Manuale d’uso / di manutenzione del prodotto MR-J4-_B_(-RJ) del fabbricante Mitsubishi Electronics
Vai alla pagina of 636
SH (NA) 030106-J (1502) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE General-Purpose AC Servo MR-J4-_B_(-RJ) .
A - 1 Safety Instructions Please read the instructions ca refully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the eq uipment until you have read through this Instruction M anual, Inst allation guide, and appended docume nts carefully.
A - 2 1. To prevent electric shock, note the following WARNING Before wiring and inspections, turn off the power a nd wait for 15 minutes or more until the ch arge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
A - 3 CAUTION Ensure that polarity (+/-) is correct. Ot herwise, a burst, damage, etc. may occur. The servo amplifier heat sink, re generative resistor, se rvo motor, etc. may be ho t while power is on or for some time after power-off. Take sa fety measures, e.
A - 4 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwi se, the servo motor may operate unexpe ctedly. Do not install a power capacitor, surge ki ller, or radio noise filter (FR-BIF-(H) option) on the serv o amplifier output side.
A - 5 CAUTION Use a noise filter, etc. to minimize the influence of electromagnetic i nterference. Electromagnetic interference may be given to the electronic eq uipment used near the se rvo amplifier. Burning or breaking a serv o amplifier may cause a toxic gas.
A - 6 DISPOSAL OF WASTE Please dispose a servo amplifier, battery (primary batte ry) and other option s according to your local laws and regulations. EEP-ROM life The number of write times to the EEP-ROM, which stor es parameter settings, et c ., is limited to 100,000.
A - 7 «About the manuals» You must have this Instruction Manual a nd the following manuals to use thi s servo. Ensure to prepare them to use the servo safely.
A - 8 MEMO.
1 CONTENTS 1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-52 1.1 Summa ry ................................................................................................................... ........................ 1- 1 1.2 Function bl ock diagram .........
2 3.7.2 When you do not use the forc ed stop decelerati on functi on ..................................................... 3-32 3.8 Interf aces ...........................................................................................................
3 6.2 One-touc h tuni ng .......................................................................................................... .................... 6- 3 6.2.1 One-touch t uning flow c hart .........................................................
4 10.3.1 Dynamic br ake operat ion ................................................................................................ ....... 10- 8 10.3.2 Permissible load to motor inerti a when the dynamic br ake is us ed ..............................
5 12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 6 12.1 Summary ............................................................................................................................... ........ 12- 1 12.1.1 Feat ures ......................
6 14.4.3 Dynamic brake characteri stics .......................................................................................... .... 14-31 14.4.4 Permissible load to motor mass ratio when the dynamic br ake is us ed ............................... 14-32 15.
7 17.1.8 Change of specifications of "J3 com patibility mode" switch ing proce ss ................................ 17- 9 17.1.9 J3 extens ion func tion .........................................................................................
8 MEMO.
1. FUNCTIONS AND CONFIGURATION 1 - 1 1. FUNCTIONS AND CONFIGURATION 1.1 Summary The Mitsubishi MELSERVO-J4 series general-purpose AC servo has further higher performance and higher functions compared to the pr evious MELSERVO-J3 series.
1. FUNCTIONS AND CONFIGURATION 1 - 2 Table 1.1 Connectors to connect from external encoders Operation mode External encoder communication method Connector MR-J4-_B_ MR-J4-_B_-RJ Linear servo motor sys.
1. FUNCTIONS AND CONFIGURATION 1 - 3 1.2 Function block diagram The function block diagram of this servo is shown below. POINT The diagram shows for MR-J4- _ B_-RJ as an example.
1. FUNCTIONS AND CONFIGURATION 1 - 4 Note 1. The built-in regenerative resist or is not provided for MR-J4-10B(-RJ). 2. For 1-phase 200 V AC to 240 V AC, connect the power supply to L1 and L3. Leave L2 open. Refer to section 1.3 for the power supply specifications.
1. FUNCTIONS AND CONFIGURATION 1 - 5 (b) MR-J4-700B(-RJ) L11 L21 Cooling fan N- C Power factor improving DC reactor (Note 1) Power supply MC MCCB STO circuit CN5 USB USB CN1A CN1B D/A CN3 Servo amplif.
1. FUNCTIONS AND CONFIGURATION 1 - 6 (c) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ)/MR-J4-22KB(-RJ) L11 L21 Encoder N- C Power factor improving DC reactor MC MCCB CN5 USB USB CN1A CN1B D/A CN3 P3 P4 (Note 2) P+ .
1. FUNCTIONS AND CONFIGURATION 1 - 7 Note 1. Refer to section 1.3 fo r the power supply specifications. 2. MR-J4 servo amplifier has P3 and P4 in the upstream of t he inrush current suppression circuit. They are different from P1 and P2 of MR-J3 servo amplifiers.
1. FUNCTIONS AND CONFIGURATION 1 - 8 (2) 400 V class (a) MR-J4-350B4(-RJ) or less Model position Current control Actual position control Actual speed control Virtual motor Virtual encoder L11 L21 Cool.
1. FUNCTIONS AND CONFIGURATION 1 - 9 (b) MR-J4-500B4(-RJ)/MR-J4-700B4(-RJ) Dynamic brake circuit Current detector Virtual motor Virtual encoder L11 L21 Cooling fan Encoder N- C Current detection Overc.
1. FUNCTIONS AND CONFIGURATION 1 - 10 (c) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ)/MR-J4-22KB4(-RJ) Current detector Thyristor External dynamic brake (optional) U V W U V W L3 L2 L1 U U U (Note 3) (Note 5) P.
1. FUNCTIONS AND CONFIGURATION 1 - 11 Note 1. Refer to section 1.3 fo r the power supply specification. 2. MR-J4 servo amplifier has P3 and P4 in the upstream of t he inrush current suppression circuit. They are different from P1 and P2 of MR-J3 servo amplifiers.
1. FUNCTIONS AND CONFIGURATION 1 - 12 (3) 100 V class Model position Current control Actual position control Actual speed control Virtual motor Virtual encoder L11 L21 Encoder N- CD L2 L1 Dynamic brak.
1. FUNCTIONS AND CONFIGURATION 1 - 13 1.3 Servo amplifier standard specifications (1) 200 V class Model: MR-J4-_(-RJ) 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB Output Rated voltage 3-phase 170 V AC Rated current [A] 1.1 1. 5 2.8 3.2 5.
1. FUNCTIONS AND CONFIGURATION 1 - 14 Note 1. 0.3 A is the value applicable when all I/O signals ar e used. The current capacity c an be decreased by reducing the num ber of I/O points.
1. FUNCTIONS AND CONFIGURATION 1 - 15 (2) 400 V class Model: MR-J4-_(-RJ) 60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4 Output Rated voltage 3-phase 323 V AC Rated current [A] 1.5 2.8 5. 4 8.6 14.0 17.0 32.0 41.0 63.0 Main circuit power supply input Voltage/Frequency 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz Rated current [A] 1.
1. FUNCTIONS AND CONFIGURATION 1 - 16 Note 1. 0.3 A is the value applicable when all I/O signals ar e used. The current capacity c an be decreased by reducing the num ber of I/O points. 2. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external c ircuit to self-diagnose.
1. FUNCTIONS AND CONFIGURATION 1 - 17 (3) 100 V class Model: MR-J4-_(-RJ) 10B1 20B1 40B1 Output Rated voltage 3-phase 170 V AC Rated current [A] 1.1 1.5 2.8 Main circuit power supply input Voltage/Frequency 1-phase 100 V AC to 120 V AC, 50 Hz/60 Hz Rated current [A] 3.
1. FUNCTIONS AND CONFIGURATION 1 - 18 Note 1. 0.3 A is the value applicable when all I/O signals ar e used. The current capacity c an be decreased by reducing the num ber of I/O points.
1. FUNCTIONS AND CONFIGURATION 1 - 19 1.4 Combinations of servo amplifiers and servo motors (1) 200 V class Servo amplifier Rotary servo motor Linear servo motor (primary side) Direct drive motor HG-K.
1. FUNCTIONS AND CONFIGURATION 1 - 20 (2) 400 V class Servo amplifier Rotary servo motor Linear servo motor (primary side) HG-SR HG-JR HG-JR (When the maximum torque is 400%) MR-J4-60B4(-RJ) 524 534 M.
1. FUNCTIONS AND CONFIGURATION 1 - 21 1.5 Function list The following table lists the functions of this servo. Fo r details of the functions, refer to each section of the detailed description field. Function Description Detailed explanation Model adaptive control This realizes a high response and stable c ontrol following the ideal model.
1. FUNCTIONS AND CONFIGURATION 1 - 22 Function Description Detailed explanation Fully closed loop system Fully closed loop system can be c onfigured using the load-side encoder. This is used with servo amplifiers with software version A3 or later. Check the software version of the servo amplifier using MR Configurator2.
1. FUNCTIONS AND CONFIGURATION 1 - 23 1.6 Model designation (1) Rating plate The following shows an example of rati ng plate for explanation of each item.
1. FUNCTIONS AND CONFIGURATION 1 - 24 1.7 Structure 1.7.1 Parts identification (1) 200 V class (a) MR-J4-200B(-RJ) or less The diagram is for MR-J4-10B-RJ. (1) (3) (2) Inside of the display cover (5) (18) (13) (10) (17) (9) (6) (7) (11) Bottom (16) (15) (8) (4) (14) Side (12) (19) (20) No.
1. FUNCTIONS AND CONFIGURATION 1 - 25 (b) MR-J4-350B(-RJ) The broken line area is the same as MR-J4-200B(-RJ) or less. (1) (3) (2) Side (4) (5) (7) (6) No. Name/Application Detailed explanation (1) Main circuit power s upply connector (CNP1) Connect the input power supply.
1. FUNCTIONS AND CONFIGURATION 1 - 26 (c) MR-J4-500B(-RJ) POINT The servo amplifier is shown with the front cover open. The front cover cannot be removed. (1) (3) (2) (Note) (8) (4) Side (5) (6) (7) The broken line area is the same as MR-J4-200B(-RJ) or less.
1. FUNCTIONS AND CONFIGURATION 1 - 27 (d) MR-J4-700B(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. (1) (5) (Note) (2) (4) (3) (6) The broken line area i s the same as MR-J4-200B4(-RJ) or less.
1. FUNCTIONS AND CONFIGURATION 1 - 28 (e) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. (1) (2) (4) (3) (6) The broken line area is the same as MR-J4-200B(-RJ) or less.
1. FUNCTIONS AND CONFIGURATION 1 - 29 (f) MR-J4-22KB(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. (7) (6) (5) (Note) (2) (3) (4) (1) The broken line area is the same as MR-J4-200B4(-RJ) or less.
1. FUNCTIONS AND CONFIGURATION 1 - 30 (2) 400 V class (a) MR-J4-200B4(-RJ) or less The diagram is for MR-J4-60B4-RJ. (1) (3) (2) Inside of the display cover (4) (13) (15) (14) Side (16) (17) (5) (6) (7) (8) (9) (19) (20) (18) (10) (11) Bottom (12) No.
1. FUNCTIONS AND CONFIGURATION 1 - 31 (b) MR-J4-350B4(-RJ) The broken line area is the same as MR-J4-200B4(-RJ) or less. (1) (3) (2) Side (4) (5) (7) (6) No. Name/Application Detailed explanation (1) Main circuit power s upply connector (CNP1) Connect the input power supply.
1. FUNCTIONS AND CONFIGURATION 1 - 32 (c) MR-J4-500B4(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. (1) (3) (Note) (2) (4) (5) (6) (7) The broken line area is the same as MR-J4-200B4(-RJ) or less.
1. FUNCTIONS AND CONFIGURATION 1 - 33 (d) MR-J4-700B4(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. (1) (5) (Note) (2) (4) (3) (6) The broken line area is t he same as MR-J4-200B4(-RJ) or less.
1. FUNCTIONS AND CONFIGURATION 1 - 34 (e) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. (1) (5) (Note) (2) (4) (3) (6) The broken line area is the s ame as MR-J4-200B4(-RJ) or less.
1. FUNCTIONS AND CONFIGURATION 1 - 35 (f) MR-J4-22KB4(-RJ) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. (7) (6) (5) (Note) (2) (3) (4) (1) The broken line area is the same as MR-J4-200B4(-RJ) or less.
1. FUNCTIONS AND CONFIGURATION 1 - 36 (3) 100 V class The diagram is for MR-J4-10B1-RJ. (1) (3) (2) Inside of the display cover (5) (18) (13) (10) (17) (9) (6) (7) (11) Bottom (16) (15) (8) (4) (14) Side (12) (19) (20) No. Name/Application Detailed explanation (1) Display The 3-digit, seven-segment LED shows the servo status and the alarm number.
1. FUNCTIONS AND CONFIGURATION 1 - 37 1.7.2 Removal and reinstallation of the front cover CAUTION Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp tu rns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
1. FUNCTIONS AND CONFIGURATION 1 - 38 Reinstallation of the front cover Front cover setting tab A) A) 1) Insert the front cover setting tabs into the sockets of servo amplifier (2 places). 2) Push down the cover, supporting at point A). Setting tab 3) Press the cover against the terminal box until the installing knobs click.
1. FUNCTIONS AND CONFIGURATION 1 - 39 1.8 Configuration including peripheral equipment CAUTION Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. POINT Equipment other than the servo amplif ier and servo motor are optional or recommended products.
1. FUNCTIONS AND CONFIGURATION 1 - 40 (1) 200 V class (a) MR-J4-200B(-RJ) or less The diagram is for MR-J4-20B-RJ. CN4 CN5 P+ C L11 L21 P3 P4 MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U.
1. FUNCTIONS AND CONFIGURATION 1 - 41 (b) MR-J4-350B(-RJ) CN5 P+ C L11 L21 P3 P4 MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U L1 L2 L3 CN4 RS T (Note 1) Power supply (Note 2) Molded-case.
1. FUNCTIONS AND CONFIGURATION 1 - 42 (c) MR-J4-500B(-RJ) CN5 P+ C L11 L21 P3 P4 MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U L1 L2 L3 CN4 RS T (Note 1) Molded -cas e circuit breaker (MC.
1. FUNCTIONS AND CONFIGURATION 1 - 43 (d) MR-J4-700B(-RJ) CN5 P+ C L11 L21 P3 P4 MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U L3 L2 L1 CN4 RS T (Note 1) Molded-cas e circui t breaker (MC.
1. FUNCTIONS AND CONFIGURATION 1 - 44 (e) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ) P3 P4 CN5 P+ C MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U L1 CN4 RS T L3 L11 L21 L2 (Note 1) Molded-case circu.
1. FUNCTIONS AND CONFIGURATION 1 - 45 (f) MR-J4-22KB(-RJ) CN5 L11 L21 MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) L1 CN4 RS T P3 P4 L3 P+ C L2 W V U (Note 1) Molded-cas e circui t breaker (MC.
1. FUNCTIONS AND CONFIGURATION 1 - 46 (2) 400 V class (a) MR-J4-200B4(-RJ) or less The diagram is for MR-J4- 60B4-RJ and MR-J4-100B4-RJ. CN4 CN5 P+ C L11 L21 P3 P4 MR Configurator2 CN3 CN8 CN1A CN1B C.
1. FUNCTIONS AND CONFIGURATION 1 - 47 (b) MR-J4-350B4(-RJ) CN5 P+ C L11 L21 P3 P4 MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U L1 L2 L3 (Note 1) CN4 RS T Molded -cas e circuit breaker (M.
1. FUNCTIONS AND CONFIGURATION 1 - 48 (c) MR-J4-500B4(-RJ) P+ C L21 L11 CN2 CN2L (Note 4) W V U L1 L2 L3 (Note 1) P3 P4 CN4 RS T CN5 MR Configurator2 CN3 CN8 CN1A CN1B Molded-case circuit breaker (MCC.
1. FUNCTIONS AND CONFIGURATION 1 - 49 (d) MR-J4-700B4(-RJ) CN5 P+ C L11 L21 P3 P4 MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U L3 (Note 1) L2 L1 CN4 RS T Molded-c ase circuit breaker (MC.
1. FUNCTIONS AND CONFIGURATION 1 - 50 (e) MR-J4-11K4B(-RJ)/MR-J4-15K4B(-RJ) P3 P4 CN5 P+ C MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U (Note 1) L1 CN4 RS T L3 L11 L21 L2 Molded-case cir.
1. FUNCTIONS AND CONFIGURATION 1 - 51 (f) MR-J4-22K4B(-RJ) CN5 MR Configurator2 CN3 CN8 CN1A CN2L (Note 4) CN1B CN2 (Note 1) CN4 RS T P+ C L11 L21 P3 P4 W V U L3 L2 L1 Molded-c ase circuit breaker (MC.
1. FUNCTIONS AND CONFIGURATION 1 - 52 (3) 100 V class The diagram is for MR-J4-20B1-RJ. CN4 CN5 P+ C L11 L21 MR Configurator2 CN3 CN8 CN1A CN1B CN2 CN2L (Note 4) W V U L1 L2 RT Line noise filter (FR-B.
2. INSTALLATION 2 - 1 2. INSTALLATION WARNING To prevent electric shock, ground each equipment securely. CAUTION Stacking in excess of the specified number of product packages is not allowed. Install the equipment on incombustible materi al. Installing it directly or close to combustibles will lead to a fire.
2. INSTALLATION 2 - 2 2.1 Installation direction and clearances CAUTION The equipment must be installed in the s pecified direction. Otherwise, it may cause a malfunction. Leave specified clearances between the serv o amplifier and the cabinet walls or other equipment.
2. INSTALLATION 2 - 3 (b) Installation of two or more servo amplifiers POINT Close mounting is possible depending on the capacity of the servo amplifier.
2. INSTALLATION 2 - 4 (3) When installing the cabinet in a place where toxic gas, dirt and dust exist, conduct an air purge (force clean air into the cabinet from outside to make the inte rnal pressure higher than the external pressure) to prevent such materials from entering the cabinet.
2. INSTALLATION 2 - 5 (3) Precautions for migrating plasticizer added materials Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non-migrating plasticizer and they do not affect the optical charac teristic of SSCNET III cable.
2. INSTALLATION 2 - 6 (7) Twisting If optical fiber is twisted, it w ill become the same stress added condition as when local lateral pressure or bend is added.
2. INSTALLATION 2 - 7 2.6 Parts having service lives Service lives of the following parts are listed below. However, the service lives vary depending on operation and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service lives.
2. INSTALLATION 2 - 8 MEMO.
3. SIGNALS AND WIRING 3 - 1 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 power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
3. SIGNALS AND WIRING 3 - 2 CAUTION Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc.
3. SIGNALS AND WIRING 3 - 3 3.1 Input power supply circuit CAUTION Always connect a magnetic contactor between the power supply and the main circuit power supply (L1, L2, and L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply.
3. SIGNALS AND WIRING 3 - 4 3.1.1 200 V class (1) For 3-phase 200 V AC to 240 V AC power s upply of MR-J4-10B(-RJ) to MR-J4-350B(-RJ) ALM DOCOM CN3 RA1 L1 L2 L3 P3 P4 P+ L1 1 L21 N- D C U V W CNP1 CNP.
3. SIGNALS AND WIRING 3 - 5 (2) For 1-phase 200 V AC to 240 V AC power s upply of MR-J4-10B(-RJ) to MR-J4-70B(-RJ) POINT Connect the 1-phase 200 V AC to 240 V AC power supply to L1 and L3. One of the connecting destinations is different fr om MR-J3 Series Servo Amplifier's.
3. SIGNALS AND WIRING 3 - 6 (3) MR-J4-500B(-RJ) L1 L2 L3 L11 L21 P3 C N- P+ P4 U V W U V W CN2 MC MC SK CN8 MCCB D ALM DOCOM CN3 RA1 CN3 EM2 DICOM 3-phase 200 V AC to 240 V AC MC (Note 7) (Note 5) 24 .
3. SIGNALS AND WIRING 3 - 7 (4) MR-J4-700B(-RJ) C P+ L11 L21 P3 P4 N- L1 L2 L3 U V W U V W M CN2 MC MC SK CN8 MCCB ALM DOCOM CN3 RA1 CN3 EM2 DICOM Built-in regenerative resistor MC (Note 7) (Note 5) 2.
3. SIGNALS AND WIRING 3 - 8 (5) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ)/MR-J4-22KB(-RJ) C P+ L11 L21 P3 P4 N- L1 L2 L3 U V W U V W M CN2 MC MC SK CN8 MCCB BU BV BW MCCB ALM DOCOM CN3 RA1 CN3 EM2 DICOM MC (Not.
3. SIGNALS AND WIRING 3 - 9 Note 1. Between P3 and P4 is connected by default. When using t he power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additiona lly, a power factor improving DC reactor and power factor improving AC reactor c annot be used simultaneously.
3. SIGNALS AND WIRING 3 - 10 3.1.2 400 V class (1) MR-J4-60B4(-RJ) to MR-J4-350B4(-RJ) (Note 7) MC ALM DOCOM CN3 (Note 5) (Note 4) Malfunction RA1 L1 L2 L3 P3 P4 P+ L11 L21 N- D C U V W (Note 1) (Note.
3. SIGNALS AND WIRING 3 - 11 (2) MR-J4-500B4(-RJ)/MR-J4-700B4(-RJ) (Note 5) (Note 4) Malfunction (Note 5) Forced stop 2 C P+ L11 L21 P3 P4 N- (Note 1) (Note 7) MC L1 L2 L3 U V W (Note 2) U V W M Motor.
3. SIGNALS AND WIRING 3 - 12 (3) MR-J4-11KB4(-RJ) to MR-J4-22KB4(-RJ) (Note 5) (Note 4) Malfunction (Note 5) Forced stop 2 C P+ L11 L21 P3 P4 N- (Note 1) (Note 7) MC L1 L2 L3 U V W U V W M Motor CN2 (.
3. SIGNALS AND WIRING 3 - 13 Note 1. Between P3 and P4 is connected by default. When using t he power factor improving DC reactor, remove the short bar between P3 and P4. Refer to section 11.11 for details. Additiona lly, a power factor improving DC reactor and power factor improving AC reactor c annot be used simultaneously.
3. SIGNALS AND WIRING 3 - 14 3.1.3 100 V class ALM DOCOM CN3 RA1 L1 L2 P+ L1 1 L21 N- D C U V W CNP1 CNP3 CNP2 U V W M CN2 MC MC SK CN3 EM2 DICOM CN8 MCCB 24 V DC (Note 12) MC (Note 7) (Note 5) 24 V D.
3. SIGNALS AND WIRING 3 - 15 3.2 I/O signal connection example POINT EM2 has the same function as EM1 in the torque control mode. 3.2.1 For sink I/O interface 20 EM2 2 19 12 DI1 DI3 DI2 (Note 12) (Not.
3. SIGNALS AND WIRING 3 - 16 Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet.
3. SIGNALS AND WIRING 3 - 17 3.2.2 For source I/O interface POINT For notes, refer to section 3.2.1. 10 20 EM2 2 19 12 DI1 DI3 DI2 3 DOCOM 9 INP 15 ALM 6L A 16 LAR 7L B 17 LBR 8L Z 18 LZR 11 L G RA1 R.
3. SIGNALS AND WIRING 3 - 18 3.3 Explanation of power supply system 3.3.1 Signal explanations POINT For the layout of connector and terminal block, refer to chapter 9 DIMENSIONS. Symbol Connection target (application) Description L1/L2/L3 Main circuit power supply Supply the following power to L1, L2, and L3.
3. SIGNALS AND WIRING 3 - 19 Symbol Connection target (application) Description L11/L21 Control circuit power supply Supply the following power to L11 and L21.
3. SIGNALS AND WIRING 3 - 20 (2) Timing chart (Note 1) (3 s to 4 s) 95 ms (Note 2) 10 ms 95 ms Servo-on command accepted Main circuit Control circuit Base circuit Servo-on command (from controller) power supply ON OFF ON OFF ON OFF Note 1. This range will be "5 s to 6 s" for the linear servo system and fully closed loop system.
3. SIGNALS AND WIRING 3 - 21 (b) MR-J4-200B(-RJ)/MR-J4-350B(-RJ) CNP2 CNP1 CNP3 MR-J4-200B(-RJ) Servo amplifier CNP3 CNP1 CNP2 MR-J4-350B(-RJ) Servo amplifier Table 3.
3. SIGNALS AND WIRING 3 - 22 (d) MR-J4-10B1(-RJ) to MR-J4-40B1(-RJ) CNP2 CNP1 CNP3 Servo amplifier Table 3.4 Connector and applicable wire Connector Receptacle assembly Applicable wire Stripped length [mm] Open tool Manufa cturer Size Insulator OD CNP1 06JFAT-SAXGDK-H7.
3. SIGNALS AND WIRING 3 - 23 You can also use a ferrule to connect with the connectors. When using a ferrule, select a ferrule and crimping tool listed in the table below. Servo amplifier Wire si ze Ferrule model (Phoenix Contact) Crimping tool (Phoenix Contact) For one For two MR-J4-10B(-RJ) to MR-J4-100B(-RJ) AWG 16 AI1.
3. SIGNALS AND WIRING 3 - 24 3.4 Connectors and pin assignment POINT The pin assignment of the connectors ar e as viewed from the cable connector wiring section.
3. SIGNALS AND WIRING 3 - 25 3.5 Signal (device) explanations For the I/O interfaces (symbols in I/O division co lumn in the table), refer to section 3.8.2. The pin numbers in the connector pin No. column are those in the initial status. 3.5.1 Input device Device Symbol Connector pin No.
3. SIGNALS AND WIRING 3 - 26 3.5.2 Output device (1) Output device pin The following shows the output device pi ns and parameters for assigning devices. Connector pin No. Parameter Initial device I/O division CN3-13 [Pr. PD07] MBR CN3-15 [Pr. PD09] ALM DO-1 CN3-9 [Pr.
3. SIGNALS AND WIRING 3 - 27 Device Symbol Function and application Limiting torque TLC When the torque reaches the torque limit value during torque generation, TLC will turn on. When the servo is off, TLC will be turned off. This device cannot be used in the torque control mode.
3. SIGNALS AND WIRING 3 - 28 3.6 Forced stop deceleration function POINT When alarms not related to the forced stop function occur, control of motor deceleration can not be guaranteed. (Refer to chapter 8.) When SSCNET III/H communication brake o ccurs, forced stop deceleration will operate.
3. SIGNALS AND WIRING 3 - 29 3.6.2 Base circuit shut-off delay time function The base circuit shut-off delay time function is used to prevent vertical axis from dropping at a forced stop (EM2 goes off), alarm occurrence, or SSCNET III/H communication brake due to delay time of the electromagnetic brake.
3. SIGNALS AND WIRING 3 - 30 3.6.3 Vertical axis fr eefall prevention function The vertical axis freefall prevention function avoids machine damage by pulling up the shaft slightly like the following case.
3. SIGNALS AND WIRING 3 - 31 3.7 Alarm occurrence timing chart CAUTION When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. POINT In the torque control mode, the forced st op deceleration function is not available.
3. SIGNALS AND WIRING 3 - 32 (2) When the forced stop deceleration function is not enabled MBR (Electromagnetic brake interlock) ON OFF ON (no alarm) OFF (alarm) Base circuit (Energy supply to the servo motor) ON OFF Servo amplifier display 0 r/min Servo motor speed ALM (Malfunction) No alarm Alarm No.
3. SIGNALS AND WIRING 3 - 33 3.8 Interfaces 3.8.1 Internal connection diagram POINT Refer to section 13.3.1 for the CN8 connector. 3 CN3 6 16 7 17 8 18 LA LAR LB LBR LZ LZR 2 4 7 8 MR MRR MX MXR LG PE.
3. SIGNALS AND WIRING 3 - 34 3.8.2 Detailed explanation of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 3.5. Refer to this section and ma ke connection with the external device.
3. SIGNALS AND WIRING 3 - 35 (3) Encoder output pulses DO-2 (differential line driver type) (a) Interface Maximum output current: 35 mA 150 Ω 100 Ω Am26LS32 or equivalent Servo amplifier LA (LB, LZ).
3. SIGNALS AND WIRING 3 - 36 3.8.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. (1) Digital input interface DI-1 This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc.
3. SIGNALS AND WIRING 3 - 37 3.9 SSCNET III cable connection POINT Do not look directly at the light generated from CN1A/CN1B connector of the servo amplifier or the end of SSCNET III cable.
3. SIGNALS AND WIRING 3 - 38 3) With holding a tab of SSCNET III cable connector, make sure to insert it into the CN1A and CN1B connector of the servo amplifier until you hear the click. If the end face of optical cord tip is dirty, optical transmission is interrupted and it may cause malfunctions.
3. SIGNALS AND WIRING 3 - 39 3.10 Servo motor with an electromagnetic brake 3.10.1 Safety precautions CAUTION Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.
3. SIGNALS AND WIRING 3 - 40 (1) Connection diagram B2 B1 Servo motor 24 V DC ALM (Malfaunction) Servo amplifier MBR DOCOM MBR RA1 RA1 U B (Note 1) (Note 2) 24 V DC Note 1. Create the circuit in order to shut off by interlocking with the emergency stop sw itch.
3. SIGNALS AND WIRING 3 - 41 (b) Off/on of the forced stop command (fro m controller) or EM2 (Forced stop 2) POINT In the torque control mode, the forced st op deceleration function is not available.
3. SIGNALS AND WIRING 3 - 42 (e) Main circuit power supply off dur ing control circuit power supply on POINT In the torque control mode, the forced st op deceleration function is not available. ON OFF ON OFF (Note 2) The time until a vol tage drop is detected.
3. SIGNALS AND WIRING 3 - 43 (2) When you do not use the fo rced stop deceleration function POINT To disable the function, set "0 _ _ _" in [Pr.
3. SIGNALS AND WIRING 3 - 44 (f) Ready-off command from controller It is the same as (1) (f) in this section. 3.11 Grounding WARNING Ground the servo amplifier and servo motor securely. To prevent an electric shock, always c onnect the protective earth (PE) terminal (marked ) of the servo amplifier to the prot ective earth (PE) of the cabinet.
4. STARTUP 4 - 1 4. STARTUP WARNING Do not operate the switches with wet hands . Otherwise, it may cause an electric shock. CAUTION Before starting operation, check the par ameters. Improper settings may cause some machines to operate unexpectedly. The servo amplifier heat sink, regenerative resistor, servo motor, etc.
4. STARTUP 4 - 2 4.1 Switching power on for the first time When switching power on for the first time, follow this section to make a startup. 4.1.1 Startup procedure Wiring check Surrounding environment check Axis No.
4. STARTUP 4 - 3 4.1.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items. (a) Power supply system wiring 1) The power supplied to the power input terminal s (L1, L2, L3, L11, and L21) of the servo amplifier should satisfy the defined specificat ions.
4. STARTUP 4 - 4 (c) When you use an option and auxiliary equipment 1) 200 V class a) When you use a regenerative option fo r 5 kW or less servo amplifiers The lead wire between P+ terminal and D terminal should not be connected. The regenerative option wire should be connected between P+ and C terminal.
4. STARTUP 4 - 5 c) When you use a brake unit and power regenerat ion converter for 5 kW or more servo amplifiers For 5 kW or 7 kW servo amplifiers, the lead wire of the built-in regenerative resistor connected to P+ terminal and C terminal should not be connected.
4. STARTUP 4 - 6 4.1.3 Surrounding environment (1) Cable routing (a) The wiring cables should not be stressed. (b) The encoder cable should not be used in excess of its bending life. (Ref er to section 10.4.) (c) The connector of the servo motor should not be stressed.
4. STARTUP 4 - 7 (5) Stop If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop.
4. STARTUP 4 - 8 4.3 Switch setting and display of the servo amplifier Switching to the test operation mode, deactivating cont rol axes, and setting control axis No.
4. STARTUP 4 - 9 (2) Disabling control axis switch (SW2-2) Turning "ON (up)" the disabling control axis switch disables the corresponding servo motor. The servo motor will be disabled-axis status and w ill not be recognized by the controller.
4. STARTUP 4 - 10 (c) Switch combination list for the control axis No. setting POINT Set control axis Nos. for one system. For det ails of the control axis No.
4. STARTUP 4 - 11 4.3.2 Scrolling display (1) Normal display When there is no alarm, the axis No. and blank are displayed in rotation. Status (1 digit) Axis No. (2 digits) "b" "C" "d" : Indicates ready-off and servo-off status.
4. STARTUP 4 - 12 4.3.3 Status display of an axis (1) Display sequence The segment of the last 2 digits shows the axis number. Servo system controller power on (SSCNET III/H communication begins) Ready-on Servo-on Ordinary operation Servo system controller power off Servo system controller power on When alarm occurs, i ts alarm code appears.
4. STARTUP 4 - 13 (2) Indication list Indication Status Description Initializing System check in progress A b Initializing Power of the servo amplifier was switched on at the condition that the pow er of the servo system controller is off. The control axis No.
4. STARTUP 4 - 14 4.4 Test operation Before starting actual operation, perform test operation to make sure that the machine operates normally. Refer to section 4.2 for the power on and off methods of the servo amplifier. POINT If necessary, verify controller program by using motor-less operation.
4. STARTUP 4 - 15 4.5.1 Test operation mode in MR Configurator2 POINT When the test operation mode is selected wi th the test operation select switch (SW2-1), the SSCNET III/H communication fo r the servo amplifier in the test operation mode and the following servo amplifiers is blocked.
4. STARTUP 4 - 16 (b) Positioning operation Positioning operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not.
4. STARTUP 4 - 17 (2) Operation procedure 1) Turn off the power. 2) Turn "ON (up)" SW2-1. Set SW2-1 to "ON (up)". ON 12 34 1 ON 2 3 4 Turning "ON (up)" SW2-1 during power-on will not start the test operation mode. 3) Turn on the servo amplifier.
4. STARTUP 4 - 18 4.5.2 Motor-less operation in controller POINT Use motor-less operation which is ava ilable by making the servo system controller parameter setting. Connect the servo system controller to t he servo amplifier before the motor-less operation.
4. STARTUP 4 - 19 (2) Operation procedure 1) Set the servo amplifier to the servo-off status. 2) Set [Pr. PC05] to "_ _ _ 1", turn "OFF ( down: normal condition side)" the test operation mode switch (SW2-1), and then turn on the power supply.
4. STARTUP 4 - 20 MEMO.
5. PARAMETERS 5 - 1 5. PARAMETERS CAUTION Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting.
5. PARAMETERS 5 - 2 5.1.1 Basic setting parameters ([Pr. PA_ _ ]) No. Symbol Name Initial value Unit Operation mode Standard Full. Lin. D.D. PA01 **STY Operation mode 1000h PA02 **REG Regenerative opt.
5. PARAMETERS 5 - 3 5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) No. Symbol Name Initial value Unit Operation mode Standard Full. Lin. D.D. PB01 FILT Adaptive tuning mode (adaptive filter II) 0.
5. PARAMETERS 5 - 4 No. Symbol Name Initial value Unit Operation mode Standard Full. Lin. D.D. PB46 NH3 Machine resonance suppression filter 3 4500 [Hz] PB47 NHQ3 Notch shape selection 3 0000h PB48 NH.
5. PARAMETERS 5 - 5 No. Symbol Name Initial value Unit Operation mode Standard Full. Lin. D.D. PC21 *BPS Alarm history clear 0000h PC22 For manufacturer setting 0 PC23 0000h PC24 RSBR Forced stop dece.
5. PARAMETERS 5 - 6 5.1.4 I/O setting parameters ([Pr. PD_ _ ]) No. Symbol Name Initial value Unit Operation mode Standard Full. Lin. D.D. PD01 For manufacturer setting 0000h PD02 *DIA2 Input signal a.
5. PARAMETERS 5 - 7 5.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) No. Symbol Name Initial value Unit Operation mode Standard Full. Lin. D.D. PE01 **FCT1 Fully closed loop function selection 1 00.
5. PARAMETERS 5 - 8 No. Symbol Name Initial value Unit Operation mode Standard Full. Lin. D.D. PE51 For manufacturer setting 0000h PE52 0000h PE53 0000h PE54 0000h PE55 0000h PE56 0000h PE57 0000h PE58 0000h PE59 0000h PE60 0000h PE61 0.00 PE62 0.00 PE63 0.
5. PARAMETERS 5 - 9 No. Symbol Name Initial value Unit Operation mode Standard Full. Lin. D.D. PF29 For manufacturer setting 0000h PF30 0 PF31 FRIC Machine diagnosis function - Friction judgement spee.
5. PARAMETERS 5 - 10 No. Symbol Name Initial value Unit Operation mode Standard Full. Lin. D.D. PL19 For manufacturer setting 0 PL20 0 PL21 0 PL22 0 PL23 0000h PL24 0 PL25 0000h PL26 0000h PL27 0000h .
5. PARAMETERS 5 - 11 5.2 Detailed list of parameters POINT Set a value to each "x" in the "Setting digit" columns. 5.2.1 Basic setting parameters ([Pr. PA_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PA01 **STY Operation mode Select a operation mode.
5. PARAMETERS 5 - 12 No. Symbol Name and function Initial value [unit] Setting range PA02 **REG Regenerative option Used to select the regenerative option. Incorrect setting may cause the regenerative option to burn. If a selected regenerative option is not for use with the servo amplifier, [AL.
5. PARAMETERS 5 - 13 No. Symbol Name and function Initial value [unit] Setting range PA03 *ABS Absolute position detection system Set this parameter when using the absolute position detection system.
5. PARAMETERS 5 - 14 No. Symbol Name and function Initial value [unit] Setting range PA08 ATU Auto tuning mode Select the gain adjustment mode. Refer to the "Name and function" column.
5. PARAMETERS 5 - 15 No. Symbol Name and function Initial value [unit] Setting range PA09 RSP Auto tuning response Set a response of the auto tuning. 16 1 to 40 Setting value Machine characteristic Se.
5. PARAMETERS 5 - 16 No. Symbol Name and function Initial value [unit] Setting range PA14 *POL Rotation direction select ion/travel direction selection This is used to select a rotation direction or travel direction. For the setting for the master-slave operation function, refer to section 17.
5. PARAMETERS 5 - 17 No. Symbol Name and function Initial value [unit] Setting range PA17 **MSR Servo motor series setting When you use a linear servo motor, select its m odel from [Pr. PA17] and [Pr. PA18]. Set this and [Pr. PA18] at a time. Refer to the following table for settings.
5. PARAMETERS 5 - 18 No. Symbol Name and function Initial value [unit] Setting range PA17 **MSR 0000h Refer to the "Name and function" column.
5. PARAMETERS 5 - 19 No. Symbol Name and function Initial value [unit] Setting range PA20 *TDS Tough drive setting Alarms may not be avoided with the tough driv e function depending on the situations of the power supply and load fluctuation. You can assign MTTR (During tough drive) to pins CN3-9, CN3-13 and CN3-15 with [Pr.
5. PARAMETERS 5 - 20 No. Symbol Name and function Initial value [unit] Setting range PA22 **PCS Position control composition selection Refer to the "Name and function" column.
5. PARAMETERS 5 - 21 No. Symbol Name and function Initial value [unit] Setting range PA25 OTHOV One-touch tuning - Overshoot permissible level This is used to set a permissible value of ov ershoot amount with a percentage to in-position range. However, setting "0" will be 50%.
5. PARAMETERS 5 - 22 5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PB01 FILT Adaptive tuning mode (adaptive filter II) Set the adaptive filter tuning. Refer to the "Name and function" column.
5. PARAMETERS 5 - 23 No. Symbol Name and function Initial value [unit] Setting range PB06 GD2 Load to motor inertia ratio/load to motor mass ratio This is used to set the load to motor i nertia ratio or load to motor mass ratio. The setting of the parameter will be the automatic setting or manual setting depending on the [Pr.
5. PARAMETERS 5 - 24 No. Symbol Name and function Initial value [unit] Setting range PB11 VDC Speed differential compensation This is used to set the differential compensation. To enable the parameter, select "Continuous PID control enabled (_ _ 3 _)" of "PI-PID switching control selection" in [Pr.
5. PARAMETERS 5 - 25 No. Symbol Name and function Initial value [unit] Setting range PB17 NHF Shaft resonance suppression filter This is used for setting the s haft resonance suppression filter. This is used to suppress a lo w-frequency machine vibration.
5. PARAMETERS 5 - 26 No. Symbol Name and function Initial value [unit] Setting range PB19 VRF11 Vibration suppression control 1 - Vibration frequency Set the vibration frequency for vibration s uppression control 1 to suppress low-frequency machine vibration.
5. PARAMETERS 5 - 27 No. Symbol Name and function Initial value [unit] Setting range PB24 *MVS Slight vibration suppression control Select the slight vibration suppression control and PI-PID switching control. Refer to the "Name and function" column.
5. PARAMETERS 5 - 28 No. Symbol Name and function Initial value [unit] Setting range PB26 *CDP Gain switching function Select the gain switching condition. Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr. PB56] to [Pr.
5. PARAMETERS 5 - 29 No. Symbol Name and function Initial value [unit] Setting range PB30 PG2B Position loop gain after gain switching Set the position loop gain when the gain switching is enabled. When you set a value less than 1.0 rad/s, the value will be the same as [Pr.
5. PARAMETERS 5 - 30 No. Symbol Name and function Initial value [unit] Setting range PB45 CNHF Command notch filter Set the command notch filter. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ x x Command notch filter setting frequency selection Refer to table 5.
5. PARAMETERS 5 - 31 No. Symbol Name and function Initial value [unit] Setting range PB45 CNHF Table 5.6 Notch depth selection Refer to the "Name and function" column. Setting value Depth [dB] Setting value Depth [dB] 0 -40.0 8 -6.0 1 -24.1 9 -5.
5. PARAMETERS 5 - 32 No. Symbol Name and function Initial value [unit] Setting range PB49 NHQ4 Notch shape selection 4 Set the shape of the machine resonance suppression filter 4.
5. PARAMETERS 5 - 33 No. Symbol Name and function Initial value [unit] Setting range PB53 VRF22 Vibration suppressi on control 2 - Resonance frequency Set the resonance frequency for vibration suppr ession control 2 to suppress low-frequency machine vibration.
5. PARAMETERS 5 - 34 No. Symbol Name and function Initial value [unit] Setting range PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching Set a damping of the vibration frequency for vi bration suppression control 2 when the gain switching is enabled.
5. PARAMETERS 5 - 35 5.2.3 Extension setting parameters ([Pr. PC_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PC01 ERZ Error excessive alarm level Set an error excessive alarm level. Set this per rev. for rotary servo motors and direct drive motors.
5. PARAMETERS 5 - 36 No. Symbol Name and function Initial value [unit] Setting range PC04 **COP1 Function selection C-1 Select the encoder cable communication method selection.
5. PARAMETERS 5 - 37 No. Symbol Name and function Initial value [unit] Setting range PC09 MOD1 Analog monitor 1 output Select a signal to output to MO1 (Analog m onitor 1). Refer to appendix 11 (3) for detection point of output selection. Refer to the "Name and function" column.
5. PARAMETERS 5 - 38 No. Symbol Name and function Initial value [unit] Setting range PC10 MOD2 Analog monitor 2 output Select a signal to output to MO2 (Analog m onitor 2). Refer to appendix 11 (3) for detection point of output selection. Refer to the "Name and function" column.
5. PARAMETERS 5 - 39 No. Symbol Name and function Initial value [unit] Setting range PC20 *COP7 Function selection C-7 This is used to select an undervoltage alarm detection method. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x [AL.
5. PARAMETERS 5 - 40 No. Symbol Name and function Initial value [unit] Setting range PC24 RSBR Forced stop deceleration time constant This is used to set decelerat ion time constant when you us e the forced stop deceleration function. Set the time per ms from the rated speed to 0 r/min or 0 mm/s.
5. PARAMETERS 5 - 41 No. Symbol Name and function Initial value [unit] Setting range PC27 **COP9 Function selection C-9 This is used to select a polarity of the linear encoder or load-side encoder.
5. PARAMETERS 5 - 42 No. Symbol Name and function Initial value [unit] Setting range PC38 ERW Error excessive warning level Set an error excessive warning level. To enable the parameter, select "Enabled (1 _ _ _)" of "[AL. 9B Error excessive warning] selection" in [Pr.
5. PARAMETERS 5 - 43 No. Symbol Name and function Initial value [unit] Setting range PD07 *DO1 Output device selection 1 You can assign any output device to the CN3-13 pin. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ x x Device selection Refer to table 5.
5. PARAMETERS 5 - 44 No. Symbol Name and function Initial value [unit] Setting range PD11 *DIF Input filter setting Select the input filter. Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Input signal filter selection Refer to the servo system controller instruction manual for the setting.
5. PARAMETERS 5 - 45 No. Symbol Name and function Initial value [unit] Setting range PD14 *DOP3 Function selection D-3 Refer to the "Name and function" column.
5. PARAMETERS 5 - 46 No. Symbol Name and function Initial value [unit] Setting range PD16 *MD1 Driver communication setting - Master - Transmit data selection 1 This parameter is used to select transmi t data from master axis to slave axis. When setting this amplifier as master axis ([Pr.
5. PARAMETERS 5 - 47 No. Symbol Name and function Initial value [unit] Setting range PD31 VLC Master-slave operation - Speed limit coefficient on slave This parameter is used to set a internal s peed limit value coefficient to speed limit command value received from master axis.
5. PARAMETERS 5 - 48 5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PE01 **FCT1 Fully closed loop function selection 1 Refer to the "Name and function" column.
5. PARAMETERS 5 - 49 No. Symbol Name and function Initial value [unit] Setting range PE08 DUF Fully closed loop dual feedback filter This is used to set a dual feedback filter band. Refer to section 16.3.1 (7) for details. 10 [rad/s] 0 to 4500 PE10 FCT3 Fully closed loop function selection 3 Refer to the "Name and function" column.
5. PARAMETERS 5 - 50 No. Symbol Name and function Initial value [unit] Setting range PE46 LMFLT Lost motion filter setting Set the time constant of the lost motion compensation filter in increments of 0.1 ms. If the time constant is 0, the torque is compens ated with the value set in [Pr.
5. PARAMETERS 5 - 51 5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) No. Symbol Name and function Initial value [unit] Setting range PF06 *FOP5 Function selection F-5 Refer to the "Name and function" column.
5. PARAMETERS 5 - 52 No. Symbol Name and function Initial value [unit] Setting range PF31 FRIC Machine diagnosis f unction - Friction judgement speed Set a (linear) servo motor speed to divide a fr iction estimation area into high and low for the friction estimation process of the machine diagnosis.
5. PARAMETERS 5 - 53 No. Symbol Name and function Initial value [unit] Setting range PL04 *LIT2 Linear servo motor/DD motor function selection 2 This is used to select a detection function and detection controller reset condition of [AL. 42 Servo control error].
5. PARAMETERS 5 - 54 No. Symbol Name and function Initial value [unit] Setting range PL09 LPWM Magnetic pole detection voltage level This is used to set a direct current exciti ng voltage level during the magnetic pole detection. If [AL. 32 Overcurrent], [AL.
6. NORMAL GAIN ADJUSTMENT 6 - 1 6. NORMAL GAIN ADJUSTMENT POINT In the torque control mode, you do not need to make gain adjustment. Before making gain adjustment, check that your machine is not being operated at maximum torque of the servo motor. If operated over maximum torque, the machine may vibrate and may operate unexpectedly.
6. NORMAL GAIN ADJUSTMENT 6 - 2 (2) Adjustment sequence and mode usage 2 gain adjustment mode 1 (interpolation mode) Interpolation made for 2 or more axes? The l oad fluc tuati on is large during driv.
6. NORMAL GAIN ADJUSTMENT 6 - 3 6.2 One-touch tuning POINT When executing the one-touch tuning, c heck the [Pr. PA21 One-touch tuning function selection] is "_ _ _ 1" (initial value). Connect Mr Configurator2 and open the one-touch tuning window, and you can use the function.
6. NORMAL GAIN ADJUSTMENT 6 - 4 6.2.2 Display transition and operat ion procedure of one-touch tuning (1) Response mode selection Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2. Response mode Explanation High mode This mode is for high rigid system.
6. NORMAL GAIN ADJUSTMENT 6 - 5 Response mode Response Machine characteristic Low mode Basic mode High mode Guideline of corresponding machine Low response General machine tool conveyor Arm robot Prec.
6. NORMAL GAIN ADJUSTMENT 6 - 6 POINT For equipment in which overshoot during one-touch tuning is in the permissible level of the in-position range, changing t he value of [Pr. PA25 One-touch tuning - Overshoot permissible level] will shor ten the settling time and improve the response.
6. NORMAL GAIN ADJUSTMENT 6 - 7 (3) One-touch tuning execution During one-touch tuning, pushing the stop button stops one-touch tuning. If the one-touch tuning is stopped, "C 0 0 0" w ill be displayed at status in error code. (4) If an error occur If a tuning error occurs during tuning, one-touch tuning will be forcibly terminated.
6. NORMAL GAIN ADJUSTMENT 6 - 8 (7) Clearing one-touch tuning You can clear the parameter values set with one-touch tuning. Refer to table 6.1 for the parameters which you can clear.
6. NORMAL GAIN ADJUSTMENT 6 - 9 (3) The tuning is not available duri ng the following test operation mode. (a) Output signal (DO) forced output (b) Motor-less operation 6.
6. NORMAL GAIN ADJUSTMENT 6 - 10 6.3.2 Auto tuning mode basis The block diagram of real-time auto tuning is shown below. Loop gain PG1 , PG 2, VG2, VIC Current control Load to motor inertia ratio estimation section Gain table [Pr. PB06 Load to motor inertia ratio/ load to motor mass ratio] Response level setting Gain adjustment mode selection [Pr.
6. NORMAL GAIN ADJUSTMENT 6 - 11 6.3.3 Adjustment procedure by auto tuning Since auto tuning is enabled before shipment from the fa ctory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment.
6. NORMAL GAIN ADJUSTMENT 6 - 12 6.3.4 Response level setting in auto tuning mode Set the response of the whole servo system by [Pr. PA09]. As the res ponse level setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration.
6. NORMAL GAIN ADJUSTMENT 6 - 13 6.4 Manual mode 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, filter tuni ng mode selection in [Pr. PB01] or machine resonance suppression filter in [P r.
6. NORMAL GAIN ADJUSTMENT 6 - 14 (c) Parameter adjustment 1) [Pr. PB09 Speed loop gain] This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make t he mechanical system liable to vibrate.
6. NORMAL GAIN ADJUSTMENT 6 - 15 (b) Adjustment procedure Step Operation Description 1 Brief-adjust with auto tuning. Refer to section 6.2.3. 2 Change the setting of auto tuning to the manual mode ([Pr. PA08]: _ _ _ 3). 3 Set the estimated value to the l oad to motor inertia ratio/load to motor mass ratio.
6. NORMAL GAIN ADJUSTMENT 6 - 16 3) [Pr. PB08 Position loop gain] This parameter determines the response level to a disturbance to the position control loop. Increasing the value increases the response leve l to the disturbance, but a too high value will increase vibration of the mechanical system.
6. NORMAL GAIN ADJUSTMENT 6 - 17 (2) 2 gain adjustment mode 2 Use 2 gain adjustment mode 2 when proper gain adj ustment cannot be made with 2 gain adjustment mode 1. Since the load to motor inertia ratio is not es timated in this mode, set the value of a proper load to motor inertia ratio in [Pr.
6. NORMAL GAIN ADJUSTMENT 6 - 18 (4) Parameter adjustment [Pr. PB07 Model loop gain] This parameter determines the response level of the position control loop. Increasing the value improves track ability to a position command, but a too high val ue will make overshoot liable to occur at settling.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 1 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used normally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 6. When you use a linear servo motor, replac e the following left words to the right words.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 2 7.1.1 Machine resonance suppression filter POINT The machine resonance suppression filter is a delay factor for the servo system. Therefore, vibration may increase if you set an incorrect resonance frequency or set notch characteristics too deep or too wide.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 3 (1) Function The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppre ss the resonance of the mechanica l system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth and width.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 4 (2) Parameter (a) Machine resonance suppression filt er 1 ([Pr. PB13] and [Pr. PB14]) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 ([Pr.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 5 7.1.2 Adaptive filter II POINT The machine resonance frequency which adapt ive filter II (adaptive tuning) can respond to is about 100 Hz to 2.25 kHz. As for the resonance frequency out of the range, set manually.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 6 (3) Adaptive tuning mode procedure Tuning ends automaticall y after the predetermined period of time. ([Pr. PB01] will be "_ _ _ 2" or "_ _ _ 0".) Adaptive tuning Operation Is the target response reached? Decrease the response until vibration or unusual noise is resolved.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 7 7.1.3 Shaft resonance suppression filter POINT This filter is set properly by default according to servo motor you use and load moment of inertia. For [Pr. PB23], "_ _ _ 0" (automatic setting) is recommended because setting "Shaft resonance suppression f ilter selection" in [Pr.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 8 7.1.4 Low-pass filter (1) Function When a ball screw or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, t he low-pass filter is enabled for a torque command as a default.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 9 (1) Function Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration and base shake. The servo motor-side operation is adjus ted for positioning so that the machine does not vibrate.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 10 (3) Vibration suppression control tuning procedure The following flow chart is for the vibration suppression control 1. For the vibration suppression control 2, set "_ _ 1 _" in [Pr. PB02] to execut e the vibration suppression control tuning.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 11 (4) Vibration suppression control manual mode POINT When load-side vibration does not show up in servo motor-side vibration, the setting of the servo motor-side vibrat ion frequency does not produce an effect.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 12 Step 1 Select "Manual setting (_ _ _ 2)" of "Vibrati on suppression control 1 tuning mode selection" or "Manual setting (_ _ 2 _)" of "Vibration suppressi on control 2 tuning mode selection" in [Pr.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 13 (b) When vibration can be confirmed usi ng monitor signal or external sensor t Motor-side vibration (droop pulses) Position command frequency t External acceleration pickup signal, etc.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 14 (2) Parameter Set [Pr. PB45 Command notch filter] as shown bel ow. For the command notch filter setting frequency, set the closest value to the vibration frequency [Hz] at the load side.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 15 7.2 Gain switching function You can switch gains with the function. You can switch gains during rotation and during stop, and can use a control command from a controller to switch gains during operation. 7.2.1 Applications The following shows when you use the function.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 16 7.2.2 Function block diagram The control gains, load to motor inertia ratio, and vibration suppression control settings are changed according to the conditions selected by [Pr. PB26 Ga in switching function] and [Pr.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 17 7.2.3 Parameter When using the gain switching function, always sele ct "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08 Auto tuning mode]. The gai n switching function cannot be used in the auto tuning mode.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 18 (2) Switchable gain parameter Loop gain Before switching After switching Parameter Symbol Name Parameter Symbol Name Load to motor inertia ratio/load to motor ma.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 19 (c) [Pr. PB29 Load to motor inertia ratio/load to motor mass ratio after gain switching] Set the load to motor inertia ratio or load to motor mass ratio after gain switching. If the load to motor inertia ratio does not change, set it to the same va lue as [Pr.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 20 7.2.4 Gain switching procedure This operation will be described by way of setting examples. (1) When you choose switching by c ontrol command from the controller (a) Setting example Parameter Symbol Name Setting value Unit PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 4.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 21 (b) Switching timing chart After-switching gain 63.4% CDT = 100 ms Before-switching gain Gain switching Control command from controller OFF ON OFF Model loop gain 100 → 50 → 100 Load to motor inertia ratio/load to motor mass ratio 4.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 22 (b) Switching timing chart After-switching gain 63.4% CDT = 100 ms Before-switching gain Gain switching Droop pulses [pulse] +CDL -CDL 0 Command pulses Droop pulses Command pulses Load to motor inertia ratio/load to motor mass ratio 4.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 23 (b) Gain return time constant disabled was selected. The gain switching time constant is enabled with this setting. The time constant is disabled at gain return. The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 24 7.3 Tough drive function POINT Set enable/disable of the tough drive function with [Pr. PA20 Tough drive setting]. (Refer to section 5.2.1.) This function makes the equipment continue operating even under the condition that an alarm occurs.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 25 The following shows the function block diagram of the vibration tough drive function. The function detects machine resonance frequency and com pare it with [Pr. PB13] and [Pr. PB15], and reset a machine resonance frequency of a param eter whose set value is closer.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 26 7.3.2 Instantaneous power failure tough drive function The instantaneous power failure tough drive func tion avoids [AL.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 27 (1) Instantaneous power failure time of the control circuit power supply > [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] The alarm occurs when the instantaneous power failure time of the control circ uit power supply exceeds [Pr.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 28 (2) Instantaneous power failure time of the control circuit power supply < [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time] Operation status differs dependi ng on how bus voltage decrease.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 29 (b) When the bus voltage does not decrease lower than Undervoltage level within the instantaneous power failure time of the control circuit power supply The operation continues without alarming.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 30 7.4 Compliance with SEMI-F47 standard POINT The control circuit power supply of the servo amplifier can be possible to comply with SEMI-F47 standard.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 31 (2) Requirements conditions of SEMI-F47 standard Table 7.2 shows the permissible time of instantaneous power failure for instantaneous power failure of SEMI-F47 standard.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 32 Instantaneous maximum output means power which serv o amplifier can output in maximum torque at rated speed. You can examine margins to compare the values of following conditions and instantaneous maximum output.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 33 7.5 Model adaptive control disabled POINT Change the parameters while the servo motor stops. When setting auto tuning response ([Pr. PA09]), change the setting value one by one to adjust it while checking operat ion status of the servo motor.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 34 7.6 Lost motion compensation function POINT The lost motion compensation function is enabled only in the position control mode.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 35 (d) Lost motion compensation timing ([Pr. PE49]) You can set the delay time of the lost motion co mpensation start timing with this parameter. When a protrusion occurs belatedly, set the lost motion compensation timing corresponding to the protrusion occurrence timing.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 36 (d) Adjusting the lost motion compensation When protrusions still occur, the compensation is insufficient. Increase the lost motion compensation by approximately 0.5% until the pr otrusions are eliminated. When not ches occur, the compensation is excessive.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 37 7.7 Super trace control (1) Summary In the normal position control, droop pulses are generated against the position control command from the controller. Using the feed forward gain sets droop pulses at a constant speed to almost 0.
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 38 (2) Adjustment procedure POINT In the super trace control, droop pulses are near 0 during the servo motor control. Thus, the normal INP (In-position) may always be turned on. Be sure to set "INP (In-position) on condition select ion" in [Pr.
8. TROUBLESHOOTING 8 - 1 8. TROUBLESHOOTING POINT Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for details of alarms and warnings. As soon as an alarm occurs, make the Se rvo-off status and interrupt the main circuit power.
8. TROUBLESHOOTING 8 - 2 8.2 Alarm list No. Name Detail number Detail name Stop method (Note 4, 5) Alarm deactivation Alarm reset CPU reset Cycling the power Alarm 10 Undervoltage 10.1 Voltage drop in the c ontrol circuit power EDB 10.2 Voltage drop in the main circuit power SD 12 Memory error 1 (RAM) 12.
8. TROUBLESHOOTING 8 - 3 No. Name Detail number Detail name Stop method (Note 4, 5) Alarm deactivation Alarm reset CPU reset Cycling the power Alarm 20 Encoder normal communication error 1 20.1 Encoder normal communication - Receive data error 1 EDB 20.
8. TROUBLESHOOTING 8 - 4 No. Name Detail number Detail name Stop method (Note 4, 5) Alarm deactivation Alarm reset CPU reset Cycling the power Alarm 32 Overcurrent 32.1 Overcurrent detected at hardware detection circuit (during operation) DB 32.2 Overcurrent detected at software detection function (during operation) DB 32.
8. TROUBLESHOOTING 8 - 5 No. Name Detail number Detail name Stop method (Note 4, 5) Alarm deactivation Alarm reset CPU reset Cycling the power Alarm 50 Overload 1 50.1 Thermal overload error 1 during operation SD (Note 1) (Note 1) (Note 1) 50.2 Thermal overload error 2 during operation SD (Note 1) (Note 1) (Note 1) 50.
8. TROUBLESHOOTING 8 - 6 No. Name Detail number Detail name Stop method (Note 4, 5) Alarm deactivation Alarm reset CPU reset Cycling the power Alarm 71 Load-side encoder normal communication error 1 71.1 Load-side encoder communication - Receive data error 1 EDB 71.
8. TROUBLESHOOTING 8 - 7 8.3 Warning list No. Name Detail number Detail name Stop method (Note 2, 3) Warning 91 Servo amplifier overheat warning (Note 1) 91.1 Main circuit device overheat warning 92 Battery cable disconnection warning 92.1 Encoder battery cable disconnection wa rning 92.
8. TROUBLESHOOTING 8 - 8 8.4 Troubleshooting at power on When the servo system does not boot and system error occurs at power on of the servo system controller, improper boot of the servo amplifier might be the cause. Check the displa y of the servo amplifier, and take actions according to this section.
9. OUTLINE DRAWINGS 9 - 1 9. OUTLINE DRAWINGS 9.1 Servo amplifier POINT Only MR-J4-_B_-RJ are shown for dimensions. MR-J4-_B_ does not have CN2L, CN7 and CN9 connectors. The di mensions of MR-J4-_B_ are not different from those of MR-J4-_B_-RJ except CN2L, CN7 and CN9 connectors.
9. OUTLINE DRAWINGS 9 - 2 (1) 200 V class (a) MR-J4-10B(-RJ)/MR-J4-20B(-RJ) [Unit: mm] Approx. 80 156 Approx. 21 6 6 40 6 6 135 4 Approx. 38.5 Approx. 69.3 168 161 With MR-BAT6V1SET PE Lock knob φ 6 mounting hole Mass: 0.8 [kg] L2 N- P3 L11 L21 P4 L3 L1 C D P+ PE Terminal CNP1 CNP2 V W U CNP3 Screw size: M4 Tightening torque: 1.
9. OUTLINE DRAWINGS 9 - 3 (b) MR-J4-40B(-RJ)/MR-J4-60B(-RJ) [Unit: mm] 170 156 161 168 6 40 6 6 5 6 PE Approx. 80 Approx. 21 Approx. 38.5 Approx. 69.3 With MR-BAT6V1SET Lock knob φ 6 mounting hole Mass: 1.0 [kg] L2 N- P3 L11 L21 P4 L3 L1 C D P+ PE CNP1 CNP2 V W U CNP3 Terminal Screw size: M4 Tightening torque: 1.
9. OUTLINE DRAWINGS 9 - 4 (c) MR-J4-70B(-RJ)/MR-J4-100B(-RJ) [Unit: mm] 156 6 42 12 6 60 6 12 Cooling fan air intake Exhaust 185 6 168 161 PE Approx. 80 Approx.
9. OUTLINE DRAWINGS 9 - 5 (d) MR-J4-200B(-RJ) [Unit: mm] 6 6 6 78 6 168 6 156 45 90 85 195 161 6 PE Approx. 80 Approx. 21 Approx. 38.5 Approx. 69.3 With MR-BAT6V1SET Lock knob φ 6 mounting hole Cooling fan air intake Exhaust Mass: 2.1 [kg] L2 N- P3 L11 L21 P4 L3 L1 C D P+ PE CNP1 CNP2 V W U CNP3 Terminal Screw size: M4 Tightening torque: 1.
9. OUTLINE DRAWINGS 9 - 6 (e) MR-J4-350B(-RJ) [Unit: mm] 6 6 6 78 6 168 6 156 45 90 85 195 161 6 PE Cooling f an air intake Exhaust Approx. 80 Approx. 21 Approx. 38.5 Approx. 69.3 With MR-BAT6V1SET Lock knob φ 6 mounting hole Mass: 2.3 [kg] L2 N- P3 L11 L21 P4 L3 L1 C D P+ PE CNP1 CNP2 V W U CNP3 Terminal Screw size: M4 Tightening torque: 1.
9. OUTLINE DRAWINGS 9 - 7 (f) MR-J4-500B(-RJ) [Unit: mm] 200 105 93 6 6 7.5 235 6 250 7.5 6 PE TE1 TE3 TE4 TE2 Cooling fan exhaust 2- φ 6 mounting hole Approx. 38.5 A pprox. 34 Approx. 80 Approx. 28 With MR-BAT6V1SET Intake Approx. 25 Mass: 4.0 [kg] L2 N- P3 L11 L21 P4 L3 L1 C D P+ PE TE2 TE1 V W U TE3 TE4 TE2 TE1 TE3 TE4 PE Screw size: M3.
9. OUTLINE DRAWINGS 9 - 8 (g) MR-J4-700B(-RJ) [Unit: mm] 200 172 160 6 6 7.5 285 6 Cooling fan exhaust 2- φ 6 mounting hole Approx. 38.5 Approx. 101 Approx. 80 Approx. 28 TE3 TE1 TE2 PE 6 300 7.5 With MR-BAT6V1SET Buil t-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.
9. OUTLINE DRAWINGS 9 - 9 (h) MR-J4-11KB(-RJ)/MR-J4-15KB(-RJ) [Unit: mm] 260 10.5 220 196 12 12 6 400 380 10 10 TE1-1 25.5 57.9 5 × 25.5 (= 127.5) 22.8 PE TE2 11 24.2 43 60 78.5 TE1-2 188 237.4 224.2 2- φ 6 mounting hole Cooling fan exhaust Approx. 80 Approx.
9. OUTLINE DRAWINGS 9 - 10 (i) MR-J4-22KB(-RJ) [Unit: mm] 260 400 12 12 12 236 260 188.5 223.4 235.4 376 12 12 PE 5 × 25.5 (= 127.5) 40.5 40 26.5 22.8 11 TE1-2 TE1-1 TE2 59.9 32.7 25.5 With MR-BAT6V1SET Intake Cooling f an exhaust Approx. 80 Approx. 28 Approx.
9. OUTLINE DRAWINGS 9 - 11 (2) 400 V class (a) MR-J4-60B4(-RJ)/MR-J4-100B4(-RJ) [Unit: mm] 156 6 42 12 6 60 6 12 Cooling fan air intake Exhaust 185 6 168 161 PE Approx. 80 Approx. 21 Approx. 38.5 Approx. 69.3 With MR-BAT6V1SET Lock knob φ 6 mounting hole Mass: 1.
9. OUTLINE DRAWINGS 9 - 12 (b) MR-J4-200B4(-RJ) [Unit: mm] 6 6 6 78 6 168 6 156 45 90 85 195 161 6 PE Cooling fan air intake Exhaust Approx. 80 Approx. 21 Approx. 38.5 Approx. 69.3 With MR-BAT6V1SET Lock knob φ 6 mounting hole Mass: 2.1 [kg] L2 N- P3 L11 L21 P4 L3 L1 C D P+ PE Terminal CNP1 CNP2 V W U CNP3 Screw size: M4 Tightening torque: 1.
9. OUTLINE DRAWINGS 9 - 13 (c) MR-J4-350B4(-RJ) [Unit: mm] 105 93 6 6 7.5 235 200 6 Approx. 80 Approx. 28 Cooling fan exhaust Intake 2- φ 6 mounting hole 250 7.5 6 CNP1 CNP2 CNP3 With MR-BAT6V1SET Approx. 73.5 Approx. 69.3 Approx. 34 Approx. 38.5 Lock knob Mass: 3.
9. OUTLINE DRAWINGS 9 - 14 (d) MR-J4-500B4(-RJ) [Unit: mm] 6 6 118 130 7.5 235 7.5 250 200 Approx. 38.5 Approx. 60 With MR-BAT6V1SET Approx. 200 Approx. 28 Approx. 73.5 Approx. 69.3 TE2 TE3 TE1 PE Built -in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.
9. OUTLINE DRAWINGS 9 - 15 (e) MR-J4-700B4(-RJ) [Unit: mm] 200 172 160 6 6 7.5 285 6 Cooling fan exhaust 2- φ 6 mounting hole Approx. 38.5 Approx. 101 Approx. 80 Approx. 28 TE3 TE1 TE2 PE 6 300 7.5 With MR-BAT6V1SET Buil t-in regenerative resistor lead terminal fixing screw Screw size: M4 Tightening torque: 1.
9. OUTLINE DRAWINGS 9 - 16 (f) MR-J4-11KB4(-RJ)/MR-J4-15KB4(-RJ) [Unit: mm] 260 10.5 220 196 12 12 6 400 380 10 10 TE1-1 25.5 57.9 5 × 25.5 (= 127.5) 22.8 PE TE2 11 24.2 43 60 78.5 TE1-2 188 237.4 224.2 2- φ 6 mounting hole Cooling fan exhaust Approx.
9. OUTLINE DRAWINGS 9 - 17 (g) MR-J4-22KB4(-RJ) [Unit: mm] 260 400 12 12 12 236 260 188.5 223.4 235.4 376 12 12 PE 5 × 25.5 (= 127.5) 40.5 40 26.5 22.8 11 TE1-2 TE1-1 TE2 59.9 32.7 25.5 With MR-BAT6V1SET Intake Cooling f an exhaust Approx. 80 Approx.
9. OUTLINE DRAWINGS 9 - 18 (3) 100 V class (a) MR-J4-10B1(-RJ)/MR-J4-20B1(-RJ) [Unit: mm] 156 6 6 40 6 6 135 4 168 161 PE Approx. 80 Approx. 21 Approx. 38.5 Approx. 69.3 With MR-BAT6V1SET Lock knob φ 6 mounting hole Mass: 0.8 [kg] N- L11 L21 L2 L1 C D P+ PE Terminal CNP1 CNP2 V W U CNP3 Screw size: M4 Tightening torque: 1.
9. OUTLINE DRAWINGS 9 - 19 (b) MR-J4-40B1(-RJ) [Unit: mm] 170 156 161 168 6 40 6 6 5 6 PE Approx. 80 Approx. 21 Approx. 38.5 Approx. 69.3 With MR-BAT6V1SET Lock knob φ 6 mounting hole Mass: 1.0 [kg] N- L11 L21 L2 L1 C D P+ PE Terminal CNP1 CNP2 V W U CNP3 Screw size: M4 Tightening torque: 1.
9. OUTLINE DRAWINGS 9 - 20 9.2 Connector (1) CN1A/CN1B connector [Unit: mm] F0-PF2D103 2.3 20.9 ± 0.2 1.7 4.8 13.4 15 6.7 9.3 17.6 ± 0.2 8 F0-PF2D103-S 2.3 1.7 4.8 13.4 15 6.7 9.3 17.6 ± 0.2 20.9 ± 0.2 8 (2) Miniature delta ribbon (MDR) system (3M) (a) One-touch lock type [Unit: mm] E B A 23.
9. OUTLINE DRAWINGS 9 - 21 (b) Jack screw M2.6 type This is not available as option. [Unit: mm] E B A 23.8 39.0 12.7 C D 5.2 F Logo etc, are indicated here. Connector Shell kit Each type of dimension A B C D E F 10120-3000PE 10320-52F0-008 22.0 33.3 14.
9. OUTLINE DRAWINGS 9 - 22 MEMO.
10. CHARACTERISTICS 10 - 1 10. CHARACTERISTICS POINT For the characteristics of the linear serv o motor and the direct drive motor, refer to sections 14.4 and 15.4. 10.1 Overload protection characteristics An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power wires from overloads.
10. CHARACTERISTICS 10 - 2 The following table shows combinations of each servo motor and graph of overload protection characteristics. Rotary servo motor Graph of overload protection characteristics .
10. CHARACTERISTICS 10 - 3 The following graphs show overl oad protection characteristics. (Note 1, 2) Load ratio [%] 1000 100 10 1 0.1 100 200 300 350 0 50 150 250 Operating Servo-lock Operation time [s] Characteristics a 1000 100 10 1 0.
10. CHARACTERISTICS 10 - 4 10000 1000 100 10 1 0 100 200 300 Operating Servo-lock 50 150 250 (Note 1) Load ratio [%] Operation time [s] Characteristics e Note 1.
10. CHARACTERISTICS 10 - 5 10.2 Power supply capacity and generated loss (1) Amount of heat generated by the servo amplifier Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load.
10. CHARACTERISTICS 10 - 6 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 output At rated output [Generated heat in the cabinet when cooled outside the cabinet] (Note 3) With servo-off MR-J4-11KB(-RJ) HG-JR903 13 435 130 45 8.
10. CHARACTERISTICS 10 - 7 (2) Heat dissipation area for an enclosed type cabinet The enclosed type cabinet (hereafter called the cabinet ) which will contain the servo amplifier should be designed to ensure that its temperature rise is within +10 °C at the ambient temperature of 40 °C.
10. CHARACTERISTICS 10 - 8 10.3 Dynamic brake characteristics POINT Do not use dynamic brake to stop in a nor mal operation as it is the function to stop in emergency.
10. CHARACTERISTICS 10 - 9 (2) Dynamic brake time constant The following shows necessary dynamic brake time constant τ for equation 10.2. (a) 200 V class 0 10 20 30 40 50 0 1000 2000 3000 4000 5000 6.
10. CHARACTERISTICS 10 - 10 352 500 1000 1500 2000 0 0 10 20 30 40 50 60 70 80 90 100 502 72 202 152 Dynam ic br ake ti me constant [ms] Speed [r/min] HG-UR series (b) 400 V class Speed [r/mi n] 0 500.
10. CHARACTERISTICS 10 - 11 10.3.2 Permissible load to motor inertia when the dynamic brake is used Use the dynamic brake under the load to motor inertia rati o indicated in the following table. If the load inertia moment is higher than this value, the dynamic brake may burn.
10. CHARACTERISTICS 10 - 12 10.4 Cable bending life The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values.
10. CHARACTERISTICS 10 - 13 10.5 Inrush currents at power-on of main circuit and control circuit POINT The inrush current values can change depending on frequency of turning on/off the power and ambient temperature. Since large inrush currents flow in the power s upplies, always use molded-case circuit breakers and magnetic contactors.
10. CHARACTERISTICS 10 - 14 (3) 100 V class The following shows the inrush currents (reference dat a) that will flow when 120 V AC is applied at the power supply capacity of 2500 kVA and the wiring length of 1 m.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 1 11. OPTIONS AND PERIPHERAL EQUIPMENT WARNING Before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or more until the charge la mp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 2 11.1.1 Combinations of cable/connector sets For MR-J4-_B_ servo amplifier Refer to " Serv o Motor Instructi on Manual (V ol. 3)" for opti ons for servo motor power supply, electromagnetic brake, and encoder.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 3 For MR-J4-_B_-RJ servo amplifier 6) CN1A CN1B CN3 CNP1 CNP2 CNP3 CN1A CN1B CN2 CN3 7) 2) 3) 4) 5) 2) 3) 4) CN2 CN8 CN5 CN8 CN5 CN4 CN4 8) 8) CN9 CN10 CN2L CN2L Refer to "S ervo M otor Instruction Manual (Vol.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 4 No. Product name Model Description Remark 1) Servo amplifier power connector set Supplied with 200 V class and 100 V class servo amplifiers of 1 kW or less CNP1 Connector: 06JFAT-SAXGDK-H7.5 (JST) CNP2 Connector: 05JFAT-SAXGDK-H5.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 5 No. Product name Model Description Remark 6) Connector set MR-CCN1 Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent) 7) Junction terminal block (recommended) MR-J2HBUS_M PS7DW-20V14B-F (Yoshida Electric Industry) Junction terminal block PS7DW-20V14B -F is not option.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 6 11.1.2 MR-D05UDL3M-B STO cable This cable is for connecting an external device to the CN8 connector. Cable model Cable length Application MR-D05UDL3M-B 3 m .
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 7 11.1.3 SSCNET III cable POINT Do not look directly at the light generated from CN1A/CN1B connector of servo amplifier or the end of SSCNET III cable. The light can be a discomfort when it enters the eye. Refer to appendix 10 for long distance cable over 50 m and ultra-long bending life cable.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 8 (3) Dimensions (a) MR-J3BUS015M [Unit: mm] 150 Approx. 6.7 8 +0 +50 - 0 Protective t ube Approx. 15 Approx. 13.4 Approx. 20.9 Approx. 2.3 Approx. 1.7 Approx. 37.65 (b) MR-J3BUS03M to MR-J3BUS3M Refer to the table shown in (1) of this section for cable length (L).
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 9 11.1.4 Battery cable/junction battery cable (1) Model explanations The numbers in the cable length field of the table indi cate the symbol filling the underline "_" in the cable model. The cables of the lengths with the symbols are available.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 10 11.2 Regenerative options CAUTION Do not use servo amplifiers with regenerat ive options other than the combinations specified below. Otherwise, it may cause a fire. 11.2.1 Combination and regenerative power The power values in the table are resi stor-generated powers and not rated powers.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 11 (2) 400 V class Servo amplifier Regenerative power [W] Built-in regenerative resistor MR- RB1H-4 [82 Ω ] (Note 1) MR- RB3M-4 [120 Ω ] (Note 1) MR- RB3G.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 12 11.2.2 Selection of regenerative option (1) Rotary servo motor and direct drive motor Use the following method when regeneration occurs cont inuously in vertical motion applications or when it is desired to make an in-depth se lection of the regenerative option.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 13 (b) Losses of servo motor and serv o amplifier in regenerative mode The following table lists the efficiencies and other dat a of the servo motor and servo amplifier in the regenerative mode.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 14 (2) Linear servo motor (a) Thrust and energy calculation Liner servo moto r secondary-side (magnet) Load V M 1 M 2 Liner servo motor primary-side (coil) Li.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 15 11.2.3 Parameter setting Set [Pr. PA02] according to the option to be used. Regenerative option selection 00: Regenerative option is not used. For servo amplifier of 100 W, regenerative resistor is not used.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 16 (1) MR-J4-500B(-RJ) or less/MR-J4-350B4(-RJ) or less Always remove the wiring from across P+ to D and fit the regenerative option across P+ to C. G3 and G4 are thermal sensor's terminals. Betw een G3 and G4 is opened when the regenerative option overheats abnormally.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 17 (2) MR-J4-500B4(-RJ)/MR-J4-700B(-RJ)/MR-J4-700B4(-RJ) Always remove the wiring (across P+ to C) of the servo amplifier built-in regener ative resistor and fit the regenerative option across P+ to C. G3 and G4 are thermal sensor's terminals.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 18 (3) MR-J4-11KB(-RJ) to MR-J4-22KB(-RJ)/MR-J4- 11KB4(-RJ) to MR-J4-22KB4(-RJ) (when using the supplied regenerative resistor) CAUTION The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not have a protect cover.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 19 (4) MR-J4-11KB-PX to MR-J4-22KB-PX/MR-J4-11KB-RZ to MR-J4-22KB-RZ/MR-J4-11KB4-PX to MR-J4- 22KB4-PX/MR-J4-11KB4-RZ to MR-J4-22KB4-RZ (when using the regene.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 20 When using cooling fans, install them using t he mounting holes provided in the bottom of the regenerative option. MR-R B5R/MR -RB9F/ MR-RB 9T/ MR-RB5K-4/MR-RB6K-4 Mounting screw 4-M3 Top Bottom TE1 G4 G3 C P TE 2 cooling fans (1.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 21 (2) MR-RB30/MR-RB31/MR-RB32/MR-RB3N/MR -RB34-4/MR-RB3M-4/MR-RB3G-4/MR-RB3U-4 [Unit: mm] 8.5 125 150 Approx. 30 142 79 82.5 30 8.5 10 90 101.5 82.5 318 A B Air intake 7 100 Cooling fan mounting screw (2-M4 screw) Terminal block P C G3 G4 Terminal screw size: M4 Tightening torque: 1.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 22 (4) MR-RB032 [Unit: mm] T E1 30 15 99 1.6 119 144 12 156 168 6 6 5 φ 6 mounting hole Approx. 6 Approx. 12 Approx. 20 TE1 terminal block G3 G4 P C Applicable wire size: 0.2 mm 2 to 2.5 mm 2 (AWG 24 to 12) Tightening torque: 0.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 23 (6) MR-RB1H-4 [Unit: mm] 156 168 144 6 2 149 173 6 Approx. 6 Approx. 24 6 15 φ 6 mounting hole 36 40 Terminal P C G3 G4 Applicable wire size: AWG 24 to 10 Tightening torque: 0.5 to 0.6 [N•m] Mounting screw Screw size: M5 Tightening torque: 3.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 24 11.3 FR-BU2-(H) brake unit POINT Use a 200 V class brake unit and a resistor unit with a 200 V class servo amplifier, and a 400 V class brake unit and a resistor unit with a 400 V class servo amplifier. Combination of diffe rent voltage class units cannot be used.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 25 Brake unit Resistor unit Number of connected units Permissible continuous power [kW] Resultant resistance [ Ω ] Applicable servo amplifier (Note 3) 400 V class FR-BU2-H30K FR-BR-H30K 1 1.99 16 MR-J4-500B4(-RJ) MR-J4-700B4(-RJ) MR-J4-11KB4(-RJ) (Note 2) FR-BU2-H55K FR-BR-H55K 1 3.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 26 11.3.3 Connection example POINT EM2 has the same function as EM1 in the torque control mode. Connecting PR terminal of the brake unit to P+ terminal of the servo amplifier results in brake unit malfunction.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 27 2) 400 V class Emergency stop switch 3 DOCOM ALM Servo amplifier 15 CN3 (Note 9) MC MCCB (Note 1) Power supply L1 L2 L3 L11 L21 ALM RA1 OFF MC ON MC SK P3 .
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 28 (b) When connecting two brake units to a servo amplifier POINT To use brake units with a parallel connec tion, use two sets of FR-BU2 brake unit. Combination with other brake unit results in alarm occurrence or malfunction.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 29 P3 P4 N- C Emergency stop switch Servo amplifier (Note 11) (Note 13) MC MCCB (Note 1) Power supply L1 L2 L3 L11 L21 ALM RA1 OFF MC ON MC SK (Note 3) P+ (No.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 30 (2) Combination with MT-BR5-(H) resistor unit (a) 200 V class Emergency stop switch Servo amplifier (Note 9) MC MCCB (Note 1) Power supply L1 L2 L3 L11 L21.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 31 (b) 400 V class ALM RA1 OFF RA2 MC ON MC SK SK RA2 3 DOCOM ALM 15 CN3 (Note 8) MC MCCB L1 L2 L3 L11 L21 P3 P4 (Note 2) P+ N- (Note 6) (Note 10) N/- P/+ BUE.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 32 (3) Precautions for wiring The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5 m (twist five times or more per one meter).
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 33 2) Control circuit terminal POINT Under tightening can cause a cable disconnection or malfunction. Over tightening can cause a short circuit or malfunction due to damage to the screw or the brake unit.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 34 Servo amplifier Brake unit Number of connected units Crimp terminal (Manufacturer) (Note 1) Applicable tool 400 V class MR-J4-500B4(-RJ) FR-BU2-H30K 1 FVD5.5-S4 (JST) a MR-J4-700B4(-RJ) FR-BU2-H30K 1 FVD5.5-S4 (JST) a MR-J4-11KB4(-RJ) FR-BU2-H30K 1 FVD5.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 35 FR-BU2-30K/FR-BU2-H30K [Unit: mm] 129.5 5 59 18.5 Rating plate 52 2- φ 5 hole (Screw size: M4) 128 5 5 118 5 108 6 6 96 FR-BU2-55K/FR-BU2-H55K/FR-BU2-H75K [Unit: mm] 18.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 36 (2) FR-BR-(H) resistor unit [Unit: mm] H3 ± 1 H1 ± 3 Approx. H2 Approx. H2 D1 H ± 5 2- φ C Control circuit terminal Main circ uit terminal W1 ± 1 Approx. 35 Approx. 35 C C W ± 5 D ± 5 (Note) (Note) Approx.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 37 11.4 FR-RC-(H) power regeneration converter POINT When using the FR-RC-(H) power regenerati on converter, set [Pr.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 38 (2) Connection example POINT In this configuration, only the STO function is supported. The forced stop deceleration function is not available.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 39 Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain remove d, the FR-RC will not operate.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 40 Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain remove d, the FR-RC-H will not operate.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 41 (4) Mounting hole machining dimensions When the power regeneration converter is insta lled to an enclosed type cabinet, mount the heat generating area of the converter outsi de the box to provide heat generation measures.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 42 11.5.1 Model designation The following describes what each block of a model name indicates. Not all combinations of the symbols are available. Capacity Symbol Capacity [kW] 22K 22 30K 30 37K 37 55K 55 Symbol Voltage class H 400 V class 7.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 43 (2) 400 V class FR-CV-H power regeneration common converter can be us ed for the servo amplifier of 11 kW to 22 kW. The following shows the restrict ions on using the FR-CV-H. (a) Up to two servo amplifiers can be connected to one FR-CV-H.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 44 (3) Connection diagram POINT In this configuration, only the STO function is supported. The forced stop deceleration function is not available.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 45 (b) 400 V class MC MCCB R/L11 3-phase 380 V AC to 480 V AC S/L21 T/L31 S2/L22 R2/L12 T2/L32 FR-CVL-H MC RA2 RA1 EM 1 OFF ON RESET (Note 1) MC SK (Note 4) R.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 46 (4) Selection example of wires used for wiring POINT Selection conditions of wire size is as follows. 600 V grade heat-resistant polyvinyl chlo ride insula.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 47 (b) Example of selecting the wire sizes 1) 200 V class When connecting multiple servo amplifiers, always use junction terminals for wiring the servo amplifier terminals P4 and N-. Also, connect the servo amplifiers in the order of larger to smaller capacities.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 48 (5) Other precautions (a) When using the FR-CV-(H), always install t he dedicated stand-alone reactor (FR-CVL-(H)). Do not use the power factor improving AC reactor (FR-HA L-(H)) or power factor improving DC reactor (FR- HEL-(H)).
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 49 Power regeneration common converter FR-CV-H_ Item 22K 30K 37K 55K Total of connectable servo amplifier capacities [kW] 11 15 185 27.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 50 11.6 Junction terminal block PS7DW-20V14B-F (recommended) (1) Usage Always use the junction terminal block (PS7W- 20V14B-F(YOSHIDA ELECTRIC INDUSTRY)) with the option cable (MR-J2HBUS_M) as a set. A connection example is shown below.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 51 (3) Dimensions of junction terminal block [Unit: mm] M3 × 6L M3 × 5L 36.5 27.8 18.8 7.62 44.11 54 63 φ 4.5 4.5 5 4 60 50 9.3 27 TB.E ( φ 6) 1.42 6.2 11.7 MR Configurator2 POINT The MR-J4-_B_-RJ servo amplifier is s upported with software version 1.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 52 11.7.2 System configuration (1) Components To use this software, the following components are r equired in addition to the servo amplifier and servo motor. Equipment Description (Note 1, 2, 3, 4, 5) Personal computer OS Microsoft ® Windows ® 8.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 53 (2) Connection with servo amplifier To U S B connector Servo amplifier CN5 USB cable MR-J3USBCBL3M (Option) Personal computer 11.7.3 Precautions for using USB communication function Note the following to prevent an electric s hock and malfunction of the servo amplifier.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 54 11.8 Battery POINT Refer to appendix 2 and 3 for battery transportation and the new EU Battery Directive. This battery is used to c onstruct an absolute position detection system. Refer to chapter 12 for construction of the absolute position detection system.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 55 (2) Battery mounting Connect as follows. CN2 CN4 Servo amplifier Encoder cable Servo motor MR-BAT6V1SET (3) Battery replacement procedure WARNING Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns o ff.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 56 (a) Battery installation and removal procedure 1) Installation procedure POINT For the servo amplifier with a battery hol der on the bottom, it is not possible to wire for the earth with the battery install ed.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 57 (4) Replacement procedure of the built-in battery When the MR-BAT6V1SET reaches the end of its lif e, replace the MR-BAT6V1 battery in the MR- BAT6V1SET. Cover Locking par t While pressing the locking part, open the cover.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 58 11.8.3 MR-BAT6V1BJ battery for junction battery cable POINT MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be used with direct drive motors. MR-BAT6V1BJ cannot be used for fully closed loop system and scale measurement function.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 59 (4) Battery mounting Connect the MR-BAT6V1BJ using the MR-BT6VC BL03M junction battery cable as follows. CN2 CN4 Servo amplifier Orange: Connector for serv.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 60 (6) Battery replacement procedure WARNING Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns o ff. Then, check the voltage between P+ and N- with a voltage tester or others.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 61 2) Connect the connector for branch cable c onnection (black) of the new MR-BAT6V1BJ. MR-BT6VCBL03M CN4 CN2 Servo amplifier Old MR-BAT6V1BJ New MR-BAT6V1BJ Orange Orange Black 3) Remove the connector for servo amplifier (or ange) of the old MR-BAT6V1BJ.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 62 11.8.4 MR-BT6VCASE battery case POINT The battery unit consists of an MR -BT6VCASE battery case and five MR- BAT6V1 batteries. For the specifications and year and m onth of manufacture of MR-BAT6V1 battery, refer to section 11.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 63 (3) Battery mounting POINT One battery unit can be connected to up to 8-axis servo motors. However, when using direct drive motors, the number of axes of the direct drive motors should be up to 4 axes. Servo motors and direct dr ive motors in the incremental system are included as the axis Nos.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 64 (4) Battery replacement procedure WARNING Before replacing a battery, turn off the main circuit power and wait for 15 minutes or longer until the charge lamp turns o ff. Then, check the voltage between P+ and N- with a voltage tester or others.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 65 (a) Assembling a battery unit CAUTION Do not mount new and old batteries together. When you replace a battery, replace all batteries at the same time. POINT Always install five MR-BAT6V1 batteries to an MR-BT6VCASE battery cas e.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 66 b) Mounting MR-BAT6V1 BAT1 Securely mount a MR-BAT6V1 to the BAT1 holder. CON1 Click Insert the MR-BAT6V1 connector mounted on BAT1 holder to CON1. Confirm the click sound at this point. The connector has to be connected in the right direction.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 67 c) Assembly of the case After all MR-BAT6V1 batteries are mounted, fit the cover and insert screws into the two holes and tighten them. Tightening torque is 0.71 N•m. POINT When assembling the case, be careful not to get the lead wires caught in the fitting parts or the screwing parts.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 68 11.8.5 MR-BAT6V1 battery The MR-BAT6V1 battery is a battery for replaci ng MR-BAT6V1SET and a battery built-in MR-BT6VCASE. Store the MR-BAT6V1 in the case to use. The year and month of manufacture of MR-BAT6V1 ba ttery have been described to the rating plate put on a MR-BAT6V1 battery.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 69 11.9 Selection example of wires POINT Refer to section 11.1.3 for SSCNET III cable. To comply with the IEC/EN/UL/CSA standard, use the wires shown in appendix 4 for wiring. To comply with other standards, use a wire that is complied with each standard.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 70 (1) Example of selecting the wire sizes Use the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) for wiring. The following shows the wire size selection example. (a) 200 V class Table 11.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 71 (b) 400 V class Table 11.2 Wire size selection example (HIV wire) Servo amplifier Wires [mm 2 ] (Note 1) 1) L1/L2/L3/ 2) L11/L21 3) P+/C 4) U/V/W/ (Note 3) MR-J4-60B4(-RJ)/ MR-J4-100B4(-RJ) 2 (AWG 14) 1.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 72 (2) Selection example of crimp terminals (a) 200 V class Symbol Servo amplifier-side crimp terminals (Note 2) Crimp terminal Applicable tool Manufacturer Body Head Dice a FVD5.5-4 YNT-1210S JST b (Note 1) 8-4NS YHT-8S c FVD2-4 YNT-1614 d FVD2-M3 e FVD1.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 73 11.10 Molded-case circuit breakers, fuses, magnetic contactors CAUTION To prevent the servo amplifier from smok e and a fire, select a molded-case circuit breaker which shuts off with high speed. Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 74 (2) For control circuit power supply When the wiring for the control circuit power supply ( L11, L21) is thinner than that for the main circuit power supply (L1, L2, L3), install an overcurrent prot ection device (molded-case circuit breaker or fuse) to protect the branch circuit.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 75 11.11 Power factor improving DC reactors The following shows the advantages of usi ng power factor improving DC reactor. It improves the power factor by increasing the form factor of the servo amplifier's input current.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 76 Servo amplifier Power factor improving DC reactor Dimensions Dimensions [mm] Terminal size Mass [kg] Wire [mm 2 ] (Note 2) W W1 H D (Note 1) D1 D2 D3 d MR-J4-10B(-RJ) MR-J4-20B(-RJ) FR-HEL-0.4K Fig. 11.1 70 60 71 61 21 M4 M4 0.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 77 H ± 2.5 W1 W ± 2.5 D2 D1 ± 1 PP 1 D or less (D3) 4-d mounting hole (Note 1) 6 Fig. 11.6 (Note 2) Servo amplifie r P3 P4 FR-HEL-H 5 m or less Note 1. Use this for grounding. 2. When using the power factor improving DC reactor, remove the short bar across P3 and P4.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 78 (1) 200 V class/100 V class 4-d mounting hole (Varnish is removed from front r ight moun ting hole (face and back side).
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 79 Servo amplifier Power factor improving AC reactor Dimensions Dimensions [mm] Terminal size Mass [kg] W W1 H D (Note) D1 D2 d MR-J4-10B(-RJ) MR-J4-20B(-RJ) MR-J4-10B1(-RJ) FR-HAL-0.4K Fig. 11.7 104 84 99 72 51 40 M5 M4 0.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 80 W ± 0.5 W1 D1 D2 H ± 5 125 D or less 150 4-d mounting hole (Note) Z YT RXS ( φ 6 groove) Fig. 11.11 D or less 4-d mounting hole (Note) Z YT RX S H ± 5 180 W ± 0.5 W1 D1 D2 ( φ 8 groove) Fig. 11.12 Note.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 81 11.14 Noise reduction techniques Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral equi pment to malfunction.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 82 Instrument Receiver Ser vo amplifier Servo motor M 2) 2) 8) 1) 7) 7) 7) 5) 3) 4) 6) 3) Sensor power supply Sensor Noise transmission route Suppression techniques 1) 2) 3) When measuring instruments, receivers, s ensors, etc.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 83 (2) Noise reduction techniques (a) Data line filter (recommended) Noise can be prevented by installing a data line filter onto the encoder cable, etc.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 84 (c) Cable clamp fitting AERSBAN-_SET Generally, the grounding of the shielded wire may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to an grounding plate as shown below.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 85 (d) Line noise filter (FR-BSF01/FR-BLF) This filter is effective in suppressing noises r adiated from the power supply side and output side of the servo amplifier and also in suppressing high-frequency leakage current (0-phase current).
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 86 (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 10 MHz and lower radi o frequency bands. The FR-BIF is designed for the input only.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 87 (f) Varistor for input power supply (recommended) Varistors are effective to prevent exogenous noi se and lightning surge from entering the servo amplifier. When using a varistor, connect it bet ween each phase of the input power supply of the equipment.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 88 11.15 Earth-leakage current breaker (1) Selection method High-frequency chopper currents controlled by pulse widt h 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.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 89 Table 11.4 Servo motor leakage current example (lgm) Servo motor power [kW] Leakage current [mA] 0.05 to 1 0.1 1.2 to 2 0.2 3 to 3.5 0.3 4.2 to 5 0.5 7 0.7 9 to 11 1.0 15 1.3 22 2.3 Table 11.5 Servo amplifier l eakage current example (Iga) Servo amplifier capacity [kW] Leakage current [mA] 0.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 90 (2) Selection example Indicated below is an example of selecting an earth-leakage current breaker under the following conditions. Servo motor HG-KR43 2 mm 2 × 5 m 2 mm 2 × 5 m M NV Ig1 Iga Ig2 Igm Servo amplifier MR-J4-40B Use an earth-leakage current breaker designed for suppressing harmonics/surges.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 91 11.16 EMC filter (recommended) It is recommended that one of the following filters be us ed to comply with EN EMC directive. Some EMC filters have large in leakage current. When using an EMC filter, always use one for each servo amplifier.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 92 (b) 400 V class MCCB Servo amplifier 1 2 3 Pow er supply MC EMC filter L1 L2 L3 L1 1 L21 4 5 6 E (3) Dimensions (a) EMC filter HF3010A-UN [Unit: mm] 32 ± 2 85 ± 2 110 ± 4 258 ± 4 273 ± 2 288 ± 4 300 ± 5 M4 IN 3-M4 65 ± 4 Approx.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 93 HF3100A-UN [Unit: mm] 2-6.5 × 8 M8 145 ± 1 165 ± 3 M6 380 ± 1 400 ± 5 160 ± 3 M8 2- φ 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 Approx.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 94 TF3040C-TX/TF3060C-TX [Unit: mm] 180 ± 2 Appr ox. 91.5 Approx. 190 200 ± 5 M6 390 ± 2 100 ± 1 412 ± 5 438 ± 5 Approx. 17 3-M6 22 22 8-R3.25 Length 8 (for M6) M4 M4 145 ± 2 3-M6 160 ± 1 175 ± 2 IN 100 ± 1 100 ± 1 (b) Surge protector RSPD-250-U4 41 ± 1 28.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 95 11.17 External dynamic brake CAUTION Use an external dynamic brake for a serv o amplifier of MR-J4-11KB(-RJ) to MR- J4-22KB(-RJ) and MR-J4-11KB4(-RJ) to MR -J4-22KB4(-RJ).
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 96 (2) Connection example (a) 200 V class EMG stop switch L11 L21 U V W U V W E M Servo amplifier Servo motor L3 L2 L1 (Note 3) Powe r supply 13 U 14 V W Exte.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 97 (b) 400 V class Emergency stop switch L11 L21 U V W U V W E M Servo amplifier Servo motor L3 L2 L1 (Note 3) Power supply 13 U 14 V W External dynamic brake.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 98 (3) Timing chart Servo motor speed Coasting A larm ON OFF EMG stop switch Absent Disabled Enabled Short Open a.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 99 (4) Dimensions (a) DBU-11K/DBU-15K/DBU-22K-R1 [Unit: mm] C D 100 D 5 E E B A 5 F 2.3 G ab 1 3 Terminal block 14 Screw: M3.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 100 (b) DBU-11K-4/DBU-22K-4 [Unit: mm] 15 51 25 15 73.75 7 25 150 10 200 170 178.5 179.5 15 260 280 43 10 2- φ 7 mounting hole 195 228 26 26 210 2.3 Mass: 6.7 [kg] Terminal block TE1 a b 13 14 Screw: M3.5 Tightening torque: 0.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 101 11.18 Heat sink outside mounting atta chment (MR-J4ACN15K/MR-J3ACN) Use the heat sink outside mounting attachment to mount the heat generation area of the.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 102 (c) Mounting method A ttachment Attachment Fit using the assembling screws. Servo amplifier a. Assembling the heat sink outside mounting attachment Cabinet Punched hole Servo amplifier b.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 103 (d) Mounting dimensional diagram [Unit: mm] 12 510 580 Approx. 58 188 145 Approx. 400 78 35 196 240 3.2 155 108.3 Approx. 263.3 Panel Panel 20.6 Attachment Mounting hole Servo amplifier Servo amplifier (2) MR-J3ACN (a) Panel cut dimensions [Unit: mm] 236 255 270 Approx.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 104 (b) How to assemble the attachment for heat sink outside mounting attachment Screw (2 places) Attachment (c) Mounting method Fit using the assembli ng screws. Attachment Serv o amplifier Attachment Serv o amplifier Punched hole Cabine t a.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 105 (d) Mounting dimensional diagram [Unit: mm] Approx. 58 510 580 12 236 280 Approx. 260 84 194 20 145 Approx.
11. OPTIONS AND PERIPHERAL EQUIPMENT 11 - 106 MEMO.
12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 1 12. ABSOLUTE POSITION DETECTION SYSTEM CAUTION If [AL. 25 Absolute position erased] or [AL. E3 Absolute position counter warning] has occurred, always perform home position setting again. Otherwise, it may cause an unexpected operation.
12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 2 12.1.2 Structure The following shows a configuration of the absolute pos ition detection system. Refe r to section 11.8 for each battery connection. Servo system controller Servo amplifier CN1A Servo motor CN2 Battery CN4 12.
12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 3 12.2 Battery 12.2.1 Using MR-BAT6V1SET battery (1) Configuration diagram CYC0 Current position Home position data LS0 Position data LS Detecting the numbe.
12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 4 12.2.2 Using MR-BAT6V1BJ battery for junction battery cable POINT MR-BAT6V1BJ is compatible only with HG series servo motors. It cannot be used with direct drive motors. MR-BAT6V1BJ cannot be used for fully closed loop system.
12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 5 12.2.3 Using MR-BT6VCASE battery case POINT One MR-BT6VCASE holds absolute position data up to eight axes servo motors.
12. ABSOLUTE POSITION DETECTION SYSTEM 12 - 6 MEMO.
13. USING STO FUNCTION 13 - 1 13. USING STO FUNCTION POINT In the torque control mode, the forced st op deceleration function is not available. 13.1 Introduction This section provides the c autions of the STO function. 13.1.1 Summary This servo amplifier complies with the following safety standards.
13. USING STO FUNCTION 13 - 2 13.1.4 Residual risks of the STO function Machine manufacturers are responsible for all risk ev aluations and all associated residual risks. Below are residual risks associated with the STO function. Mitsubishi is not liable for any damages or injuries caused by these risks.
13. USING STO FUNCTION 13 - 3 13.1.5 Specifications (1) Specifications Item Specifications Functional safety STO (IEC/EN 61800-5-2) Safety performance ISO/EN ISO 13849-1 category 3 PL d, IEC 61508 SIL.
13. USING STO FUNCTION 13 - 4 13.1.6 Maintenance This servo amplifier has alarms and warnings for ma intenance that supports the Mitsubishi drive safety function.
13. USING STO FUNCTION 13 - 5 13.2.2 Signal (device) explanations (1) I/O device Signal name Connector pin No. Description I/O division STOCOM CN8-3 Common terminal for i nput signal of STO1 and STO2 DI-1 STO1 CN8-4 Inputs STO state 1. STO state (base shut-off): Open between STO1 and STOCOM.
13. USING STO FUNCTION 13 - 6 13.3 Connection example POINT Turn off STO (STO1 and STO2) after the servo motor stops by the servo off state or with forced stop deceleration by turning off EM2 (Forced stop 2). Configure an external sequence that has the timings shown as below using an external device such as the MR-J3-D05 safety logic unit.
13. USING STO FUNCTION 13 - 7 13.3.2 External I/O signal connection exampl e using an MR-J3-D05 safety logic unit POINT This connection is for source interface.
13. USING STO FUNCTION 13 - 8 (2) Basic operation example The switch status of STOA is input to SDI2A+ of MR-J3-D05, and then it will be input to STO1 and STO2 of the servo amplifier via SDO1A and SDO2A of MR-J3-D05.
13. USING STO FUNCTION 13 - 9 13.3.3 External I/O signal connection exampl e using an external safety relay unit POINT This connection is for source interface. For the other I/O signals, refer to the connection examples in section 3.2.2. This connection example complies with the require ment of ISO/EN ISO 13849-1 category 3 PL d.
13. USING STO FUNCTION 13 - 10 13.3.4 External I/O signal connection example using a motion controller POINT This connection is for source interface. For the other I/O signals, refer to the connection examples in section 3.2.2. For MC-Y0B and PC-Y0B, design a s equence program to output MC-Y0B and PC-Y0B after the servo motor stops.
13. USING STO FUNCTION 13 - 11 13.4 Detailed description of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 13.2. Refer to this section and ma ke connection with the external device.
13. USING STO FUNCTION 13 - 12 (b) When outputting two STO states by using one TOFB If polarity of diode is reversed, servo amplifier will malfunction. TOFCOM Servo amplifier TOFB2 Load TOFB1 (Note) 24 V DC ± 10% 300 mA Note. If the voltage drop (maximum of 5.
13. USING STO FUNCTION 13 - 13 13.4.2 Source I/O interface In this servo amplifier, source type I/O interfaces can be used. (1) Digital input interface DI-1 This is an input circuit whose photocoupler anode side is input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc.
13. USING STO FUNCTION 13 - 14 MEMO.
14. USING A LINEAR SERVO MOTOR 14 - 1 14. USING A LINEAR SERVO MOTOR WARNING When using the linear servo motor, read "Linear Servo Motor Instruction Manual" and "Linear Encoder Instruction Manual". 14.1 Functions and configuration 14.
14. USING A LINEAR SERVO MOTOR 14 - 2 14.1.2 Servo system wi th auxiliary equipment CAUTION Connecting a linear servo motor for different axis to the U, V, W, or CN2 may cause a malfunction. POINT Equipment other than the servo amplifie r and linear servo motor are optional or recommended products.
14. USING A LINEAR SERVO MOTOR 14 - 3 Note 1. The power factor improving AC reactor can also be us ed. In this case, the power factor improving DC reactor cannot be used. When not using the power factor impr oving DC reactor, short P3 and P4. 2. A 1-phase 200 V AC to 240 V AC power supply may be used with t he servo amplifier of MR-J4-70B or less.
14. USING A LINEAR SERVO MOTOR 14 - 4 (2) When using serial linear encoder with MR-J4-_B_-RJ The configuration diagram is an example of MR-J4-20B-RJ. When using the other servo amplifiers, the configuration will be the same as rotary servo moto rs except for connections of linear servo motors and linear encoders.
14. USING A LINEAR SERVO MOTOR 14 - 5 (3) When using A/B/Z-phase differential out put linear encoder with MR-J4-_B_-RJ The configuration diagram is an example of MR-J4-20B-RJ. When using the other servo amplifiers, the configuration will be the same as rotary servo moto rs except for connections of linear servo motors and linear encoders.
14. USING A LINEAR SERVO MOTOR 14 - 6 14.2 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 power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
14. USING A LINEAR SERVO MOTOR 14 - 7 CAUTION Connecting a linear servo motor for different axis to the U, V, W, or CN2 may cause a malfunction. Do not modify the equipment. The cables such as power wires derivi ng from the primary side cannot stand the long-term bending action.
14. USING A LINEAR SERVO MOTOR 14 - 8 14.3 Operation and functions 14.3.1 Startup POINT When using the linear servo motor, set [Pr. PA01] to "_ _ 4 _". (1) Startup procedure Start up the linear servo in the following procedure. Set the linear servo motor series and linear servo motor type.
14. USING A LINEAR SERVO MOTOR 14 - 9 (3) Settings of the linear encoder direction and the linear servo motor direction Set the first digit of [Pr. PC27] (Encoder pulse count polarity selection) so that the positive direction of the linear servo motor matches with the increasing direction of the linear encoder feedback.
14. USING A LINEAR SERVO MOTOR 14 - 10 3) When [Pr. PC27] is set to "_ _ _ 0" and the pos itive direction of the linear servo motor matches with the increasing direction of the linear enc oder, if the linear servo motor operates in the positive direction, the motor speed will be a positiv e value.
14. USING A LINEAR SERVO MOTOR 14 - 11 14.3.2 Magnetic pole detection POINT Set [Pr. PE47 Torque offset] to "0 (initi al value)" before executing the magnetic pole detection. Before the positioning operation of the linear servo motor, make sure to perform the magnetic pole detection.
14. USING A LINEAR SERVO MOTOR 14 - 12 (1) Magnetic pole detection method by using MR Configurator2 The following shows the magnetic pole detecti on procedure by using MR Configurator2. (a) Magnetic pole detection by the position detection method Have [AL.
14. USING A LINEAR SERVO MOTOR 14 - 13 (b) Magnetic pole detection by t he minute position detection method Is t he tr avel distanc e during the m agnetic p ole detect ion acceptable? (Note 3) 1) Check that FLS (Upper stroke limit), R LS (Lower stroke li mit), and E M2 (Forced stop 2) are on, and then cycle the servo amplifier power.
14. USING A LINEAR SERVO MOTOR 14 - 14 (c) State transition of the servo am plifier display (3-digit, 7-segment LED) at the magnetic pole detection When the magnetic pole detection with MR Configurat or2 is normally executed, the servo amplifier display (3-digit, 7-segment LED) shows the state as below.
14. USING A LINEAR SERVO MOTOR 14 - 15 (3) Operation at the magnetic pole detection WARNING Note that the magnetic pole detection autom atically starts simultaneously with the turning-on of the servo-on command. CAUTION If the magnetic pole detection is not ex ecuted properly, the linear servo motor may operates unexpectedly.
14. USING A LINEAR SERVO MOTOR 14 - 16 (a) For the incremental linear encoder POINT For the incremental linear encoder, the magnetic pole detection is required every time the power is turned on. By turning on the servo-on command from the c ontroller after the power-on, the magnetic pole detection is automatically carried out.
14. USING A LINEAR SERVO MOTOR 14 - 17 3) Linear servo motor movement (when FLS (Upper stro ke limit) or RLS (Lower stroke limit) is off) When FLS or RLS is off at servo-on, the m agnetic pole detection is carried out as follows.
14. USING A LINEAR SERVO MOTOR 14 - 18 3) After the completion of the magnetic pole detecti on, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole detection disabled). [Pr. PL01] Magnetic pole detection disabled 0 After the magnetic pole detection, by disabling t he magnetic pole detection function with [Pr.
14. USING A LINEAR SERVO MOTOR 14 - 19 2) Specify the setting value that is an approximatel y 70% of the value set when [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. 33 Overvoltage], [AL. E1 Overload warning 1], and [AL. EC Overload warning 2] occurred as the final setting value.
14. USING A LINEAR SERVO MOTOR 14 - 20 The following shows the relation between the stop inte rval at the home position return and the linear encoder resolution. For example, when the linear encoder resolution is 0.001 μ m and the parameter for the stop interval at the home position return, [Pr.
14. USING A LINEAR SERVO MOTOR 14 - 21 (b) When the linear encoder home position does not exist in the home position return direction If the home position return is performed from the position where the linear encoder does not exist in the home position return direction, a home position return error occurs on the controller.
14. USING A LINEAR SERVO MOTOR 14 - 22 (2) Absolute position linear encoder When an absolute linear encoder is used, the re ference home position is the position per 1048576 pulses (changeable with the third digit of [Pr. PL01]) with reference to the linear encoder home position (absolute position data = 0).
14. USING A LINEAR SERVO MOTOR 14 - 23 14.3.4 Test operation mode in MR Configurator2 CAUTION The test operation mode is designed for c hecking servo operation. It is not for checking machine operation. Do not use th is mode with the machine. Always use the linear servo motor alone.
14. USING A LINEAR SERVO MOTOR 14 - 24 (b) Output signal (DO) forced output Output signals can be switched on/off forcibly i ndependently of the servo stat us. This function is used for output signal wiring check, etc. Exercise control on t he DO forced output screen of MR Configurator2.
14. USING A LINEAR SERVO MOTOR 14 - 25 (1) Operation method For the system using the incremental linear enc oder, the magnetic pole detection is automatically performed at the first servo-on after the power-on.
14. USING A LINEAR SERVO MOTOR 14 - 26 (b) Settings of the number of pulse s (AP) and travel distance (AL) AP AL Position feedback [mm] Command [mm] + - Speed feedback [mm/s] AL AP User Controlle r Se.
14. USING A LINEAR SERVO MOTOR 14 - 27 (a) Position deviation error detection Set [Pr. PL04] to "_ _ _ 1" to enabl e the position deviation error detection. [Pr. PL04] Position deviation error detection enabled 1 When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 14.
14. USING A LINEAR SERVO MOTOR 14 - 28 (2) Auto tuning function The auto tuning function during the linear servo motor oper ation is the same as t hat of the rotary servo motor. However, the calculation method of the load to motor mass ratio (J ratio) differs.
14. USING A LINEAR SERVO MOTOR 14 - 29 14.4 Characteristics 14.4.1 Overload protec tion characteristics An electronic thermal is built in the servo amplifier to protect the linear servo motor, servo amplifier and linear servo motor power wires from overloads.
14. USING A LINEAR SERVO MOTOR 14 - 30 14.4.2 Power supply capacity and generated loss Table 14.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the val ues in the table in consideration for the worst operating conditions.
14. USING A LINEAR SERVO MOTOR 14 - 31 14.4.3 Dynamic brake characteristics POINT Do not use dynamic brake to stop in a nor mal operation as it is the function to stop in emergency.
14. USING A LINEAR SERVO MOTOR 14 - 32 14.4.4 Permissible load to motor mass ratio when the dynamic brake is used Use the dynamic brake under the load to motor mass rati o indicated in the following table. If the load to motor mass ratio is higher than this value, the dynamic brake may burn.
15. USING A DIRECT DRIVE MOTOR 15 - 1 15. USING A DIRECT DRIVE MOTOR CAUTION When using the direct drive motor, read the "Direct Drive Motor Instruction Manual".
15. USING A DIRECT DRIVE MOTOR 15 - 2 15.1.2 Servo system wi th auxiliary equipment CAUTION Connecting a direct drive motor for different axis to the U, V, W, or CN2 may cause a malfunction. POINT Equipment other than the servo amplifier and direct drive motor are optional or recommended products.
15. USING A DIRECT DRIVE MOTOR 15 - 3 Note 1. The power factor improving AC reactor can also be us ed. In this case, the power factor improving DC reactor cannot be used.
15. USING A DIRECT DRIVE MOTOR 15 - 4 CAUTION When using the regenerative resistor, swit ch power off with the alarm signal. Otherwise, a transistor fault or the lik e may overheat the regenerative resistor, causing a fire. Do not modify the equipment.
15. USING A DIRECT DRIVE MOTOR 15 - 5 15.3.1 Startup procedure Start up the direct drive serv o in the following procedure. Absolute position detection system Installation and wiring Z-phase pulse of the direct drive motor is turned on by the JOG operation.
15. USING A DIRECT DRIVE MOTOR 15 - 6 15.3.2 Magnetic pole detection POINT The magnetic pole detection is not requir ed for the configured absolute position detection system where the Z-phase pulse of the direct drive motor can be turned on manually.
15. USING A DIRECT DRIVE MOTOR 15 - 7 (1) Magnetic pole detection method by using MR Configurator2 The following shows the magnetic pole detecti on procedure by using MR Configurator2. (a) Magnetic pole detection by the position detection method Have [A L.
15. USING A DIRECT DRIVE MOTOR 15 - 8 (b) Magnetic pole detection by t he minute position detection method Is the travel di stance during the magnetic pole detection acceptabl e? (Note 3) Turn the servo amplifier power off and on again.
15. USING A DIRECT DRIVE MOTOR 15 - 9 (c) State transition of the servo am plifier display (3-digit, 7-segment LED) at the magnetic pole detection When the magnetic pole detection with MR Configurat or2 is normally executed, the servo amplifier display (3-digit, 7-segment LED) shows the state as below.
15. USING A DIRECT DRIVE MOTOR 15 - 10 (3) Operation at the magnetic pole detection WARNING Note that the magnetic pole detection autom atically starts simultaneously with the turning-on of the servo-on command. CAUTION If the magnetic pole detection is not execut ed properly, the direct drive motor may operates unexpectedly.
15. USING A DIRECT DRIVE MOTOR 15 - 11 2) Direct drive motor movement (when FLS and RLS are on) Magnetic pole detection completion position Servo-on position (Magnetic pole detection start position) Center of direct drive motor rotation part FLS (Note) (Note) RLS 10 degrees or less Note.
15. USING A DIRECT DRIVE MOTOR 15 - 12 2) Execute the magnetic pole detection. (R efer to (3) (a) of this section.) 3) After the completion of the magnetic pole detecti on, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole detection disabled). [Pr.
15. USING A DIRECT DRIVE MOTOR 15 - 13 2) Specify the setting value that is an approximatel y 70% of the value set when [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. E1 Overload warning 1 ], and [AL. EC Overload warning 2] occurred as the final setting value.
15. USING A DIRECT DRIVE MOTOR 15 - 14 15.3.3 Operation from controller To configure the absolute position detection system by using the direct drive motor, the battery and the absolute position storage unit MR-BTAS01 are required.
15. USING A DIRECT DRIVE MOTOR 15 - 15 15.3.4 Function (1) Servo control error detection function POINT For the servo control error detection function, the position and speed deviation error detections are enabled by default. ([Pr. PL04]: _ _ _ 3) If the servo control gets unstable for some reasons, the direct drive motor may not operate properly.
15. USING A DIRECT DRIVE MOTOR 15 - 16 (b) Speed deviation error detection Set [Pr. PL04] to "_ _ _ 2" to enable the speed deviation error detection. [Pr. PL04] Speed deviation error detection enable d 2 When you compare the model feedback speed ( 3)) and the feedback speed ( 4)) in figure 15.
15. USING A DIRECT DRIVE MOTOR 15 - 17 15.4 Characteristics 15.4.1 Overload protec tion characteristics An electronic thermal relay is built in the servo amplifier to protect the servo amplifier, the direct drive motor, and direct drive motor power wires from overloads.
15. USING A DIRECT DRIVE MOTOR 15 - 18 1000 100 10 1 0.1 0 50 150 200 250 300 100 Servo-lock Operation time [s] (Note) Load ratio [%] Operating TM-RFM002C20, TM-RFM004C20, TM-RFM006C20, TM-RFM006E20, TM-RFM012E20, TM-RFM018E20, TM-RFM012G20, TM-RFM040J10 1000 100 10 1 0.
15. USING A DIRECT DRIVE MOTOR 15 - 19 15.4.2 Power supply capacity and generated loss Table 15.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosed type cabinet, use the val ues in the table in consideration for the worst operating conditions.
15. USING A DIRECT DRIVE MOTOR 15 - 20 15.4.3 Dynamic brake characteristics POINT Do not use dynamic brake to stop in a nor mal operation as it is the function to stop in emergency.
15. USING A DIRECT DRIVE MOTOR 15 - 21 (b) Dynamic brake time constant The following shows necessary dynamic brake time constant τ for equation 15.1. Time constant [ms] Speed [r/min] 0 0 100 200 5 15.
15. USING A DIRECT DRIVE MOTOR 15 - 22 MEMO.
16. FULLY CLOSED LOOP SYSTEM 16 - 1 16. FULLY CLOSED LOOP SYSTEM POINT The fully closed loop system is availabl e for the servo amplifiers of which software version is A3 or above. When fully closed loop control system is us ed with this servo amplifier, "Linear Encoder Instruction Manual" is needed.
16. FULLY CLOSED LOOP SYSTEM 16 - 2 The following table shows the functions of each control mode. Control Description Semi closed loop control Feature Position is controlled accord ing to the servo motor-side data.
16. FULLY CLOSED LOOP SYSTEM 16 - 3 16.1.2 Selecting procedure of control mode (1) Control mode configuration In this servo, a semi closed loop system or fully closed loop system can be sele cted as a control system.
16. FULLY CLOSED LOOP SYSTEM 16 - 4 16.1.3 System configuration (1) For a linear encoder (a) MR-J4-_B_ servo amplifier CN2 Servo amplifier SSCNET III/H controller SSCNET III/H Position command control.
16. FULLY CLOSED LOOP SYSTEM 16 - 5 (2) For a rotary encoder (a) MR-J4-_B_ servo amplifier CN2 Servo motor Two-wire type rotary encoder H G-KR, HG-MR servo motor (4194304 pulses/rev) Drive part Servo .
16. FULLY CLOSED LOOP SYSTEM 16 - 6 16.2 Load-side encoder POINT Always use the load-side encoder cable in troduced in this section. Using other products may cause a malfunction. For details of the load-side encoder spec ifications, performance and assurance, contact each encoder manufacturer.
16. FULLY CLOSED LOOP SYSTEM 16 - 7 (2) Rotary encoder (a) MR-J4-_B_ servo amplifier Refer to "Linear Encoder Instruction M anual" for encoder cables for rotary encoder.
16. FULLY CLOSED LOOP SYSTEM 16 - 8 16.2.4 MR-J4FCCBL03M branch cable Use MR-J4FCCBL03M branch cable to connect the rotary encoder and the load-side encoder to CN2 connector. When fabricating the branch cable using MR-J3THMCN2 connector set, refer to "Linear Encoder Instruction Manual".
16. FULLY CLOSED LOOP SYSTEM 16 - 9 16.3 Operation and functions 16.3.1 Startup (1) Startup procedure Start up the fully closed loop syst em in the following procedure.
16. FULLY CLOSED LOOP SYSTEM 16 - 10 (2) Selection of fully closed loop system By setting [Pr. PA01], [Pr. PE01] and the control command of controller, the control method can be selected as shown in the following table.
16. FULLY CLOSED LOOP SYSTEM 16 - 11 (3) Selection of load-side encoder communication method The communication method changes depending on the l oad-side encoder type. Refer to table 1.1 and "Linear Encoder Instruction Manual" for the communication method for each load-side encoder.
16. FULLY CLOSED LOOP SYSTEM 16 - 12 (5) Setting of feedback pulse electronic gear POINT If an incorrect value is set in the feedback pulse electronic gear ([Pr. PE04], [Pr. PE05], [Pr. PE34], and [Pr. PE35]), [A L. 37 Parameter error] and an abnormal operation may occur.
16. FULLY CLOSED LOOP SYSTEM 16 - 13 (b) Setting example when using the rotary encoder for the load-side encoder of roll feeder Conditions Servo motor resolution: 4194304 pulses/rev Pulley diameter on.
16. FULLY CLOSED LOOP SYSTEM 16 - 14 (6) Confirmation of load-side encoder position data Check the load-side encoder mounting and par ameter settings for any problems. POINT Depending on the check items, MR Configurator2 may be used. Refer to section 16.
16. FULLY CLOSED LOOP SYSTEM 16 - 15 (7) Setting of fully closed loop dual feedback filter With the initial value (setting = 10) set in [Pr. PE08 Fully closed loop dual feedback filter the dual feedback filter], make gain adjustment by auto tuning, etc.
16. FULLY CLOSED LOOP SYSTEM 16 - 16 16.3.2 Home position return (1) General instruction Home position return is all performed according to the load-side encoder feedback data, independently of the load-side encoder type. It is irrelevant to t he Z-phase position of the servo motor encoder.
16. FULLY CLOSED LOOP SYSTEM 16 - 17 (b) About proximity dog type home position return using incremental linear encoder 1) When the linear encoder home position (referenc e mark) exists in the home po.
16. FULLY CLOSED LOOP SYSTEM 16 - 18 POINT To execute a home position return secure ly, start a home position return after moving the axis to the opposite stroke end by jog operation, etc. of the controller. A home position return cannot be made if the incremental linear encoder does not have a linear encoder home position (reference mark).
16. FULLY CLOSED LOOP SYSTEM 16 - 19 16.3.3 Operation from controller The fully closed loop control compatible servo amplifier can be used with any of the following controllers. Category Model Remarks Motion controller R_MTCPU/Q17_DSCPU Speed control (II) instructions (VVF and VVR) cannot be used.
16. FULLY CLOSED LOOP SYSTEM 16 - 20 (a) When using a linear encoder (unit setting: mm) Differentiation AP AL Servo motor Linear encode r Position feedback [mm] Command [mm] + - Speed feedback [r/min].
16. FULLY CLOSED LOOP SYSTEM 16 - 21 16.3.4 Fully closed loop contro l error detection functions If fully closed loop control becomes unstable for some reason, the speed at servo motor side may increase abnormally. The fully closed loop control error detection function is a protective function designed to pre- detect it and stop operation.
16. FULLY CLOSED LOOP SYSTEM 16 - 22 (b) Position deviation error detection Set [Pr. PE03] to "_ _ _ 2" to enabl e the position deviation error detection.
16. FULLY CLOSED LOOP SYSTEM 16 - 23 16.3.8 Absolute position detection sy stem under fully closed loop system An absolute type linear encoder is necessary to conf igure an absolute position det ection system under fully closed loop control using a linear encoder.
16. FULLY CLOSED LOOP SYSTEM 16 - 24 16.3.9 About MR Configurator2 Using MR Configurator2 can confirm if the parameter setting is normal or if the servo motor and the load- side encoder operate properly. This section explains the fully closed diagnosis screen.
16. FULLY CLOSED LOOP SYSTEM 16 - 25 Symbol Name Explanation Unit f) Motor side cumu. feedback pulses (before gear) Feedback pulses from the servo motor encoder are counted and displayed. (Servo motor encoder unit) When the set value exceeds 999999999, it starts with 0.
16. FULLY CLOSED LOOP SYSTEM 16 - 26 MEMO.
17. APPLICATION OF FUNCTIONS 17 - 1 17. APPLICATION OF FUNCTIONS This chapter explains application of using servo amplifier functions. 17.1 J3 compatibility mode POINT The J3 compatibility mode is compatible only with HG series servo motors.
17. APPLICATION OF FUNCTIONS 17 - 2 17.1.2 Operation modes support ed by J3 compatibility mode The J3 compatibility mode supports the following operation modes.
17. APPLICATION OF FUNCTIONS 17 - 3 Compatible ( : J4 new, : Equivalent to J3, : Not available) Function Name MR-J4 series MR-J3/MR-J3W series (Note 8) J4 mode J3 compatibility mode Auto tuning mode 1.
17. APPLICATION OF FUNCTIONS 17 - 4 Compatible ( : J4 new, : Equivalent to J3, : Not available) Function Name MR-J4 series MR-J3/MR-J3W series (Note 8) J4 mode J3 compatibility mode Encoder Semi close.
17. APPLICATION OF FUNCTIONS 17 - 5 17.1.4 How to switch J4 mode/J3 compatibility mode There are two ways to switch the J4 mode/J3 com patibility mode with the MR-J4W_-_B servo amplifier and MR-J4-_B_(-RJ) servo amplifier.
17. APPLICATION OF FUNCTIONS 17 - 6 (2) Mode selection using the application software "MR-J4(W)-B mode selection" You can set the factory setting, J4 mode/J3 com patibility mode, and operation mode with the dedicated application.
17. APPLICATION OF FUNCTIONS 17 - 7 (3) Setting of MR Configurator2 To use in the J3 compatibility mode, make the system setting as follows. Operation mode in J3 compatibility mode System setting MR-J3-B standard control mode (rotary servo motor) Select MR-J3-_B.
17. APPLICATION OF FUNCTIONS 17 - 8 (3) The J3 compatibility mode has a functional compat ibility. However, the operation timing may differ. Check the operation timing on customer side to use. (4) The J3 compatibility mode is not compatible with high-response control set by [Pr.
17. APPLICATION OF FUNCTIONS 17 - 9 17.1.8 Change of specifications of "J3 compatibility mode" switching process (1) Detailed explanation of "J3 compatibility mode" switching (a) O.
17. APPLICATION OF FUNCTIONS 17 - 10 (b) Operation when using a servo amp lifier after change of specifications For the controllers in which "Not required" is descr ibed to controller reset in table 17.3, the mode will be switched to "J3 compatibility mode" for all axes at the first connection.
17. APPLICATION OF FUNCTIONS 17 - 11 (2) Changing the mode to "J3 compatibility mode" by using the application "MR-J4(W)-B mode selection".
17. APPLICATION OF FUNCTIONS 17 - 12 17.1.9 J3 extension function POINT The J3 extension function is used with se rvo amplifiers with software version B0 or later. To enable the J3 extension function, MR Configurator2 with software version 1.25B or later is necessary.
17. APPLICATION OF FUNCTIONS 17 - 13 Function Description Detailed explanation Drive recorder function This function continuously moni tors the servo status and records the status transition before and after an alarm for a fixed period of time.
17. APPLICATION OF FUNCTIONS 17 - 14 The following shows how to use the J3 extension function. (1) Settings of J3 extension function POINT To set the J3 extension function, connect a personal computer with MR Configurator2 of software version 1.25B or later to the servo amplifier with USB cable.
17. APPLICATION OF FUNCTIONS 17 - 15 2) Select "MR-J3-B extension function" of model selection in the "New" window and click "OK".
17. APPLICATION OF FUNCTIONS 17 - 16 (2) Extension control 2 parameters ([Pr. PX_ _ ]) CAUTION Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. If fixed values are written in the digits of a parameter, do not change these values.
17. APPLICATION OF FUNCTIONS 17 - 17 No. Symbol Name Initial value Unit J3 compatibility mode Standard Full. Lin. DD PX22 NHQ5 Notch shape selection 5 0000h PX23 XOP3 Function selection X-3 0000h PX24.
17. APPLICATION OF FUNCTIONS 17 - 18 (3) Extension control 2 parameters ([Pr. PX_ _ ]) detailed list No. Symbol Name and function Initial value [unit] Setting range PX01 **J3EX J3 extension function Select enabled or disabled of the J3 extension function.
17. APPLICATION OF FUNCTIONS 17 - 19 No. Symbol Name and function Initial value [unit] Setting range PX04 VRF21 Vibration suppression control 2 - Vibration frequency Set the vibration frequency for vibration s uppression control 2 to suppress low-frequency machine vibration.
17. APPLICATION OF FUNCTIONS 17 - 20 No. Symbol Name and function Initial value [unit] Setting range PX10 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching Set a damping of the vibration frequency for vi bration suppression control 2 when the gain switching is enabled.
17. APPLICATION OF FUNCTIONS 17 - 21 No. Symbol Name and function Initial value [unit] Setting range PX18 NHQ3 Notch shape selection 3 Set the shape of the machine resonance suppression filter 3.
17. APPLICATION OF FUNCTIONS 17 - 22 No. Symbol Name and function Initial value [unit] Setting range PX22 NHQ5 Notch shape selection 5 Set the shape of the machine resonance suppression filter 5. When you select "Enabled (_ _ _ 1)" of "Robust filter selection" in [Pr.
17. APPLICATION OF FUNCTIONS 17 - 23 No. Symbol Name and function Initial value [unit] Setting range PX24 FRIC Machine diagnosis f unction - Friction judgement speed Set a (linear) servo motor speed that divides a friction estimation area into high and low during the friction estimation proce ss of the machine diagnosis.
17. APPLICATION OF FUNCTIONS 17 - 24 No. Symbol Name and function Initial value [unit] Setting range PX27 *OSCL2 Vibration tough drive function selection Refer to the "Name and function" column. Setting digit Explanation Initial value _ _ _ x Oscillation detection alarm selection 0: [AL.
17. APPLICATION OF FUNCTIONS 17 - 25 No. Symbol Name and function Initial value [unit] Setting range PX36 LMCP Lost motion compensation posit ive-side compensation value selection Set the lost motion compensation for when revers e rotation (CW) switches to forward rotation (CCW) in increments of 0.
17. APPLICATION OF FUNCTIONS 17 - 26 (4) One-touch tuning POINT When executing the one-touch tuning, c heck the [Pr. PX13 One-touch tuning function selection] is "_ _ _ 1" (initial value).
17. APPLICATION OF FUNCTIONS 17 - 27 (b) Display transition and operation procedure of one-touch tuning 1) Response mode selection Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2. Response mode Explanation High mode This mode is for high rigid system.
17. APPLICATION OF FUNCTIONS 17 - 28 2) One-touch tuning execution POINT For equipment in which overshoot during one-touch tuning is in the permissible level of the in-position range, changing t he value of [Pr. PX14 One-touch tuning - Overshoot permissible level] will shor ten the settling time and improve the response.
17. APPLICATION OF FUNCTIONS 17 - 29 3) Stop of one-touch tuning During one-touch tuning, pushing the stop button stops one-touch tuning. If the one-touch tuning is stopped, "C 0 0 0" w ill be displayed at status in error code. 4) If an error occurs If a tuning error occurs during tuning, one-touch t uning will be forcibly terminated.
17. APPLICATION OF FUNCTIONS 17 - 30 7) Clearing one-touch tuning You can clear the parameter values set with one-touch tuning. Refer to table 17.5 for the parameters which you can clear.
17. APPLICATION OF FUNCTIONS 17 - 31 (5) Filter setting The following filters are available with the J3 extension function. Command pulse train Command filter Low-pass filter setting Encode r Servo motor PWM M Load [Pr. PB18] + - Machine resonance suppression filter 1 [Pr.
17. APPLICATION OF FUNCTIONS 17 - 32 1) Function The machine resonance suppression filter is a filt er function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth and width.
17. APPLICATION OF FUNCTIONS 17 - 33 2) Parameter a) Machine resonance suppression filt er 1 ([Pr. PB13] and [Pr. PB14]) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 ([Pr.
17. APPLICATION OF FUNCTIONS 17 - 34 (b) Shaft resonance suppression filter POINT This filter is set properly by default according to servo motor you use and load moment of inertia. For [Pr. PB23], "_ _ _ 0" (automatic setting) is recommended because setting "Shaft resonance suppression f ilter selection" in [Pr.
17. APPLICATION OF FUNCTIONS 17 - 35 (c) Advanced vibration suppression control II POINT This is enabled when "Gain adjustment m ode selection" is "Auto tuning mode 2 (_ _ _ 2)" or "Manual mode (_ _ _ 3)" in [Pr. PA08]. The machine resonance frequency supported in the vibration suppression control tuning mode is 1.
17. APPLICATION OF FUNCTIONS 17 - 36 1) Function Vibration suppression control is used to further suppress load-side vibration, such as work-side vibration and base shake. The servo motor-side oper ation is adjusted for positioning so that the machine does not vibrate.
17. APPLICATION OF FUNCTIONS 17 - 37 3) Vibration suppression control tuning procedure The following flow chart is for the vibration s uppression control 1. For the vibration suppression control 2, set "_ _ 1 _" in [Pr. PX03] to execute the vibration s uppression control tuning.
17. APPLICATION OF FUNCTIONS 17 - 38 4) Vibration suppression control manual mode POINT When load-side vibration does not show up in servo motor-side vibration, the setting of the servo motor-side vibrat ion frequency does not produce an effect.
17. APPLICATION OF FUNCTIONS 17 - 39 a) When a vibration peak can be confirmed with machine analyzer using MR Configurator2, or external equipment. 1 Hz Gain characteristics Phase -90 degrees 300 Hz Vibr ation s uppr ess ion c ontrol 1 - Vib rat ion fr equency (anti-resonance frequency) [Pr.
17. APPLICATION OF FUNCTIONS 17 - 40 (b) Function block diagram The control gains, load to motor inertia ratio, and vibration suppression control settings are changed according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching condition].
17. APPLICATION OF FUNCTIONS 17 - 41 (c) Parameter When using the gain switching function, always se lect "Manual mode (_ _ _ 3)" of "Gain adjustment mode selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning mode.
17. APPLICATION OF FUNCTIONS 17 - 42 2) Switchable gain parameter Loop gain Before switching After switching Parameter Symbol Name Parameter Symbol Name Load to motor inertia ratio/load to motor mass .
17. APPLICATION OF FUNCTIONS 17 - 43 a) [Pr. PB06] to [Pr. PB10] These parameters are the same as in ordinary manual adjustment. Gain switching allows the values of load to motor inertia ratio/load to motor mass ratio, position loop gain, speed loop gain, and speed integral compensation to be switched.
17. APPLICATION OF FUNCTIONS 17 - 44 (d) Gain switching procedure This operation will be described by way of setting examples. 1) When you choose switching by c ontrol command from the controller a) Setting example Parameter Symbol Name Setting value Unit PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 4.
17. APPLICATION OF FUNCTIONS 17 - 45 Parameter Symbol Name Setting value Unit PX10 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching 0.05 PX11 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching 0.
17. APPLICATION OF FUNCTIONS 17 - 46 2) When you choose switching by droop pulses In this case, the vibration suppression control after gain switching and model loop gain after gain switching cannot be used. a) Setting example Parameter Symbol Name Setting value Unit PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 4.
17. APPLICATION OF FUNCTIONS 17 - 47 3) When the gain switching time constant is disabled a) Gain switching time constant disabled was selected. The gain switching time constant is disabled with this setting. The time constant is enabled at gain return.
17. APPLICATION OF FUNCTIONS 17 - 48 (7) Tough drive function POINT Set enable/disable of the tough drive function with [Pr. PX25 Tough drive setting]. (Refer to (2) of this section.) This function makes the equipment continue operating even under the condition that an alarm occurs.
17. APPLICATION OF FUNCTIONS 17 - 49 The following shows the function block diagram of the vibration tough drive function. The function detects machine resonance frequency and co mpares it with [Pr. PB13] and [Pr. PB15], and reset a machine resonance frequency of a par ameter whose set value is closer.
17. APPLICATION OF FUNCTIONS 17 - 50 (b) Instantaneous power failure tough drive function The instantaneous power failure tough drive func tion avoids [AL.
17. APPLICATION OF FUNCTIONS 17 - 51 1) Instantaneous power failure time of control ci rcuit power supply > [Pr. PX28 SEMI-F47 function - Instantaneous power failure detection time] The alarm occurs when the instantaneous power failu re time of the control circuit power supply exceeds [Pr.
17. APPLICATION OF FUNCTIONS 17 - 52 2) Instantaneous power failure time of control ci rcuit power supply < [Pr. PX28 SEMI-F47 function - Instantaneous power failure detection time] Operation status differs dependi ng on how bus voltage decrease.
17. APPLICATION OF FUNCTIONS 17 - 53 b) When the bus voltage does not decrease lower than Undervoltage level within the instantaneous power failure time of the control circuit power supply The operation continues without alarming.
17. APPLICATION OF FUNCTIONS 17 - 54 (a) Parameter setting Setting [Pr. PX25] and [Pr. PX28] as follows will enable SEMI-F47 function. Parameter Setting value Description PX25 _ 1 _ _ SEMI-F47 function selection PX28 200 Set the time [ms] of the [AL. 10.
17. APPLICATION OF FUNCTIONS 17 - 55 (c) Calculation of tolerance against instantaneous power failure Table 17.8 shows tolerance against instantaneous power failure when instantaneous power failure voltage is "rated voltage × 50%" and instant aneous power failure time is 200 ms.
17. APPLICATION OF FUNCTIONS 17 - 56 (9) Lost motion compensation function POINT The lost motion compensation function is enabled only in the position control mode.
17. APPLICATION OF FUNCTIONS 17 - 57 4) Lost motion compensation timing ([Pr. PX41]) You can set the delay time of the lost motion compensation start timing with this parameter. When a protrusion occurs belatedly, set the lost motion compensation timing corresponding to the protrusion occurrence timing.
17. APPLICATION OF FUNCTIONS 17 - 58 4) Adjusting the lost motion compensation When protrusions still occur, the compensati on is insufficient. Increase the lost motion compensation by approximately 0. 5% until the protrusions are e liminated. When notches occur, the compensation is excessive.
17. APPLICATION OF FUNCTIONS 17 - 59 17.2 Master-slave operation function WARNING Configure the circuit so that all the ma ster and slave axes for the same machine are stopped by the controller forced stop at the moment of a stop of a master or slave axis due to such as a serv o alarm.
17. APPLICATION OF FUNCTIONS 17 - 60 (1) Summary The master-slave operation function transmits a ma ster axis torque to slave axes using driver communication and the torque as a command dr ives slave axes by torque control. Transmission of torque data from the master axis to slave axes is via SSCNET III/H.
17. APPLICATION OF FUNCTIONS 17 - 61 Eight master axes can be set at most per one sy stem of SSCNET III/H. The maximum number of slave axes to each master axis is not limited. However, the total number of the master and slave axes should be the maximum number of the servo amplifie rs at most.
17. APPLICATION OF FUNCTIONS 17 - 62 (4) Rotation direction setting Rotation directions can be different among a controlle r command, master axis, and slave axes.
17. APPLICATION OF FUNCTIONS 17 - 63 17.3 Scale measurement function The scale measurement function transmits position in formation of a scale measurement encoder to the controller by connecting the scale measurem ent encoder in semi closed loop control.
17. APPLICATION OF FUNCTIONS 17 - 64 (2) System configuration (a) For a linear encoder 1) MR-J4-_B_ servo amplifier Servo amplifier CN2 SSCNET III/H controller SSCNET III/H Position command Control si.
17. APPLICATION OF FUNCTIONS 17 - 65 (b) For a rotary encoder 1) MR-J4-_B_ servo amplifier Servo motor Two-wire type rotary encoder HG-KR, HG-MR servo motor (4194304 pulses/rev) Drive part Servo ampli.
17. APPLICATION OF FUNCTIONS 17 - 66 17.3.2 Scale measurement encoder POINT Always use the scale measurement encoder cable introduced in this section. Using other products ma y cause a malfunction. For details of the scale measurement encoder specifications, performance and assurance, contact each encoder manufacturer.
17. APPLICATION OF FUNCTIONS 17 - 67 2) MR-J4-_B_-RJ servo amplifier You can connect the linear encoder without using a branch cable shown in 1) for MR-J4-_B_-RJ servo amplifier.
17. APPLICATION OF FUNCTIONS 17 - 68 (4) MR-J4FCCBL03M branch cable Use MR-J4FCCBL03M branch cable to connect the scale measurement encoder to CN2 connector. When fabricating the branch cable using MR-J3T HMCN2 connector set, refer to "Linear Encoder Instruction Manual".
17. APPLICATION OF FUNCTIONS 17 - 69 17.3.3 How to use scale measurement function (1) Selection of scale measurement function The scale measurement function is set with the co mbination of basic setting parameters [Pr.
17. APPLICATION OF FUNCTIONS 17 - 70 Select a polarity of the scale measurement encoder with the following "Load-side encoder pulse count polarity selection" and "Selection of A/B/Z-phase input interface encoder Z-phase connection judgement function" of [Pr.
APPENDIX App. - 1 App. 1 Peripheral equipment manufacturer (for reference) Names given in the table are as of February 2015. Manufacturer Reference NEC TOKIN NEC TOKIN Corporation Kitagawa Industries Kitagawa Industries Co., Ltd. JST J.S.T. Mfg. Co., Ltd.
APPENDIX App. - 2 (a) A package containing 24 cells or 12 batteries or less that are not contained in equipment are no longer exempt from the following: attachment of a handling label, submission of the Shipper's Declaration for Dangerous Goods, and a 1.
APPENDIX App. - 3 App. 3 Symbol for the new EU Battery Directive Symbol for the new EU Battery Directive (2006/66/EC) t hat is plastered to general -purpose AC servo battery is explained here. Note. This symbol mark is for EU countries only. This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and Annex II.
APPENDIX App. - 4 App. 4.2.1 Professional engineer Only professional engineers should mount MR-J4 servo amplifiers. Here, professional engineers should meet the all conditions below.
APPENDIX App. - 5 (1) Peripheral device and power wiring The followings are selected based on IEC/EN 61800-5-1, UL 508C, and CSA C22.2 No.14. (a) Power Wiring (local wiring and crimping tool) Use only copper wires for wiring. The following t able shows the wire sizes [AWG] and the crimp terminal symbols rated at 75 °C/60 °C.
APPENDIX App. - 6 (b) Selection example of MCCB and fuse Use T class fuses or molded-case circuit breaker (UL489 Listed MCCB) as the following table. The T class fuses and molded-case circuit breakers in t he table are selected examples based on rated I/O of the servo amplifiers.
APPENDIX App. - 7 (d) Grounding To prevent an electric shock, alwa ys connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. Do not connect two grounding cables to the same protective earth (PE) terminal.
APPENDIX App. - 8 (3) USA/Canada compliance This servo amplifier is designed in comp liance with UL 508C and CSA C22.2 No.14. (a) Installation The minimum cabinet size is 150% of each MR-J4 se rvo amplifier's volume. Also, design the cabinet so that the ambient temperature in the cabinet is 55 °C or less.
APPENDIX App. - 9 App. 4.2.5 Residual risk (1) Be sure that all safety related switches, rela ys, sensors, etc., meet t he required safety standards. (2) Perform all risk assessments and safety level certific ation to the machine or the system as a whole.
APPENDIX App. - 10 App. 4.3 Mounting/dismounting Installation direction and clearances CAUTION The devices must be installed in the spec ified direction. Not doing so may cause a malfunction. Mount the servo amplifier on a cabinet which meets IP54 in the correct vertical direction to maintain pollution degree 2.
APPENDIX App. - 11 App. 4.4 Electrical Installation and configuration diagram WARNING Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or damages to the product before starting the installation or wiring. CAUTION The installation complies with IEC/EN 60204-1.
APPENDIX App. - 12 The control circuit connectors described by rectangles ar e safely separated from the main circuits described by circles. The connected motors will be limited as follows.
APPENDIX App. - 13 App. 4.5 Signal App. 4.5.1 Signal The following shows MR-J4-10B signals as a typical example. CN3 1 2 3 5 4 6 7 9 8 10 11 12 13 14 15 16 17 18 19 20 DI1 MO1 DICOM LG DOCOM DICOM LZ DI2 MO2 EM2 LG MBR LBR LA LB LZR LAR ALM DI3 INP TOFB2 STO2 TOFB1 STO1 STOCOM 2 CN8 1 43 65 87 TOFCOM STO I/O signal connector App.
APPENDIX App. - 14 App. 4.6 Maintenance and service WARNING To avoid an electric shock, only qualif ied personnel should attempt inspections. For repair and parts replacement, c ontact your local sales office. App. 4.6.1 Inspection items It is recommended that the following points periodically be checked.
APPENDIX App. - 15 App. 4.6.2 Parts hav ing service lives Service lives of the following parts are listed below. However, the service lives vary depending on operation and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service lives.
APPENDIX App. - 16 App. 4.7 Transportation and storage CAUTION Transport the products correctly according to their mass. Stacking in excess of the limited number of product packages is not allowed. Do not hold the front cover to transport the servo amplifier.
APPENDIX App. - 17 App. 4.8 Technical data App. 4.8.1 MR-J4 servo amplifier Item MR-J4-10_/MR-J4-20_/ MR-J4-40_/MR-J4-60_/ MR-J4-70_/ MR-J4W2-22B/ MR-J4W2-44B/ MR-J4W2-77B/ MR-J4W3-222B/ MR-J4W3-444B .
APPENDIX App. - 18 App. 4.8.3 Mounting hole d a c b c d1 a1 e Servo amplifier Variable dimensions [mm] Screw size a a1 b c d d1 e MR-J4-10_(1)/MR-J4-20_(1)/ MR-J4-40_(1)/MR-J4-60_ 6 6 156 ± 0.5 6 M5 MR-J4-70_/MR-J4-100_ 12 12 156 ± 0.5 6 42 ± 0.3 M5 MR-J4-200_(4)/MR-J4-350_ 6 45 156 ± 0.
APPENDIX App. - 19 App. 5 MR-J3-D05 Safety logic unit App. 5.1 Contents of the package Open packing, and confirm the content of packing. Contents Quantity MR-J3-D05 Safety logic unit 1 Connector for CN9 1-1871940-4 (TE Connectivity) 1 Connector for CN10 1-1871940-8 (TE Connectivity) 1 MR-J3-D05 Safety Logic Unit Installation Guide 1 App.
APPENDIX App. - 20 App. 5.3 Cautions The following basic safety notes must be read carefully and fully in order to prevent injury to persons or damage to property. Only qualified personnel are authorized to install, start- up, repair or service the machines in which these components are installed.
APPENDIX App. - 21 (7) Perform all risk assessments and safety level certific ation to the machine or the system as a whole. It is recommended that a Certification Body final safety certification of the system be used.
APPENDIX App. - 22 App. 5.7 Functions and configuration App. 5.7.1 Summary MR-J3-D05 has two systems in which the each system has SS1 function (delay time) and output of STO function.
APPENDIX App. - 23 App. 5.7.3 When using MR-J3-D05 with an MR-J4 series servo amplifier (1) System configuration diagram The following shows the connection targets of the STO switch and STO release switch. POINT MR-D05UDL_M (STO cable) for MR-J3 series cannot be used.
APPENDIX App. - 24 (2) Connection example STO1 4 5 3 6 7 8 CN3 EM2 (B-axis) CN8 SDO1A+ 4A 4B SDO1A- SDI1A+ 1A 1B SDI1A- SDI2A+ SRESA+ SDO2A+ TOFA 3A 3B 1A 1B 6A 6B 8A SDI2A- SDO2A- SRESA- CN9 CN10 STO.
APPENDIX App. - 25 App. 5.8 Signal App. 5.8.1 Connector/pin assignment (1) CN8A Device Symbol Pin No. Function/application I/O division A-axis STO1 STO1A- STO1A+ 1 4 Outputs STO1 to A-axis driving device. Outputs the same signal as A-axis STO2. STO state (base shutdown): Between STO1A+ and STO1A- is opened.
APPENDIX App. - 26 (4) CN10 Device Symbol Pin No. Function/application I/O division A-axis shutdown 2 SDI2A+ SDI2A- 3A 3B Connect this device to a safety sw itch for A-axis driving device. Input the same signal as A-axis shutdown 1. STO state (base shutdown): Open between SDI2A+ and SDI2A-.
APPENDIX App. - 27 (b) Digital output interface DO-1 This is a circuit of collector output terminal of the output transistor. W hen the output transistor is turned on, collector terminal current will be appli ed for the output. A lamp, relay or photocoupler can be driven.
APPENDIX App. - 28 App. 5.8.3 Wiring CN9 and CN10 connectors Handle with the tool with care when connecting wires. (1) Wire strip (a) Use wires with size of AWG 24 to 20 (0.22 mm 2 to 0.5 mm 2 ) (recommended electric wire: UL1007) and strip the wires to make the stripped length 7.
APPENDIX App. - 29 2) Connecting wires a) Confirm the model number of the housing, contact and tool to be used. b) Insert the tool diagonally into the receptacle assembly. c) Insert the tool until it hits the surface of the receptacle assembly. At this stage, the tool is vertical to the receptacle assembly.
APPENDIX App. - 30 (b) Using a screwdriver To avoid damaging housings and springs when wiring wi th screwdriver, do not put excessive force. Be cautious when connecting. 1) Adjusting screw driver Diameter: 2.3 mm ± 0.05 mm Length: 120 mm or less Width: 2.
APPENDIX App. - 31 (3) Connector insertion Insert the connector all the way straight until you hear or feel clicking. When removing the connector, depress the lock part completely before pulling out. If the connector is pulled out without depressing the lock part completely, the housing, contact and/or wires may be damaged.
APPENDIX App. - 32 App. 5.9 LED display I/O status, malfunction and power on/off are disp layed with LED for each A-axis and B-axis. LED Definition LED Column A Column B SRES Monitor LED for start/reset Off: The start/reset is off. (The switch contact is opened.
APPENDIX App. - 33 App. 5.11 Troubleshooting When power is not supplied or FAULT LED turns on, refer the following table and take the appropriate action. Event Definition Cause Action Power is not supplied. Power LED does not turn on although power is supplied.
APPENDIX App. - 34 App. 5.12 Dimensions [Unit: mm] Rating plate 5 182 5 192 5 FG 9.75 5 mounting hole 12 168 6 86 80 2-M4 screw Approx. 22.5 9.75 Approx.
APPENDIX App. - 35 App. 5.13 Installation Follow the instructions in this section and install MR -J3-D05 in the specified direction. Leave clearances between MR-J3-D05 and other equipment including the cabinet.
APPENDIX App. - 36 No. Product Model Description 1) Connector MR-J3-D05 attachment connector Connector for CN9: 1-1871940-4 (TE Connectivity) Connector for CN10: 1-1871940-8 (TE Connectivity) 2) STO c.
APPENDIX App. - 37 App. 6 EC declaration of conformity The MR-J4 series servo amplifiers and MR-J3-D05 safety logic unit complies with the safety component laid down in the Machinery directive.
APPENDIX App. - 38.
APPENDIX App. - 39 App. 7 How to replace servo amp lifier without magnetic pole detection CAUTION Be sure to write the magnetic pole information of the servo amplifier before the replacement to the servo amplifier after the replacement. If the information before and after replacement are not the same, the servo motor may operate unexpectedly.
APPENDIX App. - 40 2) 3) 4) 1) App. 8 Two-wire type encoder cable for HG-MR/HG-KR Use a two-wire type encoder cable for the fully closed loop control by the MR-J4-_B_ servo amplifiers. For MR-EKCBL_M-_ encoder cables for HG-MR and HG -KR, up to 20 m cables are two-wire type.
APPENDIX App. - 41 App. 8.2 Connector set Connector set 1) Servo amplifier-side connector 2) Servo motor-side connector MR-ECNM Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) Connector set: 5.
APPENDIX App. - 42 App. 9 SSCNET III cable (SC-J3BUS_M-C) manufac tured by Mitsubishi Electric System & Service POINT For the details of the SSCNET III cables, contact your local s ales office. Do not look directly at the light generated from CN1A/CN1B connector of servo amplifier or the end of SSCNET III cable.
APPENDIX App. - 43 (2) Setting POINT When you use a linear servo motor, replac e the following left words to the right words. (servo motor) speed → (linear servo motor) speed CCW direction → Posit.
APPENDIX App. - 44 Setting value Output item Description Setting value Output item Description 0A Feedback position (Note 1, 2, 3) (±10 V/1 Mpulse) 1 [Mpulse] CW direction CCW direction 1 [Mpulse] 0 .
APPENDIX App. - 45 Note 1. Encoder pulse unit. 2. A vailable in position control mode 3. This cannot be used in the torque control mode. 4. This can be used with MR Configurat or2 with software version 1.19V or later. 5. This cannot be used in the speed control mode.
APPENDIX App. - 46 (b) Fully closed loop control FBN FBD Droop pulses Speed command Position control Speed control PWM Current control Current command Bus voltage Speed command Current encoder + Servo.
APPENDIX App. - 47 App. 11 Special specification App. 11.1 Amplifiers without dynamic brake App. 11.1.1 Summary This section explains servo amplifie rs without a dynamic brake. The things not explained in this section will be the same as MR-J4-_B_(-RJ).
APPENDIX App. - 48 App. 11.2 Without r egenerative resistor App. 11.2.1 Summary This section explains servo amplifie rs without a regenerative resistor. The things not explained in this section will be the same as MR-J4-_B_(-RJ). App. 11.2.2 Model The following describes what each block of a model name indicates.
APPENDIX App. - 49 App. 12 Driving on/off of main circuit power supply with DC power supply App. 12.1 Connection example The power circuit is common to all capacity type of se rvo amplifiers. For the signal and wirings not given in this section, refer to section 3.
APPENDIX App. - 50 App. 12.2 Magnetic contactor Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of 80 ms or less.
REVISION *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Mar. 2012 SH(NA)030106-A First edition Jun.
Print Data *Manual Number Revision Jun. 2012 SH(NA)030106-B Section 7.3.1 Section 8.1 Section 10.3 Section 10.3.2 Section 11.3 Section 11.4 Section 11.5 Section 11.5 (3) Section 11.5 (4) Section 11.7 (1) Chapter 12 Section 13.1.5 Section 13.3.2 (1) Section 13.
Print Data *Manual Number Revision Jun. 2012 SH(NA)030106-B Appendix. 10.1 Appendix. 13 The diagram is changed. Added. Sep. 2012 SH(NA)030106-C Section 3.2.1 Section 3.2.2 Section 3.10.2 (1) (b) Section 13.3.1 Section 13.4.1 (1) Section 13.4.2 (1) The diagram is changed.
Print Data *Manual Number Revision Feb. 2013 SH(NA)030106-D Section 4.1.2 (1) (b) 5) Section 4.1.2 (1) (c) 1) Section 4.1.2 (1) (c) 2) Section 4.1.2 (1) (c) 4) Section 4.1.2 (5) Section 4.2 (5) Section 4.5.3 (3) Chapter 5 Section 5.1.1 Section 5.1.4 Section 5.
Print Data *Manual Number Revision Feb. 2013 SH(NA)030106-D Section 11.3.4 (2) Section 11.3.4 (3) Section 11.4 (1) Section 11.4 (2) Section 11.4 (3), (4) Section 11.5 (3) Section 11.5 (4) Section 11.5 (6) Section 11.7 Section 11.7 (1) Section 11.7 (2) (a) Section 11.
Print Data *Manual Number Revision Feb. 2013 SH(NA)030106-D Section 16.2.3 (2) Section 16.3.1 (1) Section 16.3.1 (3), (4) Section 16.3.1 (6) Section 16.3.1 (7) Section 16.3.5 Section 16.3.6 Section 16.3.9 m) App. 4 App. 5 App. 6 App. 7 App. 8 App. 9 App.
Print Data *Manual Number Revision Aug. 2013 SH(NA)030106-E Section 11.3.3 (1) (a) Section 11.3.3 (1) (b) Section 11.3.3 (2) (a) Section 11.4 Section 11.4 (2) Section 11.5 (5) (a) Section 11.7 (2) (a) Section 11.7.3 Section 11.10 (1) Section 11.17 (2) Section 14.
Print Data *Manual Number Revision Oct. 2013 SH(NA)030106-F Section 7.1.3 Section 7.3 Section 7.3.1 (2) Section 7.3.2 (1) Section 7.3.2 (2) (a), (b) Section 7.4 (2) Section 8.1 Section 9.1 (1) (a) to (e) Section 9.1 (2) Section 10.1 Section 10.2 (1) Section 10.
Print Data *Manual Number Revision Oct. 2013 SH(NA)030106-F Section 11.16 Section 11.16 (1) Section 11.16 (2) (b) Section 11.16 (3) (a) Section 11.17 Section 11.17 (1) Section 11.17 (2) (b) Section 11.17 (4) (b) Section 11.18 Chapter 12 Section 14.1.2 (1) to (3) Section 14.
Print Data *Manual Number Revision Mar. 2014 SH(NA)030106-G Section 5.2.2 Section 5.2.3 Section 7.1.1 (1) Section 7.2.3 (1) Section 7.3.1 (2) Section 7.4 Section 7.4 (1) Chapter 8 Section 9.1 (3) Section 10.2 (1) Section 10.3.2 Section 10.5 Section 11.
Print Data *Manual Number Revision Jan. 2015 SH(NA)030106-H Section 3.1.2 Section 3.3.2 Section 3.3.3 (2) (a) Section 3.5.2 (2) Section 3.10.1 Section 4.3.1 (3) (c) Section 5.1 Section 5.2 Section 7.2.3 (1) (a) Section 7.2.4 (3) Section 7.3.2 Section 7.
Print Data *Manual Number Revision Feb. 2015 SH(NA)030106-J Section 5.2.1 Section 5.2.3 Section 5.2.4 Section 9.1 (1) (a) Section 9.1 (1) (b) Section 9.1 (1) (c) Section 9.1 (1) (d) Section 9.1 (1) (e) Section 9.1 (2) (a) Section 9.1 (2) (b) Section 9.
MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corpor ation in Japan and/or other countries. Microsoft, Windows, Internet Explorer, and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in th e United States, Japan, and/or other countries.
Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "P roduct" ari.
SH (NA) 030106-J (1502) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE General-Purpose AC Servo MR-J4-_B_(-RJ) .
Un punto importante, dopo l’acquisto del dispositivo (o anche prima di acquisto) è quello di leggere il manuale. Dobbiamo farlo per diversi motivi semplici:
Se non hai ancora comprato il Mitsubishi Electronics MR-J4-_B_(-RJ) è un buon momento per familiarizzare con i dati di base del prodotto. Prime consultare le pagine iniziali del manuale d’uso, che si trova al di sopra. Dovresti trovare lì i dati tecnici più importanti del Mitsubishi Electronics MR-J4-_B_(-RJ) - in questo modo è possibile verificare se l’apparecchio soddisfa le tue esigenze. Esplorando le pagine segenti del manuali d’uso Mitsubishi Electronics MR-J4-_B_(-RJ) imparerai tutte le caratteristiche del prodotto e le informazioni sul suo funzionamento. Le informazioni sul Mitsubishi Electronics MR-J4-_B_(-RJ) ti aiuteranno sicuramente a prendere una decisione relativa all’acquisto.
In una situazione in cui hai già il Mitsubishi Electronics MR-J4-_B_(-RJ), ma non hai ancora letto il manuale d’uso, dovresti farlo per le ragioni sopra descritte. Saprai quindi se hai correttamente usato le funzioni disponibili, e se hai commesso errori che possono ridurre la durata di vita del Mitsubishi Electronics MR-J4-_B_(-RJ).
Tuttavia, uno dei ruoli più importanti per l’utente svolti dal manuale d’uso è quello di aiutare a risolvere i problemi con il Mitsubishi Electronics MR-J4-_B_(-RJ). Quasi sempre, ci troverai Troubleshooting, cioè i guasti più frequenti e malfunzionamenti del dispositivo Mitsubishi Electronics MR-J4-_B_(-RJ) insieme con le istruzioni su come risolverli. Anche se non si riesci a risolvere il problema, il manuale d’uso ti mostrerà il percorso di ulteriori procedimenti – il contatto con il centro servizio clienti o il servizio più vicino.
