on control mode to the speed control mode C004 Time out 1 One cycle time during the operation has been over 30 s Set one cycle time during the operation time from the command start to the next command start to 30 s or less 2 The command speed is slow Set the servo motor speed to 100 r min or higher Error is less likely to occur as the setting speed is higher When one touch tuning by the amplifier ...

Страница 204: ... to greater than 0 C008 Stop signal EM2 LSP and LSN were turned off during one touch tuning in the amplifier command method Review the one touch tuning start position and permissible travel distance for the amplifier command method After ensuring safety turn on EM2 LSP and LSN C009 Parameter Parameters for manufacturer setting have been changed Return the parameters for manufacturer setting to the...

Страница 205: ... to the initial value Refer to table 6 1 for the parameters which you can initialize Clicking Return to value before adjustment in the one touch tuning window of MR Configurator2 enables to return the parameter to the value before clicking the start button When the initialization of one touch tuning is completed the following window will be displayed returning to initial value ...

Страница 206: ...e touch tuning can be executed in the user command method only Tuning cannot be executed in the amplifier command method with the buttons a Response mode selection Select a response mode of the one touch tuning from 3 modes with UP or DOWN Refer to 1 b in this section for a guideline of response mode Response mode selection display Low mode This mode is for low rigid system Basic mode This mode is...

Страница 207: ...rt writing the auto tuned parameters to the servo amplifier The one touch tuning progress is displayed with 0 to 100 The decimal point moves right to left in rotation during the tuning To switch the display to the status display during the tuning push the MODE button One touch tuning in progress Complete c Stop of one touch tuning The stop symbol and error code C 000 cancel during tuning will be d...

Страница 208: ...Stop symbol Initial screen Pushing the SET button will switch to the initial screen e If an alarm occurs If an alarm occurs during the one touch tuning the tuning will be forcibly terminated and the alarm No will be displayed One touch tuning in progress Alarm display f If a warning occurs If a warning occurs during the one touch tuning the alarm No of the warning will be displayed When the warnin...

Страница 209: ...nitial screen AUTO of the one touch tuning with the MODE button 2 Select the clear mode or back mode with the UP or DOWN button One touch tuning clear mode selection DOWN UP To clear the one touch tuning push the SET button for 2 s The one touch tuning clear mode is in progress The clear mode symbol blinks for 3 s Clearing one touch tuning is completed the initial screen will be displayed One touc...

Страница 210: ...s cannot be executed during one touch tuning 1 Positioning operation 2 JOG operation 3 Program operation 4 Machine analyzer operation 5 Single step feed c During one touch tuning the permissible travel distance may be exceeded due to overshoot set a value sufficient to prevent machine collision d When Auto tuning mode 2 Manual mode or 2 gain adjustment mode 2 is selected in Pr PA08 Auto tuning mod...

Страница 211: ...formed properly if all of the following conditions are not satisfied Time to reach 2000 r min is the acceleration deceleration time constant of 5 s or less Speed is 150 r min or higher The load to motor inertia ratio is 100 times or less The acceleration deceleration torque is 10 or more of the rated torque Under operating conditions which will impose sudden disturbance torque during acceleration ...

Страница 212: ...d to motor inertia ratio or failed to estimate set Gain adjustment mode selection to Auto tuning mode 2 _ _ _ 2 in Pr PA08 to stop the estimation turning off the switch in above diagram and set the load to motor inertia ratio Pr PB06 manually From the preset load to motor inertia ratio Pr PB06 value and response Pr PA09 the optimum loop gains are automatically set on the basis of the internal gain...

Страница 213: ...tment procedure is as follows Auto tuning adjustment Acceleration deceleration repeated Auto tuning conditions are not satisfied Estimation of load to motor inertia ratio is difficult Load to motor inertia ratio estimation value stable Set Pr PA08 to _ _ _ 2 and set Pr PB06 Load to motor inertia ratio manually Adjust response level setting so that desired response is achieved on vibration free lev...

Страница 214: ...46 to Pr PB51 may be used to suppress machine resonance Suppressing machine resonance may allow the response level setting to increase Refer to section 7 1 1 and 7 1 2 for settings of the adaptive tuning mode and machine resonance suppression filter Pr PA09 Setting value Machine characteristic Setting value Machine characteristic Response Guideline for machine resonance frequency Hz Response Guide...

Страница 215: ... the estimate value with auto tuning is correct setting change is not required 4 Set a small value to the model loop gain Set a large value to the speed integral compensation 5 Increase the speed loop gain within the vibration and unusual noise free range and return slightly if vibration takes place Increase the speed loop gain 6 Decrease the speed integral compensation within the vibration free r...

Страница 216: ...ver if the load to motor inertia ratio is large or the mechanical system has any vibratory element the mechanical system is liable to vibrate unless the setting is increased to some degree The guideline is as indicated in the following expression Speed integral compensation setting ms 2000 to 3000 Speed loop gain 1 Load to motor inertia ratio 3 Pr PB07 Model loop gain This parameter determines the...

Страница 217: ...chieved response may be increased by suppressing resonance with the adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 8 Suppression of machine resonance Section 7 1 1 and 7 1 2 10 While checking the settling characteristic and motor status fine adjust each gain Fine adjustment c Parameter adjustment 1 Pr PB09 Speed loop gain This parameter determines the re...

Страница 218: ...he mechanical system is liable to vibrate Position loop gain guideline 1 Load to motor inertia ratio Speed loop gain 8 1 4 1 to 4 Pr PB07 Model loop gain This parameter determines the response level to a position command Increasing the value improves trackability to a position command but a too high value will make overshoot liable to occur at settling Estimated model loop gain 1 Load to motor ine...

Страница 219: ...ning Parameter Symbol Name PB06 GD2 Load to motor inertia ratio PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation b Manually adjusted parameter The following parameters are adjustable manually Parameter Symbol Name PA09 RSP Auto tuning response PB07 PG1 Model loop gain 2 2 gain adjustment mode 2 Use 2 gain adjustment mode 2 when proper gain adjustment cannot...

Страница 220: ... _ _ 4 and then set the load to motor inertia ratio manually in Pr PB06 Check the load to motor inertia ratio 6 Set the model loop gain of all the axes to be interpolated to the same value At that time adjust to the setting value of the axis which has the smallest model loop gain Set model loop gain 7 Considering the interpolation characteristic and motor status fine adjust the model loop gain and...

Страница 221: ...6 NORMAL GAIN ADJUSTMENT 6 34 MEMO ...

Страница 222: ...re vibration may increase if you set an incorrect resonance frequency or set notch characteristics too deep or too wide If the frequency of machine resonance is unknown decrease the notch frequency from higher to lower ones in order The optimum notch frequency is set at the point where vibration is minimal A deeper notch has a higher effect on machine resonance suppression but increases a phase de...

Страница 223: ...ith one touch tuning Machine resonance suppression filter 1 PB01 PB13 PB14 The filter can be set automatically with Filter tuning mode selection in Pr PB01 PB13 PB01 PB13 PB14 Machine resonance suppression filter 2 PB15 PB16 PB15 PB15 PB16 Machine resonance suppression filter 3 PB46 PB47 PB46 PB47 Machine resonance suppression filter 4 PB48 PB49 Enabling the machine resonance suppression filter 4 ...

Страница 224: ...lter 3 selection in Pr PB47 How to set the machine resonance suppression filter 3 Pr PB46 and Pr PB47 is the same as for the machine resonance suppression filter 1 Pr PB13 and Pr PB14 d Machine resonance suppression filter 4 Pr PB48 and Pr PB49 To use this filter select Enabled _ _ _ 1 of Machine resonance suppression filter 4 selection in Pr PB49 However enabling the machine resonance suppression...

Страница 225: ...he manual setting Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics Adaptive tuning in the high accuracy mode is available with servo amplifiers with software version C5 or later The frequency is estimated more accurately in the high accuracy mode compared to the standard mode However the tuning sound may be larger in th...

Страница 226: ...e filter II Pr PB01 Filter tuning mode selection 0 0 0 1 2 Setting value Filter tuning mode selection Disabled Automatic setting Manual setting PB13 PB14 Automatically set parameter Tuning accuracy selection Note 0 Standard 1 High accuracy Note This digit is available with servo amplifier with software version C5 or later ...

Страница 227: ..._ 0 Adaptive tuning Operation Is the target response reached 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 Factor The response has increased to the machine limit The machine is too complic...

Страница 228: ...ng increases the response of the servo amplifier for high resonance frequency 2 Parameter Set Shaft resonance suppression filter selection in Pr PB23 Pr PB23 Shaft resonance suppression filter selection 0 Automatic setting 1 Manual setting 2 Disabled 0 1 0 To set Pr PB17 Shaft resonance suppression filter automatically select Automatic setting To set Pr PB17 Shaft resonance suppression filter manu...

Страница 229: ...ssion control II POINT The function is enabled when Gain adjustment mode selection in Pr PA08 is Auto tuning mode 2 _ _ _ 2 Manual mode _ _ _ 3 or 2 gain adjustment mode 2 _ _ _ 4 The machine resonance frequency supported in the vibration suppression control tuning mode is 1 0 Hz to 100 0 Hz As for the vibration out of the range set manually Stop the servo motor before changing the vibration suppr...

Страница 230: ...he predetermined number of times For manual setting adjust the vibration suppression control 1 with Pr PB19 to Pr PB22 and vibration suppression control 2 with Pr PB52 to Pr PB55 2 Parameter Set Pr PB02 Vibration suppression control tuning mode advanced vibration suppression control II When you use a vibration suppression control set Vibration suppression control 1 tuning mode selection When you u...

Страница 231: ...nd device is resolved End Yes No No Yes Increase the response setting Has vibration of workpiece end device increased Has vibration of workpiece end device been resolved Using a machine analyzer or considering load side vibration waveform set the vibration suppression control manually Factor Estimation cannot be made as load side vibration has not been transmitted to the servo motor side The respo...

Страница 232: ...r PB20 Pr PB52 and Pr PB53 varies depending on the value in Pr PB07 If a value out of the range is set the vibration suppression control will be disabled Measure work side vibration and device shake with the machine analyzer or external measuring instrument and set the following parameters to adjust vibration suppression control manually Setting item Vibration suppression control 1 Vibration suppr...

Страница 233: ... Pr PB52 Pr PB52 Pr PB53 6 25 Hz 1 1 Pr PB52 Pr PB19 4 Pr PB07 1 3 4 Pr PB19 2 Pr PB52 a When a vibration peak can be confirmed with machine analyzer using MR Configurator2 or external equipment 1 Hz Gain characteristics Phase 90 degrees 300 Hz Vibration suppression control 1 Vibration frequency anti resonance frequency Pr PB19 Vibration suppression control 1 Resonance frequency Pr PB20 Vibration ...

Страница 234: ...ge When Pr PB45 Command notch filter is changed during the positioning operation the changed setting is not reflected The setting is reflected approximately 150 ms after the servo motor stops after servo lock 1 Function Command notch filter has a function that lowers the gain of the specified frequency contained in a position command By lowering the gain load side vibration such as work side vibra...

Страница 235: ... 2 33 1 31 3 29 6 28 1 26 8 25 6 24 5 23 4 22 5 21 6 20 8 20 1 19 4 18 8 18 2 17 6 16 5 15 6 14 8 14 1 13 4 12 8 12 2 11 7 11 3 10 8 10 4 10 0 9 7 9 4 9 1 8 8 8 3 7 8 7 4 7 0 6 7 6 4 6 1 5 9 5 6 5 4 5 2 5 0 4 9 4 7 4 5 Notch depth 0 1 2 3 4 5 6 7 8 9 A B C D E F Setting value Depth dB Pr PB45 40 0 24 1 18 1 14 5 12 0 10 1 8 5 7 2 6 0 5 0 4 1 3 3 2 5 1 8 1 2 0 6 7 2 Gain switching function You can ...

Страница 236: ...PB29 Enabled GD2 value PG1 Pr PB07 PG1B Pr PB60 Enabled PG1 value PG2 Pr PB08 PG2B Pr PB30 Enabled PG2 value VG2 Pr PB09 VG2B Pr PB31 Enabled VG2 value VIC Pr PB10 VICB Pr PB32 Enabled VIC value VRF11 Pr PB19 VRF1B Pr PB33 Enabled VRF11 value VRF12 Pr PB20 VRF2B Pr PB34 Enabled VRF12 value CDL Pr PB27 VRF13 Pr PB21 VRF3B Pr PB35 Enabled VRF13 value VRF14 Pr PB22 VRF4B Pr PB36 Enabled VRF14 value V...

Страница 237: ... Servo motor speed 0 Gain switching condition 0 Gain after switching is enabled with gain switching condition or more 1 Gain after switching is enabled with gain switching condition or less Pr PB26 Gain switching time constant disabling condition selection Note 0 Switching time constant enabled 1 Switching time constant disabled 2 Return time constant disabled Note This parameter setting is availa...

Страница 238: ...quency damping after gain switching Vibration suppression control 1 Resonance frequency damping PB22 VRF14 Vibration suppression control 1 Resonance frequency damping PB36 VRF4B Vibration suppression control 1 Resonance frequency damping after gain switching Vibration suppression control 2 Vibration frequency PB52 VRF21 Vibration suppression control 2 Vibration frequency PB56 VRF21B Vibration supp...

Страница 239: ... examples 1 When you choose switching by input device CDP a Setting Parameter Symbol Name Setting value Unit PB06 GD2 Load to motor inertia ratio 4 00 Multiplier PB07 PG1 Model loop gain 100 rad s PB08 PG2 Position loop gain 120 rad s PB09 VG2 Speed loop gain 3000 rad s PB10 VIC Speed integral compensation 20 ms PB19 VRF11 Vibration suppression control 1 Vibration frequency 50 Hz PB20 VRF12 Vibrat...

Страница 240: ...ain switching 0 05 PB59 VRF24B Vibration suppression control 2 Resonance frequency damping after gain switching 0 05 b Switching timing chart After switching gain 63 4 CDT 100 ms Before switching gain Gain switching CDP gain switching OFF ON OFF Model loop gain 100 50 100 Load to motor inertia ratio 4 00 10 00 4 00 Position loop gain 120 84 120 Speed loop gain 3000 4000 3000 Speed integral compens...

Страница 241: ...0 Multiplier PB30 PG2B Position loop gain after gain switching 84 rad s PB31 VG2B Speed loop gain after gain switching 4000 rad s PB32 VICB Speed integral compensation after gain switching 50 ms PB26 CDP Gain switching function 0003 switching by droop pulses PB27 CDL Gain switching condition 50 pulse PB28 CDT Gain switching time constant 100 ms b Switching timing chart After switching gain 63 4 CD...

Страница 242: ... ms After switching gain Before switching gain Switching at Pr PB28 CDT 100 ms only when gain switching off when returning CDT 100 ms 63 4 Switching at 0 ms After switching gain Gain switching b Return time constant disabled was selected The gain switching time constant is enabled The time constant is disabled at gain return The following example shows for Pr PB26 CDP 0201 Pr PB27 CDL 0 and Pr PB2...

Страница 243: ...n filter 2 should be set in advance Set Pr PB13 and Pr PB15 as follows 1 One touch tuning execution section 6 2 2 Manual setting section 5 2 2 The vibration tough drive function operates when a detected machine resonance frequency is within 30 for a value set in Pr PB13 Machine resonance suppression filter 1 or Pr PB15 Machine resonance suppression filter 2 To set a detection level of the function...

Страница 244: ...erly depending on the usage situation The shaft resonance suppression filter is enabled for the initial setting Machine resonance suppression filter 5 PB50 PB51 Enabling the robust filter disables the machine resonance suppression filter 5 The robust filter is disabled for the initial setting Command pulse train Command filter Encoder Servo motor PWM M Load Machine resonance suppression filter 1 P...

Страница 245: ...ive Selecting Enabled _ _ _ 1 for Torque limit function selection at instantaneous power failure in Pr PA26 will limit torques to save electric energy when an instantaneous power failure occurs during operation and will make AL 10 Undervoltage less likely to occur When the load of instantaneous power failure is large AL 10 2 caused by the bus voltage drop may occur regardless of the set value of P...

Страница 246: ... than 158 V DC within the instantaneous power failure time AL 10 Undervoltage occurs when the bus voltage decrease lower than 158 V DC regardless of the enabled instantaneous power failure tough drive Power supply Bus voltage Undervoltage level 158 V DC ALM Malfunction Pr PF25 Instantaneous power failure time MTTR During tough drive MBR Electromagnetic brake interlock Base circuit ON OFF ON OFF ON...

Страница 247: ...instantaneous power failure time The operation continues without alarming Power supply Bus voltage Undervoltage level 158 V DC ALM Malfunction Pr PF25 Instantaneous power failure time MTTR During tough drive MBR Electromagnetic brake interlock Base circuit ON OFF ON OFF ON OFF ON OFF ON OFF WNG Warning ON OFF ...

Страница 248: ...Parameter Symbol Name PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation 2 Parameter setting Set Pr PB25 to _ _ _ 2 3 Restrictions The following functions are not available at model adaptive control disabled Function Explanation Forced stop deceleration function Pr PA04 Disabling the model adaptive control while the forced stop deceleration function is enable...

Страница 249: ...ensation function a Lost motion compensation function selection Pr PE48 Select the lost motion compensation function Lost motion compensation selection 0 Lost motion compensation disabled 1 Lost motion compensation enabled 0 Unit setting of lost motion compensation non sensitive band 0 1 pulse unit 1 1 kpulse unit Pr PE48 0 b Lost motion compensation Pr PE44 Pr PE45 Set the same value for the lost...

Страница 250: ...ged Adjust the value of Lost motion compensation timing Pr PE49 f Lost motion filter setting Pr PE46 Changing the value of this parameter is usually unnecessary When a value other than 0 0 ms is set in this parameter the high pass filter output value of the set time constant is applied to the compensation and lost motion compensation continues 2 Adjustment procedure of the lost motion compensation...

Страница 251: ...an the standard setting value or the servo motor is rotating at high speed quadrant projections may occur behind the quadrant change points In this case you can suppress the quadrant projections by delaying the lost motion compensation timing with Pr PE49 Lost motion compensation timing Increase the setting value of Pr PE49 from 0 ms initial value by approximately 0 5 ms to adjust the compensation...

Страница 252: ...rms and warnings in which DB or EDB is written in the stop method column the servo motor stops with the dynamic brake without forced stop deceleration 3 Alarm deactivation After the cause of the alarm has been removed the alarm can be deactivated by any of the methods marked in the alarm deactivation column Warnings are automatically canceled after the cause of occurrence is removed Alarms are dea...

Страница 253: ...12 DB 14 D Control process error 13 DB 15 Memory error 2 EEP ROM 15 1 EEP ROM error at power on DB 0 0 0 15 2 EEP ROM error during operation DB 15 4 Home position information read error DB 16 16 1 Encoder initial communication Receive data error 1 DB 16 2 Encoder initial communication Receive data error 2 DB 16 3 Encoder initial communication Receive data error 3 DB 16 5 Encoder initial communicat...

Страница 254: ...er normal communication error 2 21 1 Encoder data error 1 EDB 1 1 0 21 2 Encoder data update error EDB 21 3 Encoder data waveform error EDB 21 5 Encoder hardware error 1 EDB 21 6 Encoder hardware error 2 EDB 21 9 Encoder data error 2 EDB 24 Main circuit error 24 1 Ground fault detected at hardware detection circuit DB 1 0 0 24 2 Ground fault detected at software detection function DB 25 Absolute p...

Страница 255: ...1 Note 1 50 2 Thermal overload error 2 during operation SD Note 1 Note 1 50 Overload 1 50 3 Thermal overload error 4 during operation SD Note 1 Note 1 0 1 1 50 4 Thermal overload error 1 during a stop SD Note 1 Note 1 50 5 Thermal overload error 2 during a stop SD Note 1 Note 1 50 6 Thermal overload error 4 during a stop SD Note 1 Note 1 51 Overload 2 51 1 Thermal overload error 3 during operation...

Страница 256: ...munication checksum error SD 8E 3 USB communication character error serial communication character error SD 8E 4 USB communication command error serial communication command error SD 8E 5 USB communication data number error serial communication data number error SD 8E 6 Modbus RTU communication receive error SD 8E 7 Modbus RTU communication message frame error SD 8E 8 Modbus RTU communication CRC ...

Страница 257: ...ning 9B 1 Excess droop pulse 1 warning 9B 3 Excess droop pulse 2 warning 9B 4 Error excessive warning during 0 torque limit 9F Battery warning 9F 1 Low battery E0 Excessive regeneration warning E0 1 Excessive regeneration warning E1 Overload warning 1 E1 1 Thermal overload warning 1 during operation E1 2 Thermal overload warning 2 during operation E1 3 Thermal overload warning 3 during operation E...

Страница 258: ...e constant setting range error warning F4 8 Control command input error warning F5 Simple cam function Cam data miswriting warning F5 1 Cam data Area writing time out warning F5 2 Cam data Area miswriting warning F5 3 Cam data checksum error F6 1 Cam axis one cycle current value restoration failed F6 Simple cam function Cam control warning F6 2 Cam axis feed current value restoration failed F6 3 C...

Страница 259: ...8 TROUBLESHOOTING 8 8 MEMO ...

Страница 260: ... The built in regenerative resistor lead wire is mounted only in MR JE 40A 6 PE CNP1 CN1 CN2 CN3 Mass 0 8 kg L2 L3 P C U V W L1 PE Terminal CNP1 Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m Approx 6 Approx 50 156 0 5 Approx 6 Approx 6 Approx 168 2 M5 screw Mounting hole process drawing ...

Страница 261: ... mounting hole 6 PE CNP1 CN1 CN2 CN3 Mass 1 5 kg L2 L3 P C U V W L1 PE Terminal CNP1 Screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M5 Tightening torque 3 24 N m Approx 6 Approx 6 Approx 168 156 0 5 Approx 70 42 0 3 Approx 22 Approx 6 3 M5 screw Mounting hole process drawing ...

Страница 262: ...Mass 2 1 kg L2 L3 C D P U V W L1 CNP2 Terminal CNP1 Screw size M4 Tightening torque 1 2 N m PE Note Mounting screw Screw size M5 Tightening torque 3 24 N m Approx 90 78 0 3 Approx 6 Approx 6 Approx 168 156 0 5 Approx 6 Approx 6 Mounting hole process drawing 3 M5 screw Note The servo amplifiers without the N terminal will be available sequentially from the December 2016 production ...

Страница 263: ...ed here D Connector Shell kit Variable dimensions A B C D E 10150 3000PE 10350 52F0 008 41 1 52 4 18 0 14 0 17 0 b Jack screw M2 6 type This is not available as option Unit mm E B A 23 8 39 0 12 7 C Logo etc are indicated here 5 2 F D Connector Shell kit Variable dimensions A B C D E F 10150 3000PE 10350 52A0 008 41 1 52 4 18 0 14 0 17 0 46 5 ...

Страница 264: ...9 DIMENSIONS 9 5 2 SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 Unit mm 34 8 39 5 22 4 11 0 ...

Страница 265: ...9 DIMENSIONS 9 6 MEMO ...

Страница 266: ...nt on the left side area of the continuous or broken line in the graph For the system where the unbalanced torque occurs such as a vertical axis system the unbalanced torque of the machine should be kept at 70 or lower of the motor s rated torque This servo amplifier has servo motor overload protective function The servo motor overload current full load current is set on the basis of 120 rated cur...

Страница 267: ...ed torque and servo off according to the duty used during operation When the servo motor is run at less than the rated speed the power supply capacity will be smaller than the value in the table but the servo amplifier s generated heat will not change Table 10 1 Power supply capacity and generated loss per servo motor at rated output Servo amplifier Servo motor Note 1 Power supply capacity kVA Not...

Страница 268: ...efer to table 10 1 for heat generated by the servo amplifier A indicates the effective area for heat dissipation but if the cabinet is directly installed on an insulated wall that extra amount must be added to the cabinet s surface area The required heat dissipation area will vary with the conditions in the cabinet If convection in the cabinet is poor and heat builds up effective heat dissipation ...

Страница 269: ... as a shock absorber to reduce the shock of moving parts POINT Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency For a machine operating at the recommended load to motor inertia ratio or less the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes Be sure t...

Страница 270: ...p 1 Dynamic brake time constant τ Fig 10 3 Dynamic brake operation diagram Lmax 60 V0 JM te 1 JL 10 2 Lmax Maximum coasting distance mm V0 Machine s fast feed speed mm min JM Moment of inertia of the servo motor 10 4 kg m2 JL Load moment of inertia converted into equivalent value on servo motor shaft 10 4 kg m2 τ Dynamic brake time constant s te Delay time of control section s There is internal re...

Страница 271: ...motor Servo motor Permissible load to motor inertia ratio multiplier HG KN13_ HG KN23_ HG KN43_ HG KN73_ 30 HG SN52_ HG SN102_ HG SN152_ HG SN202_ 24 HG SN302_ 16 10 4 Cable bending life The bending life of the cables is shown below This graph calculated values Since they are not guaranteed values provide a little allowance for these values a b Standard encoder cable Standard motor power cable Sta...

Страница 272: ...u use a 1 phase 200 V AC power supply with MR JE 10A to MR JE 200A the inrush currents will be the same Servo amplifier Inrush currents A0 P MR JE 10A MR JE 20A MR JE 40A 32 A attenuated to approx 3 A in 20 ms MR JE 70A MR JE 100A 36 A attenuated to approx 7 A in 20 ms MR JE 200A MR JE 300A 102 A attenuated to approx 12 A in 20 ms Since large inrush currents flow in the power supplies always use m...

Страница 273: ...10 CHARACTERISTICS 10 8 MEMO ...

Страница 274: ...vent a malfunction or a fire POINT We recommend using HIV wires to wire the servo amplifiers options and peripheral equipment Therefore the recommended wire sizes may differ from those used for the previous servo amplifiers 11 1 Cable connector sets POINT The IP rating indicated for cables and connectors is their protection against ingress of dust and raindrops when they are connected to a servo a...

Страница 275: ...or power supply electromagnetic brake and encoder Note Personal computer 5 1 Packed with the servo amplifier To 24 V DC power supply for electromagnetic brake Servo motor Encoder connector Servo amplifier Operation panel Controller 3 2 4 CN3 CN1 CN2 Power connector Brake connector CNP1 Note Connectors for 1 kW or less Refer to section 3 3 3 1 b for 2 kW or more ...

Страница 276: ...r power connector MR JECNP2 02 CNP2 Connector 03JFAT SAXGFK XL JST Applicable wire size AWG 16 to 10 Insulator OD to 4 7 mm 2 Junction terminal block cable MR J2M CN1TBL_M Cable length 0 5 m 1 m Refer to section 11 3 Junction terminal block connector Connector D7950 B500FL 3M CN1 connector Connector 10150 6000EL Shell kit 10350 3210 000 3M or equivalent For junction terminal block connection 3 CN1...

Страница 277: ... and regenerative power The power values in the table are resistor generated powers and not rated powers Servo amplifier Regenerative power W Built in regenerative resistor MR RB032 40 Ω MR RB12 40 Ω MR RB30 13 Ω MR RB32 40 Ω Note MR RB50 13 Ω MR JE 10A 30 MR JE 20A 30 100 MR JE 40A 10 30 100 MR JE 70A 20 30 100 300 MR JE 100A 20 30 100 300 MR JE 200A 100 300 500 MR JE 300A 100 300 500 Note Always...

Страница 278: ...1 tpsa1 1 2 3 4 5 6 7 8 Formulas for calculating torque and energy in operation Regenerative power Torque applied to servo motor N m Note Energy E J 1 T1 9 55 104 JL η JM V tpsa1 1 TU TF E1 2 0 1047 V T1 tpsa1 2 T2 TU TF E2 0 1047 V T2 t1 3 T3 9 55 104 JL η JM V tpsd1 1 TU TF E3 2 0 1047 V T3 tpsd1 4 8 T4 T8 TU E4 E8 0 No regeneration 5 T5 9 55 104 JL η JM V tpsa2 1 TU TF E5 2 0 1047 V T5 tpsa2 6 ...

Страница 279: ...c capacitor change with time allow for approximately 10 higher inverse efficiency Capacitor charging Ec Energy charged into the electrolytic capacitor in the servo amplifier Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative option ER J ηm Es Ec Select a necessary regen...

Страница 280: ...5 A built in regenerative resistor should not be mounted removed frequently When you remount a built in regenerative resistor check the lead wires of the built in regenerative resistor for scratches or cracks The regenerative option generates heat of 100 C higher than the ambient temperature Fully consider heat dissipation installation position wires used etc before installing the option For wirin...

Страница 281: ...Cooling fan Note 3 Note 1 The built in regenerative resistor is not provided for MR JE 10A and MR JE 20A 2 Make up a sequence which will switch off the magnetic contactor when abnormal heating occurs G3 G4 contact specifications Maximum voltage 120 V AC DC Maximum current 0 5 A 4 8 V DC Maximum capacity 2 4 VA 3 When the ambient temperature is more than 55 C and the regenerative load ratio is more...

Страница 282: ... the built in regenerative resistor from the power connector CNP1 Refer to 3 b of 3 3 2 2 Remove the wirings of the built in regenerative resistor from the closest position to the power connector CNP1 in order Please pay full attention not to break the wirings 3 Remove the screw fixing the built in regenerative resistor and dismount the built in regenerative resistor Note 3 1 2 Note Screw size M3 ...

Страница 283: ...fan 1 0 m3 min or more 92 mm 92 mm 2 When the ambient temperature is more than 55 C and the regenerative load ratio is more than 60 in MR RB30 forcefully cool the air with a cooling fan 1 0 m3 min or more 92 mm 92 mm A cooling fan is not required if the ambient temperature is 35 C or less A cooling fan is required for the shaded area in the following graph 100 60 0 0 Ambient temperature C 35 55 A ...

Страница 284: ...m2 to 2 5 mm2 AWG 24 to 12 Tightening torque 0 5 to 0 6 N m Mounting screw Screw size M5 Tightening torque 3 24 N m Mass 1 1 kg 2 MR RB30 MR RB32 Unit mm 8 5 125 150 Approx 30 142 79 82 5 30 8 5 10 90 101 5 82 5 318 17 335 Intake 7 100 Cooling fan mounting screw 2 M4 screw Terminal P C G3 G4 Terminal screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M6 Tightening torque 5 4 N m Mas...

Страница 285: ...Terminal block P C G3 G4 Terminal screw size M4 Tightening torque 1 2 N m Mounting screw Screw size M6 Tightening torque 5 4 N m Mass 5 6 kg 4 MR RB032 Unit mm TE1 30 15 99 1 6 119 144 12 156 168 6 6 5 Approx 6 Approx 12 Approx 20 φ6 mounting hole TE1 terminal G3 G4 P C Applicable wire size 0 2 mm2 to 2 5 mm2 AWG 24 to 12 Tightening torque 0 5 to 0 6 N m Mounting screw Screw size M5 Tightening tor...

Страница 286: ...e use of the cable clamp fitting refer to section 11 9 2 c 2 Terminal block label Use the following for the terminal label For the input output pin assignment in the control mode refer to 4 b in this section 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 3 Dimensions Unit mm 235 50 25 Approx 25 9 2 1 50 4...

Страница 287: ...RD SD Speed VC LG LA LAR LB LBR LZ LZR SDP SDN SON ST1 DICOM DICOM ZSP SA MO1 TLA LG MO2 LG TRE OP LG RDP RDN ST2 EM2 LSP LSN DOCOM DOCOM ALM RD SD Torque VLA LG LA LAR LB LBR LZ LZR SDP SDN SON RS2 DICOM DICOM ZSP MO1 TC LG MO2 LG TRE OP LG RDP RDN RS1 EM2 DOCOM DOCOM ALM RD SD 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 ...

Страница 288: ...on Project Create read save delete project system setting and print Parameter Parameter setting axis name setting Monitor Display all I O monitor and graph Diagnosis Alarm display alarm onset data drive recorder no motor rotation system configuration life diagnosis machine diagnosis Test operation Jog operation positioning operation motor less operation DO forced output and program operation test ...

Страница 289: ...or more Laptop personal computer Intel Pentium M processor 1 7 GHz or more Memory recommended 512 MB or more for 32 bit OS 1 GB or more for 64 bit OS Free space on the hard disk 1 GB or more Communication interface USB port Browser Windows Internet Explorer 4 0 or more Display One whose resolution is 1024 768 or more and that can provide a high color 16 bit display Connectable with the above perso...

Страница 290: ...nect the power plug of the personal computer from an AC power socket b Check that the power plug was disconnected and connect the device to the servo amplifier c Connect the power plug of the personal computer to the AC power socket b When you use a personal computer with battery You can use as it is 2 Connection with other devices using servo amplifier communication function When the servo amplif...

Страница 291: ...ad Power supply Servo amplifier U V W 2 Servo motor power supply lead M Table 11 1 shows examples for using the 600 V Grade heat resistant polyvinyl chloride insulated wire HIV wire Table 11 1 Wire size selection example HIV wire Servo amplifier Wire mm2 1 L1 L2 L3 3 P C 2 U V W Note 1 MR JE 10A MR JE 20A AWG 18 to 14 Note 2 MR JE 40A MR JE 70A 2 AWG 14 2 AWG 14 MR JE 100A MR JE 200A 3 phase power...

Страница 292: ...A 3 phase power supply input MR JE 100A 1 phase power supply input 30 A frame 15 A 30 A frame 15 A 30 MR JE 200A 30 A frame 20 A 30 A frame 20 A 40 S N20 Note 3 S T21 MR JE 300A 30 A frame 30 A 30 A frame 30 A 70 S N20 S T21 Note 1 When having the servo amplifier comply with the IEC EN UL CSA standard refer to app 2 2 Use a magnetic contactor with an operation delay time interval between current b...

Страница 293: ...actor improving reactor enough improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated 1 Connection example a When using 3 phase 200 V AC to 240 V AC power supply Y Z S T MC MCCB FR HAL Servo amplifier X R L1 L2 L3 3 phase 200 V AC to 240 V AC b When using 1 phase 200 V AC to 240 V AC power supply for MR JE 10A to MR JE 100A Y Z S T MC MCCB FR HAL Servo ampli...

Страница 294: ... 100A 1 phase power supply input MR JE 200A 3 phase power supply input FR HAL 3 7K 115 Note 3 40 115 83 81 67 M6 M4 2 2 MR JE 200A 1 phase power supply input MR JE 300A FR HAL 5 5K 115 Note 3 40 115 83 81 67 M6 M4 2 3 Note 1 Use this for grounding 2 W 2 is applicable for FR HAL 0 4K to FR HAL 1 5K 3 Maximum dimensions The dimension varies depending on the input output lines 11 8 Relay recommended ...

Страница 295: ... brake and many relays which make a large amount of noise near the servo amplifier and the servo amplifier may malfunction the following countermeasures are required Provide surge absorbers on the noise sources to suppress noises Attach data line filters to the signal cables Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings Although a surge ...

Страница 296: ...led together magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur The following techniques are required 1 Provide maximum clearance between easily affected devices and the servo amplifier 2 Provide maximum clearance between easily affected signal cables and the I O cables of the servo amplifier 3 Avoid wiring the power lines in...

Страница 297: ...MHz to 500 MHz 80 150 b Surge killer recommended Use of a surge killer is recommended for AC relay magnetic contactor or the like near the servo amplifier Use the following surge killer or equivalent MC SK Surge killer Relay Surge killer MC ON OFF This distance should be short within 20 cm Ex CR 50500 Okaya Electric Industries Rated voltage AC V C µF 20 R Ω 30 Test voltage Dimensions Unit mm 6 1 3...

Страница 298: ...nst the grounding plate with the cable clamp If the cable is thin clamp several cables in a bunch The cable clamp comes as a set with the grounding plate Unit mm Cable clamp A B Cable Grounding plate External conductor Clamp section diagram 40 Strip the cable sheath of the clamped area cutter cable Dimensions Unit mm Grounding plate Note M4 screw 11 3 6 C A 6 22 17 5 35 35 7 24 0 0 2 B 0 3 2 φ5 ho...

Страница 299: ...ases but generally four passes would be appropriate For the servo motor power lines passes must be four times or less Do not pass the grounding wire through the filter Otherwise the effect of the filter will drop Wind the wires by passing through the filter to satisfy the required number of passes as shown in Example 1 If the wires are too thick to wind use two or more filters to have the required...

Страница 300: ...xogenous noise and lightning surge from entering the servo amplifier When using a varistor connect it between each phase of the input power supply of the equipment For varistors the TND20V 431K and TND20V 471K manufactured by NIPPON CHEMI CON are recommended For detailed specification and usage of the varistors refer to the manufacturer catalog Power supply voltage Varistor Maximum rating Maximum ...

Страница 301: ...g2 Igm M Servo amplifier NV Wire Earth leakage current breaker K Type Mitsubishi Electric products Models provided with harmonic and surge reduction techniques NV SP NV SW NV CP NV CW NV HW 1 General models BV C1 NFB NV L 3 Ig1 Leakage current on the electric channel from the earth leakage current breaker to the input terminals of the servo amplifier Found from Fig 11 2 Ig2 Leakage current on the ...

Страница 302: ... Indicated below is an example of selecting an earth leakage current breaker under the following conditions Servo motor HG KN43_ 2 mm2 5 m 2 mm2 5 m M NV Ig1 Iga Ig2 Igm Servo amplifier MR JE 40A Use an earth leakage current breaker designed for suppressing harmonics surges Find the terms of equation 11 1 from the diagram Ig1 20 5 1000 0 1 mA Ig2 20 5 1000 0 1 mA Ign 0 not used Iga 0 1 mA Igm 0 1 ...

Страница 303: ...JE 300A HF3030A UN Note 30 5 5 Note A surge protector is separately required to use any of these EMC filters 2 Connection example a When using 3 phase 200 V AC to 240 V AC power supply MCCB Servo amplifier 1 2 3 Note Surge protector RSPD 250 U4 OKAYA Electric Industries Co Ltd 3 phase 200 V AC to 240 V AC 1 2 3 MC EMC filter L1 L2 L3 4 5 6 E Note The example is when a surge protector is connected ...

Страница 304: ...te 1 1 phase 200 V AC to 240 V AC 1 2 3 MC EMC filter L1 L2 L3 4 5 6 E Note 1 Connect the power supply to L1 and L2 Leave L3 open 2 The example is when a surge protector is connected 3 Dimensions a EMC filter HF3010A UN Unit mm 32 2 85 2 110 4 258 4 273 2 288 4 300 5 M4 IN 3 M4 65 4 Approx 41 4 5 5 7 3 M4 HF3030A UN Unit mm 125 2 44 1 260 5 140 2 70 2 140 1 155 2 3 M5 6 R3 25 length 8 3 M5 M4 85 1...

Страница 305: ...11 OPTIONS AND PERIPHERAL EQUIPMENT 11 32 b Surge protector RSPD 250 U4 41 1 28 5 1 28 1 φ4 2 0 5 5 5 1 11 1 30 0 200 4 5 0 5 1 3 2 Lead Case Resin Unit mm 1 2 3 ...

Страница 306: ...unication with the servo amplifier 12 1 Structure 12 1 1 Configuration diagram 1 Diagrammatic sketch Up to 32 axes of servo amplifiers from stations 0 to 31 can be operated on the same bus Axis No n n 1 station n 1 to 32 Axis No 2 station 1 Axis No 1 station 0 Servo amplifier CN1 Servo amplifier CN1 Servo amplifier CN1 RS 422 communication controller 2 Cable connection diagram Wire the cables as f...

Страница 307: ...two core plug and has no grounding wire connect the personal computer to the servo amplifier with the following procedures a Disconnect the power plug of the personal computer from an AC power socket b Check that the power plug was disconnected and connect the device to the servo amplifier c Connect the power plug of the personal computer to the AC power socket b When you use a personal computer w...

Страница 308: ...rity Stop Next start LSB MSB 12 2 2 Parameter setting When the RS 422 communication function is used to operate the servo set the communication specifications of the servo amplifier with the parameters To enable the parameter values cycle the power after setting 1 Serial communication baud rate Select the communication speed Match this value to the communication speed of the sending end master sta...

Страница 309: ...ation No of the servo amplifier which must provide the return data 1 Transmission of data from the controller to the servo Data SOH STX Command Data No ETX STX ETX Checksum Checksum 10 frames data 6 frames Positive response Error code A Negative response Error code other than A Station No Station No Controller side master station Servo side slave station Error code 2 Transmission of data request f...

Страница 310: ...DC2 DC3 Space 0 1 2 3 4 5 6 7 8 9 A B C D E F G H I J K L M N O P Q R S T U V W X Y Z _ a b c d e f g h i j k l m n o p q r s t u v w x y z DEL 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 b8 to b5 R C 0 1 2 3 b4 b3 b2 b1 4 5 6 7 3 Station numbers Set the station Nos from station 0 to 31 in total of 32 stations and ...

Страница 311: ...specifications F f Data No error The transmitted data No is out of specifications 12 3 4 Checksum The checksum is an ASCII coded hexadecimal representing the lower two digits of the sum of ASCII coded hexadecimal numbers up to ETX with the exception of the first control code STX or SOH STX or SOH ETX Check Checksum range Station No 5 2 STX 30H 41H 31H 32H 35H 46H 03H 152H 0 A 1 F 5 2 ETX 02H 30H 4...

Страница 312: ...ion No Station No Station No Controller side master station Servo side slave station STX STX Similarly when the master station detects a fault e g checksum parity in the response data from the slave station the master station retransmits the message which was sent at the occurrence of the fault A communication error occurs if the retry processing is performed three times 12 3 7 Initialization Afte...

Страница 313: ...sion data Other than error code A or a 3 consecutive times 300 ms elapsed Start Data make up Checksum calculation and addition Addition of SOH to make up transmission data Data transmission Data receive 3 consecutive times Receive data analysis End 100 ms after EOT transmission Error processing Error processing No Yes Yes Yes No No No No Yes Yes Master station Is there receive data Command Data No...

Страница 314: ...ad to motor inertia ratio 0 E Bus voltage 2 0 Internal temperature of encoder 2 1 Settling time 2 2 Oscillation detection frequency 2 3 Number of tough drive operations 2 8 Unit power consumption 2 9 Unit total power consumption 8 0 Status display data value and processing information Cumulative feedback pulses 12 8 1 Servo motor speed 8 2 Droop pulses 8 3 Cumulative command pulses 8 4 Command pul...

Страница 315: ...No value hexadecimal corresponds to the parameter No 12 1 7 0 1 to F F Lower limit values of parameter setting ranges Reads the permissible lower limit values of the parameters in the parameter group specified with the command 8 5 data No 0 0 Before reading the lower limit values therefore always specify the parameter group with the command 8 5 data No 0 0 The decimal equivalent of the data No val...

Страница 316: ...ond alarm in past 2 3 Third alarm in past 2 4 Fourth alarm in past 2 5 Fifth alarm in past 2 6 Sixth alarm in past 2 7 Seventh alarm in past 2 8 Eighth alarm in past 2 9 Ninth alarm in past 2 A Tenth alarm in past 2 B Eleventh alarm in past 2 C Twelfth alarm in past 2 D Thirteenth alarm in past 2 E Fourteenth alarm in past 2 F Fifteenth alarm in past 5 Current alarm command 0 2 Command Data No Des...

Страница 317: ...d command voltage Analog speed limit voltage 8 6 Analog torque limit voltage Analog torque command voltage 8 7 Regenerative load ratio 8 8 Effective load ratio 8 9 Peak load ratio 8 A Instantaneous torque 8 B Position within one revolution 8 C ABS counter Note 8 D Load to motor inertia ratio 8 E Bus voltage A 0 Internal temperature of encoder A 1 Settling time A 2 Oscillation detection frequency A...

Страница 318: ...Pr PF_ _ 0000 to 0005 4 3 External I O signals command 9 2 Command Data No Description Setting range Frame length 9 2 6 0 Communication input device signal Refer to section 12 5 5 8 4 Alarm history command 8 2 Command Data No Description Setting range Frame length 8 2 2 0 Alarm history clear 1EA5 4 5 Current alarm command 8 2 Command Data No Description Setting range Frame length 8 2 0 0 Alarm cle...

Страница 319: ...stant in the test operation mode JOG operation and positioning operation 00000000 to 7FFFFFFF 8 2 0 Set the travel distance in the test operation mode positioning operation 00000000 to 7FFFFFFF 8 2 1 Select the positioning direction of test operation positioning operation 0 Forward rotation direction 1 Reverse rotation direction 0 Command pulse unit 1 Encoder pulse unit 0 0 0000 to 0101 4 4 0 This...

Страница 320: ...isplay type is 0 convert the eight character data from hexadecimal to decimal and place a decimal point according to the decimal point information When the display type is 1 use the eight character data unchanged The following example indicates how to process the receive data 003000000929 given to show The receive data is as follows 0 0 3 0 0 0 0 0 0 9 2 9 Display type 0 Data must be converted int...

Страница 321: ...ollowing value Decimal point position 0 No decimal point 1 First least significant digit 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit 0 Data is transferred in hexadecimal For example here is described how to process the set data when a value of 15 5 is sent Since the decimal point position is the second least signi...

Страница 322: ... 12 4 1 b Return The slave station returns the status display data requested Display type 0 Data must be converted into decimal 1 Data is used unchanged in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit normally not used 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit 6 Sixth lea...

Страница 323: ...meter group set with slave station a Transmission Transmit command 0 4 and data No 0 1 Command Data No 0 4 0 1 b Return The slave station returns the preset parameter group 0 0 Parameter group 0 Basic setting parameters Pr PA_ _ 1 Gain filter parameters Pr PB_ _ 2 Extension setting parameters Pr PC_ _ 3 I O setting parameters Pr PD_ _ 4 Extension setting 2 parameters Pr PE_ _ 5 Extension setting 3...

Страница 324: ...fter writing 1 Enabled when power is cycled after writing Decimal point position 0 No decimal point 1 First least significant digit 2 Second least significant digit 3 Third least significant digit 4 Forth least significant digit 5 Fifth least significant digit Data is transferred in hexadecimal 0 0 0 Sign 0 Sign 1 No sign 0 Readable unreadable 0 Readable 1 Unreadable For example data 00120000270F ...

Страница 325: ...ommand 1 6 and the data No 0 1 to F F corresponding to the parameter No When reading an lower limit value transmit the command 1 7 and the data No 0 1 to F F corresponding to the parameter No Refer to section 12 4 1 The data No is expressed in hexadecimal The decimal equivalent of the data No value corresponds to the parameter No b Return The slave station returns the data and processing informati...

Страница 326: ...esponds to the parameter No When the data to be written is handled as decimal the decimal point position must be specified If it is not specified the data cannot be written When the data is handled as hexadecimal specify 0 as the decimal point position Check the writing data is within the upper lower limit value before writing To prevent an error read the parameter data to be written confirm the d...

Страница 327: ...Symbol 0 SON 8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 26 3 TL 11 ST1 RS2 19 27 CDP 4 TL1 12 ST2 RS1 20 STAB2 28 5 PC 13 CM1 21 29 6 RES 14 CM2 22 30 7 CR 15 LOP 23 31 2 Reading external input pin status The following shows how to read the on off status of the external input pins a Transmission Transmit command 1 2 and data No 4 0 Command Data No 1 2 4 0 b Return The on off status of the input...

Страница 328: ...Symbol Bit Symbol 0 SON 8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 26 3 TL 11 ST1 RS2 19 27 CDP 4 TL1 12 ST2 RS1 20 STAB2 28 5 PC 13 CM1 21 29 6 RES 14 CM2 22 30 7 CR 15 LOP 23 31 4 Reading output device status The following shows how to read the on off status of the output devices a Transmission Transmit command 1 2 and data No 8 0 Command Data No 1 2 8 0 b Return The slave station returns the...

Страница 329: ...n Transmit command 1 2 and data No C 0 Command Data No 1 2 C 0 b Return The slave station returns the status of the output devices b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin Bit CN1 connector pin 0 49 8 16 24 1 24 9 17 25 2 23 10 18 26 3 11 19 27 4 12 20 28 5 48 13 21 29 6 33 14 ...

Страница 330: ...mbol Bit Symbol 0 SON 8 SP1 16 24 1 LSP 9 SP2 17 25 2 LSN 10 SP3 18 26 3 TL 11 ST1 RS2 19 27 CDP 4 TL1 12 ST2 RS1 20 STAB2 28 5 PC 13 CM1 21 29 6 RES 14 CM2 22 30 7 CR 15 LOP 23 31 12 5 6 Disabling enabling I O devices DIO You can disable inputs regardless of the I O device status When inputs are disabled the input signals devices are recognized as follows However EM2 Forced stop 2 LSP Forward rot...

Страница 331: ...can be turned on off for test operation However when the device to be switched off is in the external input signal also switch off the input signal Transmit command 9 2 data No 0 0 and data Command Data No Set data 9 2 0 0 See below b31 b1b0 1 On 0 Off Command of each bit is transmitted to the master station as hexadecimal data Bit Symbol Bit Symbol Bit Symbol Bit Symbol 0 SON 8 SP1 16 24 1 LSP 9 ...

Страница 332: ...dure 1 Selection of test operation mode Send the command 8 B data No 0 0 data to select the test operation mode Command Data No Transmission data Selection of test operation mode 8 B 0 0 0001 JOG operation 0002 Positioning operation 0004 Output signal DO forced output Note Note Refer to section 12 5 9 for the output signal DO forced output 2 Check of test operation mode Read the test operation mod...

Страница 333: ...ng Select the JOG operation in the test operation mode Set the operation pattern Start Stop Test operation mode is canceled Command 8 B Data No 0 0 Data 0001 JOG operation Start Command 9 2 Data No 0 0 Data Forward rotation direction 00000807 Turn on SON LSP LSN and ST1 Reverse rotation direction 00001007 Turn on SON LSP LSN and ST2 Command 9 2 Data No 0 0 Data Forward rotation direction 00000801 ...

Страница 334: ... hexadecimal When LSP and LSN are turned off with an external input signal Acceleration deceleration time constant setting Command A 0 Data No 1 0 Data Write the speed r min in hexadecimal Servo motor speed setting Start Select the positioning operation in the test operation mode Set the operation pattern Turn on SON Servo on to make the servo amplifier ready Command A 0 Data No 2 1 Data 0000 forw...

Страница 335: ...n on off output signal DO forced output In the test operation mode the output signal pins can be turned on off regardless of the servo status Using command 9 0 disable the external input signals in advance 1 Selecting the output signal DO forced output in the test operation mode Transmit command 8 B data No 0 0 data 0004 to select the output signal DO forced output 0 0 4 Selection of test operatio...

Страница 336: ...s corresponding to the data No is provided 0 0 Alarm No is transferred in hexadecimal For example 0032 means AL 32 and 00FF means AL _ _ no alarm 2 Alarm occurrence time reading The following shows how to read alarm occurrence times which occurred in the past Alarm occurrence time corresponding to the data No is provided in terms of the total time beginning with operation start with the minute uni...

Страница 337: ...ion Transmit the command 3 5 the data No corresponding to the status display item to read 8 0 to 8 E and A 0 to A 9 Refer to section 12 4 1 b Return The slave station returns the status display data of requested alarm at occurrence Display type 0 Data must be converted into decimal 1 Data is used unchanged in hexadecimal Decimal point position 0 No decimal point 1 First least significant digit nor...

Страница 338: ...12 33 12 5 12 Software version The following shows how to read the software version of the servo amplifier a Transmission Transmit command 0 2 and data No 7 0 Command Data No 0 2 7 0 b Return The slave station returns the requested software version Software version 15 digits Space ...

Страница 339: ...12 COMMUNICATION FUNCTION MITSUBISHI ELECTRIC GENERAL PURPOSE AC SERVO PROTOCOL 12 34 MEMO ...

Страница 340: ...d risk based on past experience 2 Persons who have read and familiarized himself herself with this installation guide and operating manuals for the protective devices e g light curtain connected to the safety control system App 2 1 2 Applications of the devices MR JE servo amplifiers comply with the following standards IEC EN 61800 5 1 IEC EN 61800 3 App 2 1 3 Correct use Use the MR JE servo ampli...

Страница 341: ...s and molded case circuit breakers in the table are selected examples based on rated I O of the servo amplifiers When you select a smaller capacity servo motor to connect it to the servo amplifier you can also use smaller capacity T class fuses or molded case circuit breaker than ones in the table For selecting ones other than Class T fuses and molded case circuit breakers below and selecting a Ty...

Страница 342: ... 50 m use shielded wires and ground the shields However when the encoder cable length is longer than 30 m for MR JE 70_ and MR JE 100_ set a radio noise filter FR BIF to the input power supply side of the servo amplifier The following shows recommended products EMC filter Soshin Electric HF3000A UN series Surge protector Okaya Electric Industries RSPD series Radio noise filter Mitsubishi Electric ...

Страница 343: ...ovided by the drive Integral thermal protection s is necessary for motor and refer to app 3 3 for the proper connection e Branch circuit protection For installation in United States branch circuit protection must be provided in accordance with the National Electrical Code and any applicable local codes For installation in Canada branch circuit protection must be provided in accordance with the Can...

Страница 344: ...es from two batteries lithium metal battery CR17335A which are not subject to the dangerous goods Class 9 of the UN Recommendations App 2 2 Installation direction and clearances CAUTION The devices must be installed in the specified direction Not doing so may cause a malfunction Mount the servo amplifier on a cabinet which meets IP54 in the correct vertical direction to maintain pollution degree 2...

Страница 345: ... V AC Transformer star connected PE MC Servo amplifier Cabinet side Machine side Encoder Servo motor L1 U V W PE CN2 CN1 L2L3 To protective equipment Thermal signal Note Note Please use a thermal sensor etc for thermal protection of the servo motor 2 1 phase input MCCB or fuse Controller Encoder cable 1 phase 230 V AC Power supply 3 phase 400 V AC Transformer star connected PE Note 2 MC Servo ampl...

Страница 346: ... 1 3 5 7 9 11 13 15 17 19 21 23 25 2 4 6 8 10 12 14 16 18 20 22 24 TLA MO1 MO2 27 29 31 33 35 37 39 41 43 45 47 49 26 28 30 32 34 36 38 40 42 44 46 48 50 LG LA LG LAR LB LG LBR LZ OP LZR LG EM2 DICOM DICOM DOCOM DOCOM ALM CN1 PP OPC PG SON CR LSP RES ZSP RD INP LSN NP NG This is in position control mode TRE SDN SDP RDP RDN ...

Страница 347: ...o SON Servo on CN1 15 RES Reset 19 CR Clear 41 EM2 Forced stop 2 42 LSP Forward rotation stroke end 43 LSN Reverse rotation stroke end 44 Output device Symbol Device Connector Pin No ZSP Zero speed detection CN1 23 INP In position 24 ALM Malfunction 48 RD Ready 49 Power supply Symbol Device Connector Pin No DICOM Digital I F power supply input 20 21 DOCOM Digital I F common CN1 46 47 SD Shield Pla...

Страница 348: ...parts is listed below However the service life varies depending on operation and environment If any fault is found in the parts they must be replaced immediately regardless of their service lives For parts replacement please contact your local sales office Part name Life guideline Smoothing capacitor 10 years Note 3 Relay Number of power on forced stop and controller forced stop times 100 000 time...

Страница 349: ... keep or use it please fulfill the following environment Item Environment Ambient temperature Operation C 0 to 55 Class 3K3 IEC EN 60721 3 3 Transportation Note C 20 to 65 Class 2K4 IEC EN 60721 3 2 Storage Note C 20 to 65 Class 1K4 IEC EN 60721 3 1 Ambient humidity Operation transportation storage 5 RH to 90 RH Vibration resistance Test condition 10 Hz to 57 Hz with constant amplitude of 0 075 mm...

Страница 350: ... 3 phase 200 V AC III IEC EN 60664 1 Protective class I IEC EN 61800 5 1 Short circuit current rating SCCR 100 kA Note This will be 100 mA for the MR JE _B servo amplifiers manufactured in April 2016 or before May 2016 or before for amplifiers manufactured in China App 2 7 2 Dimensions mounting hole process drawing W D H Front Side Servo amplifier Variable dimensions mm Mass kg W H D MR JE 10_ MR ...

Страница 351: ...1 Analog monitor 1 9999 to 9999 PC40 Set the offset voltage of MO2 Analog monitor 2 App 3 2 Setting The servo amplifier is factory set to output the servo motor speed to MO1 Analog monitor 1 and the torque to MO2 Analog monitor 2 The setting can be changed as listed below by setting the Pr PC14 and Pr PC15 value Refer to 3 for the detection point Setting value Output item Description Setting value...

Страница 352: ... 09 Servo motor side droop pulses Note 1 2 3 10 V 100000 pulses 100000 pulse CW direction CCW direction 100000 pulse 0 10 V 10 V 0D Bus voltage 400 V 0 8 V 0E Speed command 2 Note 2 4 Maximum speed CW direction CCW direction Maximum speed 0 8 V 8 V 17 Internal temperature of encoder 10 V 128 C 128 C 128 C 0 10 V 10 V Note 1 Encoder pulse unit 2 This cannot be used in the torque control mode 3 This...

Страница 353: ...orque may not match the rated current maximum current ratio since it is created from the torque current in the servo amplifier App 3 4 1 HG KN series HG SN series servo motor Servo motor Servo amplifier Maximum current command maximum torque HG KN series HG KN13_ MR JE 10A 320 HG KN23_ MR JE 20A 336 HG KN43_ MR JE 40A 335 HG KN73_ MR JE 70A 328 HG SN series HG SN52_ MR JE 70A 355 HG SN102_ MR JE 1...

Страница 354: ...ge directive MR JE series servo amplifiers are certificated in compliance with Low voltage directive The following shows a certificate by the Certification Body Supplementation Refer to section 1 6 2 for the models shown in see app 1 ...

Страница 355: ...aracteristics App 5 2 1 Overload protection characteristics Operation time s 1000 100 10 1 0 1 100 200 300 0 Servo lock Operating 50 150 250 Note Load ratio 320 1000 100 10 1 0 1 100 200 300 0 50 150 250 320 Operation time s Servo lock Operating Note Load ratio HF KN13_ HF KN23_ HF KN43_ HF KN73_ HF SN52_ HF SN102_ HF SN152_ HF SN202_ HF SN302_ Note If operation that generates torque more than 100...

Страница 356: ...edance This value is applicable when the power factor improving AC reactor is not used 2 Heat generated during regeneration is not included in the servo amplifier generated heat To calculate heat generated by the regenerative option refer to section 11 2 App 5 2 3 Dynamic brake characteristics 1 Dynamic brake time constant 0 5 10 15 20 25 0 500 1000 1500 2000 2500 3000 3500 4500 4000 73 43 23 13 D...

Страница 357: ...exclusively for the magnetic contactor 3 This diagram shows sink I O interface For source I O interface refer to section 3 9 3 4 Controlling the on switch or off switch with DC power supply satisfies the requirements of IEC EN 60204 1 5 Configure a circuit to turn off EM2 when the power is turned off to prevent an unexpected restart of the servo amplifier 6 Use a magnetic contactor with an operati...

Страница 358: ... a 1 phase 200 V AC class power supply to the servo amplifier If necessary use a step down transformer to decrease the power supply voltage to 200 V AC to 240 V AC 1 For MR JE 10A to MR JE 100A MC MCCB CNP1 Note 2 L1 L2 L3 MC MC SK Do not connect anything Do not connect anything 200 V AC to 240 V AC Note 1 Neutral point Emergency stop switch 3 phase 400 V AC class Servo amplifier Mal function RA1 ...

Страница 359: ...200 V AC to 240 V AC Note 1 Emergency stop switch Mal function RA1 OFF ON Servo amplifier Note 1 If necessary use a step down transformer to decrease the power supply voltage to 200 V AC to 240 V AC 2 Connect the 1 phase 200 V AC to 240 V AC power supply to L1 and L2 One of the connecting destinations is different from MR JE 100A or less servo amplifier s ...

Страница 360: ...cts Substance name Threshold standard Part name Hazardous substance Note 1 Environment Friendly Use Period mark Note 2 Remark Lead Pb Mercury Hg Cadmium Cd Hexavalent chromium Cr VI PBB PBDE Threshold of cadmium 0 01 wt 100 ppm Threshold of substances other than cadmium 0 1 wt 1000 ppm Servo amplifier Servo system controller Mounting board Heat sink Resin cabinet Plate and screw Servo motor Bracke...

Страница 361: ... 85 by weight or more lead Electrical and electronic components containing lead in a glass or ceramic other than dielectric ceramic in capacitors e g piezoelectronic devices Electrical and electronic components containing lead in a glass or ceramic matrix compound e g chip resistors 4 Status of our products for compliance with the China RoHS directive Chinese The following shows table app 1 in Chi...

Страница 362: ...1 3 Section 1 5 Section 1 7 1 Section 3 2 1 Section 3 2 2 Section 3 2 3 Section 3 3 2 Section 3 4 Section 3 5 Section 3 9 1 Section 3 10 1 Section 3 10 2 Section 5 1 3 Section 5 2 1 Section 6 2 Section 7 1 1 Section 7 1 3 Section 7 1 4 Section 7 2 3 Section 7 3 Chapter 8 Section 8 1 Section 8 2 Section 8 3 Section 11 3 Section 11 4 1 Section 11 4 2 Section 11 4 3 Section 11 6 Section 11 9 Section ...

Страница 363: ... 1 App 2 App 3 App 5 Partially changed Partially changed Partially added Partially changed Note 5 is added Servo motor series are changed to HG KN HG SN Partially changed Partially changed Partially changed Partially changed Partially changed Partially changed Partially added CAUTION is partially added POINT is partially changed Partially changed Partially changed Partially changed Pr PC14 is part...

Страница 364: ...UTION is added The content of POINT is changed The diagram is changed The content of POINT is changed The title is changed Newly added The diagram is changed Note is deleted The diagram is changed The diagram is changed Note is deleted The diagram is changed The content of the table is changed The sentences are changed The content of the table is changed Note is added POINT is added The content of...

Страница 365: ...nction is added 3 To prevent injury note the following 4 Additional instructions 2 Wiring 5 Corrective actions 6 Maintenance inspection and parts replacement Section 1 5 Section 1 8 1 Section 2 4 Section 3 1 Section 3 3 3 1 a Section 3 5 1 b Section 5 1 2 Section 5 1 5 Section 5 2 1 Section 5 2 2 Section 5 2 3 Section 5 2 4 Section 5 2 5 Section 6 2 2 1 c Section 7 1 2 Section 7 1 4 Section 7 2 3 ...

Страница 366: ... Partially changed Section 11 1 1 Partially changed App 1 Partially changed App 2 Partially changed App 3 Partially changed App 7 Newly added App 8 Newly added Aug 2017 SH NA 030128ENG J A maximum altitude of 2000 m above sea level is supported 3 To prevent injury note the following Partially changed 4 Additional instructions Partially changed 1 Transportation and installation Partially changed 2 ...

Страница 367: ...Section 11 4 2 1 Partially changed Section 11 6 Partially changed Partially added App 1 Partially added App 2 Partially changed App 3 The document structure is changed Partially added App 5 Partially changed This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any prob...

Страница 368: ... and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the United States Japan and or other countries Intel Pentium and Celeron are trademarks of Intel Corporation in the United States and or other countries All other product names and company names are trademarks or registered trademarks of their respective companies ...

Страница 369: ...ct from our company viii any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please ...

Страница 370: ...ruction Manual uses recycled paper MODEL MODEL CODE General Purpose AC Servo MR JE _A SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 MODEL MR JE _A SERVO AMPLIFIER INSTRUCTION MANUAL General Purpose Interface AC Servo 1CW706 MR JE A SERVOAMPLIFIER INSTRUCTIONMANUAL J J ...

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