Manuale d’uso / di manutenzione del prodotto TM-RFM del fabbricante Mitsubishi Electronics
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SH (NA) 030079-A (1211) MEE Printed in Japan Specifications subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE J3 Series General-Purpose AC Servo MODEL (Se.
A - 1 Safety Instruc tions Pleas e rea d the ins truct ions caref ull y bef ore using the equ ipm ent. To use t he e quipm ent corre ctl y, do n ot at tem pt to inst all, o perate , m ainta in, or ins.
A - 2 1. To prevent electr ic shock , note the following WARNING Befor e wiri ng or ins pecti on, turn of f the po wer and wai t for 1 5 m inutes or m ore u nti l the c har ge lam p tur ns off . Then, c onf irm that t he v olta ge be twee n P( ) and N( ) is s afe with a vo ltag e tes ter and o th ers.
A - 3 3. To prevent injur y, note the f ollowing CAUTION Onl y the volt age s pec ifie d in the I nstruc ti on M anua l sho uld be ap plied to e ach term ina l, Oth erw ise, a burs t, damage, etc . m ay occ ur. Connec t the term inals cor rec tl y to pre vent a burs t, dam ag e, etc .
A - 4 CAUTION Do not s ubj ect th e ro tor of the direc t dr ive m otor to m ore t han t he p erm iss ible lo ad. Other wise, the r otor may br eak. W hen the eq uipm ent has be en s tored f or an ext ende d p eriod of t im e, contac t your l ocal s al es of fice.
A - 5 CAUTION Connec t the ser vo am plif ier power s upp ly ou tput ( U, V, and W ) to the d irect dr i ve motor p ower s upp ly in put (U, V, and W ) direc tl y. Do not let a m agnetic contac tor, etc. i nterv ene. Oth er wise, it ma y cause a ma lfunctio n.
A - 6 (5) Corre ctive actions CAUTION W hen it is ass um ed that a h azard ous c onditi on m a y take p lace at th e oc cur d ue t o a p ower f ail ure or a produc t fa ult, us e a direct dr ive m otor with a n ex terna l br ak e m echanism f or the p urpos e of prev enti on.
A - 7 DISPOSAL OF WASTE Pleas e dis pose a s ervo am plif ier, b at ter y (prim ar y batt er y) an d oth er op tions ac cord ing t o your loc al laws and regul ations . EEP-ROM life The num ber of write tim es to t he EE P-RO M, wh ich s tor es par ameter sett ings , etc.
A - 8 Rele vant m anuals Manual nam e Manual No. MELSERVO-J 3 Series Instruc tions and Cautions for S afe Use of AC Servos IB(NA)030007 7 MELSER VO-J3 Se ries M R-J3- B Servo Am plifi er Inst ruction Manual SH(NA)030 051 This Instr uctio n Ma nual des cribes the f unc tions uni que t o the SSC NET Interface Dir ect Dr ive S ervo.
1 CONTENTS 1. FUNCT IONS AN D CONF IGURAT ION 1 - 1 to 1 -12 1.1 Sum m ary .................................................................................................................... .............................. 1 - 1 1.2 Ser vo am plifi er st andar d spec if ic ations .
2 4. OP ERAT ION AND FUN C TIO NS 4 - 1 t o 4 -1 8 4.1 Star tup .................................................................................................................... .................................. 4 - 1 4.2 Mag netic pol e det ectio n .
3 9.1.1 Com bi nations of cable and c onnect or se t .................................................................................. ...... 9 - 2 9.1.2 E ncoder con nector set ........................................................................
4 MEM O.
1. FUNCTIONS AND CONFI GURATION 1 - 1 1. FUNCTIONS A ND CONFIGURATION 1.1 Summ ar y To m eet high-ac curac y and high-efficiency requirem ents in areas including sem ic onductor and liquid cr ystal related m achines, and s urf ace m ount device plac em ent ma chines, a system with a direct drive m otor in a dr ive axis has been inc reased.
1. FUNCTIONS A ND CONFIGURATION 1 - 2 Differenc es Classifica tion Item Direct dri ve servo (MR-J3- B-RJ080W ) MR-J 3- B Remar ks External I/O s ignal Stroke l im it input s ignal (FLS, RLS ) Required (when magnet ic pole is detected) Not required Autom atic ally turns on in the paramet er setti ng.
1. FUNCTIONS A ND CONFIGURATION 1 - 3 1.2 Servo am plifier s tandard s pecific ations Servo ampli fier MR-J 3- -RJ080W Item 20B 40B 60B 70B 100B 350B 500B Rated voltage 3-phase 170VAC Output Rated current [A] 1.
1. FUNCTIONS A ND CONFIGURATION 1 - 4 1.3 Function list The f ollowing table lists the func tions of this ser vo. For details of the func tions, ref er to the ref erence f ield. Function Des cript ion Reference Absolut e positi on detect ion system Merely setting a hom e pos ition onc e mak es hom e posit ion return unneces sary at every power-on.
1. FUNCTIONS A ND CONFIGURATION 1 - 5 1.4 Model code definition (1) Rating plate MODEL MADE IN JAPAN MITSUBISHI ELECTRIC CORPORATION MR-J3-20B-RJ080W AC SERVO DATE: 2012-11 POWER INPUT OUTPUT SERIAL KCC-REI-MEK-TC300A***G51 200W 1.5A 3PH+1PH200-230V 50Hz 3PH+1PH200-230V 60Hz 2.
1. FUNCTIONS A ND CONFIGURATION 1 - 6 1.6 Parts identif ication (1) MR-J3-100B- RJ080W or les s Charge lamp Lit to indicate that the main c ircuit is charged.
1. FUNCTIONS A ND CONFIGURATION 1 - 7 (2) MR-J 3-350B-RJ080W Connector for manufacturer setting (CN2L) Not used fo r this ser vo amplifier . SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier.
1. FUNCTIONS A ND CONFIGURATION 1 - 8 (3) MR-J 3-500B-RJ080W POINT The s ervo am plifier is shown without the front cover . For r em oval of the f ront cover, refer to s ection 1.7.2 of the MR-J3- B Ser vo Am plifier Ins truct ion Manual. SSCNET cable connect or (CN1B) Used to connect the rear axis servo amplifier.
1. FUNCTIONS A ND CONFIGURATION 1 - 9 1.7 Configuration inc luding auxiliary equipment POINT Equipment other than the servo am plif ier and direc t drive m otor are optional or recom m ended products .
1. FUNCTIONS A ND CONFIGURATION 1 - 10 (2) MR-J 3-350B-RJ080W R S T Servo amplifier MR C onf igur ator Personal computer Line noise filter (FR-BLF) Magnetic contactor (MC) Molded-case circuit breaker .
1. FUNCTIONS A ND CONFIGURATION 1 - 11 (3) MR-J 3-500B-RJ080W Servo amplifier MR Config urat or Personal computer Line noise filter (FR-BLF) Magnetic contactor (MC) Molded-case circuit b reaker (MCCB).
1. FUNCTIONS A ND CONFIGURATION 1 - 12 MEMO.
2. DIRECT DRI VE MOTOR 2 - 1 2. DIRECT DRIVE MOTOR 2.1 Rating plate AC DIRECT DRIVE MOTOR TM-RFM002C20 INPUT 3AC 45.7V 1.2A 200r/min IP42CI.F 5.2kg SER.No. 000000 12Y TORQUE 2Nm Model Input power supply Rated output Rated speed, IP rating, Insulation class, Mass Serial number (Note) Country of origin Note.
2. DIRECT DRIVE MOTOR 2 - 2 2.3 Installation W ARNING To prevent elec tric s hock , ground each equipm ent s ecurely. CAUTION Stack ing in excess of the lim ited num ber of produc t pack ages is not allowed. Install the equipm ent on incom bus tible m aterial.
2. DIRECT DRIVE MOTOR 2 - 3 2.3.1 Equipment c onfigur ation This section ex plains the system configur ation with a direct drive motor . Note the following points when using a direct dr ive m otor.
2. DIRECT DRIVE MOTOR 2 - 4 2.3.2 Installation orientation The f ollowing table indicates the installation or ientation of the dir ect drive m otor. Direct dri ve mot or series Directi on of inst allat ion TM-RFM May be installed i n any directi on. 2.
2. DIRECT DRIVE MOTOR 2 - 5 2.3.5 Protection f rom oil and water Provide adequate protection to pr event foreign m atter , such as oil and water from enter ing the direct drive m otor rotor. W hen ins talling the direct dr ive m otor, cons ider the item s in this section.
2. DIRECT DRIVE MOTOR 2 - 6 2.3.6 Inspection W ARNING Before s tarting m aintenance and/or ins pection, turn of f the power and wait for 15 minutes or m ore until the char ge lam p turns of f. T hen, conf irm that the voltage between P( ) and N( ) is s afe with a voltage tester and other s.
2. DIRECT DRIVE MOTOR 2 - 7 2.3.8 Machine accur acies The f ollowing table indicates the m achine acc uracies of the direc t drive m otor around the r otor (output s haft) and mounting. ( except the optional pr oducts) Item Measured part Ac curacy [ mm ] Runout of fl ange surfac e about rotor (out put shaf t) a 0.
2. DIRECT DRIVE MOTO R 2 - 8 2.4 Connectors us ed for dir ect drive m otor wiring POINT The IP rating indic ated is the connec to r's pr otection against ingr ess of dust and water when the connector is c onnected to a ser vo amplif ier, direc t drive m otor and absolute position stor age unit.
2. DIRECT DRIVE MOTOR 2 - 9 2.4.2 W iring connector s (Connec tor conf igurations A B C D E F) Cord clamp Plug Plug (Hirose El ectric) Recomm ended cable (Bando Densen) Connector configuration Feature.
2. DIRECT DRIVE MOTOR 2 - 10 Cable clamp Plug Plug (DDK ) Cable clamp (DDK) Connector configuration Feature Type Model name Overall diameter of cable [mm] (Reference) Model name Direct drive m otor power supply connector (Note 2) 9.5 to 13 C E3057-12A-2-D IP67 EN compli ant CE05-6A2 2-22 SD-D-BSS Applicable wire size: AW G 10 to 8 12.
2. DIRECT DRIVE MOTOR 2 - 11 2.4.3 Connector outline drawings The c onnector outline drawings f or wiring the direct dr ive m otor are shown below. (1) Hirose Electric (a) RM15W T PZK-12S RM15W TPZ -12P(72) Model Connector c onfigurati on (Note) RM15W TPZK-12S A RM15W TPZ-12P(72) F Note.
2. DIRECT DRIVE MOTOR 2 - 12 (b) CE05- 6A18-10SD-D- BSS CE05-6A22-22SD- D-BSS CE05-6A32-17SD- D-BSS [Unit: mm] A D W Positioning key Model A B 0 0.38 C 0.8 D or l ess W Connec tor conf iguration (Note) CE05-6 A18-10 SD-D- BSS 1 1/8-18 UNEF-2B 34.13 32 .
2. DIRECT DRIVE MOTOR 2 - 13 (d) D/MS3106B14S-2S D/MS3106B18-10S D/MS3106B22-22S D/MS3106B32-17S [Unit: mm] L or less W A V Y or le ss J 0.12 Q Model name A J L Q V W Y Connector configurat ion (Note) D/MS3106B14S-2S 7/8-20UNEF 13.49 42. 88 28.57 3/4-20UNEF 8.
2. DIRECT DRIVE MOTOR 2 - 14 (3) Daiwa Dengyo [Unit: mm] Hexagonal width across corners D1 Hexagonal width across flats D A Hexagonal width across flats D2 Hexagonal width across corners D3 L O-ring M.
2. DIRECT DRIVE MOTOR 2 - 15 2.5 TM-R FM series direct dr ive motor This section pr ovides inf orm ation on the spec ifications and charac teristics of the direc t drive m otor. W hen using the TM-R FM series direct drive m otor , alway s read the Safety Instructions in the beginning of this m anual in addition to this sec tion.
2. DIRECT DRIVE MOTOR 2 - 16 2.5.2 Specific ation list TM-RFM series Direct dri ve mot or Item 002C20 004C20 006C20 006E20 012E20 018E 20 Motor outer diam eter (Fram e dim ensions) [m m] 130 180 Compa.
2. DIRECT DRIVE MOTOR 2 - 17 TM-RFM series Direct dri ve mot or Item 012G20 048G20 072G20 040J 10 120J10 240J10 Motor outer diam eter (Fram e dim ensions) [m m] 230 330 Compat ible servo am plif ier m.
2. DIRECT DRIVE MOTOR 2 - 18 Note 1. W hen the power supply voltage drops , the out put and the rat ed speed cannot be guaranteed. 2. If t he load inertia m om ent rati o exceeds the indic ated value, please c ontact your local s ales of fice. 3. Note that t he power supply equipment c apacity will vary according to the power supply im pedance.
2. DIRECT DRIVE MOTOR 2 - 19 2.5.3 Torque c haracter istic POINT W hen using a m achine which gener ates unbalanced tor que including a vertic al axis, use an abs olute position detection s ystem (Rr efer to s ection 2.3.1 (4) ). It is recom m ended that the unbalanced tor que is 70% or less of the rated tor que.
2. DIRECT DRIVE MOTOR 2 - 20 2.5.4 Outline dim ension drawings The ac tual dimens ions m ay be 1mm to 3m m larger. Des ign the mac hine side with som e allowances. Apply general tolerances for the dim ens ions without tolerances. Model Output [W ] Inertia m om ent J [ 10 -4 kg m 2 ] (W K 2 [oz in 2 ]) Mass [kg] ([lb]) TM-RFM002C20 42 10.
2. DIRECT DRIVE MOTOR 2 - 21 Model Output [W ] Inertia m om ent J [ 10 -4 kg m 2 ] (W K 2 [oz in 2 ]) Mass [kg] ([lb]) TM-RFM004C20 84 16.6 (90.8) 6.8 (15) [Unit: mm] BC36497A RM15WTRZB-12P(72) 6-M5 s.
2. DIRECT DRIVE MOTOR 2 - 22 Model Output [W ] Inertia m om ent J [ 10 -4 kg m 2 ] (W K 2 [oz in 2 ]) Mass [kg] ([lb]) TM-RFM006C20 126 22.4 (122) 8.4 (19) [Unit: mm] 1 5 0 Top BC35566B RM15WTRZB-12P(.
2. DIRECT DRIVE MOTOR 2 - 23 Model Output [W ] Inertia m om ent J [ 10 -4 kg m 2 ] (W K 2 [oz in 2 ]) Mass [kg] ([lb]) TM-RFM006E20 126 74.0 (405) 11 (25) [Unit: mm] Top BC36498A RM15WTRZB-12P(72) 6-M.
2. DIRECT DRIVE MOTOR 2 - 24 Model Output [W ] Inertia m om ent J [ 10 -4 kg m 2 ] (W K 2 [oz in 2 ]) Mass [kg] ([lb]) TM-RFM012E20 251 111 (607) 15 (33) [Unit: mm] 2 0 5 Top (Earth) BC36499A RM15WTRZ.
2. DIRECT DRIVE MOTOR 2 - 25 Model Output [W ] Inertia m om ent J [ 10 -4 kg m 2 ] (W K 2 [oz in 2 ]) Mass [kg] ([lb]) TM-RFM018E20 377 149 (815) 18 (40) [Unit: mm] BC35508C Top RM15WTRZB-12P(72) Enco.
2. DIRECT DRIVE MOTOR 2 - 26 Model Output [W ] Inertia m om ent J [ 10 -4 kg m 2 ] (W K 2 [oz in 2 ]) Mass [kg] ([lb]) TM-RFM012G20 251 238 (1300) 17 (38) [Unit: mm] BC36599* RM15WTRZB-12P(72) Top Bot.
2. DIRECT DRIVE MOTOR 2 - 27 Model Output [W ] Inertia m om ent J [ 10 -4 kg m 2 ] (W K 2 [oz in 2 ]) Mass [kg] ([lb]) TM-RFM048G20 1005 615 (3360) 36 (80) [Unit: mm] 2 6 0 BC36503A RM15WTRZB-12P(72) Encoder connector Power supply connector CE05-2A18-10PD-D Arrow B 2 2-M10 screw depth 19.
2. DIRECT DRIVE MOTOR 2 - 28 Model Output [W ] Inertia m om ent J [ 10 -4 kg m 2 ] (W K 2 [oz in 2 ]) Mass [kg] ([lb]) TM-RFM072G20 1508 875 (4780) 52 (115) [Unit: mm] Top Bottom 230 BC35567A RM15WTRZ.
2. DIRECT DRIVE MOTOR 2 - 29 Model Output [W ] Inertia m om ent J [ 10 -4 kg m 2 ] (W K 2 [oz in 2 ]) Mass [kg] ([lb]) TM-RFM040J10 838 1694 (9260) 53 (120) [Unit: mm] Top Bottom BC36505* RM15WTRZB-12P(72) Encoder connector Power supply connector CE05-2A22-22PD-D Arrow B 2 2-M12 screw depth 25.
2. DIRECT DRIVE MOTOR 2 - 30 Model Output [W ] Inertia m om ent J [ 10 -4 kg m 2 ] (W K 2 [oz in 2 ]) Mass [kg] ([lb]) TM-RFM120J10 2513 3519 (19200) 91 (205) [Unit: mm] Top Bottom BC36507* RM15WTRZB-12P(72) Encoder connector Power supply connector CE05-2A22-22PD-D Arrow B 2 2-M12 screw depth 25.
2. DIRECT DRIVE MOTOR 2 - 31 Model Output [W ] Inertia m om ent J [ 10 -4 kg m 2 ] (W K 2 [oz in 2 ]) Mass [kg] ([lb]) TM-RFM240J10 5027 6303 (34500) 146 (325) [Unit: mm] Top Bottom BC36705* RM15WTRZB-12P(72) Encoder connector Power supply connector CE05-2A32-17PD-D Arrow B 2 2-M12 screw depth 25.
2. DIRECT DRIVE MOTOR 2 - 32 2.5.5 Connection of s ervo am plifier and direct dr ive m otor W ARNING Any person who is involved in wiring should be f ully com petent to do the work . Ground the direc t drive m otor s ecurely. Do not attempt to wire the direc t drive m otor until it has been installed.
2. DIRECT DRIVE MOTOR 2 - 33 (1) Connection instr uctions CAUTION To avoid a m alf unction, connec t the power supply phases (U, V, and W ) of the servo am plifier and the dir ect drive m otor corr ectly. Do not connect AC power supply directly to the direct drive m otor.
2. DIRECT DRIVE MOTOR 2 - 34 MEMO.
3. SIGNALS AND WIRING 3 - 1 3. SIGNALS AND W IRING W ARNING Any pers on wh o is inv olved in wiring s houl d be ful ly com peten t to do the work . Befor e wiri ng, t urn of f th e po wer and wait for 15 m inutes or m ore u ntil th e char ge lamp tur ns of f.
3. SIGNALS AND W IRING 3 - 2 3.1 P r ecauti ons for thi s chapt er The f ollow ing it em s are n ot desc ribe d in this c ha pter. Sinc e th ese des cri ptio ns ar e t he sam e as thos e of MR- J3- B Servo Ampli fier, refer to the MR-J3- B Ser vo Am plif ier Instr uct ion Manu al.
3. SIGNALS AND W IRING 3 - 3 3.2.1 Selec tio n ex am ple of wires POINT Sel ectio n condi tion of wire size i s as follow s. Constr uctio n cond ition: One wire is cons truc ted in th e air W ire leng.
3. SIGNALS AND W IRING 3 - 4 3.2.2 Co nnec tio n exam ple (1) For 3- phase 200 to 23 0VAC power sup pl y to MR- J3-2 0B-RJ 080W to MR-J3- 100B- RJ08 0W MR-J3- 350B- RJ08 0W (Note 4) EM1 ALM DICOM DOCO.
3. SIGNALS AND W IRING 3 - 5 (2) For 1- phase 200 to 23 0VAC power sup pl y to MR- J3-2 0B-RJ 080W to MR-J3- 70 B-RJ080W DICOM EM1 L 1 L 2 L 3 1-phase 200 to 230VAC Servo amplifier ALM P 1 P 2 P DOCOM.
3. SIGNALS AND W IRING 3 - 6 (3) MR-J3-500B -RJ080W MC ( Not e 8) MCCB L 1 L 2 L 3 3-phase 200 to 230VAC Servo amplifier C P U V W TE1 PE L 11 L 21 TE2 Direct drive motor U V W M Motor Encoder CN2 Enc.
3. SIGNALS AND W IRING 3 - 7 3.3 I/O sign al co nnec tion ex am ple POINT For det ails of eac h s igna l, re fer to c hapter 3 of t he MR-J 3- B Servo Amplifier Inst ructio n Manu al.
3. SIGNALS AND W IRING 3 - 8 Note 1 To prevent an electri c shock, always c onnect t he protect ive earth (PE ) term inal ( ) of the servo am plifi er to the prot ective eart h (PE) of t he cabinet.
3. SIGNALS AND W IRING 3 - 9 3.4 C onnect or a nd si gnal ar rang em ents POINT The p in conf igur atio ns of th e co nnector s ar e as vie wed from the c able c onn ector wiring section . The s ervo am plifie r fr ont view s ho wn is for MR-J 3-2 0B-RJ 080W or less.
3. SIGNALS AND W IRING 3 - 10 3.5 Inter na l con nect ion di agram 3.5.1 Inc rem enta l s ystem 3 EM1 CN3 20 DI1 2 DI2 12 DI3 19 DICOM 5 3 CN3 10 13 9 15 DICOM INP ALM CN3 6 16 7 17 8 18 LA LAR LB LBR LZ LZR CN3 MO1 MO2 LG 4 14 11 Differ ential li ne driver output (35m A or less) <Isolated> Approx.
3. SIGNALS AND W IRING 3 - 11 3.5.2 Absolu te pos itio n dete ctio n s ystem 3 EM1 CN3 20 DI1 2 DI2 12 DI3 19 DIC OM 5 3 CN3 10 13 9 15 DICOM INP ALM CN3 6 16 7 17 8 18 LA LAR LB LBR LZ LZR CN3 MO1 MO.
3. SIGNALS AND W IRING 3 - 12 MEM O.
4. OPERATION AND FUNCTI ONS 4 - 1 4. OPERAT ION AND FUNCTIONS 4.1 Startup Start up the direct dr ive servo ref erring to the f ollowing procedure. Absolute position detection system Execution of insta.
4. OPERAT ION AND FUNCTIONS 4 - 2 4.2 Magnetic pole detection POINT Magnetic pole detection is not r equired f or the conf igured absolute pos ition detection system where the Z- phase pulse c an be turned on m anually.
4. OPERAT ION AND FUNCTIONS 4 - 3 4.2.2 Driving when magnetic pole is detected W ARNING Note that the m agnetic pole detection is autom atic ally started sim ultaneous ly w ith turning on the servo-on c om m and. CAUTION If the m agnetic pole detection is not executed pr operly, the direct drive m otor m ay run unexpectedly.
4. OPERAT ION AND FUNCTIONS 4 - 4 (1) For the incr em ental system For the incr em ental system, the m agnetic pole detec tion is requir ed every time the power is turned on. By turning on the servo-on c om m and from the c ontroller af ter the power-on, the m agnetic pole detec tion is automatic ally carried out.
4. OPERAT ION AND FUNCTIONS 4 - 5 (2) For the absolute pos ition detection system POINT Be sure to turn on the Z -phase pulse in J OG oper ation after the m agnetic pole detection. Carry out the magnetic pole detec tion refer ring the following procedur e.
4. OPERAT ION AND FUNCTIONS 4 - 6 4.2.3 Magnetic pole detection m ethod setting Set a magnetic pole detection m ethod to the 1st digit ( m ethod selection f or the m agnetic pole detec tion) of param eter No.PS08. Method selection f or the magnetic pole detection 0: Position detection method 4: Minute position detection method Parame ter No .
4. OPERAT ION AND FUNCTIONS 4 - 7 (3) Setting exam ple 30 35 40 45 65 70 Existence o r no nexistence Parameter No.PS09 setting value Carry out the magnetic pole detection repeatedly while making the setting value of the parameter No.PS09 larger. An alarm has occurred when the setting value of the param eter No .
4. OPERAT ION AND FUNCTIONS 4 - 8 4.2.5 Magnetic pole detection m ethod using MR Conf igurator The f ollowing shows the procedure of the m agnetic pole detection us ing MR Configur ator. (1) Magnetic pole detection us ing position detection m ethod Change to "Magnetic pole de tection invalid" by setting the p arameter No.
4. OPERAT ION AND FUNCTIONS 4 - 9 (2) Magnetic pole detection us ing minute pos ition detection m ethod Change to "Magnetic pole detection invalid" by se tting the parameter No.PS01 (Special f unction select ion 1) to " 0 ". ( Note 1) Change to "Magnetic pole detection always valid" by setting the param eter No.
4. OPERAT ION AND FUNCTIONS 4 - 10 (3) Tr ansition of the s ervo am plifier display (3-digit 7-segm ent LED) when detecting m agnetic poles The s ervo am plifier dis play (3-digit 7-segm ent LED) shif ts as shown below when the magnetic poles ar e detected properly using MR Configurator .
4. OPERAT ION AND FUNCTIONS 4 - 11 4.3.2 Servo system c ontroller setting (1) Set tin g instruct ion s W hen using the direc t drive ser vo, set it as desc ribed in this s ection. For other servo param eter s and positioning control par am eters, set them in the s am e m ethod as that of MR- J3- B ser vo am plifier .
4. OPERAT ION AND FUNCTIONS 4 - 12 (2) Sequence program ex am ple of ser vo param eters on the pos itioning m odule POINT For QD74MH /Q D75MH , the param eter err or (37) will occ ur if s ervo param eters ar e not initialized. The num ber of write tim e to the flas h ROM is lim ited to 100,000.
4. OPERAT ION AND FUNCTIONS 4 - 13 (a) Sequence program exam ple when QD74MH is used The f ollowing shows the exam ple of writing the axis No.1 servo param eter to the flash RO M. After c hanging the servo param eter, tur n on the power of QD74MH again or reset the CPU, then send the setting value to the ser vo am plifier.
4. OPERAT ION AND FUNCTIONS 4 - 14 (b) Sequence program exam ple when QD75MH is used The f ollowing shows the exam ple of writing the axis No.1 servo param eter to the flash RO M. After c hanging the servo param eter, tur n on the power of QD75MH again or reset the CPU, then send the setting value to the s ervo am plifier.
4. OPERAT ION AND FUNCTIONS 4 - 15 (3) QD75MH buff er m em ory address of special s etting param eter ( No.PS ) Descript ion Buffer m em ory address No.
4. OPERAT ION AND FUNCTIONS 4 - 16 4.4 Servo control err or detection f unction POINT For the ser vo control err or detection f unction, the position and s peed deviation error detec tions are enabled as f actor y -set.
4. OPERAT ION AND FUNCTIONS 4 - 17 (2) Speed deviation error detec tion Set the param eter No.PS04 to " 2" to mak e the speed deviation err or detection enabled. Speed deviation error detection valid 2 Parameter No. PS04 If there is a deviation larger than the setting value ( 1 to 2000r/m in) of the param eter No.
4. OPERAT ION AND FUNCTIONS 4 - 18 MEMO.
5. PARAMETERS 5 - 1 5. PARAMETERS CAUTION Never adjust or change the param eter values extrem ely as it will mak e operation instable. If f ixed values are written in the digits of a param eter , do not change these values.
5. PARAMETERS 5 - 2 Param eter No.PA 19 setting Setting operation Basic settin g paramet ers No.PA Gain/filter paramet ers No.PB Extension set ting paramet ers No.PC I/O setting paramet ers No.PD Special s etti ng paramet ers No.PS Reference 000Dh (initial value) Wri te Reference 100Bh Wr it e Param eter No.
5. PARAMETERS 5 - 3 5.2.2 List of details Classi ficat ion No. Symbol Name and f unction Initial value Uni t Set ting range PA01 For m anufac turer set ting Do not change t his value by any m eans.
5. PARAMETERS 5 - 4 Classi ficat ion No. Symbol Name and funct ion Initial value Uni t Set ting range PA19 *BLK Paramet er write inhibit 000Dh Applicable param eters Setting Operation No.
5. PARAMETERS 5 - 5 5.3 Gain/Filter par am eters (No.PB ) 5.3.1 Param eter list POINT For details of the param eters in which colum ns MR- J3- B is written, r efer to the MR-J3- B Servo Am plif ier Instr uction Manual s ection 5.2. The param eter whose symbol preceded by * can be validated with the following conditions.
5. PARAMETERS 5 - 6 5.4 Extension se tting param eters ( No.PC ) 5.4.1 Param eter list POINT For details of the param eters in which colum ns MR- J3- B is written, r efer to the MR-J3- B Servo Am plif ier Instr uction Manual s ection 5.3. The param eter whose symbol preceded by * can be validated with the following conditions.
5. PARAMETERS 5 - 7 5.5 I/O setting param eter s (No.PD ) 5.5.1 Param eter list POINT For details of the param eters in which colum ns MR- J3- B is written, r efer to the MR-J3- B Servo Am plif ier Instr uction Manual s ection 5.4. The param eter whose symbol preceded by * can be validated with the following conditions.
5. PARAMETERS 5 - 8 5.6 Special setting param eter s (No.PS ) 5.6.1 Param eter list POINT The param eter whose symbol preceded by * can be validated with the following conditions. * : Turn of f the power and then on again, or reset the contr oller after setting the param eter.
5. PARAMETERS 5 - 9 5.6.2 List of details Classi ficat ion No. Symbol Name and f unction Initial value Uni t Set ting range Special setti ng parameters PS01 *LIT1 Special func tion s electi on 1 The magnet ic pole det ection s etti ng, the vali d/invalid s etti ng of the direc t drive mot or therm istor c an be selec ted.
5. PARAMETERS 5 - 10 Classi ficat ion No. Symbol Name and f unction Initial value Uni t Set ting range PS06 LB2 Servo control speed deviat ion error detec tion level Used to s et the s peed deviation error det ection l evel of t he servo cont rol error detecti on.
5. PARAMETERS 5 - 11 Classi ficat ion No. Symbol Name and f unction Initial value Uni t Set ting range PS17 LTSTS Minute posit ion detect ion m ethod func tion sel ection Used to s et the res ponse and the load t o mot or inertia m om ent rati o of the m inute posi tion detec tion m ethod.
5. PARAMETERS 5 - 12 MEMO.
6. TROUBLESHOOTING 6 - 1 6. TROUBLESHOOTING POINT Alarm s and warnings ar e basically the same as those of MR-J3- B s ervo amplif ier. T his c hapter desc ribes the contents diff erent f rom those of MR-J3- B servo am plif ier. As soon as an alar m occur s, m ak e the servo-of f s tatus and interrupt the m ain circuit power.
6. TROUBLESHOOTING 6 - 2 6.2 Remedies for alarm s CAUTION W hen any alarm has occ urred, elim inate its cause, ensur e saf ety , then reset the alarm , and restar t operation. Otherwise, inj ury may occur. If an absolute pos ition erase (25) occur red, alway s m ak e home pos ition setting again.
6. TROUBLESHOOTING 6 - 3 Display Nam e Definition Cause Act ion 1F Encoder com bination error W rong com binati on of servo am plifi er and encoder. W rong com binat ion of servo am plif ier and encoder. Use correc t com binat ion. 20 E ncoder error 2 Refer to chapter 8 of t he MR-J3- B Servo Ampl ifier I nstruc tion Manual.
6. TROUBLESHOOTING 6 - 4 Display Nam e Definition Cause Act ion 30 Regenerative error Refer to c hapter 8 of the MR-J 3- B Servo Am plif ier Inst ructi on Manual. 31 Overspeed 32 Overcurrent 33 Overvoltage 34 Rec eive error 1 35 Comm and frequency alarm 36 Rec eive error 2 37 Param eter error 42 Servo control error Servo cont rol error occurred.
6. TROUBLESHOOTING 6 - 5 Display Nam e Definition Cause Act ion 50 Overl oad1 1. Servo am plifi er is us ed in excess of its c ontinuous output c urrent. 1. Reduce load. 2. Check operation patt ern. 3. Replace di rect drive m otor t hat provides larger output.
6. TROUBLESHOOTING 6 - 6 Display Nam e Definition Cause Act ion 52 E rror excessive Refer to chapt er 8 of the MR-J3- B Servo Am plif ier Ins truct ion Manual.
6. TROUBLESHOOTING 6 - 7 Display Nam e Definition Cause Act ion E0 Ex cessiv e regeneration warning Refer to c hapter 8 of the MR-J 3- B Servo Am plif ier Inst ructi on Manual. E1 Overload warning 1 E2 1. Ambient tem perature of direc t drive mot or is over 40 (104 ).
6. TROUBLESHOOTING 6 - 8 MEMO.
7. SERVO AMPLIFIER OUTLINE DRAWI NGS 7 - 1 7. SERVO AMPLIFIER OUTLINE D RAW INGS POINT For the outline drawings of connector s, ref er to section 9.2 of the MR-J 3- B Servo Am plifier Ins truct ion Manual. (1) MR-J 3-20B-RJ080W [Unit: mm] 135 168 161 156 6 6 4 6 6 40 Approx.
7. SERVO AMPLIFIER OUTLINE D RAW INGS 7 - 2 (2) MR-J 3-40B-RJ080W MR-J3- 60B-RJ080W [Unit: mm] Ap pro x. 25 .5 6 6 5 161 168 6 Approx. 170 40 6 Approx.
7. SERVO AMPLIFIER OUTLINE D RAW INGS 7 - 3 (3) MR-J 3-70B-RJ080W MR-J3- 100B-RJ080W [Unit: mm] Approx. 25.5 Cooling fan air intake Exhaust 6 mounting hole 60 12 12 42 6 156 6 161 168 6 185 6 Approx. 80 CNP3 CNP1 CNP2 Approx. 14 Approx. 68 With M R-J3BA T Mass: 1.
7. SERVO AMPLIFIER OUTLINE D RAW INGS 7 - 4 (4) MR-J 3-350B-RJ080W [Unit: mm] Approx. 14 Approx. 25.5 90 168 6 78 6 45 6 156 6 195 21.4 Approx. 80 Ap pro x.
7. SERVO AMPLIFIER OUTLINE D RAW INGS 7 - 5 (5) MR-J 3-500B-RJ080W [Unit: mm] 2- 2- 6 mounting hole With MR-J3BAT Approx. 80 Cooling fan exhaust Air intake 3 places for ground (M4) Built-in regenerative resistor lead terminal fixing screw 200 20.5 6 68.
7. SERVO AMPLIFIER OUTLINE D RAW INGS 7 - 6 MEMO.
8. CHARACTERISTI CS 8 - 1 8. CHARACT ERIST ICS 8.1 Overload protection c haracter istics An electronic ther m al relay is built in the servo am plifier to protect the direc t drive m otor, s ervo am plif ier and direct drive m otor power line from over loads.
8. CHARACT ERIST ICS 8 - 2 1000 100 10 1 0.1 Operating Servo l ock 0 50 150 20 0 250 300 100 (Note) Load ratio [ ] Operation time [s] MR-J3-20B- RJ080W to MR-J 3-100B-RJ 080W 1000 100 10 1 0.
8. CHARACT ERIST ICS 8 - 3 8.2 Dy namic brak e charac teristics POINT Dy namic brak e operates at oc currenc e of alarm , s ervo for ced stop warning (E6), and controller f orced s top warning (E7), and when power is turned of f. Do not us e dy namic brak e to stop in a norm al oper ation as it is the f unction to st op in emer gency.
8. CHARACT ERIST ICS 8 - 4 (2) Dy namic brak e tim e constant The f ollowing shows necess ary dy nam ic brak e tim e c onstant for the equation (8.1). Speed [r/min] Time consta nt [ms] 0 0 100 200 5 1.
9. OPTIONS FOR DI RECT DRIVE SERVO 9 - 1 9. OPTIONS FOR DIRECT DRIVE S ERVO W ARNING Before c onnecting any option or peripheral equipm ent, turn off the power and wait for 15 minutes or m ore until the char ge lam p turns of f. T hen, conf irm that the voltage between P( ) and N( ) is s afe with a voltage tester and other s.
9. OPTIONS FOR DIRECT DRIVE S ERVO 9 - 2 9.1.1 Combinations of c able and connector s et Personal computer (Note 1) Servo amplifier CN5 CN1A CN1B CN2 CN3 CNP1 CNP2 CNP3 Servo amplifier CN5 CN1A CN1B C.
9. OPTIONS FOR DIRECT DRIVE S ERVO 9 - 3 No. Product Model Descript ion Applic ation 1) Encoder connect or set MR-J3DDCNS For connect ion between servo am plifier and di rect drive m otor. For connect ion between servo am plifier and abs olute pos ition s torage unit.
9. OPTIONS FOR DIRECT DRIVE S ERVO 9 - 4 9.1.2 Encoder connec tor set POINT Fabrication of the encoder c able is requir ed at user side. Pr epare the parts s hown in (1) and (2) , and fabric ate as the wiring diagram shown in (3). F or the connector set spec ification, r efer to s ection 2.
9. OPTIONS FOR DIRECT DRIVE S ERVO 9 - 5 (3) Combinations for the encoder cable 1) For incr em ental system Servo amp lifier a) CN2 b) Direc t driv e mo tor TM-RFM 50m or less (Note) Encoder cable A) Note. R efer to (3 )(a ) of this se ction fo r deta ils.
9. OPTIONS FOR DIRECT DRIVE S ERVO 9 - 6 (a) Encoder cable A) 1) Connector details a) For CN2 connect or b) For encoder connec tor Receptac le: 36210-0100PL Shell k it: 36310-3200-008 (3M) Connector s et: 54599-1019 (Molex) or 4 MRR 2 LG 8 6 1 P5 5 10 3 MR 7 9 View seen from wiring side.
9. OPTIONS FOR DIRECT DRIVE S ERVO 9 - 7 2) Internal wiring diagram a) For CN2 connector b) For encoder connector P5 LG 1 2 MR MRR 3 4 6 9 5 7 8 10 LG MR MRR P5 THM1 THM1 11 6 THM2 THM2 5 Plate FG SD Refer to the f ollowing table for the requir ed wires to fabric ate the encoder c able.
9. OPTIONS FOR DIRECT DRIVE S ERVO 9 - 8 2) Internal wiring diagram W hen the dis tance bet ween the servo am plifi er and the direct dri ve motor i s within 20m (Note) c) For CN2 connector d) For absolu te posi tion storage unit connector P5 LG 1 2 MR MRR 3 4 6 9 5 7 8 10 LG MR MRR P5 THM1 THM1 11 6 THM2 THM2 2 9 BAT 5F G BAT Plate SD Note.
9. OPTIONS FOR DIRECT DRIVE S ERVO 9 - 9 2) Internal wiring diagram W hen the dis tance bet ween the servo am plifi er and the direct drive mot or is withi n 20m (Not e) e) F or ab solut e position st.
9. OPTIONS FOR DIRECT DRIVE S ERVO 9 - 10 9.2 Absolute position s torage unit MR-BT AS01 POINT Replacing the MR-BT AS01 absolute position s torage unit will erase the abs olute position. Start up the direc t drive ser vo again and perfor m hom e pos itioning according to the s ection 4.
9. OPTIONS FOR DIRECT DRIVE S ERVO 9 - 11 (3) Environm ent The f ollowing table shows the environm ent for the absolute position s torage unit. Item Environm ent [ ] 0 to 55 (non-freezing) Operation [.
9. OPTIONS FOR DIRECT DRIVE S ERVO 9 - 12 MEMO.
APPENDIX App. - 1 App. 1 Parameter li st POINT The param eter whose symbol preceded by * can be validated with the following conditions: * : Turn of f the power and then on again, or reset the contr oller after setting the param eter. **: Turn of f the power and then on again af ter setting the par am eter.
APPENDIX App. - 2 Extension set ting param eters (PC ) I/O s etting param eters (PD ) No. Sym bol Name No. Sym bol Name PC01 *ERZ Error excessi ve alarm l evel PD01 For m anufac turer sett ing PC02 MB.
APPENDIX App. - 3 App. 2 Signal l ayout r ecording paper 2 1 12 11 4 3 14 13 6 5 16 15 8 7 18 17 10 9 20 19 DI1 LG DI2 LG MO1 DOCOM MO2 LA DICOM LAR LZ LB LZR LBR DICOM EM1 DI3 CN3 App.
APPENDIX App. - 4 (2) Purp ose Safer tr ansportation of lithium m etal batteries. (3) Change in regulations The f ollowing points are changed f or lithium m etal batteries tr ansportation by sea or air due to Recom m endations of the United Nations Rev.
APPENDIX App. - 5 App. 4 Symbol for the new EU Battery Dir ective Sy mbol f or the new EU Battery Directive (2006/66/EC) that is plas tered to general- purpose AC ser vo battery is explained here.
APPENDIX App. - 6 App. 5 Compliance w ith the CE marking App. 5.1 W hat are CE m ark ing? The CE m ark ing is m andatory and must be af fixed to s pecific products placed on the European Union. W hen a product conf orm s to the r equirem ents, the CE m ark ing m ust be af fix ed to the product.
APPENDIX App. - 7 (2) Stru cture The c ontrol circ uit provide saf e separation to the m ain c ircuit in the s ervo am plifier . Direct drive motor M Cabinet Servo amplifier Reinfo rced i nsulating ty.
APPENDIX App. - 8 (5) Gr ounding (a) To prevent an electr ic shoc k, the pr otective earth ( PE) term inal (m ar ked ) of the servo am plif ier m ust be connected to the protec tive earth (PE) of the cabinet. (b) Do not connect two ground cables to the s ame pr otective earth ( PE) term inal.
REVISIONS *The m anu al num ber is give n on the b ottom lef t of the b ack cover. Print Data *M anual Number Revision Nov. 2012 SH(NA)030079-A First edition This manual confer s no industrial property rights or any rights of any other kind, nor does it co nfer any patent licenses.
Tel/ Fax Tel : 1-847- 478-2100 Fax : 1-8 47-478-0327 Tel : 49-2102-486-0 Fax : 4 9- 210 2- 4 86- 1 12 0 Tel : 39-39- 60531 Fax : 39-39- 6053312 Tel : 86-21-6120-0808 Fax : 86-21-6121-2444 Tel : 886-2-.
Warrant y 1. Warrant y period and c overage We will repair any failure or defec t hereinafter r eferred t o as "failure" in our FA equipm ent hereinaft er referred to as the "P roduct&q.
SH(NA)030079-A.
SH (NA) 030079-A (1211) MEE Printed in Japan Specifications subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE J3 Series General-Purpose AC Servo MODEL (Se.
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 TM-RFM 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 TM-RFM - in questo modo è possibile verificare se l’apparecchio soddisfa le tue esigenze. Esplorando le pagine segenti del manuali d’uso Mitsubishi Electronics TM-RFM imparerai tutte le caratteristiche del prodotto e le informazioni sul suo funzionamento. Le informazioni sul Mitsubishi Electronics TM-RFM ti aiuteranno sicuramente a prendere una decisione relativa all’acquisto.
In una situazione in cui hai già il Mitsubishi Electronics TM-RFM, 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 TM-RFM.
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 TM-RFM. Quasi sempre, ci troverai Troubleshooting, cioè i guasti più frequenti e malfunzionamenti del dispositivo Mitsubishi Electronics TM-RFM 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.
