Instruction/ maintenance manual of the product MR-J3- A Mitsumi electronic
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SH (NA) 030038-L (1406) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE J3 Series MR-J3- A Servo Amplifier Instr.
A - 1 Safety Instructions (Always read these instructi ons before using the equip ment.) Do not attempt to install, o perate, ma in tain or inspect the converter unit, servo amplifier (drive unit) and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instru ction Manual (Vol.
A - 2 1. To prevent electric shock, note the following WARNING Before wiring or inspection, turn o ff the power and wait for 15 minutes or more (20 minutes or for drive unit 30kW or more) until the charge lamp turns of f.
A - 3 3. To prevent injury, note the follow CAUTION Only the voltage specified in the Instruction Manual should be applie d to each terminal, O therwise, a burst, damage, etc. ma y occur. Connect the terminals correctly to preve nt a burst, damage, etc.
A - 4 CAUTION When you keep or use it, please fulfill the following environmental conditions. Item Environmental conditions Converter unit servo amplifier (drive unit) Servo motor Ambient temperature .
A - 5 CAUTION The surge absorbing diode installed to the DC relay for control outpu t should be fitted in the specified direction. Otherwise, the emergency sto p and other pr otective circuits may not op erate.
A - 6 (5) Corrective actions CAUTION When it is assumed that a h azardous condition may ta ke place at the occur due to a power fa ilure or a product fault, use a servo motor with an electromagneti c brake or an external brake mechanism for the purpose of prevention.
A - 7 DISPOSAL OF WASTE Please dispose a converter unit, servo amplifier (drive unit), batter y (primary battery) and other options according to your local laws and regulations. EEP-ROM life The number of write times to the EEP-R OM, which stor es parameter settings, etc.
A - 8 MEMO.
1 CONTENTS 1. FUNCTIONS AND CONFIG URATION 1 - 1 to 1 -30 1.1 Summa ry ................................................................................................................... ............................... 1 - 1 1.2 Function bl ock diagram .
2 3.10 Connection of servo amp lifier and s e rvo motor ............................................................................ ....... 3 -62 3.10.1 Connection instruct ions ........................................................................
3 5.1.9 Auto tuning ............................................................................................................. .......................... 5 -12 5.1.10 In-pos ition range ..............................................................
4 7.2.2 Auto tun i ng mode basi s .................................................................................................. .................. 7 - 4 7.2.3 Adjustment procedur e by auto tunin g .................................................
5 12.2 Regenerativ e opti ons ..................................................................................................... ...................... 12-27 12.3 FR-BU2-(H) brake unit ...............................................................
6 13.5.8 Test oper ation mod e .................................................................................................... ................. 13-27 13.5.9 Output signal pin ON/OFF outpu t signal (DO) forced output .............................
7 15.1.7 Removal and reinstallation of the terminal b lock cover ............................................................... 1 5-13 15.1.8 Servo system with auxil iary equipment .....................................................................
8 16.2 Specific ations ........................................................................................................... ............................. 16- 3 16.3 Outline dimens ion dra w ings .................................................
1 - 1 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Summary The Mitsubishi MELSERVO-J3 series general-purpose AC servo is b ased on the MELSERVO-J2-Super series and has further higher performance and higher functions. It has position control, speed control and torque contro l modes.
1 - 2 1. FUNCTIONS AND CONFIGURATIO N 1.2 Function block diagram The function block diagram of this servo is shown below. (1) MR-J3-350A or less MR-J3-200A4 or less CD L 11 CN5 CN3 CN6 I/F USB RS-422 .
1 - 3 1. FUNCTIONS AND CONFIGURATIO N (2) MR-J3-350A4 MR-J3-500A(4) MR-J3-700A(4) CN2 C L 11 CN5 CN3 CN6 I/F USB RS-422 D/A A/D USB RS-422 CN4 MR-J3BAT CN1 P 1 P 2 PN B NFB (Note) Power supply MC RA 2.
1 - 4 1. FUNCTIONS AND CONFIGURATIO N (3) MR-J3-11KA(4) to 22KA(4) C L 11 CN5 CN3 CN6 I/F USB RS-422 D/A A/D USB RS-422 CN4 MR-J3BAT CN1 P 1 PN B NFB (Note 1) Power supply MC RA 24VDC B1 B2 L 1 L 2 L .
1 - 5 1. FUNCTIONS AND CONFIGURATIO N 1.3 Servo amplifier standard specifications (1) 200V class, 100V class Serv o ampl ifier MR-J3- Item 10 A 20 A 4 0A 60 A 70 A 100A 200A 350A 500A 700A 11KA 15KA 22KA 10A1 20A1 40A1 Output Rated voltage 3-phase 170VAC Rated curre nt [A ] 1.
1 - 6 1. FUNCTIONS AND CONFIGURATIO N Note 1. 0.3A is the value applicable when all I/O signals are used. The current capaci ty can be decreased by reducing the numbe r of I/O points. 2. When closely mounting the servo amplifier of 3.5kW or le ss, operate them at the ambient temperatures of 0 to 45 o r at 75% or smaller effective load ratio.
1 - 7 1. FUNCTIONS AND CONFIGURATIO N 1.4 Function list The following table lists the functions of this servo. Fo r details of the functions, refer to the reference fie ld. Function Description (Note) Control mode Reference Position control mode This servo is used as position control servo.
1 - 8 1. FUNCTIONS AND CONFIGURATIO N Function Description (Note) Control mode Reference Position smoothing Speed can be increased smoothly in response to input pulse. P Parameter No.PB03 S-pattern acceleration/ deceleration time constant Speed can be increased and decreased smoothly.
1 - 9 1. FUNCTIONS AND CONFIGURATIO N 1.5 Model code definition (1) Rating plate Model Capacity Applicable power supply Serial number MITSUBISHI MADE IN JAPAN MODEL MR-J3-10A MITSUBISHI ELECTRI C CORPORATION AC SERVO PASSED POWER : INPUT : OUTPUT : SERIAL : 100W 1.
1 - 10 1. FUNCTIONS AND CONFIGURATIO N 1.6 Combination with servo motor The following table lis ts combinations of servo amplif iers and servo motors. The s ame combinations apply to the models with an electromagnetic br ake and the models with a reduction gear.
1 - 11 1. FUNCTIONS AND CONFIGURATIO N Servo amplifiers supporting the 400 maximum torque setting Servo motor Servo amplifiers supporting the 400 maximum torque setting Servo motor HF-JP HF-JP MR-J3-1.
1 - 12 1. FUNCTIONS AND CONFIGURATIO N 1.7 Structure 1.7.1 Parts identification (1) MR-J3-100A or less MODE UP DOWN SET Main circuit pow er supply connector (CNP1) Connec t the input power supply. USB communi cation connector (CN5) Connect the personal computer.
1 - 13 1. FUNCTIONS AND CONFIGURATIO N (2) MR-J3-60A4 MR-J3-100A4 MODE UP DOWN SET Fixed part (3 places) Name/Applic ation Main circ uit power supp ly connector ( CNP1) Connect t he input power supply. USB communi cation connector (CN5) Connect the person al computer.
1 - 14 1. FUNCTIONS AND CONFIGURATIO N (3) MR-J3-200A(4) MODE UP DOWN SET Cooling f an Fixed pa rt (3 p laces ) Name/Application Main circuit power supply connector (CNP1) Conne ct the input powe r supp ly. USB communication connector (CN5) Connect the personal computer.
1 - 15 1. FUNCTIONS AND CONFIGURATIO N (4) MR-J3-350A MODE UP DOW N SET Rating pl ate Section 1.5 Operati on section Used to perform s tatus display, diag nostic, alarm and parameter set ting operatio ns. Cooling fa n Display The 5-digi t, seven-s egment LED shows the servo status and alarm number.
1 - 16 1. FUNCTIONS AND CONFIGURATIO N (5) MR-J3-350A4 MR-J3-500A(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7. 2. Section 3.2 Section 3.4 MODE UP DOWN SET Fixed part (4 place) Cooling fa n Rating plate Section 1.
1 - 17 1. FUNCTIONS AND CONFIGURATIO N (6) MR-J3-700A(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7. 2. Rating plate Operation section Used to perform status display, diagnost ic, alarm and parameter setting operations.
1 - 18 1. FUNCTIONS AND CONFIGURATIO N (7) MR-J3-11KA(4) to MR-J3-22KA(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.
1 - 19 1. FUNCTIONS AND CONFIGURATIO N 1.7.2 Removal and reinstallation of the front cover WARNING Before removing or installing the front cover, turn off the power and wait for 15 minutes or longer until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others.
1 - 20 1. FUNCTIONS AND CONFIGURATIO N Reinstallation of the front co ver Fron t cove r setting tab A) A) 1) Insert the front co ver setting tabs into th e sockets of servo amplifier (2 places). 2) Pull up the cover, suppor ting at point A) . Setting tab 3) Push the setting tabs until they click.
1 - 21 1. FUNCTIONS AND CONFIGURATIO N (2) For MR-J3-11KA(4) to MR-J3-22KA(4) Removal of the fron t cover C) B) A) 1) Press the removing knob on the lower side of the front cover ( A) and B) ) and release the installation hook. 2) Press the removing knob of C) and release the installation hook.
1 - 22 1. FUNCTIONS AND CONFIGURATIO N 1.8 Configuration includ ing auxiliary equipment POINT Equipment other than the servo amp lifier and servo motor are optional or recomme nded prod ucts.
1 - 23 1. FUNCTIONS AND CONFIGURATIO N (b) For 1-phase 100 to 120VAC (Note 3) Power supply Line noise filter (FR-BSF01) Magnet ic contactor (MC) No-fu se br eaker (NFB) or fuse CN5 CN3 Regenerative op.
1 - 24 1. FUNCTIONS AND CONFIGURATIO N (2) MR-J3-60A4 MR-J3-100A4 P Line noise filter (FR-BSF01) Magnetic contactor (MC) No-fu se br eaker (NFB) or fuse Regenerative option Analog monitor Juncti on te.
1 - 25 1. FUNCTIONS AND CONFIGURATIO N (3) MR-J3-200A(4) Line noise filter (FR-BSF0 1) Magnet ic contactor (MC) No-fuse breaker (NFB) or fuse Regenerative option Analog monitor Junction terminal block.
1 - 26 1. FUNCTIONS AND CONFIGURATIO N (4) MR-J3-350A Line noi se filter (FR-BLF) (Note 3) Power suppl y Magneti c contactor (MC) No-fuse b reaker (NFB) or fuse Regenerative option P C L 21 (Note 2) P.
1 - 27 1. FUNCTIONS AND CONFIGURATIO N (5) MR-J3-350A4 MR-J3-500A(4) (Note 3) Power supply Line noise filte r (FR-BLF) R S T L 21 P 1 P 2 CN5 CN3 CN2 CN4 CN1 CN6 L 11 UV W C P L 1 L 2 L 3 Magnetic con.
1 - 28 1. FUNCTIONS AND CONFIGURATIO N (6) MR-J3-700A(4) R S T L 21 P 2 P 1 CN5 CN3 CN2 CN4 CN1 CN6 L 11 UV W C P L 1 L 2 L 3 Line noise filter (FR-BLF) (Note 3) Power supply Magnetic conta ctor (MC) .
1 - 29 1. FUNCTIONS AND CONFIGURATIO N (7) MR-J3-11KA(4) to MR-J3-22KA(4) (Note 3) Power supply R S T L 21 Servo am plifier (Note 2) L 11 U V W C P L 1 L 2 L 3 CN4 CN2 P 1 P CN5 CN3 CN1 CN6 Analog mon.
1 - 30 1. FUNCTIONS AND CONFIGURATIO N MEMO.
2 - 1 2. INSTALLATION 2. INSTALLATION WARNING To prevent electric shock, ground each equipment securely. CAUTION Stacking in excess of the limited number of product packages is not allowed. Install the equipment to incombustibles. Installing them directly or clo se to combustibles will led to a fire.
2 - 2 2. INSTALLATION 2.1 Installation direction and clea rances CAUTION The equipment must be ins talled in the s pecified direction. Otherwise, a fault may occur. Leave specified clearances between the serv o amplifie r and control box inside walls or other equipment.
2 - 3 2. INSTALLATION (b) Installation of two or more servo amplifiers POINT Close mounting is availabl e for the serv o amplifier of under 3.5 kW for 200V class and 400W for 100V class.
2 - 4 2. INSTALLATION (b) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo am plifier and the internal surf ace of the control box, and install a cooling fan to prevent the in ternal temperature of the cont rol box from exceeding the environmental conditions.
2 - 5 2. INSTALLATION 2.3 Cable stress (1) The way of clamping the cable mus t be fully examined so that flexing stress and cable's own weight s tress are not applied to the cable connection.
2 - 6 2. INSTALLATION 2.5 Parts having service lives The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed immediately even when it has not yet rea ched the end of its life, which depends on the operating method and environmental conditions.
3 - 1 3. SIGNALS AND WIRING 3. SIGNALS AND WIRING WARNING Any person who is involved in wiring s hould be fully competent to do the work. Before wiring, turn off the p ower and wait for 15 minutes or longer until the charge lamp turns off. Then, confirm tha t the voltage between P( ) and N( ) is safe with a voltage tester and others .
3 - 2 3. SIGNALS AND WI RING 3.1 Input power supply circuit CAUTION Always connect a magnetic contactor be tween the main circuit power and L 1 , L 2 , and L 3 of the servo amplifier, and configure the wiring to be ab le to shut down the power supply on the side of the servo amplifier’s power supply.
3 - 3 3. SIGNALS AND WI RING Note 1. Always connect P 1 and P 2 . (Factory-wired.) When using the po wer factor improving DC reactor, refer to section 12.13. Use only one of power factor improving DC r eactor or power factor improving AC reactor. 2. Always connect P( ) and D.
3 - 4 3. SIGNALS AND WI RING (3) MR-J3-10A1 to MR-J3-40A1 P N (Note 4) Troubl e SON EMG L 1 Blank L 2 1-phase 100 to 120VAC ALM P 1 P 2 DICOM DOCOM L 11 L 21 D C U V W (Note 1) (Note 2) CNP1 CNP3 PE C.
3 - 5 3. SIGNALS AND WI RING (4) MR-J3-60A4 to MR-J3-200A4 P N (Note 4) SON EMG L 1 L 2 L 3 3-phase 380 to 480VAC ALM P 1 P 2 DICOM DOCOM L 11 L 21 D C U V W (Note 1) (Note 2) CNP1 CNP3 PE CNP2 U V W .
3 - 6 3. SIGNALS AND WI RING (5) MR-J3-500A MR-J3-700A TE1 TE2 TE3 Built-in regene rati ve resistor Cooling f an BU BV NFB (Note 6 ) Power supply of cooli ng fan P N (Note 4 ) SON EMG L 1 L 2 L 3 3-ph.
3 - 7 3. SIGNALS AND WI RING (6) MR-J3-350A4 to MR-J3-700A4 TE1 TE2 TE3 Built-in regene rati ve resistor Cooling f an BU BV NFB (Note 7 ) Power supply of cooli ng fan P N (Note 4 ) SON EMG L 1 L 2 L 3.
3 - 8 3. SIGNALS AND WI RING (7) MR-J3-11KA to MR-J3-22KA External dynamic brake (option ) (Note 10) NFB L 1 L 2 L 3 P C U V W TE PE L 11 L 21 U V W P 1 Regenerative resistor OHS2 OHS1 Servo motor the.
3 - 9 3. SIGNALS AND WI RING (8) MR-J3-11KA4 to MR-J3-22KA4 External dynamic brake (option ) (Note 11) (Note 8 ) Stepdown transformer NFB L 1 L 2 L 3 P C U V W TE PE L 11 L 21 U V W P 1 Regenerative r.
3 - 10 3. SIGNALS AND WI RING 3.2 I/O signal connection example 3.2.1 Position control mode (Note 12) Plate Plate Servo amplifier 3 1 2 (Not e 7) CN6 (Note 2 ) Trouble (Note 6) Zero spe ed detection L.
3 - 11 3. SIGNALS AND WI RING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal mark ed ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction.
3 - 12 3. SIGNALS AND WI RING 3.2.2 Speed control mode 3 1 2 (Note 7) CN6 Plate MO1 LG MO2 SD 2m max. Analog monitor 1 Analog monitor 2 (Note 10) USB cable (option) (Note 9 ) MR Configurator Person al.
3 - 13 3. SIGNALS AND WI RING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal mark ed ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction.
3 - 14 3. SIGNALS AND WI RING 3.2.3 Torque control mode 3 1 2 (Note 6) CN6 Plate MO1 LG MO2 SD 2m max. Analog monitor 1 Analog monitor 2 Encoder A-phase pulse (differenti al line driv er) Encoder B-ph.
3 - 15 3. SIGNALS AND WI RING Note 1. To prevent an electric shock, always connect t he protective earth (PE) terminal of the (termina l marked ) servo amplifi er to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction.
3 - 16 3. SIGNALS AND WI RING 3.3 Explanation of power supply system 3.3.1 Signal explanations POINT For the layout of connector and termi nal block, refer to outline drawings in chapter 10. Abbreviation Connection target (application) Description L 1 L 2 L 3 Supply the following power to L 1 , L 2 , L 3 .
3 - 17 3. SIGNALS AND WI RING Abbreviation Connection target (application) Description U V W Servo motor power Connect to the servo motor power suppl y terminals (U, V, W). During power-on, do not open or close the motor power line. Otherwise, a malfunction or fault y may occur.
3 - 18 3. SIGNALS AND WI RING (3) Emergency stop CAUTION Provide an external emergency stop circ uit to ensure that opera tion can be stoppe d and power switched off immediately. Make up a circuit tha t shuts off main circuit power as soon as EMG is turned off at an emergency stop.
3 - 19 3. SIGNALS AND WI RING 3.3.3 CNP1, CNP2, CNP3 wiring method POINT Refer to section 12.11 for the wire si zes used for wiring. MR-J3-500A or more MR-J3-350A4 or more does not have these connectors. Use the supplied servo amplifier power supply c onnectors for wir ing of CNP1, CNP2 and CNP3 .
3 - 20 3. SIGNALS AND WI RING (2) MR-J3-200A MR-J3-60A4 to MR-J3-200A4 (a) Servo amplifier power supply connectors <Applica ble cable exam ple> Cable finish OD: 4.
3 - 21 3. SIGNALS AND WI RING (3) MR-J3-350A (a) Servo amplifier power supply connectors Servo am plifier power s upply co nnecto rs CNP3 CNP1 CNP2 Connector for CNP1 PC 4/6-STF-7,62-CRWH (Phoenix Con.
3 - 22 3. SIGNALS AND WI RING (4) Insertion of cable into Molex and WAGO connectors Insertion of cable into 54928-0670, 54927-0520, 5492 8-0370 (Molex) connectors and 721-207/026-000, 721-205/026-000 and 721-203/026-000 (WAGO) connectors are as follows.
3 - 23 3. SIGNALS AND WI RING 2) Cable connection procedure 1) Attach the cable connection lever to the housing. (Detachable) 2) Push the cable connection lever in the direction of arrow. 3) Hold down the cable c onnection lever and insert the cable in the direction of arrow.
3 - 24 3. SIGNALS AND WI RING (b) Inserting the cable into the connector 1) Applicable flat-blade screwdriver dimen sions Always use the screwdriver shown here to do the work. [Unit: mm] 3 0.6 A pprox.R0.3 Approx.22 Approx.R0.3 3 to 3.5 2) When using the flat-blad e screwdriver - part 1 1) Insert the screwdriver into the square hole.
3 - 25 3. SIGNALS AND WI RING 3) When using the flat-blad e screwdriver - part 2 1) Insert the screwdriver into the square window at top of the connector. 2) Pus h the screw drive r in the direct ion of arrow . 3) With the sc rewdri ver pushed , insert the ca ble in the direction of arrow.
3 - 26 3. SIGNALS AND WI RING (5) How to insert the cable into Phoenix Contact connector POINT Do not use a precision driver be cause the cable cann ot be tightened with enough torque. Insertion of cables into Pho enix Contact connector PC 4/6-STF-7,62 -CRWH or PC 4/3-STF-7,62-CRWH is shown as follows.
3 - 27 3. SIGNALS AND WI RING 3.4 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable conn ector wiring section . Refer to (2) of this section for CN1 signal assignment. (1) Signal arrangement The servo amplifier front view shown is that of the MR-J3-20A or less.
3 - 28 3. SIGNALS AND WI RING (2) CN1 signal assignment The signal assignment of connector changes with the control mode as indicated below. For the pins which are given parameter No.s in the related parameter column, their signals can b e changed using those parameters.
3 - 29 3. SIGNALS AND WI RING Pin No. (Note 1) I/O (Note 2) I/O signals in control modes Related parameter No. P P/S S S/T T T/P 46 DOCOM DOCOM DOC OM DOCOM DOCOM DOCOM 47 DOCOM DOCOM DOC OM DOCOM DOCOM DOCOM 48 O ALM ALM ALM ALM ALM ALM 49 O RD RD RD RD RD RD PD18 5 0 Note 1.
3 - 30 3. SIGNALS AND WI RING 3.5 Signal explanations For the I/O in terfaces (symbols in I/O division column in the table), refer to section 3.8 .2. In the control mode field o f the table P : Position control mode, S: Speed control mode, T: Torque control mode : Denotes that the signal may be used in the initial setting status.
3 - 31 3. SIGNALS AND WI RING Device Symbol Connec- tor pin No. Functions/Applications I/O division Control mode P S T External torque limit selection TL CN1-18 Turn TL off to make Forward torque limit (paramete r No.PA11) and Reverse torque limit (parameter No.
3 - 32 3. SIGNALS AND WI RING Device Symbol Connec- tor pin No. Functions/Applications I/O division Control mode P S T Speed selection 1 SP1 CN1- 41 <Speed co ntrol mode > Used to select th e command spee d for operation. When using SP 3, make it us able by maki ng the setti ng of param eter No.
3 - 33 3. SIGNALS AND WI RING Device Symbol Connec- tor pin No. Functions/Applications I/O division Control mode P S T Proportion control PC CN1-17 Turn PC on to switch the speed amplifier from the propo rtional integral type to the proportional type.
3 - 34 3. SIGNALS AND WI RING Device Symbol Connec- tor pin No. Functions/Applications I/O division Control mode P S T Control change LOP CN1-45 <Pos ition/speed control change mode> Used to select the control mode in the position/speed control change mode.
3 - 35 3. SIGNALS AND WI RING (b) Output devices Device Symbol Connec- tor pin No. Functions/Applications I/O division Control mode P S T Trouble ALM CN1-48 ALM turns off when power is switched off or the protective circuit is activated to shut off the base ci rcuit.
3 - 36 3. SIGNALS AND WI RING Device Symbol Connec- tor pin No. Functions/Applications I/O division Control mode P S T Zero speed detection ZSP CN1-23 ZSP turns on when the servo motor speed is zero speed (50r/min) or less. Zero speed can be changed using parameter No.
3 - 37 3. SIGNALS AND WI RING Signal Symbol Connec- tor pin No. Functions/Applications I/O division Control mode P S T Alarm code ACD 0 CN1-24 To use this signal, set " 1 " in para meter No.PD24. This signal is output when an alar m occurs. When there is no alarm, respective ordinary signals (RD, INP, SA, ZSP) are output.
3 - 38 3. SIGNALS AND WI RING (2) Input signals Signal Symbol Connec- tor pin No. Functions/Applications I/O division Control mode P S T Analog torque limit TLA CN1-27 To use this signal in the s peed control mode, set any of parameters No.PD13 to PD16, PD18 to make external torque limit selection (TL) available.
3 - 39 3. SIGNALS AND WI RING (4) Communication POINT Refer to chapter 13 for the communi cation function. Signal Symbol Connec- tor pin No. Functions/Applications I/O division Control mode P S T RS-422 I/F SDP SDN RDP RDN CN3-5 CN3-4 CN3-3 CN3-6 Terminals for RS-422 communication.
3 - 40 3. SIGNALS AND WI RING 3.6 Detailed description of the signal s 3.6.1 Position control mode (1) Pulse train input (a) Input pulse waveform s election Command pulses may be input in any of three differe nt forms, for which positive or negative logic can be chosen.
3 - 41 3. SIGNALS AND WI RING 2) Differential line driver sys tem Connect as shown below. Approx. 100 PP NP Servo amplifier PG NG SD (Note) Approx. 100 Note. Pulse train input interface is comprised of a photo coupler. Therefore, it may be any malfunctions si nce the current is reduced when connect a resistance to a pulse train signal line.
3 - 42 3. SIGNALS AND WI RING (3) Ready (RD) Servo-on (SON) Alarm Ready (RD) ON OFF Yes No 100ms or less 10ms or less 10ms or less ON OFF (4) Electronic gear switching The combination of CM1 and CM2 g ives you a choice of four different electronic gear numerators set in the parameters.
3 - 43 3. SIGNALS AND WI RING A relationship between the applied voltage of the ana log torque limit (TLA) and th e torque limit value of the servo motor is shown below. To rque limit values will vary abou t 5 relative to the voltage depending on products.
3 - 44 3. SIGNALS AND WI RING 3.6.2 Speed control mode (1) Speed setting (a) Speed command and speed The servo motor is run a t the speeds set in the par ame ters or at the speed set in th e applied voltage of the analog speed command (VC).
3 - 45 3. SIGNALS AND WI RING (b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed co mmand value Choose any of the speed settings made by the in te rnal speed commands 1 to 3 using speed se lection 1 (SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command ( VC).
3 - 46 3. SIGNALS AND WI RING 3.6.3 Torque control mode (1) Torque control (a) Torque command and torque A relationship between the applied voltage of the ana log torque command (TC) and the torque by the servo motor is shown below. The maximum torque is generated at 8V.
3 - 47 3. SIGNALS AND WI RING (b) Analog torque command offset Using parameter No.PC38, the offset vo ltage of 999 to 999mV can be added to the TC applied voltage as shown below. 0 8( 8) Max. torque Generated torque TC applied vo ltage [V] Parameter No.
3 - 48 3. SIGNALS AND WI RING Generally, make connection as shown below. SP2 DOCOM P15R VLA LG SD SP1 Japan re sistor RRS10 or equivalent (Note) 2k 2k Servo amplifier Note. For the sink I/O interface. For the source I/O interface, refe r to section 3.
3 - 49 3. SIGNALS AND WI RING 3.6.4 Position/speed control chan ge mode Set " 1" in parameter No.PA01 to switch to the posit ion/speed control change mode.
3 - 50 3. SIGNALS AND WI RING (3) Speed setting in speed control mode (a) Speed command and speed The servo motor is run a t the speed set in parameter No.8 (internal s peed command 1) or at the speed set in the applied voltage o f the analog speed co mman d (VC).
3 - 51 3. SIGNALS AND WI RING The speed may be changed during rota tion. In this case, the values set in parameters No.PC01 and PC02 are used for acceleration/deceleration. When the internal speed co mmand 1 to 7 is used to co mmand the speed, the speed does not vary with the ambient temperature.
3 - 52 3. SIGNALS AND WI RING (4) Speed limit in torque control mode (a) Speed limit value and speed The speed is limited to the limit value set in parameter No.8 (in ter nal speed limit 1) or the value set in the applied voltage of the analog speed limit (VLA).
3 - 53 3. SIGNALS AND WI RING 3.6.6 Torque/position co ntrol change mode Set " 5 " in p arameter No.PA01 to switc h to the torque/position control change mode. (1) Control change (LOP) Use control change (LOP) to switch be tween the torque control mode and the position contro l mode from an external contact.
3 - 54 3. SIGNALS AND WI RING 3.7 Alarm occurrence timing chart CAUTION When an alarm has occurred, remove its caus e, make sure that the operation signal is not being input, ensure safety, and rese t the alarm before restarting operation. As soon as an alarm occurs, turn off Servo-on (SON) and power o ff.
3 - 55 3. SIGNALS AND WI RING 3.8 Interfaces 3.8.1 Internal connection diagra m 10VDC D 3 DOCOM SON SON SON CN1 15 SP2 SP2 16 PC ST1 R S2 17 TL ST2 RS1 18 RES RES 1 9 CR SP1 41 EMG 42 LSP 43 LSN 44 LO.
3 - 56 3. SIGNALS AND WI RING Note 1. P: Position control mode S: Speed control mode T: Torqu e control mode 2. For the differential line driver pulse train input. For the ope n collector pulse train input, make the following connection. DOCO 46 OPC 12 20 47 PP 10 PG 11 NP 35 NG 36 DICOM DOCOM 24VDC 3.
3 - 57 3. SIGNALS AND WI RING (3) Pulse train input inter face DI-2 Give a pulse train signal in the differential line driver sys tem or open collector syste m. (a) Differential line driver system 1) Interface SD PG(NG) PP(NP) Max. input pulse frequency 1Mpps Servo am plifier Am26LS31 or equivalent Approx.
3 - 58 3. SIGNALS AND WI RING 2) Input pulse condition 0.9 0.1 tc tHL tc tLH tF tLH=tHL<0.2 s tc>2 s tF>3 s PP NP (4) Encoder output pulse DO-2 (a) Open collector system Interface Max. output current: 35mA Photocoupler Servo amplifier OP LG SD Servo a mplifie r OP LG SD 5 to 24VDC (b) Differential line driver system 1) Interface Max.
3 - 59 3. SIGNALS AND WI RING 2) Output pulse Servo motor CCW rotation LA LAR LB LBR LZ LZR T /2 OP Time cycle (T) is determined by the settings of parameter No.PA15 and PC19. 400 s or longer (5) Analog input Input impedance 10 to 12k Upper limit setti ng 2k 15VDC P15R VC, etc LG SD 2k Servo amplifier Approx.
3 - 60 3. SIGNALS AND WI RING 3.8.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces c an be used. In this case, all DI-1 input signals a nd DO-1 output signals are of source type. Perform wiring according to the following interface s.
3 - 61 3. SIGNALS AND WI RING 3.9 Treatment of cable shield external conductor In the case of the CN1 and CN2 connectors, securely connect the s hielded external conductor of the cable to the ground plate as shown in this sect ion and fix it to the connector shell.
3 - 62 3. SIGNALS AND WI RING 3.10 Connection of servo a mplifier and servo motor WARNING During power-on, do not open or clos e th e motor power line. O therwise, a malfunction or faulty may oc cur. 3.10.1 Connection instructions WARNING Insulate the connections o f the power supply terminals to prevent an electric shock.
3 - 63 3. SIGNALS AND WI RING 3.10.2 Power supply cable wiring diagra ms (1) HF-MP series HF-KP series servo motor (a) When cable length is 10m or less CNP3 AWG 19 (red) AWG 19 (white) AWG 19 (black) .
3 - 64 3. SIGNALS AND WI RING (2) HF-SP series HC-RP series HC-UP series HC-LP series HA-LP502 HA-LP702 HF-JP series servo motor POINT Insert a contact in the direction shown in the figure. If inse rted in the incorrect direction, the contact is damaged and falls off.
3 - 65 3. SIGNALS AND WI RING 2) When the power supply connector and the electromagnetic brake connector are shared. Servo motor Servo a mplifie r 24VDC power supply for electromagnetic brake 50m or l.
3 - 66 3. SIGNALS AND WI RING Encoder connector signal allotment CM10-R10P Encoder connector signal allotment MS3102A20-29P Power supply connector signal allotment MS3102A18-10P MS3102A22-22P MS3102A32-17P CE05-2A32-17PD-B 5 6 1 4 View a 3 2 8 7 9 10 Terminal No.
3 - 67 3. SIGNALS AND WI RING (3) HA-LP series servo motor POINT Refer to (2) in this section for HA-LP502, 702. (a) Wiring diagrams Refer to section 12.
3 - 68 3. SIGNALS AND WI RING 2) 400V class NFB MC 24VDC ALM DOCOM DICOM MBR CN1 Servo motor Servo amplifier M U V W U V W L 1 L 2 L 3 Cooling fa n BU BV BW (Note 2) 50m or less RA1 RA2 (Note 1) B1 B2.
3 - 69 3. SIGNALS AND WI RING (b) Servo motor terminals Terminal box Encoder connector CM10-R10P Brake connector MS3102A10SL-4P Encoder connector signal allotment CM10-R10P 5 6 1 4 3 2 8 7 9 10 Terminal No. Signal Brake connector signal allotment MS3102A10SL-4P 1 2 Terminal No.
3 - 70 3. SIGNALS AND WI RING Te rminal box inside (HA -LP801(4) 12K1(4) 11K1M(4) 15K1M(4) 15K2 (4) 22 K2(4) Thermal sensor terminal block (OHS1 OHS2) M4 screw Cooling fan terminal block (BU BV BW) M4.
3 - 71 3. SIGNALS AND WI RING Terminal box inside (HA-LP25K1) OHS2 OHS1 BW BV BU W V U Encoder connector CM10-R10P Thermal sensor terminal block Cooling fan terminal block (OHS1 OHS2) M4 screw (BU BV .
3 - 72 3. SIGNALS AND WI RING Signal name Abbreviation Description Power supply U V W Connect to the m otor output terminals (U, V, W) of the servo amplifier. During po wer-on, do not open or close the motor power line. Otherwise, a malfunction or fault y may occur.
3 - 73 3. SIGNALS AND WI RING 3.11 Servo motor with an electromagneti c brake 3.11.1 Safety precautions CAUTION Configure an electromagnetic brake circuit so t hat it is activated also by an external emergency stop switch. B U SON RA Contacts must be opened by an emergency stop switch.
3 - 74 3. SIGNALS AND WI RING 3.11.3 Timing charts (1) Servo-on (SON) command (from controller) ON/OFF Tb [ms] after the servo-on (SON) signal is switched o ff, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status , the brake life may be shorter.
3 - 75 3. SIGNALS AND WI RING (3) Alarm occurrence Servo motor speed ON OFF Base circuit Electromagnetic brake interlock (MBR) (Note) ON OFF Trouble (ALM) No (ON) Yes (OFF) Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake operation delay time Electromagnetic brake (10ms) Note.
3 - 76 3. SIGNALS AND WI RING (5) Only main circuit power supply off (co ntrol circuit power supply remains on) Servo mo tor speed ON OFF Base circuit Electromagnetic brak e inte rlock (MBR) (Note 2) .
3 - 77 3. SIGNALS AND WI RING (2) When cable length exceeds 10m When the cable length exce eds 10m, fabricate an extens ion cable as shown below on the customer side. In this case, the motor brake cable should be within 2m lo ng. Refer to section 12.11 for the wire used for the extension cable.
3 - 78 3. SIGNALS AND WI RING 3.12 Grounding WARNING Ground the servo amplifier and servo motor securely. To prevent an electric shock, alwa ys co nnect the prote ctive earth (PE) terminal (terminal marked ) of the servo amp lifier with the protective earth (PE) of the control box.
4 - 1 4. STARTUP 4. STARTUP WARNIN G Do not operate the switches with wet ha nds. You may get an electric shock. CAUTION Before starting operation, check the par ameters. Some machines may per form unexpected operation. Take safety measures, e.g. provide covers , to prevent accidental contact of hands and parts (cables, etc.
4 - 2 4. STARTUP 4.1.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control ci rcuit power supplies, check the following items. (a) Power supply system wiring The power supplied to the p ower input terminals (L 1 , L 2 , L 3 , L 11 , L 21 ) of the servo a mplifier should satisfy the defined specifications.
4 - 3 4. STARTUP 2) When regenerative option is used over 5kW for 200V class and 3.5kW for 400 V class The lead of built-in regener ative resistor connected to P termina l and C ter minal of TE1 terminal block should not be connected. The generative brake option should be c onnected to P terminal and C terminal.
4 - 4 4. STARTUP 4.2 Startup in position control mod e Make a startup in accordance with section 4.1. This section provides the methods specific to the position control mode. 4.2.1 Power on and off procedures (1) Power-on Switch power on in the following procedure.
4 - 5 4. STARTUP 4.2.3 Test operation Before starting actual operation , perform test operatio n to make sur e that the machine operate s normally. Refer to section 4.
4 - 6 4. STARTUP 4.2.4 Parameter setting POINT The encoder cable MR-EKCBL M-L/H for the HF-MP series HF-KP series servo motor or the encoder cable M R-ENECBL M-H for HF-JP11K1M(4) 15K1M(4) servo motor req uires the parameter No.PC22 setting to be changed depending on its length.
4 - 7 4. STARTUP 4.2.5 Actual operation Start actual operation a fter confirmation of normal operation by test o peration and completion of the corresponding parameter settings.
4 - 8 4. STARTUP No. Start-up sequence Fault Investigation Possible cause Reference 4 Gain adjustment Rotation ripples (speed fluctuations) are large at low speed. Make gain adjustment in the following procedure. 1. Increase the auto tuning response level.
4 - 9 4. STARTUP Check for a position shift in the following sequence. 1) When Q P Noise entered the pulse trai n signal wiring betw een positioning unit and servo amplifier, causin g pulses to be miss-counted. (Cause A) Make the following check or take the following measures.
4 - 10 4. STARTUP 4.3.2 Stop In any of the following s tatuses, the servo amplifier interrupts and sto ps the operation of the servo motor. Refer to section 3.11 for the servo motor with an electromagnetic brake. (a) Servo-on (SON) OFF The base circuit is shut off and the servo motor coasts.
4 - 11 4. STARTUP 4.3.3 Test operation Before starting actual operation , perform test operatio n to make sur e that the machine operate s normally. Refer to section 4.
4 - 12 4. STARTUP 4.3.4 Parameter setting POINT The encoder cable MR-EKCBL M-L/H for the HF-MP series HF-KP series servo motor or the encoder cable M R-ENECBL M-H for HF-JP11K1M(4) 15K1M(4) servo motor req uires the parameter No.PC22 setting to be changed depending on its length.
4 - 13 4. STARTUP 4.3.5 Actual operation Start actual operation a fter confirmation of normal operation by test o peration and completion of the corresponding parameter settings. 4.3.6 Trouble at start-up CAUTION Excessive adjustment or ch ange of parameter se tting must not be made as it will make operation instable.
4 - 14 4. STARTUP No. Start-up sequence Fault Investigation Possible cause Reference 4 Gain adjustment Rotation ripples (speed fluctuations) are large at low speed. Make gain adjustment in the following procedure. Increase the auto tuning response level.
4 - 15 4. STARTUP 4.4.2 Stop In any of the following s tatuses, the servo amplifier interrupts and sto ps the operation of the servo motor. Refer to section 3.11 for the servo motor with an electromagnetic brake. (a) Servo-on (SON) OFF The base circuit is shut off and the servo motor coasts.
4 - 16 4. STARTUP 4.4.3 Test operation Before starting actual operation , perform test operatio n to make sur e that the machine operate s normally. Refer to section 4.
4 - 17 4. STARTUP 4.4.4 Parameter setting POINT The encoder cable MR-EKCBL M-L/H for the HF-MP series HF-KP series servo motor or the encoder cable M R-ENECBL M-H for HF-JP11K1M(4) 15K1M(4) servo motor req uires the parameter No.PC22 setting to be changed depending on its length.
4 - 18 4. STARTUP 4.4.5 Actual operation Start actual operation a fter confirmation of normal operation by test o peration and completion of the corresponding parameter settings. 4.4.6 Trouble at start-up CAUTION Excessive adjustment or ch ange of parameter se tting must not be made as it will make operation instable.
5 - 1 5. PARAMETERS 5. PARAMETERS CAUTION Never adjust or change the parameter va lues extremely as it will make operation instable. When a fixed number is indicated in each digit of a parameter, do not change the value by any means. In this servo amplifier, the parameters are cla ssified in to the following groups on a function basis.
5 - 2 5. PARAMETERS No. Symbol Name Initial value Unit Control mode Position Speed Torque PA16 For manufacturer setting 0000h PA17 0000h PA18 0000h PA19 *BLK Parameter write inhibit 000Bh 5.1.2 Parameter write inhibit Parameter Initial value Unit Setting range Control mode No.
5 - 3 5. PARAMETERS 5.1.3 Selection of control mode Parameter Initial value Unit Setting range Control mode No. Symbol Name Position Speed Torque PA01 *STY Control mode 0000h Refer to the text. POINT Turn off the power and then on agai n after setting the parameter to validate the parameter value.
5 - 4 5. PARAMETERS Set the control mode and c ontrol loop composition of t he servo a mplifier, and the maximum torque of the HF- KP series servo motor. By making the high-response control valid in the contro l loop composition , response of the servo can be increased compared to the response under the stand ard contro l (factory setting).
5 - 5 5. PARAMETERS 5.1.4 Selection of regenerative option Parameter Initial value Unit Setting range Control mode No. Symbol Name Position Speed Torque PA02 *REG Regenerative option 0000h Refer to the text. POINT Turn off the power and then on agai n after setting the parameter to validate the parameter value.
5 - 6 5. PARAMETERS 5.1.5 Using absolute position dete ction system Parameter Initial value Unit Setting range Control mode No. Symbol Name Position Speed Torque PA03 *ABS Absolute position detection system 0000h Refer to the text. POINT Turn off the power and then on agai n after setting the parameter to validate the parameter value.
5 - 7 5. PARAMETERS 5.1.7 Number of command input pulses per servo motor revolution Parameter Initial value Unit Setting range Control mode No. Symbol Name Position Speed Torque PA05 *FBP Number of co.
5 - 8 5. PARAMETERS 5.1.8 Electronic gear Parameter Initial value Unit Setting range Control mode No. Symbol Name Position Speed Torque PA06 CMX Electronic gear numerator (command pulse multiplying fa.
5 - 9 5. PARAMETERS (a) For motion in increments of 10 m per pulse Machine specifications Ball screw lead Pb 10 [mm] Reduction ratio: 1/n Z 1 /Z 2 1/2 Z 1 : Number of gear teeth at the servo m otor si.
5 - 10 5. PARAMETERS (2) Instructions for reduction The calculated value befor e reduction must be as nea r as possible to the calculated value af ter reduction. In the case of (1), (b) in this section, an error will be smaller if reduction is m ade to provide no fra ction for CDV.
5 - 11 5. PARAMETERS To rotate the servo motor at 3000r/min in the open co llector system (200kpulse/s), set the electronic gear as follows. CDV CMX N 0 f 60 Pt f : Input pulses frequency [pulse/s] N .
5 - 12 5. PARAMETERS 5.1.9 Auto tuning Parameter Initial value Unit Setting range Control mode No. Symbol Name Position Speed Torque PA08 ATU Auto tuning mode 0001h Refer to the text. PA09 RSP Auto tuning response 12 1 to 32 Make gain adjustment using auto tuning .
5 - 13 5. PARAMETERS (2) Auto tuning response (parameter No.PA09) If the machine hunts or gen erates large gear sound, de crease the set value. To improve per formance, e.
5 - 14 5. PARAMETERS 5.1.11 Torque limit Parameter Initial value Unit Setting range Control mode No. Symbol Name Position Speed Torque PA11 TLP Forward rotation torque limit 100.0 0 to 100.0 PA12 TLN Reverse rotation torque limit 100.0 0 to 100.0 The torque generated by th e servo motor can be limite d .
5 - 15 5. PARAMETERS 5.1.12 Selection of command pulse inp ut form Parameter Initial value Unit Setting range Control mode No. Symbol Name Position Speed Torque PA13 *PLSS Command pulse input form 0000h Refer to the text. POINT Turn off the power and then on agai n after setting the parameter to validate the parameter value.
5 - 16 5. PARAMETERS 5.1.13 Selection of servo motor rotation direction Parameter Initial value Unit Setting range Control mode No. Symbol Name Position Speed Torque PA14 *POL Rotation direction selection 0 0 1 POINT Turn off the power and then on agai n after setting the parameter to validate the parameter value.
5 - 17 5. PARAMETERS (1) For output pulse designation Set " 0 " (initial value) in parameter No .PC19. Set the number of pulses per servo moto r revolution. Output pulse set value [pulses/rev ] For instance, set "5600" to parameter No.
5 - 18 5. PARAMETERS 5.2 Gain/filter parameters (No.PB ) POINT For any parameter whose symbol i s preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid.
5 - 19 5. PARAMETERS No. Symbol Name Initial value Unit Control mode Position Speed Torque PB35 For manufacturer setting 0.00 PB36 0.00 PB37 100 PB38 0.
5 - 20 5. PARAMETERS 5.2.2 Detail list No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PB01 FILT Adaptive tuning mode (adaptive fi lter ) Select the setting method for filter tuning.
5 - 21 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control) The vibration suppression is valid when the parameter No.
5 - 22 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PB 03 PS T Position c ommand accele ration/decele ration time c onstant (position smoothing) Used to set th e time constan t of a low-p ass filter in response to the position c ommand.
5 - 23 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PB05 For manufacturer setting Do not change this value by any means. 500 PB06 GD2 Ratio of load iner tia moment to servo motor inertia moment Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment.
5 - 24 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PB12 OVA (Note) Overshoot amount compensation Used to suppress overshoot in position control. Overshoot can be suppressed in machines with high friction.
5 - 25 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PB15 NH2 Machine resonance suppression filter 2 Set the notch frequency of the machine resonance suppression filter 2. Set parameter No.
5 - 26 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PB23 VFBF Low-pass filter selection Select the low-pass filter. Low-pass filter selec tion 0: Automatic setting 1: Manual settin g (parameter No.
5 - 27 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PB27 CDL Gain changing condition Used to set the value of gain changing condition (command frequency, droop pulses, servo motor speed) selected in parameter No.
5 - 28 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PB35 For man ufacturer setting 0.
5 - 29 5. PARAMETERS 5.2.3 Position smoothing By setting the position command acceleration/deceleratio n time constant (parameter No.PB03), you can run the servo motor smoothly in response to a sudden position command.
5 - 30 5. PARAMETERS 5.3 Extension setting parameters (No.PC ) POINT For any parameter whose symbol i s preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. 5.3.1 Parameter list No.
5 - 31 5. PARAMETERS No. Symbol Name Initial value Unit Control mode Position Speed Torque PC34 CMX4 Command pulse multiplying factor numerator 4 1 PC35 TL2 Internal torque limit 2 100.
5 - 32 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PC03 STC S-pattern acceleration/deceleration time constant Used to smooth start/stop of the servo motor. Set the time of the arc part for S-pattern acceleration/ deceleration.
5 - 33 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PC06 SC2 Internal speed command 2 Used to set speed 2 of internal speed commands. 500 r/min 0 to instan- taneous permi- ssible speed Internal speed limit 2 Used to set speed 2 of internal speed limits.
5 - 34 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PC13 TLC Analog torque co mmand maximum output Used to set the output torque at the analog torque command voltage (TC 8V) of 8V on the ass umption that the maximum torque is 100[ ].
5 - 35 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PC18 *BPS Alarm history clear Used to clear the alarm history. Alarm history cl ear 0: Invalid 1: Valid When alarm history clear is made va lid, the alarm history is cleared at next power-on.
5 - 36 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PC22 *COP1 Function selection C-1 Select the execution of automatic restart after instantaneous power failure selection, and encoder cable communication system selection.
5 - 37 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PC23 *COP2 Function selection C-2 Select the servo lock at speed control mode stop, the VC- VLA voltage averaging, and the speed limit in torque control mode.
5 - 38 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PC26 *COP5 Function selection C-5 Select the stroke limit warning (AL. 99). Stroke limit warning (AL. 99) sele ction 0: Valid 1: Invali d When this para m eter is set to "1", AL.
5 - 39 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PC35 TL2 Internal torq ue limit 2 Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100[ ].
5 - 40 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PC37 VCO Analog speed command offset Used to set the offset voltage of the analog speed command (VC). For example, if CCW rotation is provided by switching on forward rotation start (ST1) with 0V applied to VC, set a negative value.
5 - 41 5. PARAMETERS 5.3.3 Analog monitor The servo status can be output to two channels in terms of voltage . (1) Setting Change the following digits of parameter No.PC14, PC15. Analog monito r (MO1) output selec tion (Sign al outp ut to across MO1-L G) Parameter No.
5 - 42 5. PARAMETERS Setting Output item Description Setting Output item Description 6 Droop pulses (N ote) ( 10V/100 pulses) 100[pulse] CW direction CCW direction 100[pulse] 0 10[V] -10[V] 7 Droop pu.
5 - 43 5. PARAMETERS (3) Analog monitor block diagram PWM M Feedba ck position Home position (CR input position) Current control Speed control Current command Position control Droop p uls e Differ- en.
5 - 44 5. PARAMETERS 5.4 I/O setting parameters (No.PD ) POINT For any parameter whose symbol i s preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid.
5 - 45 5. PARAMETERS 5.4.2 List of details No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PD01 *DIA1 Input signal automatic ON selection 1 Select the input devices to be automatically turned ON.
5 - 46 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PD03 *DI1 Input signal device selection 1 (CN1-15) Any input signal can be assigned to the CN1-15 pin. Note that the setting digits and the signal that can be assigned change depending on the control mode.
5 - 47 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PD05 *DI3 Input signal device selection 3 (CN1-17) Any input signal can be assigned to the CN1-17 pin. The devices that can be assigned and the setting method are the same as in parameter No.
5 - 48 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PD10 *DI8 Input signal device selection 8 (CN1-43) Any input signal can be assigned to the CN1-43 pin. The devices that can be assigned and the setting method are the same as in parameter No.
5 - 49 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PD13 *DO1 Output signal de vice selection 1 (CN1-22) Any output signal can be assigned to the CN1-22 pin. In the initial setting, INP is assigned in the position control mode, and SA is assigned in the speed control mode.
5 - 50 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PD14 *DO2 Output signal de vice selection 2 (CN1-23) Any output signal can be assigned to the CN1-23 pin. In the initial setting, ZSP is assigned to the pin.
5 - 51 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PD19 *DIF Input filter setting Select the input filter. 000 Input si gnal filter If extern al input signa l causes chattering due to noise, etc.
5 - 52 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PD24 *DOP5 Function selection D-5 Select the alarm code and warning (WNG) outputs. 00 Settin g of alarm code out put Conn ector pins of CN1 Set val ue 22 23 24 0 Alarm code is not output.
5 - 53 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Control mode Position Speed Torque PD25 For man ufacturer setting 0000h PD26 Do not change th is value by any means. 0000h PD27 0000h PD28 0000h PD29 0000h PD30 0000h 5.
5 - 54 5. PARAMETERS MEMO.
6 - 1 6. DISPLAY AND OPERATION SECTIONS 6. DISPLAY AND OPERATION SECTIONS 6.1 Overview The MR-J3-A servo amplifier has the display section (5-digit, 7-segment LED) and o peration section (4 pushbuttons) for servo amplifier status d isplay, alarm display, parameter setting, e tc.
6 - 2 6. DISPLAY AND OP ERATION SECTIONS 6.2 Display sequence Press the "MODE" button once to shift to the next di s play mode. Refer to section 6.
6 - 3 6. DISPLAY AND OP ERATION SECTIONS 6.3 Status display The servo status during operation is shown on the 5-digit, 7-segmen t LED display. Press the "UP" or "DOWN" button to change displa y data as desired. When the required data is selected, the corresponding symbol appears.
6 - 4 6. DISPLAY AND OP ERATION SECTIONS 6.3.2 Display examples The following table lis ts display examples. Item Status Displayed data Servo amplifier display Servo motor speed Forward rotation at 2500r/min Reverse rotation at 3000r/min Reverse rotation is indicated by " ".
6 - 5 6. DISPLAY AND OP ERATION SECTIONS 6.3.3 Status display list POINT Refer to appendix 3 for the measurement point. The following table lis ts the servo statuses tha t may be shown. Name Symbol Unit Description Display range Cumulative feedback pulses C pulse Feedback pulses from the servo motor encoder are counted and displayed.
6 - 6 6. DISPLAY AND OP ERATION SECTIONS Name Symbol Unit Description Display range Peak load ratio b The ma ximum current is displayed. The highest value in the past 15 seconds is displayed relative to the rated current of 100 . 0 to 400 Instantaneous torque T Torque that occurred instantaneo usly is displayed.
6 - 7 6. DISPLAY AND OP ERATION SECTIONS 6.4 Diagnostic mode Name Display Description Sequence Not ready. Indicates that the servo amplifier is being initialized or an alarm has occurred. Ready. Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate.
6 - 8 6. DISPLAY AND OP ERATION SECTIONS Name Display Description Servo motor series ID Press the "SET" button to show the series ID of the servo motor currently connected. For indication details, refer to t he Servo Motor Instruction Manual (Vol.
6 - 9 6. DISPLAY AND OP ERATION SECTIONS Name Display Description Parameter error No. Indicates no occurrence of parameter error (AL.37) . Indicates that the data of parameter No.PA12 is faulty. Functions at occurrence of an alarm (1) Any mode screen displays the current alarm.
6 - 10 6. DISPLAY AND OP ERATION SECTIONS 6.6 Parameter mode POINT To use the I/O setting parameters, c hange the parameter No.PA19 (parameter write inhibit value. (Refer to section 5.1 .1) The I/O signal settings can be changed us ing the I/O s etting parameter No.
6 - 11 6. DISPLAY AND OP ERATION SECTIONS 6.6.2 Operation example (1) Parameters of 5 or less digits The following example shows the opera tion procedur e performed after power-on to change the control mode (Parameter No.PA01) into the spe ed control mo de.
6 - 12 6. DISPLAY AND OP ERATION SECTIONS (2) Parameters of 6 or more digits The following example give s the operation procedure to change the electronic gear numerator (parameter No.PA06) to "123456". Setting of lower 4 digits The screen flickers.
6 - 13 6. DISPLAY AND OP ERATION SECTIONS 6.7 External I/O signal display The ON/OFF states of the digital I/O sign als c onnected to the servo amplifier can be confirmed. (1) Operation After power-on, change the displa y mode to t he d iagnostic mode using the "MODE" button .
6 - 14 6. DISPLAY AND OP ERATION SECTIONS (a) Control modes and I/O signals Connector Pin No. Signal input/output (Note 1) I/ O (Note 2) S ymbols of I/O signals in control m odes Related paramete r P P/S S S/T T T/P CN1 15 I SON SON SON SON SON SON No.
6 - 15 6. DISPLAY AND OP ERATION SECTIONS (3) Display data at initial values (a) Position control mode Lit: O N Extinguished: OFF EMG(CN1-42) LOP(C N1-45) TL(CN1-18) PC(CN1-17) Input Output LSP( CN1-4.
6 - 16 6. DISPLAY AND OP ERATION SECTIONS 6.8 Output signal (DO) forced output POINT When the servo system is used in a vert ical lift application, turning on the electromagnetic brake interlock (MBR) by the DO forced output after assigning it to connector CN1 will release the electromagnetic brake, causing a drop.
6 - 17 6. DISPLAY AND OP ERATION SECTIONS 6.9 Test operation mode CAUTION The test operation mode is designed to conf irm servo operation. Do not use it for actual operation. If any operational fault has occurred, stop operation u sing the emergency stop (EMG) signal.
6 - 18 6. DISPLAY AND OP ERATION SECTIONS 6.9.2 JOG operation POINT When performing JOG operation, turn ON EMG, LSP and LSN. L SP and LSN can be set to automatic ON by setting parameter No.PD01 to " C ". JOG operation can be performed when there is no command from the external command devic e.
6 - 19 6. DISPLAY AND OP ERATION SECTIONS 6.9.3 Positioning operation POINT MR Configurator is required to perform positioning operation . Turn ON EMG when performing positioning operation. With no command given from the external command device, positioning operation can be executed.
6 - 20 6. DISPLAY AND OP ERATION SECTIONS f) Pulse move distance unit selection Select with the option buttons whether the moving distance set in c) is in the com mand pulse unit or in the encoder pulse unit.
6 - 21 6. DISPLAY AND OP ERATION SECTIONS (2) Status display The status display can be monitored durin g positioning operation. 6.9.4 Motor-less operation Without connecting the servo motor , you can provide output signals or monitor the status display as if the servo motor is running in response to input device.
6 - 22 6. DISPLAY AND OP ERATION SECTIONS MEMO.
7 - 1 7. GENERAL GAIN ADJUSTMENT 7. GENERAL GAIN ADJUSTMENT POINT Consider individual machin e differences, and do not adjust gain too strictly. It is recommended to keep the servo motor torque to 90 or less of the maximum torque of the servo motor during the ope ration.
7 - 2 7. GENERAL GAIN ADJUSTMEN T (2) Adjustment sequence and mode usage END Inter polatio n made for 2 or more axes? START Operation Auto tuning mode 2 OK? OK? Manual mode OK? No No Yes No Yes No Yes Auto tuning mode 1 Operation Interpolation mode Operation Yes Usage Used when you want to match the position gain (PG1) between 2 or more axes.
7 - 3 7. GENERAL GAIN ADJUSTMEN T 7.2 Auto tuning 7.2.1 Auto tuning mode The servo amplifier has a real-time au to tuning functi on which estimates the machine characteristic (load inertia moment ratio) in real time and au tomatically sets the optimum gains according to that value.
7 - 4 7. GENERAL GAIN ADJUSTMEN T 7.2.2 Auto tuning mode basis The block diagram of real-time auto tunin g is shown below. Command Automa tic se tting Loop gains PG1, PG2 , VG2,VIC Current control Cur.
7 - 5 7. GENERAL GAIN ADJUSTMEN T 7.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before s hipment from t he factor y, simply running t he servo motor automa tically sets the optimum gains that match the machine. Mere ly changing the response leve l setting value as required completes the adjustment.
7 - 6 7. GENERAL GAIN ADJUSTMEN T 7.2.4 Response level setting in auto tuning mode Set the response (The first digit o f parameter No.PA0 9) of the whole servo system. As the response leve l setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration.
7 - 7 7. GENERAL GAIN ADJUSTMEN T 7.3 Manual mode 1 (simple manual adju stment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, adaptive t uning mode (parameter No.
7 - 8 7. GENERAL GAIN ADJUSTMEN T 2) Speed integral compensation (VIC: pa rameter No.PB10) To eliminate stationary deviation against a comm and, the speed control loop is under proportion al integral control. For the speed in tegr al compensation, set the time cons tant of this integral control.
7 - 9 7. GENERAL GAIN ADJUSTMEN T (c) Adjustment description 1) Model loop gain (parameter No.PB07) This parameter determines the response level of the model loop. Increasing positio n loop gain 1 improves track ability to a position command but a too high value will make overshooting liab le to occur at the time of settling.
7 - 10 7. GENERAL GAIN ADJUSTMEN T 7.4 Interpolation mode The interpolation mode is u sed to match the position lo op gains of th e axes when performing th e interpolation operation of servo motors of two or more axes for an X- Y table or the like. In this mode, manua lly set the model loop gain that determines c ommand track ability.
7 - 11 7. GENERAL GAIN ADJUSTMEN T 7.5 Differences between MELSERVO-J2-Supe r and MELSERVO-J3 in auto tuning To meet higher response demands, the MELSERVO-J 3 series has been changed in response level setting range from the MELSERVO-J2-Super series . The following table lis ts comparison of the respon se level setting.
7 - 12 7. GENERAL GAIN ADJUSTMEN T MEMO.
8 - 1 8. SPECIAL ADJUSTMENT FUNCTI ONS 8. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter n eed not be used gene rally. Use them if you are not satisfied with the machine statu s after making adjustment in the methods in chapter 7.
8 - 2 8. SPECIAL ADJUSTMENT FUNCTIONS POINT The machine resonan ce frequency which adaptive filter (adaptive tuning) can respond to is about 100 to 2.25kHz. Ada ptive vibration suppression control ha s no effect on the resonance freque ncy outside this range.
8 - 3 8. SPECIAL ADJUSTMENT FUNCTIONS (3) Adaptive tuning procedure The response has increased to the machine limit. The machin e is too complicat ed to provide the optimum filter. Factor Adap tive t unin g Operation Is the target resp o nse reached? Tuning ends automatically after the predetermined period of time.
8 - 4 8. SPECIAL ADJUSTMENT FUNCTIONS POINT "Filter OFF" enables a return to the initial value. When adaptive tuning is execute d, vibration sound increase s as an excitation signal is forcibly applied for several second s.
8 - 5 8. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters (a) Machine resonance suppression filter 1 (parameter No.PB13, PB14) Set the notch frequency, notch dep th and notch width o f the machine resonance suppression filter 1 (parameter No.PB13, PB14) When the "manual mode" is selected in the adaptive tuni ng mode (parameter No.
8 - 6 8. SPECIAL ADJUSTMENT FUNCTIONS 8.4 Advanced vibration suppression cont rol (1) Operation Vibration suppression control is used to further suppr ess machine side vibration, such as workpiece end vibration and base shake. The motor sid e operation is adjusted for positioning so that the machine does not shake.
8 - 7 8. SPECIAL ADJUSTMENT FUNCTIONS POINT The function is made valid when the auto tuning mo de (parameter No.PA08) is the auto tuning mode 2 ("0002") or man ual mode ("0003"). The machine resonan c e frequency support ed in the vi bration suppression contro l tuning mode is 1.
8 - 8 8. SPECIAL ADJUSTMENT FUNCTIONS (3) Vibration suppression control tuning pr ocedure No Estimation cannot be made as machine side vibration has not been transmitted to the motor side . The response of the model loop gain has increased to the machine side vibration frequency (vibration suppression control limit) .
8 - 9 8. SPECIAL ADJUSTMENT FUNCTIONS (4) Vibration suppression control manual mode Measure work side vibration and device shake with the machine an alyzer or external measuring instrumen t, and set the vibration suppression control vibratio n freq uency (parameter No.
8 - 10 8. SPECIAL ADJUSTMENT FUNCTIONS POINT When machine side vibration doe s not show up in motor side vibration, the setting of the motor side vibration fr equency does n ot produce an effect.
8 - 11 8. SPECIAL ADJUSTMENT FUNCTIONS 8.6.2 Function block diagram The valid loop gains PG2, VG2, VIC, GD2, VRF1 and VRF2 of the actual loop are c hanged according to the conditions selected by gain changing selection CDP (p arameter No.PB26) and gain changing con dition CDL (parameter No.
8 - 12 8. SPECIAL ADJUSTMENT FUNCTIONS 8.6.3 Parameters When using the gain changing function, always set parameter No.PA08 to " 3" (auto tuning mode) to select the manual mode in the auto tuning modes. Th e gain changing func tion cannot be used in the auto tuning mode.
8 - 13 8. SPECIAL ADJUSTMENT FUNCTIONS (4) Gain changing selection (parameter No.PB26) Used to set the gain changing condition. Choose the changing condition in the first digit and second digit. If "1" is set in the first d igit, the gain can be changed by the gain changing (CDP) in put device.
8 - 14 8. SPECIAL ADJUSTMENT FUNCTIONS 8.6.4 Gain changing procedure This operation will be described by way of setting examples. (1) When you choose changing by input device (CDP) (a) Setting Parameter No. Abbreviation Name Setting Unit PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 4.
8 - 15 8. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses In this case, gain changing vibrati on suppression control cannot be used. (a) Setting Parameter No. Abbreviation Name Setting Unit PB06 GD2 Ratio of load ine rtia moment to s ervo motor inertia mo ment 4.
8 - 16 8. SPECIAL ADJUSTMENT FUNCTIONS 8.7 Vibration suppression control filter 2 POINT By using the advanced vibration sup pression control and the vibration suppression control filter 2, the machi ne side vibration of two frequencies can be suppress ed.
8 - 17 8. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameter Set parameter No.PB45 (vibration suppression contro l filter 2) as shown below. For the vibration suppression control filter 2, set a frequency close to the vibration fre quency [Hz] at the machine side.
8 - 18 8. SPECIAL ADJUSTMENT FUNCTIONS MEMO.
9 - 1 9. TROUBLESHOOTING 9. TROUBLESHOOTING POINT As soon as an alarm occurs, turn off Servo-on (SON) and power off. Refer to section 15.6 for th e servo amplifiers of 30k to 55kW. If an alarm/warning has occurred, refer to se ction 9.1 to 9.3 and remove its cause.
9 - 2 9. TROUBLESHOOTING 9.2 Remedies for alarms CAUTION When any alarm has occurred, eliminate i t s cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury ma y occur. If an absolute position erase (AL .25) occurred, always to make home position setting again.
9 - 3 9. TROUBLESHOOTING Display Name Definition Cause Action (Note 2) Alarm details AL.10 Undervoltage Power supply voltage dropped. 1. Power supply voltage is low. <Checking method> Check that the power supply voltage is the following voltage or more.
9 - 4 9. TROUBLESHOOTING Display Name Definition Cause Action (Note 2) Alarm details AL.16 Encoder error 1 (At power on) Communication error occurred between encoder and servo amplifier. 1. Encoder connector (CN2) disconnected. Connect correctly. 44 2.
9 - 5 9. TROUBLESHOOTING Display Name Definition Cause Action (Note 2) Alarm details AL.20 Encoder error 2 (during runtime) Communication error occurred between encoder and servo amplifier. 1. Encoder cable disconnected. <Checking method> Check the connection of the encoder cable.
9 - 6 9. TROUBLESHOOTING Display Name Definition Cause Action (Note 2) Alarm details AL.24 Main circuit error Ground fault occurred in servo motor power (U, V, W). 1. Power input wires and servo motor power wires are in contact. (A power input cable and a servo motor power cable are in contact at the main circuit terminal block (TE1).
9 - 7 9. TROUBLESHOOTING Display Name Definition Cause Action (Note 2) Alarm details AL.25 Absolute position erase Absolute position data is erased. 1. Voltage drop in encoder. (Battery disconnected.) After leaving the alarm occurring for a few minutes, switch power off, then on again.
9 - 8 9. TROUBLESHOOTING Display Name Definition Cause Action (Note 2) Alarm details AL.31 Overspeed Speed has exceeded the instantaneous permissible speed. 1. Input command pulse frequeroy is too high. Set command pulse frequency correctly. 2. Small acceleration/deceleration time constant caused overshoot to be large.
9 - 9 9. TROUBLESHOOTING Display Name Definition Cause Action (Note 2) Alarm details AL.33 Overvoltage Bus voltage exceeded to following voltage. MR-J3- A(1): 400VDC or more MR-J3- A4: 800VDC or more 1. Regenerative option is not used. Use the regener ative option.
9 - 10 9. TROUBLESHOOTING Display Name Definition Cause Action (Note 2) Alarm details AL.45 Main circuit device overheat Main circuit device overheat 1. Ambient temperature of servo amplifier is over 55 (131 ). Check environment so that ambient temperature is 0 to 55 (32 to 131 ).
9 - 11 9. TROUBLESHOOTING Display Name Definition Cause Action (Note 2) Alarm details AL.50 Overload 1 Load exceeded overload protection characteristic of servo amplifier. 1. Servo amplifier is used in excess of its continuous output current. 1. Reduce load.
9 - 12 9. TROUBLESHOOTING Display Name Definition Cause Action (Note 2) Alarm details AL.51 Overload 2 Machine collision or the like caused a continuous maximum current for a few seconds. 1. Servo amplifier fault. <Checking method> The servo motor is disconnected on the machine side and then the servo motor is test-operated.
9 - 13 9. TROUBLESHOOTING Display Name Definition Cause Action (Note 2) Alarm details AL.52 Error excessive The difference between the model position and the actual servo motor position exceeds three rotations. (Refer to the function block diagram in section 1.
9 - 14 9. TROUBLESHOOTING Display Name Definition Cause Action (Note 2) Alarm details (Note 1) 88888 Watchdog CPU, parts fault y 1. Fault of parts in servo amplifier <Checking method> Alarm (88888) oc curs if power is switched on after disconnection o f all cables but the c ontrol ci rcuit power supply cable.
9 - 15 9. TROUBLESHOOTING 9.3 Remedies for warnings CAUTION If an absolute position counter warning (AL.E3) occurred, always to make home position setting again. Not d oing so may cause unexpected operation . POINT When any of the following alarms has occurred, do not resume operation b y switching power of the servo amplifier OFF/ON repeatedly.
9 - 16 9. TROUBLESHOOTING Display Name Definition Cause Action AL.E1 Overload warning 1 There is a possibility that overload alarm 1 or 2 may occur. Load increased to 85% or more of overload alarm 1 or 2 occurrence level. Refer to AL.50, AL.51. AL.E3 Absolute position counter warning Absolute position encoder pulses faulty.
9 - 17 9. TROUBLESHOOTING 9.4 Troubles without an alarm/warning POINT Even if a servo amplifier, a servo moto r, or an encoder malfunctions, the following phenomena may occur. The following shows the ex amples of the estimated caus es of the troubles without alarms/warnings.
9 - 18 9. TROUBLESHOOTING Phenomena Checkpoint Es timated cause Action The servo motor does not operate. Check the cumulative command pulses with the status display or MR Configurator. The display does not change even if the pulse train command is input.
9 - 19 9. TROUBLESHOOTING Phenomena Checkpoint Es timated cause Action The servo motor speed is not accelerated. Or too fast. Check the settings of the speed command, the speed limit and the electronic gear. The setting of the speed command, the speed limit or the electronic gear is incorrect.
9 - 20 9. TROUBLESHOOTING Phenomena Checkpoint Es timated cause Action Unusual noise is generated from the servo amplifier. 1. If the safe operation is possible, repeat acceleration/deceleration 4 times or more to complete the auto tuning. 2. Reduce the auto tuning response (parameter No.
9 - 21 9. TROUBLESHOOTING Phenomena Checkpoint Es timated cause Action The servo motor vibrates. Check the mounting accuracy of the servo motor and the machine. The eccentricity is big by the core gaps. Review the direct connection accuracy. Check the axial e nd load on the servo motor.
9 - 22 9. TROUBLESHOOTING Phenomena Checkpoint Es timated cause Action The servo motor starts immediately when the servo amplifier power supply is turned on/The servo motor starts immediately when servo-on is executed. Check that the servo-on (SON) is not on.
9 - 23 9. TROUBLESHOOTING Phenomena Checkpoint Es timated cause Action The position is misaligned in operation after the home position return. Check the servo alarm/warning. 1. A servo alarm is occurring. 2. The servo motor coasts due to a servo alarm.
9 - 24 9. TROUBLESHOOTING Phenomena Checkpoint Es timated cause Action The absolute position reconstruction position is misaligned at recovery by the absolute position detection system. Check the settings as follows for the geared servo motor. 1. The travel distance per servo motor revolution (Set with the controller.
9 - 25 9. TROUBLESHOOTING Phenomena Checkpoint Es timated cause Action An abnormal value is displayed on the monitor value on MR Configurator. Check that the model selection is set correctly. Check with the "System settings" command on the "Setup" menu.
9 - 26 9. TROUBLESHOOTING MEMO.
10 - 1 10. OUTLINE DRAWINGS 10. OUTLINE DRAWINGS 10.1 Servo amplifier (1) MR-J3-10A MR-J3-20A MR-J3-10A1 MR-J3-20A1 [Unit: mm] 135 Approx.80 6 Approx.14 Appro x .
10 - 2 10. OUTL INE DRAWINGS (2) MR-J3-40A MR-J3-60A MR-J3-40A1 [Unit: mm] 170 6 Approx.14 Approx. 25.5 5 Approx.68 With MR-J3BAT CN5 CN6 CN3 CN1 CN2 CN2L CN4 L1 L2 L3 N P1 P2 P C D L11 L21 U V W CHARGE CNP1 L1 L2 L3 N P1 P2 P C D L11 L21 U V W CNP2 CNP3 156 6 6 161 168 6 6 mounting hole Approx.
10 - 3 10. OUTL INE DRAWINGS (3) MR-J3-70A MR-J3-100A [Unit: mm] Approx.8 0 185 6 60 12 CNP3 CNP2 CNP1 6 Approx.68 With MR-J3BAT CN5 CN6 CN3 CN1 CN2 CN 2L CN4 L1 L2 L3 N P1 P2 P C D L11 L2 1UV W CHARGE 12 42 L1 L2 L3 N P1 P2 P C D L11 L21 U V W 156 6 6 Approx.
10 - 4 10. OUTL INE DRAWINGS (4) MR-J3-60A4 MR-J3-100A4 [Unit: mm] 6 12 42 CNP2 CNP3 CNP1 60 12 195 6 Approx. 25.5 Approx.68 With MR-J3BAT Approx.80 6 mounting hole Mass: 1.7 [kg] (3.75 [lb]) U V W CNP3 P C D L 11 L 21 CNP2 L 1 L 2 L 3 N P 1 P 2 CNP1 Screw size: M4 Tightening torque: 1.
10 - 5 10. OUTL INE DRAWINGS (5) MR-J3-200A(4) POINT Connectors (CNP1, CNP2, and CNP3) and appeara nce of MR-J3-200A servo amplifier have been changed from April 2008 production. Model name of the servo amplifier before March 20 08 is changed to MR-J3-200A-RT.
10 - 6 10. OUTL INE DRAWINGS (6) MR-J3-350A [Unit: mm] Approx.14 6 21.4 Approx.68 6 6 45 6 mounting hole Approx.80 195 168 78 6 156 6 6 90 85 With MR-J3BAT Approx.
10 - 7 10. OUTL INE DRAWINGS (7) MR-J3-350A4 MR-J3-500A (4) [Unit: mm] CN4 CN2L CN2 CN1 CN3 CN6 CN5 CN4 CN2L CN2 CN1 CN3 CN6 CN5 CHARGE 130 118 6 250 235 6 With MR-J3BAT 2- 6 mounti ng ho le 200 Approx.80 131.5 68.5 Cooling fan exhaust 6 Termin al layout (Terminal cover op en) TE1 TE2 TE3 20.
10 - 8 10. OUTL INE DRAWINGS (8) MR-J3-700A (4) [Unit: mm] 172 160 6 300 285 6 With MR-J3BAT 200 138 62 6 TE2 TE3 TE1 CN2 CN1 CN3 CN6 CN5 CN4 CN2L CN2 CN1 CN3 CN6 CN5 CN4 CN2L CHARGE Regenerative resistor lead termi nal fi xing screw 20.
10 - 9 10. OUTL INE DRAWINGS (9) MR-J3-11KA(4) to MR-J3-22KA(4) [Unit: mm] 12 236 12 260 12 260 Approx.80 With MR-J3BAT Rating plate 2- 12 mounting hole TE 183 227 CN1 26 52 6 x 26 = 156 123 13 Servo amplifier MR-J3-11KA(4) 18.0 (40) MR-J3-15KA(4) 18.
10 - 10 10. OUTL INE DRAWINGS 10.2 Connector (1) Miniature delta ribbon ( MDR) system (3M) (a) One-touch lock type [Unit: mm] E B A 23.8 39.0 12.7 C Logo etc, are indicated here. D Connector Shell kit Each t ype of dimension A B C D E 10150-3000PE 10350-52F0-008 41.
10 - 11 10. OUTL INE DRAWINGS (2) SCR connector system (3M) Receptacle: 36210-0100PL Shell kit : 36310-3200-008 [Unit: mm] 34.8 39.5 22.4 11.0.
10 - 12 10. OUTL INE DRAWINGS MEMO.
11 - 1 11. CHARACTERISTICS 11. CHARACTERISTICS 11.1 Overload protection characteristi cs An electronic thermal relay is built in the servo amplif ier to protect the servo motor, servo amplifier and servo motor power line from overloads. Over load 1 a larm (AL.
11 - 2 11. CHARACTERISTIC S 10000 1000 100 10 1 0 In oper ation In servo lock O p e r a t i o n t i m e [ s ] (Note 1) Load r atio [ ] 50 100 150 200 250 300 MR-J3-11KA(4) to MR-J3-22KA(4) Note 1.
11 - 3 11. CHARACTERISTIC S 11.2 Power supply equipment capacity and gene rated loss (1) Amount of heat generated by the servo amplifier Table 11.1 indicates servo amplifiers' power supply capacities and losses generated under rate d load. For thermal design of an enclosure, use the values in Table 11.
11 - 4 11. CHARACTERISTIC S Servo amplifier Servo motor (Note 1) Power supply capacity [kVA] (Note 2) Servo amplifier-generated heat [W] Area required for heat dissipation [m 2 ] At rated torque With servo off MR-J3-500A(4) HF-SP502(4) 7.5 195 25 3.9 HC-RP353 5.
11 - 5 11. CHARACTERISTIC S (2) Heat dissipation area for enclosed servo amp lifier The enclosed control box (hereafter called the control box) which will con tain the servo amplifier should be designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 .
11 - 6 11. CHARACTERISTIC S 11.3 Dynamic brake characteristics POINT Dynamic brake operates at occurrence of alarm, se rv o emergency st op warning (AL.E6) and when power is turned off. Do not use dynamic brake to stop in a normal operation as it is the function to stop in em ergency.
11 - 7 11. CHARACTERISTIC S (2) Dynamic brake time constant The following shows necessary dynamic brake time constant for the equations (11.2). (a) 200V class servo motor Speed [r/min] 0 0 1000 200 0 .
11 - 8 11. CHARACTERISTIC S 0 0 500 1000 15 00 2000 80 60 40 20 11K2 15K2 22K2 502 702 Ti m e c o n s t a n t [ m s ] Speed [r/min] Ti m e c o n s t a n t [ m s ] 0 0 52 500 1000 150 0 2000 202 200 15.
11 - 9 11. CHARACTERISTIC S (b) 400V class servo motor 5024 0 1000 2000 3000 75 60 45 30 15 0 90 7024 1524 3524 1024 524 2024 Ti m e c o n s t a n t [ m s ] Speed [r/min] Ti m e c o n s t a n t [ m s .
11 - 10 11. CHARACTERISTIC S 11.3.2 The dynamic brake at the load in ertia moment Use the dynamic brake under the load inertia moment rati o indicated in the following table . If the load inertia moment is higher than this value, the d ynamic brake may burn.
11 - 11 11. CHARACTERISTIC S 11.4 Cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are not g uaranteed values, provide a little allow ance for these values.
11 - 12 11. CHARACTERISTIC S MEMO.
12 - 1 12. OPTIONS AND AUXILIARY EQUIPMENT 12. OPTIONS AND AU XILIARY EQUIPMENT WARNING Before connecting any option or peripheral equipmen t, turn off the power and wait for 15 minutes or longer until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and o thers.
12 - 2 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.1.1 Combinations of cable/co nnector sets Servo ampl ifier Controller Operation panel To CN6 To CN1 To CN2 Personal comput er CN5 CN3 CN1 CN2 4) 7) 1) 2).
12 - 3 12. OPTIONS AND AUXILI ARY EQUIPMENT Servo mot or HF-JP11K1M(4) 15K1 M(4) Power supply connec tor Brake connect or Encoder connec tor From previous page a) Servo mot or HC-RP HC-UP HC-LP Termin.
12 - 4 12. OPTIONS AND AUXILI ARY EQUIPMENT No. Product Model Description Application 1) Servo amplifier power supply connector Supplied with servo amplifiers of 1kW or less in 100V class and 200V cla.
12 - 5 12. OPTIONS AND AUXILI ARY EQUIPMENT No. Product Model Description Application 6) USB cable MR-J3USBCBL3M Cable length: 3m For CN5 connector minB connector (5 pins) For personal computer connec.
12 - 6 12. OPTIONS AND AUXILI ARY EQUIPMENT No. Product Model Description Application 18) Motor brake cable MR-BKS2CBL03M-A1-L Cable length: 0.3m Brake c onnec tor HF-MP series HF-KP series Refer to section 12.1.4 for details. IP55 Load side lead 19) Motor brake cable MR-BKS2CBL03M-A2-L Cable length: 0.
12 - 7 12. OPTIONS AND AUXILI ARY EQUIPMENT No. Product Model Description Application 29) Encoder cable MR-J3ENSCBL M-L Cable length: 2 5 10 20 30m For HF-SP HC-U P HC-LP HC-RP HA-LP series HF-JP53(4) to 503(4) Refer to section 12.1.2 (5) for details.
12 - 8 12. OPTIONS AND AUXILI ARY EQUIPMENT No. Product Model Description Application 38) Brake connector set MR-BKCN Plug: D/MS3106A10SL-4S(D190) (DDK) For cable connector: YSO10-5-8( Daiwa Dengyo) Example of applicable cable Applicable wire size: 0.
12 - 9 12. OPTIONS AND AUXILI ARY EQUIPMENT No. Product Model Description Application 47) Brake connector set MR-BKCNS1-S06 Straight plug: CM10-SP2S-VP-L Socket contact: CM10-#22SC (S2) (D8)-10 0 (DDK.
12 - 10 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.1.2 Encoder cable/connecto r sets (1) MR-J3ENCBL M-A1-L/H MR-J3ENCBL M-A2-L/H These cables are encoder cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the s ymbols entered in the part o f the cable model.
12 - 11 12. OPTIONS AND AUXILI ARY EQUIPMENT (b) Cable internal wiring dia gram Servo amplifier side connector Enco der si de connector Plate MR-J3 ENCBL2M -L/-H MR-J3 ENCBL5M -L/-H MR-J3ENCBL10M-L/-H P5 LG 1 2 MR MRR 3 4 2 3 9 SD 5 4 6 9 LG MR MRR SHD P5 BAT BAT (2) MR-EKCBL M-L/H POINT The following encoder cables are of f our-wire type.
12 - 12 12. OPTIONS AND AUXILI ARY EQUIPMENT (a) Connection of servo amplifier and servo motor Servo motor HF-MP HF-KP 1) MR-EKCBL M-L MR-EKCBL M-H MR- J3JCB L03M- A2-L Cabl e le ngth: 0.
12 - 13 12. OPTIONS AND AUXILI ARY EQUIPMENT (b) Internal wiring diagram MR-EKCBL20M-L Encoder side Servo am plifier sid e 1 2 3 4 3 7 9 Plate 1 2 8 9 LG MR MRR SHD P5 BAT LG MR MRR SHD P5 BAT (Note) .
12 - 14 12. OPTIONS AND AUXILI ARY EQUIPMENT (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts and fabrica te it according to the wiring diagram in (b). Refer to sec tion 12.11 for th e specifications of the used cable .
12 - 15 12. OPTIONS AND AUXILI ARY EQUIPMENT (a) Connection of servo amplifier and servo motor Servo motor HF-MP HF-KP MR-J3JCBL03M-A2-L MR-EKCBL M-L/-H 1) Servo amplifier CN2 2) Servo motor HF-MP HF-.
12 - 16 12. OPTIONS AND AUXILI ARY EQUIPMENT (4) MR-J3JSCBL03M-A1-L MR-J3JSCBL03M-A2-L The servo amplifier and servo motor cannot be connected with thes e cables only. The servo motor side encoder cable (MR- J3ENSCBL M-L/H) is required. Cable model Cable length IP ra ting Flex life Application MR-J3JSCBL03M-A1-L 0.
12 - 17 12. OPTIONS AND AUXILI ARY EQUIPMENT (b) Cable internal wiring dia gram P5 LG 8 5 MR MRR 1 2 1 3 Junction connector Encoder side connector 3 SHD 5 4 6 9 MR-J3JSCBL03M-A1-L MR-J3JSCBL03M-A2-L L.
12 - 18 12. OPTIONS AND AUXILI ARY EQUIPMENT (a) Connection of servo amplifier and servo motor Servo amplifier CN2 1) 2) MR-J3ENSCBL M-L(-S06) MR-J3ENSCBL M-H(-S06) Servo motor HF-SP HF-JP53(4) to 503.
12 - 19 12. OPTIONS AND AUXILI ARY EQUIPMENT (b) Internal wiring diagram MR-J3ENSCBL2M-L(-S06)/H(-S0 6) MR-J3ENSCBL5M-L(-S06)/H(-S0 6) MR-J3ENSCBL10M-L(-S06)/H(-S06) P5 LG 1 2 MR MRR 3 4 4 8 9 SD 1 2 .
12 - 20 12. OPTIONS AND AUXILI ARY EQUIPMENT (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts and fabrica te it according to the wiring diagram in (b). Refer to sec tion 12.11 for th e specifications of the used cable .
12 - 21 12. OPTIONS AND AUXILI ARY EQUIPMENT (6) MR-ENECBL M-H POINT The following encoder cables are of f our-wire type. When using any of these encoder cables, set parameter No. PC22 to "1 " to select the four-wire type. MR-ENECBL30M-H MR-ENECBL40M-H MR-ENECBL50M-H These cables are encoder cables for HF-JP11K1M(4) 15K1M(4) servo motors.
12 - 22 12. OPTIONS AND AUXILI ARY EQUIPMENT (a) Connection of servo amplifier and servo motor MR-EN ECBL M- H Servo amplifier 1) 2) CN2 Servo motor HF-JP11K1M(4) 15K1M(4) Cable model 1) For CN2 conn .
12 - 23 12. OPTIONS AND AUXILI ARY EQUIPMENT (b) Cable internal wiring dia gram 1) For less than 30m To fabricate, use the connector set MR-ECNS (IP2 0 compatible) or MR-ENECNS (IP67 compa tible). Use the following wiring diagram to fabricate a cable shorter than 30 m.
12 - 24 12. OPTIONS AND AUXILI ARY EQUIPMENT (7) MR-J3BTCBL03M This cable is a battery connection c able . Use this cabl e to retain the current position even if the detector cable is disconnected from the servo amplifier. Cable model Cable length Application MR-J3BTCBL03M 0.
12 - 25 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.1.3 Motor power supply cables These are motor power supply cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the s ymbols entered in the part o f the cable model.
12 - 26 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.1.4 Motor brake cables These are motor brake cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the tab le are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available.
12 - 27 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.2 Regenerative options CAUTION The specified combinations of regenerativ e options and servo amplifiers may only be used. Otherwise, a fire may occur. (1) Combination and regenerative power The power values in the table are resi stor-generated powers and not rated powers.
12 - 28 12. OPTIONS AND AUXILI ARY EQUIPMENT Servo amplifier (Note 2) Regenerative power [W] External regenerative resistor (Accessory ) MR-RB5R [3.2 ] MR-RB9F [3 ] MR-RB5K-4 [10 ] MR-RB6K-4 [10 ] MR-.
12 - 29 12. OPTIONS AND AUXILI ARY EQUIPMENT (b) Losses of servo motor and servo amp lifier in regenerative mode The following table lis ts the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode.
12 - 30 12. OPTIONS AND AUXILI ARY EQUIPMENT (3) Parameter setting Set parameter No.PA02 according to the option to be used. Selection of regenerative option 00: Regenerative option is not used For servo amplifier of 100W, regenerative resistor is not used.
12 - 31 12. OPTIONS AND AUXILI ARY EQUIPMENT (4) Connection of the regenerative op tion POINT When the MR-RB50 MR-RB51 MR-RB3M-4 MR-RB3G-4 MR-RB5G-4 MR-RB34-4 MR-RB54-4 is used, a cooling fan is required to cool it. T he cooling fan should be prepared by the customer.
12 - 32 12. OPTIONS AND AUXILI ARY EQUIPMENT (b) MR-J3-350A4 MR-J3-500A(4) MR-J3-700A(4) Always remove the wiring (across P-C) of the se rvo amplifier built-in r egener ative resistor and fit the regenerative option across P-C. The G3 and G4 terminals act as a thermal s ensor.
12 - 33 12. OPTIONS AND AUXILI ARY EQUIPMENT The drawing below shows the MR-J3-350A4 and MR-J 3-500A (4). Refer to section 10.1 (6) Outline Drawings for the position of the fixing screw for MR-J3-700A (4).
12 - 34 12. OPTIONS AND AUXILI ARY EQUIPMENT (c) MR-J3-11KA(4)(-LR) MR-J3-15KA(4)(-LR) MR-J3-22KA(4) (when using the supplied regenerative resistor) CAUTION The regenerative resistor supplied with 1 1 kW to 22 kW servo ampl ifiers does not have a protect cover.
12 - 35 12. OPTIONS AND AUXILI ARY EQUIPMENT (d) MR-J3-11KA(4)-PX/LW MR-J3-15KA(4)-PX/LW MR-J3-22KA(4)-PX (when using the regenerative option) The MR-J3-11KA(4)-PX to MR-J3-22KA(4)-PX servo amplifiers are not s upplied with regenerative resistors.
12 - 36 12. OPTIONS AND AUXILI ARY EQUIPMENT When using cooling fans, install them using the mounting holes provided in the bo ttom of the regenerative option. In this case, set " FA" in parameter No.PA02 . Mounti ng screw 4-M3 MR-RB5E 9P 9F 6B-4 60-4 6K-4 Top Bottom TE1 G4 G3 C P TE 2 cooling fans (92 92 m inimum a ir flow: 1.
12 - 37 12. OPTIONS AND AUXILI ARY EQUIPMENT (b) MR-RB30 MR-RB31 MR-RB32 MR-RB34-4 MR-RB3M-4 MR-RB3G-4 [Unit: mm] 7 10 90 100 B A 318 82.5 101.5 Cooling fan mounting screw (2-M4 screw) Air intake Terminal block G3 G4 P C Terminal screw: M4 Tightening torque: 1.
12 - 38 12. OPTIONS AND AUXILI ARY EQUIPMENT (d) MR-RB5E MR-RB5R MR-RB9P MR-RB9F MR-RB5K-4 MR-RB6B-4 MR-RB60-4 MR-RB6K-4 [Unit: mm] 260 230 10 2- 10 mounting hole 197 15 2.3 Air intake 215 15 230 15 15 15 82.5 82.5 Cooling fan mounting screw 4-M3 screw Terminal block G3 G4 P C Terminal screw: M5 Tightening torque: 2.
12 - 39 12. OPTIONS AND AUXILI ARY EQUIPMENT (f) MR-RB1H-4 [Unit: mm] 6 2 149 173 6 Approx. 24 15 36 40 6 mounting hole Terminal signal layout G3 G4 P C Applicable wire size: 0.2 to 4.0mm 2 (AWG24 to AWG10) Tightening torque: 0.5 to 0.6 [N m] (4.43 to 5.
12 - 40 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.3 FR-BU2-(H) brake unit POINT Use a 200V class brake unit and a resistor uni t with a 200V class servo amplifier, and a 400V class brake unit and a resistor unit with a 400V class servo amplifier. Combination of different voltage class un its and servo amplifier cannot be used.
12 - 41 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.3.1 Selection Use a combination of servo amplifier, brake unit and resist or unit listed below. Brake unit Resistor unit Number of connected units Permissible continuous power [kW] Total resistance [ ] Applicable servo amplifier 200V class FR-BU2-15K FR-BR-15K 1 0.
12 - 42 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.3.3 Connection exampl e POINT Connecting PR terminal of the brake unit to P terminal of the servo amplifier results in brake unit malfunction. Always connect t he PR terminal of the brake unit to the PR terminal of the resistor unit.
12 - 43 12. OPTIONS AND AUXILI ARY EQUIPMENT (b) When connecting two brake units to a servo amplifier POINT To use brake units with a parallel connec ti on, use two sets of FR-BU2 brake unit. Combination with other brake unit results in alarm occurrence or malfunction.
12 - 44 12. OPTIONS AND AUXILI ARY EQUIPMENT RA1 ALM Servo motor thermal relay RA2 (Note 7) MC ON Emerge ncy stop (Note 12) SK Termin al block (Note 11) P 1 P 2 P N C (Note 3) (Not e 2) (Note 8) MC NF.
12 - 45 12. OPTIONS AND AUXILI ARY EQUIPMENT (2) Combination with MT-BR5-(H) resistor unit RA4 (Note 3) (Note 6) FR-BU2-(H) MT-BR5-(H) (Note 5) (Not e 9) P 1 P( ) N( ) (Note 8) (Not e 2) C( N o t e 1 .
12 - 46 12. OPTIONS AND AUXILI ARY EQUIPMENT (3) Precautions for wiring The cables between the servo amplifier a nd the brake unit, and between the resistor unit and the brake unit should be as short as possible. Alwa ys twist the cable longer than 5m (twist five times or more per one meter).
12 - 47 12. OPTIONS AND AUXILI ARY EQUIPMENT 2) Control circuit terminal POINT Undertightening can cause a cable disconnec tion or malfunction. O vertightening can cause a short circuit or malfunction d ue to damage to the screw or the brake unit.
12 - 48 12. OPTIONS AND AUXILI ARY EQUIPMENT (5) Crimping terminals for P and N terminals of servo amplifier (a) Recommended crimping terminals POINT Always use recommended crimping terminal s or equivalent since some crimping terminals cannot be installe d depending on the size.
12 - 49 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.3.4 Outline dimension drawings (1) FR-BU2-(H) brake unit [Unit: mm] FR-BU2-15K Rating plate 5 hole (Screw size: M4) 68 6 56 6 5 18.5 52 62 4 132.5 FR-BU2-30K FR-BU2-H30 K 129.5 5 59 18.5 Rating plate 52 2- 5 hole (Screw size: M4) 5 108 6 6 96 FR-BU2-55K FR-BU2-H55K, H75K 18.
12 - 50 12. OPTIONS AND AUXILI ARY EQUIPMENT (2) FR-BR-(H) resistor unit [Unit: mm] 2 C Control circuit terminal Main circuit terminal W1 1 Approx. 35 Approx. 35 204 Hanging bolt C C W 5 For FR-BR-55K/FR-BR-H55K, a hanging bolt is placed on two locations (Indicated below).
12 - 51 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.4 Power regenerative converter POINT When using the FR-RC-(H) power regener ative converter, refer to "Power Regeneration Converter FR-RC Inst ruction Manual (IB(NA)66330)". When using the power regenerative converter , set " 01" in parameter No.
12 - 52 12. OPTIONS AND AUXILI ARY EQUIPMENT (2) Connection example P/ N/ Ready NCP 5m or less RDY output (Note 2) BC Power factor improving AC reactor (Note 8) SON (Note 6) Power supply R RX R SX S T.
12 - 53 12. OPTIONS AND AUXILI ARY EQUIPMENT (3) Outside dimensions of the power regenerative con verters [Unit : mm] AA A C F K EE BA B E D 2- D ho le Rati ng plat e Front cover Display panel window .
12 - 54 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.5 Power regenerative common converter POINT Use the FR-CV for the servo amplifier of 200V class and the FR-CV-H for that of 400V class. For details of the power reg enerative co mmon converter FR-CV-(H), re fer to the FR-CV-(H) Installation Guide (IB(NA)0600075).
12 - 55 12. OPTIONS AND AUXILI ARY EQUIPMENT The following table lists the restrictions. Item FR-CV- 7.5K 11K 15K 22K 30K 37K 55K Maximum number of connected servo amplifiers 6 Total of connectable servo amplifier c apacities [kW] 3.75 5.5 7.5 11 15 18.
12 - 56 12. OPTIONS AND AUXILI ARY EQUIPMENT (3) Connection diagram (a) 200V class Thermal relay MC NFB R/L 11 3-ph ase 200 to 230VAC S/L 21 T/L 31 R2/L 1 S2/L 22 R2/L 12 T2/L 32 S2/L 2 (Note 3) P24 S.
12 - 57 12. OPTIONS AND AUXILI ARY EQUIPMENT (b) 400V class Thermal relay MC NFB R/L 11 3-ph ase 380 t o 480VAC S/L 21 T/L 31 R2/L 1 S2/L 22 R2/L 12 T2/L 32 S2/L 2 (Note 3) P24 SD RDYB RDYA RSO SE T2/.
12 - 58 12. OPTIONS AND AUXILI ARY EQUIPMENT (4) Selection example of wires used for wiring POINT Selection condition o f wire size is as follow s. Wire type: 600V Polyvinyl chloride insula ted wire (.
12 - 59 12. OPTIONS AND AUXILI ARY EQUIPMENT (b) Examp le of select ing the wire sizes When connecting multiple servo amp lifiers, always use junction terminals for wiring the servo amplifier terminals P, N. Also, connect the servo amplifiers in th e order of larger to smaller capacities.
12 - 60 12. OPTIONS AND AUXILI ARY EQUIPMENT (5) Other precautions (a) Always use the dedicated stand-alon e reactor (FR-CVL-(H)) as the power factor improving reactor. Do not use power factor improving AC reactor (FR-BAL -( H)) or power factor improving DC reactor (FR- BEL-(H)).
12 - 61 12. OPTIONS AND AUXILI ARY EQUIPMENT (6) Specifications Power regenerative common converter FR-CV- Item 7.5K 11K 15K 22K 30K 37K 55K Total of connectable servo amplifier capacities [kW] 3.75 5.5 7.5 11 15 18.5 27.5 Maximum servo amplifier capacity [kW] 3.
12 - 62 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.6 External dynamic brake CAUTION Use an external dynamic brake for a serv o amplifier of MR-J3-11KA(4) to MR-J3- 22KA(4). Failure to do so will cause an accident because the servo motor does not stop immediately but coasts at an emerge ncy stop and such conditions.
12 - 63 12. OPTIONS AND AUXILI ARY EQUIPMENT (2) Connection example Oper ation-re ady 13 U 14 V W Extern al dynami c brake a b RA2 (Note 5) L 11 L 21 Servo amplifier 15 SON L 3 L 2 L 1 RA2 42 EMG 46 D.
12 - 64 12. OPTIONS AND AUXILI ARY EQUIPMENT Servo motor rotation Coasting ON OFF Absent Invalid Valid Short Open a. Timing chart at alarm occurrence b.
12 - 65 12. OPTIONS AND AUXILI ARY EQUIPMENT (3) Outline dimension drawing (a) DBU-11K DBU-15K DBU-22K C D 100 D 5 5 F 2.3 G (GND) a Termi nal block Tighte ning torque : 0.8 [ N m](7 [lb in] Screw: M3.5 E b 13 14 W V U Tightening torque: 1.2 [N m](10.
12 - 66 12. OPTIONS AND AUXILI ARY EQUIPMENT (b) DBU-11K-4 DBU-22K-4 [Unit: mm] 15 51 25 15 73.75 7 25 150 1 0 200 170 1 7 8 . 5 1 7 9 . 5 15 2 6 0 2 8 0 4 3 1 0 2- 7Mounting hol e 195 2 2 8 2 6 2 6 210 2.3 Mass: 6.7[kg] Tightening torque: 0.8[N m](7[lb in]) a TE1 Screw: M3.
12 - 67 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.7 Junction terminal bloc k MR-TB50 (1) How to use the junction terminal block Always use the junction ter minal block (MR-TB50) with the junction terminal block cable (MR-J2M- CN1TBL M) as a set. A connection example is shown below.
12 - 68 12. OPTIONS AND AUXILI ARY EQUIPMENT (4) Junction terminal block cable MR-J2M-CN1TBL M (a) Model explanation Cable length[m] Symbol 05 1 0.5 1 Mode l: M R-J2 M-CN1TB L M (b) Connection diagram D7950 -B500 FL (Junc tion termin al side) 10150-6000EL (Servo am plifier side) SD SD Plate Signal Symbols Speed Torq ue Pin No.
12 - 69 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.8 MR Configurator The MR Configurator uses the communication func tion of the servo amplifier to perform parame ter setting changes, graph display, test operati on, etc.
12 - 70 12. OPTIONS AND AUXILI ARY EQUIPMENT (2) System configuration (a) Components To use this software, the following components are re q uired in addition to the servo amplifier and servo motor.
12 - 71 12. OPTIONS AND AUXILI ARY EQUIPMENT (b) Connection with servo a mplifier 1) For use of USB To USB connector Servo am plifier CN5 USB cable MR-J3USBCBL3M (Option) Person al computer 2) For use.
12 - 72 12. OPTIONS AND AUXILI ARY EQUIPMENT (c) To diagnose the trouble using diagno sis cable (MR-J3ACHECK) POINT The amplifier diagnosis function can be u s ed with the following software versions of the servo amplifier. Servo amplifier: A1 or la ter MR Configurator: A1 or later Turn the power on after al l connectors are connected.
12 - 73 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.9 Battery unit MR-J3BAT POINT Refer to appendix 7 and 8 for battery transportation and the new EU Battery Directive. (1) Purpose of use for MR-J3BAT This battery is used to construct an absolute position detection s ystem.
12 - 74 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.10 Heat sink outside mounti ng attachment (M R-J3ACN) Use the heat sink outside mounting atta chment to mount the heat generation ar ea of the servo amp.
12 - 75 12. OPTIONS AND AUXILI ARY EQUIPMENT (3) Fitting method Attachment Fit using the assembling screws. Serv o ampl if ier Attachment Servo amplifier Punched hole Control box a. Assembling the heat sink outside mounting atta chment b. Installation to the control box (4) Outline dimension drawing [Unit: mm] 236 280 Approx.
12 - 76 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.11 Selection example of wires POINT Wires indicated in this section are separated wires. Wh en using a cable for power line (U, V, and W) between the servo amplifier and servo motor, use a 600V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT).
12 - 77 12. OPTIONS AND AUXILI ARY EQUIPMENT (a) When using the 600V Polyvinyl chloride insulated wire (IV wire) Selection example of wire s ize when using IV wires is indicated be low.
12 - 78 12. OPTIONS AND AUXILI ARY EQUIPMENT (b) When using the 600V Grade heat-resistant polyv inyl chloride insulated wire (HIV wire) POINT Refer to the table 12.3 whe n using the HF-JP series servo mo tor of 0.5k to 5kW with the 400 maximum torque setting.
12 - 79 12. OPTIONS AND AUXILI ARY EQUIPMENT Table 12.3 Wire size select ion example 3 (HIV wire) for the HF-JP series with the 400 maximum torque setting HF-JP servo motor Servo amplifier Wire [mm 2 ] (Not e 1) 1) L 1 L 2 L 3 2) L 11 L 21 3) U V W 4) P C 5) B1 B2 53 MR-J3-100A 73 MR-J3-200A 2(AWG14 ) 1.
12 - 80 12. OPTIONS AND AUXILI ARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent.
12 - 81 12. OPTIONS AND AUXILI ARY EQUIPMENT Note 1. d is as shown below. d Conduc tor Insulation sheath 2. Purchase from Toa Electric Industry 3. Standard OD. Max. OD is about 10 greater. 4. Purchase from Taisei 5. Taiyo Electric Wire and Cable 6. These wire sizes assume that the UL-compliant wires are used at the wiring length of 10m.
12 - 82 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.13 Power factor improving DC re actor POINT For the 100VAC power supply type (MR-J3- A1), the p ower factor improving DC reactor cannot be used. The power factor improving DC reactor increases the form factor of the servo a mplifier's input current to improve the power factor .
12 - 83 12. OPTIONS AND AUXILI ARY EQUIPMENT Servo amplifier Power factor improving DC reactor Outline drawing Dimensions [mm] Mounting screw size Mass [kg(lb)] Wire [mm 2 ] (Note) A B C D E F L G H MR-J3-10A 20A FR-BEL-0.4K 110 50 94 1.6 95 6 12 M3.5 25 M5 0.
12 - 84 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.14 Power factor improving re actors The power factor improving reactors impr ove the phase fac t or by increasing the form fac tor of servo amplifier' s input current. It can reduce the power capacity.
12 - 85 12. OPTIONS AND AUXILI ARY EQUIPMENT Servo amplifier Model Dimensions [mm] Mounting screw size Terminal screw size Mass [kg (lb)] W W1 H D D1 C MR-J3-10A 20A 10A1 FR-BAL-0.4K 135 120 115 59 45 0 -2.5 7.5 M4 M3.5 2.0 (4.4 1) MR-J3-40A 20A1 FR-BAL-0.
12 - 86 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.16 Surge absorbers (recommended) A surge absorber is required for the electromagnetic br ake. Use the following surge absorber or equivalen t. When using the surge absorber, perform insula tion beforehand to prevent short-circuit.
12 - 87 12. OPTIONS AND AUXILI ARY EQUIPMENT (c) Techniques for noises radiated by the servo ampl ifier tha t cause peripheral devices to malfunction Noises produced by the servo amplifier are classif.
12 - 88 12. OPTIONS AND AUXILI ARY EQUIPMENT Noise transmission route Suppression techniques 1) 2) 3) When measuri ng instrumen ts, receivers, se nsors, etc.
12 - 89 12. OPTIONS AND AUXILI ARY EQUIPMENT (b) Surge killer The recommended surge killer for installa tion to an AC r elay, AC valve or the like n ear the servo amplifier is shown below. Use this product or equivalent. MC SK Surge killer Relay Surge killer MC ON OFF This distance should be short (within 20cm).
12 - 90 12. OPTIONS AND AUXILI ARY EQUIPMENT Outline drawing Eart h plate Clam p secti on dia gram (Note)M4 sc rew 1 1 3 6 C A 6 22 17.5 35 3 5 L or les s 10 3 0 7 2 4 0 0 . 2 2 4 0 . 3 0 [Unit: mm] B 0 . 3 2- 5 ho le installation hole Note. Screw hole for grounding.
12 - 91 12. OPTIONS AND AUXILI ARY EQUIPMENT (d) Line noise filter (FR-BSF01, FR-BLF) This filter is effective in suppressing noises radi ated fr om the power supply side and output side of the servo amplifier and also in suppressing high-frequen cy leakage current (zero-phase current) especially within 0.
12 - 92 12. OPTIONS AND AUXILI ARY EQUIPMENT (e) Radio noise filter ( FR-BIF-(H)) This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10MHz and lower radio frequency bands. T he FR-BIF-(H) is designed for the input only.
12 - 93 12. OPTIONS AND AUXILI ARY EQUIPMENT (f) Varistors for input power supply (Recommended) Varistors are effective to prevent exogenous noise and lightning surge from enterin g the servo amplifier. When using a varistor, connect it between each phase of the inpu t power supply of the equipme nt.
12 - 94 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.18 Leakage current bre aker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.
12 - 95 12. OPTIONS AND AUXILI ARY EQUIPMENT Table 12.4 Servo motor’s leakage current example (Igm) T able 12.5 Servo amplifier's leakage current example (Iga) Servo motor power [kW] Leakage current [mA] Servo amplifier capacity [kW] Leakage current [mA] 0.
12 - 96 12. OPTIONS AND AUXILI ARY EQUIPMENT 12.19 EMC filter (recommended) For compliance with the EMC directive of the IEC/EN Standard, it is recommended to use the following filter.
12 - 97 12. OPTIONS AND AUXILI ARY EQUIPMENT (3) Outline drawing (a) EMC filter HF3010A-UN [Unit: mm] M4 IN 3-M4 65 4 Approx.41 4-5.5 7 258 4 273 2 288 4 300 5 3-M4 85 2 32 2 110 4 HF3030A-UN HF-3040A.
12 - 98 12. OPTIONS AND AUXILI ARY EQUIPMENT HF3100A-UN 2-6.5 8 M8 145 1 165 3 M6 380 1 400 5 160 3 M8 2- 6.5 TF3005C-TX TX3020C-TX TF3030C-TX [Unit: mm] 290 2 100 1 308 5 332 5 Appro x.12. 2 3-M4 16 16 6-R3.25 length8 M4 M4 125 2 140 1 155 2 IN 150 2 Appro x.
12 - 99 12. OPTIONS AND AUXILI ARY EQUIPMENT TF3040C-TX TF3060C-TX [Unit: mm] K 2 L J H 5 M6 C 2 D 1 B 5 A 5 Approx. 17 3-M6 22 22 8-M M4 M4 G 2 3-M6 F 1 E 2 IN D 1 D 1 Model Dimensions [mm] A B C D E F G H J K L M TF3040C-TX 438 412 390 100 175 160 145 200 Approx.
12 - 100 12. OPTIONS AND AUXILI ARY EQUIPMENT (b) Surge protector RAV-781BYZ-2 4.5 0.5 1 3 2 41 1.0 28.5 1.0 28 1.0 4.2 0.2 200 30 0 UL-1015AWG16 5.5 1 11 1 [Unit: mm] Black 1) 2) 3) Black Black RAV-781BXZ-4 1 3 2 UL-1015AWG16 4.2 0.2 5.5 1 11 1 28.5 1.
13 - 1 13. COMMUNICATION FUNCTION 13. COMMUNICATION FUNCTION POINT The USB communication function (CN5 conn ector) and the RS-422 communication functio n (CN3 connector) ar e mutua lly exclusive functions.
13 - 2 13. COMMUNICATION FUNCTI ON (b) Cable connection diagram Wire the cables as shown below. 7 1 2 3 4 5 6 8 7 1 2 3 4 5 6 8 12345678 7 1 2 3 4 5 6 8 (Note 4 , 5) (Note 1) Axis 1 servo amplifier CN.
13 - 3 13. COMMUNICATION FUNCTI ON 13.2 Communication sp ecifications 13.2.1 Communication overview This servo amplifier is des igned to send a reply on re ceipt of an instruction.
13 - 4 13. COMMUNICATION FUNCTI ON 13.2.2 Parameter setting When the USB/RS-422 communication function is us ed to operate the servo, set the communication specifications of the servo amplifier in the corresponding parameters. After setting the values of these par ameters, they are made valid by switching power off once, then on again.
13 - 5 13. COMMUNICATION FUNCTI ON 13.3 Protocol 13.3.1 Transmission data configuratio n Since up to 32 axes may b e connected to the bus, add a station number to the command, data No., etc. to determine the destination servo amplifier of data co mmunication .
13 - 6 13. COMMUNICATION FUNCTI ON 13.3.2 Character codes (1) Control codes Code name Hexadecimal (ASCII code) Description Personal computer terminal key operation (General) SOH STX ETX EOT 01H 02H 03H 04H start of head start of text end of text end of transmission ctrl A ctrl B ctrl C ctrl D (2) Codes for data ASCII unit codes are used.
13 - 7 13. COMMUNICATION FUNCTI ON 13.3.3 Error codes Error codes are used in the fo llowing cases and an error code of single-code length is transmitted. On receipt of data from the master sta tion, the slave sta tion sends the error code corresponding to that data to the master station .
13 - 8 13. COMMUNICATION FUNCTI ON 13.3.5 Time-out The master station transmits EOT when the slave station does not s tart repl y processing (STX is not received) 300[ms] after the master s tation has ended communic ation processing. 100[ms] after that, the master station retransmits the message.
13 - 9 13. COMMUNICATION FUNCTI ON 13.3.7 Initialization After the slave station is sw itched on, it cannot reply to communication until the inter nal initialization processing terminates. Hence, at power-on, ordinary communication should be started a fter.
13 - 10 13. COMMUNICATION FUNCTI ON 13.4 Command and data No. list POINT If the command and data No. are the same, the description may be different from that of the servo amplifier. 13.4.1 Read commands (1) Status display (Command [0][1]) Command Data No.
13 - 11 13. COMMUNICATION FUNCTI ON (2) Parameters (Command [0][4] [0][5] [0 ][6] [0][7] [0][8] [0 ][9]) Command Data No. Description Frame length [0][4] [0][1] Parameter group read 0000: Basic setting parameter (No.PA ) 0001: Gain filter parameter (No.
13 - 12 13. COMMUNICATION FUNCTI ON (4) Alarm history (Command [3][3]) Command Data No. Description Alarm occurrence sequence Frame length [3][3] [1][0] Alarm number in alarm history most recent alarm.
13 - 13 13. COMMUNICATION FUNCTI ON Command Data No. Description Display item Frame length [3][5] [0][0] Status display name and unit at alarm occurrence Cumulative feedback pulse 16 [0][1] Servo moto.
13 - 14 13. COMMUNICATION FUNCTI ON 13.4.2 Write commands (1) Status display (Command [8][1]) Command Data No. Description Setting range Frame length [8][1] [0][0] Status display data erasure 1EA5 4 (2) Parameters (Command [8][4] [8][5]) Command Data No.
13 - 15 13. COMMUNICATION FUNCTI ON (7) Operation mode selection (Command [8][B]) Command Data No. Description Setting range Frame length [8][B] [0][0] Operation mode switching 0000: Test operation mo.
13 - 16 13. COMMUNICATION FUNCTI ON 13.5 Detailed explanations of command s 13.5.1 Data processing When the master station tr ansmits a command data No. or a command data No. data to a sla ve station, the servo amplifier returns a reply or data according to the purpose.
13 - 17 13. COMMUNICATION FUNCTI ON (2) Writing the processed data When the data to be written is hand led as decimal, the dec imal point position must be specified. If it is not specified, the data cannot be written. Wh en the data is handled as hexadecimal, specify "0 " as the decimal point position.
13 - 18 13. COMMUNICATION FUNCTI ON 13.5.2 Status display (1) Reading the status display name and unit Read the status display name and un it. (a) Transmission Transmit command [0][1] and the da ta No. corresponding to the status display ite m to be read, [0][0] to [0][E].
13 - 19 13. COMMUNICATION FUNCTI ON 13.5.3 Parameters (1) Specify the parameter group The group of the parameters to be opera ted must be specif ied in advance to read or write the parameter settings, etc. Write data to the servo amplifier as described below to specify the parameter group to be operated.
13 - 20 13. COMMUNICATION FUNCTI ON (4) Reading the setting Read the parameter setting. Specify the parameter group in advanc e (refer to (1) in this section). (a) Transmission Transmit command [0][5] and the da ta No. corresponding to the parameter No.
13 - 21 13. COMMUNICATION FUNCTI ON (6) Parameter write POINT If setting values need to be changed with a high freq uency (i.e. one time or more per one hour), write the setting values to the RAM, not the EEP-ROM. The EEP- ROM has a limitation in the number of wr ite times and exce eding this limitation causes the servo amplifier to malfunction.
13 - 22 13. COMMUNICATION FUNCTI ON 13.5.4 External I/O signal statuses (DIO diagnosis) (1) Reading of input device statuses Read the statuses of the input devices. (a) Transmission Transmit command [1][2] and data No.[0][0 ]. Command Data No. [1][2] [0][0] (b) Reply The slave station sends back the statuses of the input pins.
13 - 23 13. COMMUNICATION FUNCTI ON bit CN1 connector pin bit CN1 connector p in bit CN1 connector pin bit CN1 connector pin 0 43 8 18 16 24 1 44 9 45 17 25 2 42 10 18 26 3 15 11 19 27 4 19 12 20 28 5.
13 - 24 13. COMMUNICATION FUNCTI ON (4) External output pin status read Read the ON/OFF statuses of the external ou tput pins. (a) Transmission Transmit command [1][2] and data No.[C ][0]. Command Data No. [1][2] [C][0] (b) Reply The slave station sends back the ON/OFF statuses of the outpu t pins.
13 - 25 13. COMMUNICATION FUNCTI ON 13.5.5 Input device ON/OFF POINT The ON/OFF states of all devices in the se rvo a mplifier are the states of the data received last. Hence, when there is a device whi ch must be kept ON, send data which turns that device ON every time.
13 - 26 13. COMMUNICATION FUNCTI ON (2) Disabling/enabling the output device s (DO) Transmit the following communication commands. (a) Disable Command Data No. Data [9][0] [0][3] 1EA5 (b) Enable Command Data No. Data [9][0] [1][3] 1EA5 13.5.7 Input devices ON /OFF (test operation) Each input devices can be turned on/o ff for test operati on.
13 - 27 13. COMMUNICATION FUNCTI ON 13.5.8 Test operation mode POINT The test operation mode is used to confir m operation. Do not use it for actual operation. If communication stops for longe r than 0. 5s during test operation, the servo amplifier decelerates to a st op, resulting in servo lock.
13 - 28 13. COMMUNICATION FUNCTI ON (2) JOG operation Send the command, data No. and data as i ndicated below to execute JOG operation. Command : [8][B] Data No . : [0][0] Data : 0001(JOG operation) When LSP/LSN was turned OFF by external input signal or automatically Command : [9][2] Data N o.
13 - 29 13. COMMUNICATION FUNCTI ON (3) Positioning operation (a) Operation procedure Send the command, data No. and data as indica ted below to e xecute positioning operation.
13 - 30 13. COMMUNICATION FUNCTI ON (b) Temporary stop/restart/remaining distance clear Send the following comman d, data No. and data during positioning operation to make deceleration to a stop. Command Data No. Data [A][0] [4][1] STOP Send the following comman d, data No.
13 - 31 13. COMMUNICATION FUNCTI ON (3) DO forced output Transmit command [8][B] data No.[0][0] data to choose DO forced output. Command Data No. Transmission data Test operation mode selection [8][B] [0][0] 0000 Test operation mode cancel 13.5.10 Alarm history (1) Alarm No.
13 - 32 13. COMMUNICATION FUNCTI ON 13.5.11 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No .[0][0]. Command Data No. [0][2] [0][0] (b) Reply The slave station sends back th e alarm currently occurring.
13 - 33 13. COMMUNICATION FUNCTI ON 13.5.12 Other commands (1) Servo motor side pulse unit absolute position Read the absolute position in the servo motor side pulse unit. Note that overflow will occur in the positio n of 8192 or more revolutions from the home position.
13 - 34 13. COMMUNICATION FUNCTI ON (3) Software version Reads the software version of the servo amplifier. (a) Transmission Send command [0][2] and data No .[7][0]. Command Data No. [0][2] [7][0] (b) Reply The slave station returns th e software version requested.
14 - 1 14. ABSOLUTE POSITION DETECTION SYSTEM 14. ABSOLUTE POSITION DETECTION SYSTEM CAUTION If an absolute position erase (AL.25) or ab solute position counter warning (AL.E3) has occurred, always perform home position setting ag ain. Not doing so can cause runaway.
14 - 2 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.1.2 Restrictions The absolute position detec tion system cannot be c onfigured under the following conditions . Test operation cannot be performed in the absolute position detection system, either. To per form test operation, choose incremental in parameter No.
14 - 3 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.2 Specifications (1) Specification list Item Description System Electronic battery backup system Battery 1 piece of lithium battery (primary battery, nominal 3.6V) Type: MR-J3BAT Maximum revolution range Home position 32767 rev.
14 - 4 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.3 Battery replacement procedure WARN ING Before replacement a battery, turn off the main circuit p ower and wait for 15 minutes or longer (20 minutes for 30kW o r higher) until the charge la mp turns off.
14 - 5 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.4 Battery installation procedure POINT For the servo amplifier with a battery holder on the bottom, it is not possible to wire for the earth with the battery install ed. Insert the battery after executing the earth wiring of the servo am plifier.
14 - 6 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.5.2 Replacement procedure MR-J3BTC BL03M CN4 CN2 Servo amplifier New MR-J3BAT MR-J3BAT for backup Old MR-J3BAT Step 1 Connect MR-J3BAT for backup to the battery connector of MR- J3BTCBL03M.
14 - 7 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.6 Standard connection diagram Analog torque limit 10V/max.torque Proximity dog signal Stop signal Power supply (24V) Ready Zero-point signal Clear Com.
14 - 8 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.7 Signal explanation When the absolute position data is transferred, the si gnals of connector CN1 change as described in this section. They return to the p revious status on completi o n of data transfer.
14 - 9 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.8 Startup procedure (1) Battery installation . Refer to section 14.3. (2) Parameter setting Set " 1"in parameter No.PA03 of the servo amplifier an d switch power off, then on. (3) Resetting of absolute p osition erase (AL.
14 - 10 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.9 Absolute position data transfer protocol POINT After switching on the ABS transfer mode (ABSM), turn on the servo-on signal (SON). When the ABS transfe r mode is off, turning on the servo-on signal (SON) does not switch on the base circuit.
14 - 11 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.9.2 Transfer method The sequence in which the base circuit is turned ON (servo -on) when it is in the OFF sta te due to the servo -on (SON) going OFF, an emergency stop (EMG), or alarm (A LM), is e xplained below.
14 - 12 14. ABSOLUTE POSITION DET ECTION SYSTEM 1) The ready (RD) is turned ON when the ABS transfer mode (ABSM) is turned OFF after transmission of the ABS data.
14 - 13 14. ABSOLUTE POSITION DET ECTION SYSTEM (b) Detailed description of absolute position data transfer OFF ON OFF ON OFF ON OFF ON OFF ON 3) 4) 5) 7) (Note) 1) 2) 6) Servo-on in progr ammabl e co.
14 - 14 14. ABSOLUTE POSITION DET ECTION SYSTEM (c) Checksum The checksum is the code which is used by the progr ammable controller to check for errors in the received ABS data.
14 - 15 14. ABSOLUTE POSITION DET ECTION SYSTEM (2) Transmission error (a) Time-out warning(AL.E5) In the ABS transfer mode, the time-out processing show n below is executed at th e servo. If a time-out error occurs, an ABS time-out warning (AL.E5) is output.
14 - 16 14. ABSOLUTE POSITION DET ECTION SYSTEM 3) ABS transfer mode finish-time time-out check If the ABS transfer mode (ABSM) is not turned OFF within 5s after the last ABS transmission data ready (19th signal for ABS data transmission) is tur ned ON, it is regarded as the transmission error and the ABS time-out warning (AL.
14 - 17 14. ABSOLUTE POSITION DET ECTION SYSTEM 5) Servo-on (SON) OFF, Re set (RES) ON, Emer gency stop (EMG) OFF check d uring the ABS transfer When the ABS transfer mode is turned ON to start tran s.
14 - 18 14. ABSOLUTE POSITION DET ECTION SYSTEM (b) Checksum error If the checksum error occurs, the programmable co ntroller should retry trans mission of the ABS data. Using the ladder check program of the pr ogramm able controller, turn OFF the ABS transfer mode (ABSM).
14 - 19 14. ABSOLUTE POSITION DET ECTION SYSTEM (3) At the time of alarm reset If an alarm occurs, turn OFF the servo-o n (SON) by detecting the a larm output (ALM). If an alarm has occurred, the ABS trans fer mode (ABSM) cannot be accepted. In the reset state, the ABS tr ansfer mode (ABSM) can be inpu t.
14 - 20 14. ABSOLUTE POSITION DET ECTION SYSTEM (4) At the time of emergenc y stop reset (a) If the power is switched ON in the emergency stop state The emergency stop state can be reset wh ile the ABS data is being transferred.
14 - 21 14. ABSOLUTE POSITION DET ECTION SYSTEM (b) If emergency stop is activated during servo-on The ABS transfer mode (ABSM) is permissible while in the emergency stop state. In th is case, the base circuit and the ready (RD) are turned ON after the emergency stop state is reset.
14 - 22 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.9.3 Home position setting (1) Dog type home position return Preset a home position return creep s peed at which the machine will not be given impact. On detection of a zero pulse, the home position setting (CR) is turned fr om of f to on.
14 - 23 14. ABSOLUTE POSITION DET ECTION SYSTEM (2) Data set type home position return POINT Never make home position settin g during co mmand operatio n or servo motor rotation. It may cause home position sift. It is possible to execute data set type home position return when the servo off.
14 - 24 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.9.4 Use of servo motor with an ele ctromagnetic brake The timing charts at power on/off and servo-on (SON) on/off are given below. Preset parameter No.PA04/ PD13 to PD1 6/PD18 of the servo a mplifier to make the electromag netic brake interlock (MBR) valid.
14 - 25 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.9.5 How to process the absol ute posi tion data at detection of stroke end The servo amplifier stops the acceptance of the command pulse when stroke end (LSP LSN) is detected, clears the droop pulses to 0 at the same time, and stops the servo motor rapidly.
14 - 26 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.10 Examples of use 14.10.1 MELSEC FX (2N) -32MT (FX (2N) -1PG) (1) Connection diagram (a) FX-32MT (FX-1PG) 46 SD SD 24 3.
14 - 27 14. ABSOLUTE POSITION DET ECTION SYSTEM (b) FX 2N -32MT (FX 2N -1PG) 46 SD SD 24 3.3k 3.3k Servo al arm ABS communica tion error ABS checksu m error ABSB0 22 ABSB1 23 ABST 25 ALM 48 RD 49 X0 X.
14 - 28 14. ABSOLUTE POSITION DET ECTION SYSTEM (2) Sequence program example (a) Conditions 1) Operation pattern ABS data transfer is made a s soon as the servo- on switch is turned on.
14 - 29 14. ABSOLUTE POSITION DET ECTION SYSTEM (b) Device list X input contact Y output contact X0 Transmission data bit 0 / completion of positioning Y0 Y1 Servo-on ABS transfer mode X1 Transmission.
14 - 30 14. ABSOLUTE POSITION DET ECTION SYSTEM (c) ABS data transfer program for X-a xis M8002 D24 K0 DMOV K1 K0 K3 K0 TO K1 K100000 K4 K0 DTO K1 K10000 K7 K0 DTO K1 K50000 K9 K0 DTO K1 K1000 K11 K0 .
14 - 31 14. ABSOLUTE POSITION DET ECTION SYSTEM X6 M6 M5 SET M5 Y12 X6 Y0 Y12 1 1 2 2 M64 M62 ZRST M1 PLS C1 RST C2 C0 ZRST M99 RST M5 RST Y1 RST Y2 RST M6 RST Serv o-on r eques t Servo-on output ABS .
14 - 32 14. ABSOLUTE POSITION DET ECTION SYSTEM X4 M0 Y3 Y3 C1 RST M64 M0 ZRST X5 X3 M1 2 2 3 3 D3 D0 ZRST C2 RST C0 RST M0 Y10 Y1 RST Y2 RST M99 RST M5 RST M6 RST Y1 SET M64 M10 ZRST D2 D0 ZRST C2 RS.
14 - 33 14. ABSOLUTE POSITION DET ECTION SYSTEM Y1 X2 M3 PLS M3 Y2 X2 C2 C2 C0 M64 3 3 D3 K2 M52 MOV Y2 SET K1M10 H0003 K1X0 WANDP K2 K38 M20 M10 SFTR D2 D2 K1M10 ADDP K16 C0 K19 Y2 RST Y1 RST D2 D2 H.
14 - 34 14. ABSOLUTE POSITION DET ECTION SYSTEM M63 D0 K8 M20 DMOVP D0 D24 D0 DA DDP K1 D0 K26 K0 DTOP M99 SET Y11 X6 Y1 T201 Y1 Y2 Y1 X2 T201 T202 T203 M2 T200 M6 4 4 5 5 M64 M62 ZRST M6 RST Y1 RST Y.
14 - 35 14. ABSOLUTE POSITION DET ECTION SYSTEM M8000 M109 X7 X12 M99 M120 PL S X10 JOG X11 JOG X7 X14 M120 K1 D100Z K17 K0 DTO M121 K6 Z DCMP M122 INDX 6 Z K0 DMOV X13 M0 X16 5 5 6 6 M110 M111 M112 M.
14 - 36 14. ABSOLUTE POSITION DET ECTION SYSTEM M8000 K1 K4M100 K25 K0 TO M200 K1 K3M200 K28 K0 FROM K1 D106 K26 K0 DFROM M108 RST END 6 6 FX2 1PG Transm ission of control sig nals 1PG FX2 Transmissi .
14 - 37 14. ABSOLUTE POSITION DET ECTION SYSTEM (e) Electromagnetic brake output During ABS data transfer (for several seconds after the servo-on (SON) is turned o n), the servo motor must be at a stop. Set " 1" in parameter No.PA04 of the servo amp lifie r to make the e lectromagnetic brake interloc k (MBR) valid.
14 - 38 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.10.2 MELSEC A1SD75 (1) Connection diagram PULSE F 600mA PULSE F PULSE R PULSE R ABS tran smission d ata bit 0 /Comple tion of po sitioning ABS transm.
14 - 39 14. ABSOLUTE POSITION DET ECTION SYSTEM Note 1. For the dog type home position return. Nee d not be connected for the data set t ype home position return. 2. If the s ervo motor p rovided with the zero point signal is st arted, the A1SD75 will o utput the devia tion counter cl ear (CR) .
14 - 40 14. ABSOLUTE POSITION DET ECTION SYSTEM (b) Device list X input contact Y output contac t X20 ABS Transmission data bi t 0 / po sitio nin g Y30 Ser vo-on completion Y31 ABS trans fer mode X21 .
14 - 41 14. ABSOLUTE POSITION DET ECTION SYSTEM (c) ABS data transfer program for X a xis This sequence program example assumes the following conditions.
14 - 42 14. ABSOLUTE POSITION DET ECTION SYSTEM X26 M13 SET M23 K1 D11 K 816 H0000 FROM D11 H0001 WAND M23 1 1 2 2 D11 K1 M24 PLS M13 M14 M16 X26 M8 RST M13 RST C0 RST C1 RST Y30 M5 PLS M13 M17 PLS M1.
14 - 43 14. ABSOLUTE POSITION DET ECTION SYSTEM M5 D0 K16 MOV M5 Y31 M26 2 2 3 3 D1 K3 MOV D2 K0 MOV D5 K0 MOV D9 K0 DMOV A0 K0 DMOV C0 RST C1 RST Y31 C0 C1 Y31 D3 DMOVP A0 K1 D8 FROMP H0000 K 5 M18 P.
14 - 44 14. ABSOLUTE POSITION DET ECTION SYSTEM M9 C0 C1 3 3 4 4 D5 K1X20 MOV D5 H0003 WAND A0 D5 WOR K2 ROR M10 PLS D1 M9 C0 D5 K1X20 MOV K2 DROR D2 D2 D5 C0 C1 C2 D5 H0003 WAND A0 D5 WOR D0 M11 PLS .
14 - 45 14. ABSOLUTE POSITION DET ECTION SYSTEM M11 M10 Y31 X22 M12 Y32 Y32 X22 T 200 4 4 5 5 Y32 RST M12 PLS Y32 SE T T200 K1 M9 M6 K1 D9 K0072 H00 00 DFROP D3 D3 K D*P D3 D9 D3 D P M6 M24 M8 SET K1 D3 K1154 H00 00 DTOP K1 K900 3 K1 150 H0000 TO Y10 SET Y10 X1 X4 XA Y10 RST 7) ABS request control Restoring abso lute position data.
14 - 46 14. ABSOLUTE POSITION DET ECTION SYSTEM Y39 X26 Y31 T0 Y31 Y32 Y31 X22 T0 T1 T3 5 5 Y31 RST K50 T1 K10 T3 K10 Y39 M7 T201 C2 M16 T2 M9039 END M15 SET M16 SET C2 D7 T2 K1 M16 RST D110 A0 DMOV D.
14 - 47 14. ABSOLUTE POSITION DET ECTION SYSTEM (d) X-axis program Do not execute the X-axis program while the ABS ready (M8) is off. M10 When "M10" (ready to send ABS data) switches on, the X-ax is start pr ogra m is execu ted by the X-axis start command.
14 - 48 14. ABSOLUTE POSITION DET ECTION SYSTEM (f) Data set type home position return After jogging the machine to the position where the home position (e .g. 500) is to be set, choose the home position return mode and set the h ome position with the home position return start switch (X27) ON.
14 - 49 14. ABSOLUTE POSITION DET ECTION SYSTEM (g) Electromagnetic brake output During ABS data transfer (for several seconds after the servo-on (SON) is turned o n), the servo motor must be at a stop. Set " 1" in parameter No.PA04 of the servo amp lifie r to make the e lectromagnetic brake interloc k (MBR) valid.
14 - 50 14. ABSOLUTE POSITION DET ECTION SYSTEM (3) Sequence program - 2-axis control The following program is a r eference example for creation o f an ABS sequence program for the second axis (Y axis) using a single A1SD75 module. Create a program for the third axis in a similar manner.
14 - 51 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.10.3 MELSEC QD75 (1) Connection diagram QY40 QX40 Q02HCPU Q62P QD75D PULSE F 600mA PULSE F PULSE R PULSE R ABS tra nsmissi on data bit 0/Completi on .
14 - 52 14. ABSOLUTE POSITION DET ECTION SYSTEM Note 1. For the dog type home position return. Nee d not be connected for the data set t ype home position return. 2. For th e dog type home position return, connect a QD75 devia tion counter clearin g signal cabl e.
14 - 53 14. ABSOLUTE POSITION DET ECTION SYSTEM (c) ABS data transfer program for X a xis Progra mmable controller ready QD75 error reset Retry fre quency se t (Set 3 times.
14 - 54 14. ABSOLUTE POSITION DET ECTION SYSTEM Absolute position restoration start flag Absolute position restoration status reset Absolute position restoration output Erro r code st orage Absolute p.
14 - 55 14. ABSOLUTE POSITION DET ECTION SYSTEM (d) X-axis program Do not execute the X-axis program while the ABS ready (M10) is off. M10 When "M 10" (read y to send ABS data) sw itches on , the X -axis start progr am is execu ted by the X- axis start command.
14 - 56 14. ABSOLUTE POSITION DET ECTION SYSTEM (f) Data set type home position return After jogging the machine to the position where the home position (e .g. 500) is to be set, choose the home position return mode and set the h ome position with the home position return start switch (X27) ON.
14 - 57 14. ABSOLUTE POSITION DET ECTION SYSTEM (g) Electromagnetic brake output During ABS data transfer (for several seconds after the servo-on (SON) is turned o n), the servo motor must be at a stop. Set " 1" in parameter No.PA04 of the servo amp lifie r to make the e lectromagnetic brake interloc k (MBR) valid.
14 - 58 14. ABSOLUTE POSITION DET ECTION SYSTEM (3) Sequence program - 2-axis control The following program is a r eference example for creation o f an ABS sequence program for the second axis (Y axis) using a single QD75 module. Create a pro gram for the third axis in a similar manner.
14 - 59 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.11 Absolute position dat a transfer errors 14.11.1 Corrective actions (1) Error list The number within parentheses in the table indicate s the output coil or input contact number of the A1SD75. Name Output coil Description Cause Action AD75 1PG (Note) ABS communication error Y39 Y11 1.
14 - 60 14. ABSOLUTE POSITION DET ECTION SYSTEM (2) ABS communication error (a) The OFF period of the ABS transmission data ready si gnal outp ut from the servo amplifier is checked. If the OFF period is 1s or longer, this is re garded as a transfer fault a nd the ABS communication error is generated.
14 - 61 14. ABSOLUTE POSITION DET ECTION SYSTEM (c) To detect the ABS time-out warning (AL.E5) at the servo amplifier, the time required for the ABS request signal to go OFF a fter it has been turned ON (ABS re quest time) is checked.
14 - 62 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.12 Communication-bas ed ABS transfer system 14.12.1 Serial communication comman d The following commands are available for reading absol ute position data using the serial commu nication function.
14 - 63 14. ABSOLUTE POSITION DET ECTION SYSTEM (2) Transfer method The sequence in which the base circuit is turned ON (s ervo-on) when it is in the OFF state due to the servo-on (SON) going OFF, an emergency stop , or alar m, is explained below.
14 - 64 14. ABSOLUTE POSITION DET ECTION SYSTEM (c) At the time of alarm reset If an alarm has occurred, detect the trouble (ALM) an d turn off the servo-on (SON).
14 - 65 14. ABSOLUTE POSITION DET ECTION SYSTEM (d) At the time of forced sto p reset 210ms after the forced stop is deac tivated, the base circuit turns on, and further 5ms after that, the ready (RD) turns on. Always get the current position data from when the ready (RD) is triggered until before the position command is issued.
14 - 66 14. ABSOLUTE POSITION DET ECTION SYSTEM 14.13 Confirmation of absolute position detection data You can confirm the absolute position data with MR Configurator. Choose "Diagnostics" and "Absolute Encoder Data" to open the abs olute position data display sc reen.
15 - 1 15. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 15. SERVO AMPLIFIERS WITH A LA RGE CAPACITY (30k TO 55kW) This chapter explains the MELSERVO-J3-A series AC servo featuring a large capacity o f 200V (30k to 37kW)/400V (30k to 55kW).
15 - 2 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.1.1 Function block diag ram The function block diagram of this servo is shown below.
15 - 3 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) Servo motor thermal Termination connector MR-J3-TM (Option) CN40 Drive unit Over current Control power supply Current detector (Note .
15 - 4 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.1.2 Packing list Unpack the product and check the rating plate to see if the converter unit, drive unit and servo motor are as you ordered. (1) Converter unit POINT Regenerative resistor a nd power factor improving DC rea ctors are option.
15 - 5 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.1.3 Standard specifications (1) Converter unit Converter unit Item MR-J3-CR 55K 55K4 Output Rated voltage 283 to 326VDC 538 to 678VDC Rated current [A] 215.
15 - 6 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (2) Drive unit (a) 200V class Drive unit Item MR-J3-DU 30KA 37KA Output Rated voltage 3-phase 170VAC Rated current [A] 174 204 Control power supply Voltage, frequency 1-phase 200 to 230VAC, 50/60Hz Rated current [A] 0.
15 - 7 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (b) 400V class Drive unit Item MR-J3-DU 4 30KA 37KA 45KA 55KA Output Rated voltage 3-phase 323VAC Rated current [A] 87 102 131 143 Control power supply Voltage, frequency 1-phase 380 to 4 80VAC, 50/60Hz Rated current [A] 0.
15 - 8 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.1.4 Model definition (1) Rating plate Serial number POWER MITSUB ISHI AC SERVO MADE IN JA PAN MODEL MR-J3-CR55K MITSUBISHI E LECTR.
15 - 9 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.1.5 Combinations of converter u n its, drive unit and servo motors The following tables indicate the combinations of the converter units, driv e unit an d servo motors.
15 - 10 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.1.6 Parts identification (1) Converter unit (MR-J3-CR55K(4)) POINT The servo amplifier is shown with the terminal blo ck cover removed. For removal of the front cover, refer to section 15.
15 - 11 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (2) Drive unit (MR-J3-DU30KA4 MR-J3-DU37KA4) POINT The servo amplifier is shown with the terminal blo ck cover removed.
15 - 12 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (3) Drive unit (MR-J3-DU30KA MR-J3-DU37KA MR-J3-DU45KA4 MR-J3-DU55KA4) POINT The servo amplifier is shown with the terminal blo ck cover removed. For removal of the front cover, refer to section 15.
15 - 13 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.1.7 Removal and reinstallation of the terminal block cover CAUTION Before removing or installing the front cover, turn off the power and wait for 20 minutes or longer until the charge lamp turns off.
15 - 14 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (b) How to reinstall th e terminal block cover A) B) C) D) 1) 2) Mounting screw 1) Put the ter minal block cover on and match the screw holes of the cover fit with those of the main unit.
15 - 15 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (2) MR-J3-DU30KA4 or MR-J3-DU37KA4 (a) Upper terminal block cover 1) How to open A ) A)' Pull up the cover using the axis A), A)' as a support. When pulled up to the top, the cover is fixed.
15 - 16 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 2) How to close Setting tab A) A)' Close the cover using the axis A), A)' as a support. Setting tab Press the cover against the terminal box until the installing knobs click.
15 - 17 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (b) Lower terminal block cover 1) How to open Hold the bottom of the terminal block cover with both hands . B) B)' Pull up the cover using the axis B), B)' as a support. When pulled up to the top, the cover is fixed.
15 - 18 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 2) How to close Setting tab Setting tab Hold the bottom of the terminal block cover with both hands . B) B)' Close the cover using the axis B), B)' as a support. Setting tab Press the cover against the terminal box until the installing knobs click.
15 - 19 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.1.8 Servo system with auxiliary equip ment BV BW BU L 11 L 21 L 11 RS T 3-phase AC power supply (Not e 1) Communication cable Dri.
15 - 20 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.2 Installation WARNING To prevent electric shock, ground each equipment securely. CAUTION Stacking in excess of the limited num ber of products is not allowed. Install the equipment to incombustibles.
15 - 21 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.2.1 Installation direction and clearan ces CAUTION Install the equipment in the specified di rection. Not doing so can cause a failure. Leave the specified clearances between the converter unit/drive unit and the control box inside walls or other equipment.
15 - 22 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.2.2 Inspection WARNING Before starting maintenance and/or inspection, turn off the power and wait for 20 minutes or longer until the charge lamp turns off. Then, confirm that the voltage between L and L is safe with a voltage tester and others.
15 - 23 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.3 Signals and wirin g WARNING Any person who is involved in wiring shou ld be fu lly competent to do the work. Before wiring, turn off the power and wait for 20 minutes or longer until the charge lamp turns off.
15 - 24 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) POINT Explanations on the following item are the sam e as those for servo amplifiers with 22kW or less. Refer to the section below for details. I/O signal connection example Refer to se ction 3.
15 - 25 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (1) Enabling control function of m agnetic contactor (parameter No .PA02 1 (initial value)) Connecting the magnetic contactor contro l connector (CNP1) to the o perating coil of the magnetic contactor enables to control the magnetic contactor.
15 - 26 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.3.2 Input power supply circuit WARNING Insulate the connections o f the power supply terminals. Not do ing so can cause an electric shock. Magnetic contactor wiring connector on the converter unit CNP1.
15 - 27 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (a) 200V class (MR-J3-DU30KA MR-J3-DU37KA) Regenerative option(Not e 1) RA3 RA1 RA2 OFF/ON Converter unit trou ble Servo mot or ther.
15 - 28 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (b) 400V class (MR-J3-DU30KA4 to MR -J3-DU55KA4) Emerge ncy stop (EMG EM1) (Note 3) RA3 RA1 RA2 OFF/ON MC SK MC (Not e 6) NFB (Note .
15 - 29 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (2) When magnetic contactor control connector (CNP1) is made inva lid POINT When making CNP1 invalid , set "0000" in parameter No.PA02. (Refer to section 15.5.) Make sure to connect a protection coo rdination cable (MR-J3CDL05 M) and a termination connector (MR-J3-TM ).
15 - 30 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (b) 400V class (MR-J3-DU30KA4 to MR -J3-DU55KA4) Emergency stop (EMG EM1) (Note 3) MC ON MC RA3 RA1 RA2 OFF SK (Not e 3) RA2 NFB MC .
15 - 31 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.3.3 Terminal Refer to section 15.7 for th e terminal block arrangement and signal layout.
15 - 32 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.3.4 How to use the connection ba rs Make sure to use the supplied c onnection conductors and connect the L and L of the converter unit to those of the drive un it as shown below. Never use co nnection conductors other than the ones supplied with the drive unit.
15 - 33 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.3.5 Connectors and signal arran gements POINT The pin configurations of the conne ctors are as viewed from the cable connect or wiring section. (1) Converter unit CN6 Leave this open.
15 - 34 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (2) Drive unit The drive unit front view shown is that of the MR -J3-DU30KA4, MR- J3-DU37KA4 or less. Refer to section 15.7 Outline Drawings for the appearances and connector layouts of the MR-J3- DU30KA, MR-J3-DU37KA, MR-J3-DU45KA4, MR-J3-DU55KA4.
15 - 35 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.3.6 Converter unit signa l (device) exp lanations POINT Explanations on the drive unit signals a re t he same as those for servo amplifiers with 22kW or less. Refer to section 3.5.
15 - 36 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (2) I/O interfaces (a) Digital input interface (DI) Give a signal with a relay or open collector transis tor. Refer to section 3.8.3 for source input. EM1 Conver ter u nit Switch Appr ox.
15 - 37 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.3.7 Timing chart (1) Power circuit timing chart Power-on procedure (a) Make sure to wire the power supply as shown in above section 15.3.1 using the magnetic contactor with the main circuit power supply (3-phase: L 1 , L 2 , L 3 ).
15 - 38 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (2) Alarm occurrence timing chart CAUTION When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, en sure safety, and reset the a larm before restarting operation.
15 - 39 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 2) Drive unit When an alarm occurs on the drive unit, the base circ uit is shut off and the servo motor coasts. When using an external dynamic brake (option), the e xter nal dynamic brake is acti vated to stop the servo motor.
15 - 40 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (b) When controlling magnetic contactor by external seq uence 1) Converter unit When an alarm occurs on the converter unit, the servo-on turns OFF ; however, the main circuit power supply is not shut off.
15 - 41 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 2) Drive unit When an alarm occurs in the drive unit, the drive uni t turns into the servo o ff but the main circuit power supply is not shut off. Therefore , shut off the main circuit power supply using the external sequence.
15 - 42 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (3) Forced stop (EM1) ON/OFF timing chart (a) When control function of magnetic controller is enab led 1) Converter unit When the forced stop (EM1 ) is made valid in the c onverter unit, the magnetic contactor is turned off and the main circuit power supply is shut off.
15 - 43 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 2) Drive unit When the Emergency stop (EMG) of the drive unit is activated, the base circuit shuts off in the operating drive unit, and the drive uni t goes into the emergency stop st atus.
15 - 44 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (b) When turning off magnetic contactor by ex ternal sequence 1) Converter unit When the Forced stop (EM1) of the converter unit is activated, the base circuit shuts off in the operating drive unit, and the Main circuit off warning (AL.
15 - 45 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 2) Drive unit ON OFF ON OFF (3s) (3s) (Note 2) Dynamic brake Elec troma gnet ic brak e int erloc k (MBR ) Base circuit Servo motor speed Main circuit power supply Emergency stop (EMG) Invalid (ON) Valid (OFF) (Note 1) ON OFF a) Note 1.
15 - 46 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) CM10-R10P Encoder connector U V OHS2 BU W BW BV OHS1 Earth terminal M6 screw Motor power supply terminal block (U, V, W) M8 screw Co.
15 - 47 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.4 Display section and o peration section of the converter unit 15.4.1 Display flowchart Use the display (3-dight, 7-segment L ED) on the front panel of the converter unit for status display, parame ter setting, etc.
15 - 48 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.4.2 Status display mode The servo status during operation is shown on the 3-digit, 7-segmen t LED display. Press the "UP" or "DOWN" button to change displa y data as desired.
15 - 49 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.4.3 Diagnostic mode (1) Diagnostic list Name Display Unit Sequence Not ready. Initializing.
15 - 50 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (b) Display definition The LED segment corresponding to the pin is lit to in dicate ON, and is extinguished to indicate OFF. The 7-segment LED segments and CN1 connector pins correspond as shown below.
15 - 51 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.4.4 Alarm mode The current alarm and parameter error are displa yed. The lower 2 digits on the display indica te the alarm number that has occurred or the parameter number in error.
15 - 52 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) Functions at occurrence of an alarm (1) Any mode screen displays the current alarm. (2) The other screen is visible during occurrence of an a lar m. At this time, the decimal point in the third digit flickers.
15 - 53 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.5. Parameters for converter unit CAUTION Never adjust or change the parameter values extremely as it will make operation instable. POINT Refer to chapter 5 for parameters for drive unit.
15 - 54 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.5.2 List of details No. Symbol Name and function Initial value Unit Setting range PA01 *REG Regenera tive option Used to select the regenerative option. Select the regenerative option.
15 - 55 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) No. Symbol Name and function Initial value Unit Setting range PA12 *DIF Input filter setting Select the input filter. Input signal filt er If external input signal cau ses chat tering due to noise, etc.
15 - 56 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (2) Remedies for alarms CAUTION When any alarm has occurred, eliminate i t s cause, ensure safety, then reset the alarm, and restart operation.
15 - 57 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) Display Name Definition Cause Action A.30 Regenerative error Permissible regenerative power of regenerative option is exceeded. 1. Incorrect setting of parameter No.PA01. Set correctly.
15 - 58 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) Display Name Definition Cause Action A.38 MC drive circuit error Magnetic contactor drive circuit error (When the magnetic contactor is turned on: the main circuit power supply is not turned on within two seconds after the servo-on of the drive unit.
15 - 59 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (3) Remedies for warnings Continuing operation in an alarm occurrence status ma y result in an alarm or disable proper op eration. Eliminate the cause of the warning according to this section.
15 - 60 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.6.2 Drive unit POINT Explanation made in this section is exclusively for th e driver unit. Other troubleshooting is the same as th at for servo amplifiers with 22kW or less. Refer to chapter 9.
15 - 61 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (3) Remedies for warnings Continuing operation in an alarm occurrence status ma y result in an alarm or disable proper op eration. Eliminate the cause of the warning according to this section.
15 - 62 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.7 Outline drawings POINT Refer to section 15.2.1 for outline dimen sion drawing. 15.7.1 Converter unit (MR-J3-CR5 5K(4)) [Unit: mm] 7 328 277 300 Approx. 200 180 20 Approx. 20 Approx.
15 - 63 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.7.2 Drive unit (1) MR-J3-DU30KA MR-J3-DU37KA MR-J3-DU45KA4 MR-J3-DU55KA4 [Unit: mm] TE2-1 PE TE2-1 20 260 Approx. 20 2- 7 Installation hole Approx. 200 300 180 Approx. 80 7 TE3 TE1 For mounting MR-J3BAT 328 Approx.
15 - 64 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (2) MR-J3-DU30KA4 MR-J3-DU37KA4 [Unit: mm] 2- 6Installation hole 240 Approx. 200 Approx. 200 328 128 180 Approx. 80 120 60 6 219.2 TE2 TE3 TE1 For mounting MR-J3BAT TE2 TE1 PE TE3 Approx.
15 - 65 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.8 Characteristics 15.8.1 Overload protection characteri stics An electronic thermal relay is built in the converter unit and drive unit to protect the servo motor, converter unit, drive unit and servo motor p ower line from overloads.
15 - 66 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.8.2 Power supply equipment capacity and gene rated loss POINT The calculation method of heat dissipati on area for enclosed control panel i s the same as that for servo amplifiers with 22kW or less.
15 - 67 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.8.3 Dynamic brake characteristics POINT Dynamic brake operates at occurrence of alarm, se rv o emergency st op warning (AL.E6), and when power is turned off. Do not use dy namic brake to stop in a normal operation as it is the function to stop in em ergency.
15 - 68 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (b) Dynamic brake time constant The following shows necessary dynamic brake time constant for the equations (1 5.
15 - 69 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 45 40 35 30 25 20 15 10 5 0 500 1000 1500 0 2000 HA-LP30K2 HA-LP37K2 Speed [r/min] Time constant [ms] 45 40 35 30 25 20 15 10 5 0 50.
15 - 70 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.8.4 Inrush currents at po wer-on of main circuit and control circuit The following table indica tes the inrush currents (refer en.
15 - 71 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (1) Makeup of cables and like The following shows the cable makeup for connection with the servo motor and other model.
15 - 72 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) No. Product Model Description Application 1) Protection coordination cable MR-J3CDL05M Refer to (2) in this section.
15 - 73 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (2) MR-J3CDL05M(0.5m) Protection coordination cable CAUTION Connect protection coordinati on cables c orrectly if they are fabricate d. Otherwise, the system may perform unexpected operation.
15 - 74 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.9.2 Regenerative option CAUTION The specified combinations of regenerativ e options, converter unit and drive unit may only be used. O therwise, a fire may occur. POINT The calculation method of regenerative ene rgy is the same as that for servo amplifiers with 22kW or less.
15 - 75 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (4) Connection of the regenerative op tion Make sure to supply 1-phase 200V and 4 00V respectively to the cooling f an.
15 - 76 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (b) MR-RB137 MR-RB138-4 POINT Three of MR-RB137 or MR-RB1 38-4 ar e required per conve rter unit.
15 - 77 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (5) Outline dimension drawings [Unit:mm] 260 230 2- 10 mounting hole 10 15 15 Cooling fan (Note 1) 15 230 15 197 Air intake 15 2.3 215 MR-RB139 MR-RB136-4 Mass [kg(lb)] 11(24.25) 10(22.
15 - 78 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.9.3 External dynamic brake CAUTION Use an external dynamic brake for the dr ive unit. Failur e to do so will cause an accident because the servo motor does not stop immediately but co asts at an emergency stop and such conditions.
15 - 79 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) MC RA2 External dynamic brake 24VDC RA1 RA3 (Note 4) RA2 L 1 L 2 L 3 L 11 L 21 U V W U V W M Servo motor (Note 3) Power supply L L L.
15 - 80 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (3) Outline dimension drawing [Unit:mm] 390 370 10 10 260 230 15 15 10 15 15 230 30 330 30 220 15 235 2- 10 i nstallati on hole 2.3 TE2 TE1 Terminal block TE1 Terminal s crew: M5 Tightening torque: 2.
15 - 81 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.9.4 Selection example of wires POINT Wires indicated in this section are separated wi res. When using a cable for power line (U, V, and W) between the dr ive unit and servo motor, use a 600V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT).
15 - 82 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (1) When using the 600V Polyvinyl chloride insulated wire (IV wire) Selection example of wire s ize when using IV wires is indicated be low.
15 - 83 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (3) Selection example of crimping terminals The table below shows a selection example of crimpin g terminals for the servo amplifier terminal block when using the wires mentioned in (1) an d (2) in this section.
15 - 84 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.9.6 Power factor improving DC reactor The input power factor is improved to about 95 . Converter unit Drive unit Power factor improving DC reactor Dimension [mm] Terminal screw Mass [kg (lb)] W D H W1 X MR-J3-CR55K MR-J3-DU30KA MR-DCL30K 135 255 215 80 232 M12 9.
15 - 85 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.9.7 Line noise filter (FR-BLF) POINT This section explains ho w to use the line noise filter unique to servo amplifiers with a large capacity. Other noise reduct ion produ cts are the same as those for servo amplifiers with 22kW or less.
15 - 86 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.9.8 Leakage cu rrent breaker (1) Selection method High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.
15 - 87 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (2) Selection example Indicated below is an example o f selecting a leakage current breaker under the following conditions. NV 22mm 2 5m 30mm 2 5m M Ig1 Ig2 Igm Conv erter unit Drive unit Iga Servo motor Use a leakage current breaker designed for suppressing harmonics/surges.
15 - 88 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.9.9 EMC filter (recommended) For compliance with the EMC directive of the IEC/EN Standard, it is recommended to use the following filter. Some EMC filters are large in leakage current.
15 - 89 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (3) Outline drawing HF3200A-UN [Unit: mm] 500 5 480 1 3- 6.5 3-M10 M8 3- 6.5 Length: 8 TF3150C-TX [Unit: mm] 150 1 150 1 150 1 452 5 500 3 3-M8 3-M8 M4 M8 M4 M4 8-R 4.
15 - 90 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 15.9.10 FR-BU2-(H) bra ke unit POINT Use a 200V class brake unit and a resist or unit with a 200V class converter unit, and a 400V class brake unit and a re sistor unit with a 400V class converte r unit.
15 - 91 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (2) Brake unit parameter setting Normally, changing parameters of the FR-BU2-(H) is not necessary. Whether a parameter can be changed or not is listed below. Parameter Change possible/ impossible Remarks No.
15 - 92 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) B C B C MC (Note 1) Power supply Drive unit Converter u nit L 1 L 2 L 3 L 11 L 21 L L L L 1 MC1 2 MC2 CNP1 CN1 1 DICOM 5 DOCOM 6 DIC.
15 - 93 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) Note 1. For power suppl y specific ations, refer to section 15.1.3. 2. Make up a sequence that will concurrently turn off the Em erg.
15 - 94 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (b) Combination with MT-BR5-(H) resistor unit 1) When connecting a brake unit to a con verter unit RA3 RA1 RA2 OFF/ON Converter unit.
15 - 95 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) 2) When connecting two brake units to a converter unit POINT To use brake units with a parallel co nnect ion, use two sets of FR-BU2-(H) bra ke unit. Combination with other brake unit results in al arm occurrence or malfunction.
15 - 96 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) RA3 RA1 R A2 OFF/ON Conv erte r unit trouble Operation ready Drive unit trouble Emerge ncy stop (EMG EM1) (Not e 2) (Not e 8) Servo .
15 - 97 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) Note 1. For power suppl y specific ations, refer to section 15.1.3. 2. Make up a sequence that will concurrently turn off the Em erg.
15 - 98 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) b) Control circuit terminal POINT Undertightening ca n cause a cable disco nne ction or malfunction. Overtightening can cause a short circuit or malfun ction due to damage to the screw or the b rake unit.
15 - 99 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (e) Crimping terminals for L and L terminals of TE2-1 of servo amplifier 1) Recommended crimping terminals POINT Make sure to use recomme nded crimping terminals or equivalent since some crimping terminals cannot be installed depending o n the size.
15 - 100 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (4) Outline dimension drawings (a) FR-BU2- (H) brake unit [Unit: mm] FR-BU2-55K FR-BU2-H55K, H75K 18.5 Rating plate 52 72 5 142.5 5 6 158 6 170 2- 5hole (Screw size: M4) (b) FR-BR- (H) resistor unit [Unit: mm] 2- C Control circuit terminal Main circuit terminal W1 1 Approx.
15 - 101 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) (c) MT-BR5- (H) resistor unit [Unit: mm] 4 15 mounting hole 300 75 75 450 7.5 7.5 M6 M4 193 189 480 510 37 60 21 10 NP Resistor unit Resistance value Approximate mass [kg] ([lb]) 200V class MT-BR5-55K 2.
15 - 102 15. SERVO AMPLIFIERS WI TH A LARGE CAPACITY ( 30k TO 55kW ) MEMO.
16 - 1 16. PARAMETER UNIT ( MR-PRU03 ) 16. PARAMETER UNIT (MR-PRU03) POINT Do not use MR-PRU03 parameter u nit and MR Configurator together. Perform simple data setting, test opera tion, parameter setting , etc. without MR Configurator by connecting the MR-PRU03 parameter unit to the servo a mplifier (drive unit).
16 - 2 16. PARAMETER UNIT (MR-P RU03) 16.1 External appearance and key explanation s This section gives the exter nal appearance and explanations o f the keys.
16 - 3 16. PARAMETER UNIT (MR-P RU03) 16.2 Specifications Item Description Model MR-PR U03 Power supply Supplied from the servo amplifier (drive unit) Functions Parameter mode Basic setting parameters.
16 - 4 16. PARAMETER UNIT (MR-P RU03) 16.4 Connection with servo amplifier 16.4.1 Single axis (1) Configuration diagram Operate the single-axis servo amplifier (drive uni t).
16 - 5 16. PARAMETER UNIT (MR-P RU03) 16.4.2 Multidrop connection (1) Configuration diagram Up to 32 axes of servo amplifiers (drive units) fr om s tations 0 to 31 can be opera ted on the same bus.
16 - 6 16. PARAMETER UNIT (MR-P RU03) (2) Cable internal wiring dia gram Wire the cables as shown below. Para mete r unit 7 1 2 3 4 5 6 8 7 1 2 3 4 5 6 8 12345678 7 1 2 3 4 5 6 8 (Not e 4, 5) LG P5D R.
16 - 7 16. PARAMETER UNIT (MR-P RU03) 16.5 Display Connect the MR-PRU03 parameter unit to the servo amplifie r (drive unit), and turn ON the power of the servo amplifier (drive unit). In this section, the s creen tr ansition of the MR-PRU03 param eter un it is explained, together with the operati on procedure in each mode.
16 - 8 16. PARAMETER UNIT (MR-P RU03) 16.5.2 MR-PRU03 parameter unit setting Set and enter the station number. (e.g. To enter 31th axis) Stati on numb er Contrast adjustment Buzzer Baud rate selection 3 1 ESC MR-PRU03 parameter unit setting Press the " " keys to select, and press the " " key to set.
16 - 9 16. PARAMETER UNIT (MR-P RU03) 16.5.3 Monitor mode (status display) (1) Monitor display The servo status during operation is shown on the disp lay . Refer to (2) in this section for details. 24. F or manu fact urer s etti ng 1. Cumulative feedback pulse 2.
16 - 10 16. PARAMETER UNIT (MR-P RU03) (2) Monitor display list The following table lis ts the items and des criptions of monitor displa y. Status display Display on parameter unit Unit Description Display range Cumulative feedback pulses Pulse F/B pulse Feedback pulses from the servo motor encoder are counted and displayed.
16 - 11 16. PARAMETER UNIT (MR-P RU03) Status display Display on parameter unit Unit Description Display range Within one-revolution position Cyc posit pulse Position within one revolution is displayed in encoder pulses. The value returns to 0 when it exceeds the maximum number of pulses.
16 - 12 16. PARAMETER UNIT (MR-P RU03) 16.5.4 Alarm/diagnostic mode (1) Alarm display The flowchart below shows the procedure of settings in volving alarms, alarm his t ory, external I/O signal (DIDO) display, device and diagnosis. ALM/ DGN STOP RESET Alarm Current alarm (When undervoltage (AL.
16 - 13 16. PARAMETER UNIT (MR-P RU03) (2) Alarm history clear The servo amplifier stores one current ala rm and five pa st alarms from when its power is switched on first. To control alarms which will occur during operation, cle ar the alarm history before starting operation.
16 - 14 16. PARAMETER UNIT (MR-P RU03) 16.5.5 Parameter mode The flowchart below shows the procedure for setting pa rameters. DATA PARAM Sele ct a par ameter gr oup. First parameter number is displayed. e.g. To select the gain/filter para meter, press: Write Write is c ompleted.
16 - 15 16. PARAMETER UNIT (MR-P RU03) 16.5.6 Test operation mode CAUTION When confirming the machine operation in the test operation mode, use the machine after checking that the safety mechanism such as the emerg ency stop (EMG) operates. If any operational fault has occurred, stop operation us ing the emergency stop (EMG).
16 - 16 16. PARAMETER UNIT (MR-P RU03) (1) JOG operation JOG operation can be performed when there is no command from the external c ommand device. Connect EMG-DOCOM to start JOG operation. (a) Operation/cancel You can change the operation conditions with the par ameter unit.
16 - 17 16. PARAMETER UNIT (MR-P RU03) (2) Positioning operation Positioning operation can be performed once when there is no command from the external command device. Connect EMG-DOCOM to start positioning operation. (a) Operation/cancel You can change the operation conditions with the par ameter unit.
16 - 18 16. PARAMETER UNIT (MR-P RU03) If the communication cable is d isconnected during posit ioning opera tion, the servo motor will come to a sudden stop. (b) Status display You can monitor the status displa y even during positioning opera tion. At this time, the "FWD", "REV" and "STOP" keys can be used.
16 - 19 16. PARAMETER UNIT (MR-P RU03) 16.6 Error message list When using the MR-PRU03 parameter un it, the following error messages may be displayed. When displayed, refer to this section to remove cause. (1) Error messages Error description Message Cause Communication error 1.
16 - 20 16. PARAMETER UNIT (MR-P RU03) MEMO.
App. - 1 A PPENDIX App. 1 Parameter list POINT For any parameter whose symbol i s preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid. App. 1.1 Servo amplifier (drive unit) Basic setting parameters (PA ) Gain/filter parameters (PB ) No.
App. - 2 A PPENDI X Extension setting parameters (PC ) Extension setting paramete rs (PC ) No. Symbol Name Control mode No. S ymbol Name Control mode PC01 STA Acceleration time constant S T PC39 MO1 A.
App. - 3 A PPENDI X App. 1.2 Converter unit No. Symbol Name PA01 *REG Regenerative selection PA02 *MCC Magnetic contactor drive output selection PA03 to PA07 For manufacturer setting PA08 *DMD Auto tuning mode PA09 *BPS Alarm history clear PA10 For manufacturer setting PA11 PA12 *DIF Input filter setting PA13 to PA19 For manufacture setting App.
App. - 4 A PPENDI X App. 3 Status display block diagram PWM M Current control Speed control Servo mot or speed Position control Droop pulse Load inertia momen t ratio Auto tuning secti on Cumulative f.
App. - 5 A PPENDI X App. 4 Change of con nector sets to the RoHS compatible produ cts The following connector sets have changed to RoHS compliant since Sep tember 2006.
App. - 6 A PPENDI X App. 5 MR-J3-200A-RT servo amplifier Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200A servo amplifier have be en changed from June 2014 production. Mode l name of the servo amplifier before March 200 8 is changed to MR-J3-200A- RT.
App. - 7 A PPENDI X App. 5.2 Configuration including auxiliary equipme nt (1.8 Configuration including auxiliary equi pment) Line noi se filter (FR-BSF01) (Note 3 ) Power supply Magnetic contactor (MC.
App. - 8 A PPENDI X App. 5.3 CNP1, CNP2, CNP3 wiring method (3.3.3 CNP1, CNP2, CNP 3 wiring method) (a) Servo amplifier power supply connectors Servo amplifier power supply connectors CNP3 CNP1 CNP2 <Applicab le cable examp le> Cable finis h OD: to 5 mm <Applicable cable example> Cable fini sh OD: to 3.
App. - 9 A PPENDI X App. 5.4 OUTLINE DRAWINGS (Chapter 10 OUTLINE DRAWI NGS) [Unit: mm] Approx.14 6 21.4 Approx.68 6 6 45 6 mount ing hole Approx .80 195 168 78 6 156 6 6 90 85 With MR-J3BAT Appr ox. 25. 5 Cooling fan air intake Cooling fa n Cooling fan Exhaust Mass: 2.
App. - 10 A PPENDI X App. 6 Selection example of servo motor power cable POINT Selection condition of wi re size is as follows. Wire length: 30m or less Depending on the cable selecte d, there may be cases that the cable doe s not fit into the Mitsubishi optional or reco mmended cable clamp.
App. - 11 A PPENDI X App. 7 Handling of AC servo amplifier batte ries for the United Nations Recommendations on the Transport of Dangerous Goods United Nations Recommendations on th e Transpor t of Dangerous Goods Rev. 15 (hereinafter Recommendations of the United Nations) has been issued.
App. - 12 A PPENDI X (5) Transportation precaution for customers For sea or air transportation, the handling label (Figure) is required for the package of a Mitsubishi cell or battery and the outer package containing several packages of Mitsubishi cells or ba tteries.
App. - 13 A PPENDI X App. 9 Compliance with the European EC directives App. 9.1 What are EC directives? The EC directives were issued to standar dize the regulations o f the EU countries and ensure smooth distribution of safety-guaranteed products.
App. - 14 A PPENDI X (2) Structure The control circuit provide safe separation to the main circuit in the servo amplifier. (Note) Converter unit Servo motor Contr ol bo x M Servo amplifier (drive unit) No-fuse breaker Magnetic contactor MC Reinforced insulating type 24VDC power supply NFB Note.
App. - 15 A PPENDI X (b) Do not connect two ground cables to the same protec tive earth (PE) termina l. Always connect cables to the terminals one-to-one. PE terminals PE terminals (c) If an earth leakage circuit breaker is used, always earth the protective earth (PE) termi nal of th e servo amplifier to prevent an electric shock.
App. - 16 A PPENDI X App. 10 Conformance with UL/C-UL standard This servo amplifier complies with UL 508C and CSA C22.2 No.14 standard. (1) Converter units, servo amplifiers (drive units) and s ervo motors used Use the converter units, servo amplifiers (drive units) and servo motors which standard product.
App. - 17 A PPENDI X (2) Installation The MR-J3 series have been approved as the products which have been installed in the elec trical enclosure. The minimum enclosure size is based on 150 of each MR-J3 combination. And also, design the enclosure so tha t the ambien t temperature in the enclosure is 55 (131 ) or less, refer to the spec manual.
App. - 18 A PPENDI X (6) Options, peripheral devices Use the UL/C-UL Standard-compliant products. Use the no-fuse breaker (UL489 Listed MCCB) or a Class T fuse indicated in the table below.
App. - 19 A PPENDI X (8) Selection example of wires To comply with the UL/C-UL Standard, use UL-approved copper wires rated a t 60/75 (140/167 ) for wiring. The following table shows the wire sizes [AWG] and the crimping ter minal symbols rated at 60 (140 ).
App. - 20 A PPENDI X Servo amplifier Converter Unit (Note 3) Wires [mm 2 ] B1 B2 BU BV BW OH S1 OHS2 MR-J3-10A(1) to 40A(1) 60A 70A MR-J3-100A 200A MR-J3-350A (Note 1) MR-J3-500A 16(16) (Note 1) MR-J3.
App. - 21 A PPENDI X Table: Recommended crimping terminals Servo amplifier side crimping terminals Symbol (Note 2) Applicable tool Manufacturer Crimping terminal Bod y Head Dice a FVD5.
App. - 22 A PPENDI X (10) Overload protection characteristics An electronic thermal relay is built in the servo ampl ifier to protect the servo motor, servo amplifier and servo motor power line from overloads . The operation c haracteristics of the electronic thermal r elay are shown below.
App. - 23 A PPENDI X (11) Figure configuration Representative configuration example to conform to th e UL/C-UL standard is shown below. The earth wiring is excluded from the figure configur ation.
REVISIONS *The manual number is given on the bott om left of the back cover. Print Data *Manual Number Revision Oct. 2003 SH(NA)030038-A First edition May 2004 SH(NA)030038-B Safety Inst ructions: 4. (1) HF-SP Series serv o motor is added to the environment conditions.
Print Data *Manual Number Revision May 2004 SH(NA)030038-B Section 9.1: AL.47 is add ed. AL.E8 is added. Section 9.2: Description of AL.52 is changed. Section 9.3: Paragraph is added. AL.E8 is added. Section 10: Outline drawing is exam ined. Section 10.
Print Data *Manual Number Revision Apr. 2005 SH(NA)030038 -C Section 3. 3.3: Sentence is ad ded into "POINT". Section 3.5 (1) (a): Servo on and servo off condition is delet ed. Part of columns of emergency stop and functions/applic ations is examined.
Print Data *Manual Number Revision Apr. 2005 SH(NA)030038-C Section 10.1 (5) (6): Added. Section 11.1: d. HF-SP502 702 is added. Section 11.2 (1): Table is examined. Section 11.3: Dynamic brake time constant is added. Chapter 12: "WARNING" 10 minutes ar e modified to 15 minutes.
Print Data *Manual Number Revision Oct. 2006 SH(NA)030038-D Section 3.2.1: SD (Plate) is added to CN1. Section 3.3.3 (2) (b) 1): 2.5mm size ferrule model name (for 2 cabl es) is modified. Section 3.3.3 (3): "POINT" is added. Table for parameter No.
Print Data *Manual Number Revision Oct. 2006 SH(NA)030038-D Section 1 0.1 (7): Added. Section 10.2: Examined. Section 11.1: Table is added. Graph is added. Section 11.3: Graph is added. Section 12.1.1: Motor drawing is added. Connector set is added. Change of connector set model.
Print Data *Manual Number Revision Nov. 2007 SH(NA)03 0038-F "Fan" is changed to "coolin g fan". Charge lamp off confirmation point is examin ed. Fahrenheit is added to temper ature notation. Section 2.1 (1) (b): "POINT" content is changed.
Print Data *Manual Number Revision Dec. 2007 SH(NA)030038-G Section 3.8.1 (2): Addition of Note. Section 3.8.1 (3) (b) 1): Addition of Note. Section 3.8.3 (2): Addition of Note. Section 3.10.2 (2) (a) 1), 2): Connection diag ram and Note 1 and 2 are changed.
Print Data *Manual Number Revision Jun. 2008 SH(NA)030038 -H Section 1.7.1 (3) (4): Inte rchanged the model names (3) a nd (4). Made the function and configuration be sam e between MR-J3-200A and MR-J 3- 200A4 in comment. Added the "Note 4" at (3).
Print Data *Manual Number Revision Jun. 2008 SH(NA)030038 -H Section 13.1 (1): De leted the connection in R S-422/232C converter. Section 13.1 (2) (a): Deleted the connection i n RS-422/232C converter. Section 13.1 (2) (b): Changed the RS-422 out put unit.
Print Data *Manual Number Revision Aug. 2010 SH(NA)030038-J Section 3.1 (1) to (3) Section 3.1 (4), (5), (7) Section 3.1 (6) Section 3.1 (7) Section 3.1 (8) Section 3.3.2 (2) Section 3.5 (1) (b) Section 3.5 (2) Section 3.5 (3) Section3.5 (5) Section 3.
Print Data *Manual Number Revision Aug. 2010 SH(NA)030038-J Section 5.2.2 Section 5.3.1 Section 5.3.2 Section 5.3.3 Section 5.3.4 Section 5.4.1 Section 5.4.2 Section 6.2 Section 6.3.3 Section 6.4 Section 6.6.2 (1) Section 6.6.2 (2) Section 6.9.1 Section 6.
Print Data *Manual Number Revision Aug. 2010 SH(NA)030038-J Section 8.4 (2) Section 8.4 (3) Section 8.4 (4) (a) Section 8.4 (4) (b) Section 8.5 Section 8.6.3 Section 8.6.4 Section 8.7 Chapter 9 Section 9.1 Section 9.2 Section 10.1 (3), (5) to (9) Section 11.
Print Data *Manual Number Revision Aug. 2010 SH(NA)030038-J Section 12.3.3 (1) (a) Section 12.3.3 (1) (b) Section 12.3.3 (2) Section 12.4 (2) Section 12.5 (5) Section 12.5 (6) Section 12.6 Section 12.6 (2) Section 12.6 (3) (a) Section 12.7 (2) Section 12.
Print Data *Manual Number Revision Aug. 2010 SH(NA)030038-J Section 13.3.6 Section 13.5.3 (4) Section 13.5.12 Chapter 14 Section 14.3 Section 14.3.1 Section 14.3.2 Section 14.4 Section 14.5 Section 14.5.1 Section 14.5.2 Section 14.4 to Section 14.11 Section 14.
Print Data *Manual Number Revision Aug. 2010 SH(NA)030038-J Section 15.9.3 (3) Section 15.9.4 Section 15.9.4 (3) Section 15.9.5 Section 15.9.6 Section 15.9.10 Section 16.2 Section 16.5.6 Section 16.5.6 (1) (2) Section 16.6 (1) App. 1 App. 5.4 App. 6 App.
Country/Region Sales office Tel/Fax USA MITSUBISHI ELECTRIC AUTOMATION, INC. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. Tel Fax : +1-847-478-2100 : +1-847-478-2253 Mexico MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch Mariano Escobedo #69, Col.
Warranty 1. Warra nty period an d coverage We will repair any failure or defect hereinaf ter referred to as "failure" in our FA e quipment hereinafter re ferred to as the "P roduct".
SH(NA)030038-L.
SH (NA) 030038-L (1406) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE J3 Series MR-J3- A Servo Amplifier Instr.
An important point after buying a device Mitsumi electronic MR-J3- A (or even before the purchase) is to read its user manual. We should do this for several simple reasons:
If you have not bought Mitsumi electronic MR-J3- A yet, this is a good time to familiarize yourself with the basic data on the product. First of all view first pages of the manual, you can find above. You should find there the most important technical data Mitsumi electronic MR-J3- A - thus you can check whether the hardware meets your expectations. When delving into next pages of the user manual, Mitsumi electronic MR-J3- A you will learn all the available features of the product, as well as information on its operation. The information that you get Mitsumi electronic MR-J3- A will certainly help you make a decision on the purchase.
If you already are a holder of Mitsumi electronic MR-J3- A, but have not read the manual yet, you should do it for the reasons described above. You will learn then if you properly used the available features, and whether you have not made any mistakes, which can shorten the lifetime Mitsumi electronic MR-J3- A.
However, one of the most important roles played by the user manual is to help in solving problems with Mitsumi electronic MR-J3- A. Almost always you will find there Troubleshooting, which are the most frequently occurring failures and malfunctions of the device Mitsumi electronic MR-J3- A along with tips on how to solve them. Even if you fail to solve the problem, the manual will show you a further procedure – contact to the customer service center or the nearest service center
