Mitsubishi Electronics MR-J3-D01 manual

SH (NA) 030061-E (1406) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE J3 Series E MR-J3- T MR-J3-D01 Servo Amplifier Instruction Manual (General-Purpose Interface) General-Purpose AC Servo MODEL MR-J3- T MR-J3-D01 SERVO AMPLIFIER INSTRUCTION MANUAL (General-Pu[...]

A - 1 Safety Instructions (Always read these instructi ons before using the equip ment.) Do not attempt to install, o perate, maintain or ins pect the servo amplifier and servo motor un til you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manu al and appended documents carefully and can use the e quipment c[...]

A - 2 1. To prevent electric shock, note the following: WARNING Before wiring or inspection, turn o ff the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition , al ways confirm from th[...]

A - 3 4. Additional instructions The following instructions should also be fully noted. In correct handling may cause a fault, in jury, electric shock, etc. (1) Transportation and installation CAUTION Transport the products correctly according to their weig hts. Stacking in excess of the specified number of products is not allowed. Do not carry the[...]

A - 4 CAUTION Never hit the servo motor o r shaft, especially when co upling the servo motor to the machine. The encoder may become faulty. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. When the equipment has been stored for an extended period of time, consult Mitsubishi. (2) Wiring CAUTION [...]

A - 5 (4) Usage CAUTION Any person who is involved in disassembly and r epair s hould be fully competent to do the work. Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on. Do not modify the equipment. Use a noise filter,[...]

A - 6 (6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor of the servo ampl ifier will deteriorate. To preven t a secondary accident due to a fault, it is recomme nded to replace the electr olytic capacitor every 10 years when used in general environment. Please consult our sales representative. (7) Genera[...]

A - 7 About processing of waste When you discard servo amplifier, a battery (primary batte ry), and other option articles, please fo llow the law of each country (area). FOR MAXIMUM SAFETY These products have been manufactured as a general- purpose part for general industries, and have no t been designed or manufactured to be incorporated in a devi[...]

A - 8 COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIREC TIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed produc ts . In the EU countries, the machinery di rective (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage direct[...]

A - 9 (2) Configuration The control circuit provide safe separation to the main circuit in the servo amplifier. NFB MC No-fuse breaker Magnetic contactor Reinforced insulating type 24VDC power supply Servo amplifier Servo motor Control box M (3) Environment Operate the servo amplifier at or above the contaminat ion level 2 set forth in IEC60664-1. [...]

A - 10 (b) Use the servo motor side power connector whic h complies with the EN Standard. The EN Standard compliant power connector sets are available fr om us as options . (Refer to section 13.1) (7) Auxiliary equipment and options (a) The no-fuse breaker and magnetic contactor us ed should be the EN or IEC standard-compliant products of the model[...]

A - 11 CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors us ed Use the servo amplifiers and servo motors which comply with the s tandard model. Servo amplifier :MR-J3-10T to MR-J3 -22KT MR-J3-10T 1 to MR-J3- 40T1 MR-J3-60T 4 to MR-J3- 22KT4 Servo motor :HF-MP HF-KP HF-SP (Note) HF-SP 4 (Note) HC-RP HC-UP HC-LP HA-LP (Note) HA-[...]

A - 12 (5) Options and auxiliary e quipment Use UL/C-UL standard-compliant products. (6) Attachment of a servo motor For the flange size of the machine side where the ser v o motor is installed, refer to “CONFORMANCE WITH UL/C-UL STANDARD” in the Servo Motor Instruc tion Manual (Vol.2 ). (7) About wiring protection For installation in United St[...]

1 CONTENTS 1. FUNCTIONS AND CONFIG URATION 1 - 1 to 1 -38 1.1 Intr oducti on .............................................................................................................. ................................. 1 - 1 1.1.1 Function bloc k diagram ............................................................................................[...]

2 3.8 Inte rface ................................................................................................................. .................................. 3 -47 3.8.1 Internal c onnection di agram ............................................................................................. ............... 3 -47 3.8.2 Detailed description[...]

3 4.7.12 Dogless Z-phase reference hom e position return method ........................................................... 4 -55 4.7.13 Home position retur n automatic r eturn function ......................................................................... ... 4 -57 4.7.14 Automatic positioning function to the home position .....................[...]

4 6.7.3 Motor-le ss operat ion .................................................................................................... .................... 6 -18 6.7.4 Output signal (DO) forc ed output ........................................................................................ ............. 6 -19 6.7.5 Single- step f eed .................[...]

5 9.6.4 Gain ch anging operat ion ................................................................................................. .................. 9-14 10. TROUBLESHOOTING 10- 1 to 10-14 10.1 Trouble at start- up ...................................................................................................... ........................... 10[...]

6 13.14 Surge absorber s (recomm ended) ........................................................................................... .......... 13-73 13.15 Noise reducti on techni ques .............................................................................................. ................. 13-74 13.16 Leakage curr ent brea ker................[...]

1 - 1 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction This servo has the func tion to perform positioning operation b y merely setting the position data (target positions), servo motor speeds, acceleration and dec eleration time constants, et c. to point tables as if setting them in parameters. The s ervo amplifier is[...]

1 - 2 1. FUNCTIONS AND CONFIGURATIO N 1.1.1 Function block diagram The function block diagram of this servo is shown below. (1) MR-J3-350T or less MR-J3-200T4 or less (Note 3) Coolin g fan W NFB MC L 1 L 2 L 3 L 11 L 21 B2 CN2 U V W U V M B1 CN4 MR-J3BAT P 1 P 2 1 No. 1000 1000 80 80 0 0 2 2000 2000 100 100 0 0 3 4000 2000 70 60 500 1 4 2000 60 70 [...]

1 - 3 1. FUNCTIONS AND CONFIGURATIO N (2) MR-J3-350T4 MR-J3-500T(4) MR-J3-700T(4) Cooling fan NFB MC L 1 L 2 L 3 L 11 L 21 B2 U V W U V W M B1 P 1 P 2 N C P CN2 CN4 MR-J3BAT 1 No. 1000 1000 80 80 0 0 2 2000 2000 100 100 0 0 3 4000 2000 70 60 500 1 4 500 2000 60 70 1000 1 5 1000 2000 80 80 0 0 6 2000 1000 80 80 0 0 7 1000 1000 80 80 0 0 8 1000 1000 [...]

1 - 4 1. FUNCTIONS AND CONFIGURATIO N (3) MR-J3-11KT(4) to MR-J3-22KT(4) Cooling fan W C P NFB MC L 1 L 2 L 3 L 11 L 21 B2 CN2 U V W U V M B1 CN4 MR-J3BAT P 1 N 1 No. 1000 1000 80 8 0 0 0 2 2000 2000 100 100 0 0 3 4000 2000 70 6 0 500 1 4 500 2000 60 7 0 1000 1 5 1000 2000 80 8 0 0 0 6 2000 1000 80 8 0 0 0 7 1000 1000 80 8 0 0 0 8 1000 1000 100 100[...]

1 - 5 1. FUNCTIONS AND CONFIGURATIO N 1.1.2 System configuration This section provides operations using this servo. The configuration can be freely arranged as any sys tem from a sing le axis system to an up to 32-axis sys tem. In addition, the optimu m device to each system can be a ssigned to the connector pin of the I/F part. (Refer to section 3[...]

1 - 6 1. FUNCTIONS AND CONFIGURATIO N (2) Operation by external input signals and communication (a) Definition The data change and sele ction of point tables, change of parameters and confir mation of the monitor can be performed through communication. The forward rotation star t (ST1) or reverse rotation direction (ST2) is input from the external [...]

1 - 7 1. FUNCTIONS AND CONFIGURATIO N 1.2 Servo amplifier standard specifications (1) 200V class, 100V class Servo amplifier MR-J3- Item 10T 20T 40 T 60T 70 T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1 Power supply Voltage/frequ ency 3-phase or 1-phase 2 00 to 230VAC, 50/60H z 3-phase 200 to 230VA C, 50/60Hz 1-phase 100V to 120VAC, 50/6[...]

1 - 8 1. FUNCTIONS AND CONFIGURATIO N Servo amplifier MR-J3- Item 10T 20T 40 T 60T 70 T 100T 200T 350T 500T 700T 11KT 15KT 22KT 10T1 20T1 40T1 Operation mo de Home position return mode Dog type Home position retur n is made starting with Z-phase pulse after passage of pro ximity dog. Home position a ddress may be set. Home position shift distance m[...]

1 - 9 1. FUNCTIONS AND CONFIGURATIO N (2) 400V class Servo amplifier MR-J3- Item 60T4 100T4 200T4 350 T4 500T 4 700T4 11K T4 15KT4 22KT4 Power supply Voltage/frequ ency 3-phase 380 to 480VA C, 50/60Hz Permissible voltage fluctua tion 3-phase 323 to 528VA C Permissible frequ ency fluctuation Within 5% Power supply capacity Refe r to section 12.2 Inr[...]

1 - 10 1. FUNCTIONS AND CONFIGURATIO N Servo amplifier MR-J3- Item 60T4 100T4 200T4 350T4 500T4 700T4 11KT4 15KT4 22KT4 Operation mode Home position return mode Dog type Home position return is made starting with Z-phase pulse after passage of pro ximity dog. Home position address may be set. Home position shift distance may be set. Home position r[...]

1 - 11 1. FUNCTIONS AND CONFIGURATIO N 1.3 Function list The following table lists the functions of this servo. Fo r details of the functions, refer to the reference fie ld. Function Description Reference Positioning by automatic operation Select the required ones from among 31 preset point tables and per form operation in accordance with the set v[...]

1 - 12 1. FUNCTIONS AND CONFIGURATIO N Function Description Reference Regeneration converter Used when the regenerative option cannot provide enough re generative power. Can be used with the servo amplifier of 5kW or more. Section 13.4 Alarm history clear Alarm history is cleared. Parameter No. PC18 I/O signal selection (Device setting) Any input d[...]

1 - 13 1. FUNCTIONS AND CONFIGURATIO N 1.4 Model code definition 1.4.1 Servo amplifier (1) Rating plate Model Capacity Applicable powe r supply Rated output current Serial number MITSUBISHI MADE IN JAPAN MODEL MR -J3-10T MITSUBISHI ELECTRI C CORPORATION AC SERVO PASSED POWER : INPUT : OUTPUT : SERIAL : 100W 1.3A 1PH 200-230V 50/60Hz 170V 0-36 0Hz 1[...]

1 - 14 1. FUNCTIONS AND CONFIGURATIO N 1.4.2 MR-J3-D01 extension I/O unit Rating plate MITSUBISHI MODEL PASSED SERIAL : **** MR-J3-D01 AC SERVO MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN Model Seri al nu mber[...]

1 - 15 1. FUNCTIONS AND CONFIGURATIO N 1.5 Combination with servo motor The following table lis ts combinations of servo amplif iers and servo motors. The same combinations apply to the models with electromagnetic brakes. Servo amplifier Servo motors HF-MP HF-KP HF-SP HC-RP HC-UP HC-LP 1000r/min 2000r/min MR-J3-10T (1) 053 13 053 1 3 MR-J3-20T (1) [...]

1 - 16 1. FUNCTIONS AND CONFIGURATIO N 1.6 Structure 1.6.1 Parts identification (1) MR-J3-100T(4) or less 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 When using in combinatio n with MR-J3-D01, do not change the setting (default) shown in the figure. Name/Application Detailed Explanation Communicat ion alarm disp lay section When usi[...]

1 - 17 1. FUNCTIONS AND CONFIGURATIO N (2) MR-J3-200T(4) 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 Name/Application Detailed Explanation Section 4.3 Chapter 10 When us ing in comb ination w ith MR -J3-D 01, do not change the setting (default) shown in the figure. Section 3.1 Section 3.3 Section 11.1 Communication alarm display sec[...]

1 - 18 1. FUNCTIONS AND CONFIGURATIO N (3) MR-J3-350T 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 Name/Application Detailed Explanation Section 4.3 Chapter 10 When us ing in comb ination w ith MR -J3-D 01, do not change the setting (default) shown in the figure. Section 3.1 Section 3.3 Section 11.1 Communication alarm display sectio[...]

1 - 19 1. FUNCTIONS AND CONFIGURATIO N (4) MR-J3-350T4 MR-J3-500T(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6. 2. 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 Cooling fa n Fixed part (4 pl aces) Section 4.9 Battery holder Contains the battery for absolute positio[...]

1 - 20 1. FUNCTIONS AND CONFIGURATIO N (5) MR-J3-700T(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6. 2. 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 Cooling f an Fixed part (4 pl aces ) Section 4.9 Battery holder Contains the battery for absolute position data back[...]

1 - 21 1. FUNCTIONS AND CONFIGURATIO N (6) MR-J3-11KT(4) to MR-J3-22KT(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.6. 2. 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 Chapter 6 Chapter 7 Chapter 14 RS-422 communication connector (CN3) Used to connect the MR-PRU03 pa[...]

1 - 22 1. FUNCTIONS AND CONFIGURATIO N 1.6.2 Removal and reinstallation of the front cover WARNING Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm tha t the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric s[...]

1 - 23 1. FUNCTIONS AND CONFIGURATIO N Reinstallation of the front co ver Front co ver setting tab a) a) Insert the front cover setting tabs into the sockets of servo amplifier (2 places). Pull up the cover, supporting at point a). Setting tab Push the setting tabs until they click.[...]

1 - 24 1. FUNCTIONS AND CONFIGURATIO N (2) For MR-J3-11KT(4) to MR-J3-22KT(4) Removal of the fron t cover c) b) a) 1) Press the removing knob on the lower side of the front cover ( a) and b) ) and release the installa tion hook. 2) Press the removing knob of c) and release the external hook. 3) Pull it to re move the front co ver. Reinstallation of[...]

1 - 25 1. FUNCTIONS AND CONFIGURATIO N 1.6.3 Installation and removal of MR-J3-D01 WARNING Before installing or removin g the MR-J3-D 01, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm tha t the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may[...]

1 - 26 1. FUNCTIONS AND CONFIGURATIO N (1) For MR-J3-350T or less MR-J3-200T4 or less (a) Installation of the MR-J3 -D01 2) 2) 1) Guide hole Guide p ins 1) Remove the cover of connector for connecting an option. Make sure to storage the removed cover. 2) Insert the guide pins through the each guide hole on the side of servo amplifier. Knobs 3) 4) 3[...]

1 - 27 1. FUNCTIONS AND CONFIGURATIO N (2) For MR-J3-350T4 MR-J3-500T(4) MR-J3-700T(4) (a) Removal of the side cover 1) a) b) Keep pushing the knobs( a) , b) ) and pull out the side cover to the arrow direction. (b) Installation of MR-J3-D01 1) 1) Guide pins Guide hole 1) Insert the guide pins thro ugh the each guide hole on the side of servo ampli[...]

1 - 28 1. FUNCTIONS AND CONFIGURATIO N (c) Removal of MR-J3-D01 1) a) b) 2) 1) Loosen the installing screw. 2) Keep pushing the knobs( a) , b) ) and pull out the MR-J3-D01 to the arrow direction . Avoid pulling out the MR-J3-D01 under it is tightened. (d) Installation of the side cover Hook of the si de cover 2) 1) a) 1) Insert the hook of the side[...]

1 - 29 1. FUNCTIONS AND CONFIGURATIO N (3) For MR-J3-11KT(4) to MR-J3-22KT(4) CAUTION Avoid touchin g any remained burr after cu tting of f the part a) of the case. Any injuries may be caused. The installing screws for th e MR-J3-11KT(4) or more ar e covered at shipping. W hen installing the MR-J3-D01 for the first time, cut o ff the part a) of the[...]

1 - 30 1. FUNCTIONS AND CONFIGURATIO N 1.7 Configuration includ ing auxiliary equipment POINT Equipment other than the servo amp lifier and servo motor are optional or recomme nded prod ucts. (1) MR-J3-100T or less (a) For 3-phase or 1-phase 200V to 230VAC R S T CN5 PC CN2 CN4 MR Configurator U V W CN3 L 1 L 3 L 2 P 1 P 2 CN10 Analog output signal [...]

1 - 31 1. FUNCTIONS AND CONFIGURATIO N (b) For 1-phase 100V to 120VAC CN5 PC CN2 CN4 U V W CN3 CN10 CN20 CN30 CN6 L 1 L 2 No-fu se br eaker (NFB) or fuse Magnet ic contactor (MC) Power factor improving reactor (FR-BAL) Line noise filter (FR-BSF01) Servo am plifier Regenerative option (Note 1 ) Battery MR-J3BAT Servo motor I/O signal I/O signal Pers[...]

1 - 32 1. FUNCTIONS AND CONFIGURATIO N (2) MR-J3-60T4 MR-J3-100T4 Servo amplifier Line no ise filte r (FR-BSF0 1) Magne tic contactor (MC) No-fuse breaker (NFB) or fuse R S T Servo motor (Note 1) Battery MR-J3BAT PC L 21 L 11 W V U P 1 P 2 L 1 L 2 L 3 I/O signal CN10 CN20 External digital display CN30 CN6 I/O signal CN2 CN4 CN5 CN3 (Note 3) Power s[...]

1 - 33 1. FUNCTIONS AND CONFIGURATIO N (3) MR-J3-200T(4) Line noise filter (FR-BSF01) (Note 3) Power supply R S T Magnetic contactor (MC) No-fuse breaker (NFB) or fuse (Note 2) Power factor improving DC reactor (FR-BEL/FR-BEL-H) Servo amplifier (Note 2) L 2 L 1 L 3 P 1 P 2 L 21 L 11 UV W C Regenerative option (Note 4) P CN2 CN4 MR Con figurator Per[...]

1 - 34 1. FUNCTIONS AND CONFIGURATIO N (4) MR-J3-350T Line noise filter (FR-BLF) Regenerative option (Note 3) Power supply R S T CN2 CN4 L 2 L 1 L 3 P 1 P 2 L 21 L 11 UV W MR-J3-D0 1 CN10 CN5 CN3 CN20 CN30 CN6 P C No-fuse breaker (NFB) or fu se Magnetic contactor (MC) (Note 2 ) Power factor improving DC reactor (FR-BEL) (Note 2) Servo a mplifie r P[...]

1 - 35 1. FUNCTIONS AND CONFIGURATIO N (5) MR-J3-350T4 MR-J3-500T(4) R S T L 21 P 1 P 2 CN2 CN4 L 11 UV W C P L 1 L 2 L 3 CN10 CN20 CN30 CN6 CN5 CN3 MR-J3-D01 Regenerative option Power factor improving DC reactor (FR-BEL-(H)) (Note 2) I/O signal I/O s ignal (Note 1) Battery MR-J3BAT Line noise filter (FR-BLF) Magnetic contactor (MC) No-fu se br eak[...]

1 - 36 1. FUNCTIONS AND CONFIGURATIO N (6) MR-J3-700T(4) R S T L 21 P 2 P 1 CN2 CN4 MR Configurator L 11 UV W C P L 1 L 2 L 3 CN10 CN20 CN30 CN6 CN5 CN3 Servo motor Regenerative option Power factor improving DC reactor (FR-BEL-( H)) (Note 2) (Note 1) Batter y MR-J3BAT Line no ise filte r (FR-BLF) Magnetic contactor (MC) (Note 2) No-fu se br eaker ([...]

1 - 37 1. FUNCTIONS AND CONFIGURATIO N (7) MR-J3-11KT(4) to MR-J3-22KT(4) R S T Anal og out put signal External digital display L 21 L 11 U V W C P L 1 L 2 L 3 CN4 CN2 P 1 P Power factor improving DC reactor (FR-BEL-(H)) (Not e 2) CN10 CN20 CN30 CN6 CN5 CN3 (Note 1) Battery MR-J3BAT Line noise filter (FR-BLF) (Note 2) I/O signal I/O signal Personal[...]

1 - 38 1. FUNCTIONS AND CONFIGURATIO N MEMO[...]

2 - 1 2. INSTALLATION 2. INSTALLATION CAUTION Stacking in excess of the limited num ber of products is not allowed. Install the equipment to incombustibles. Installing them directly or clo se to combustibles will led to a fire. Install the equipment in a load-bearing plac e in accordance with this Instruction Manual. Do not get on or put heavy load[...]

2 - 2 2. INSTALLATION (b) Installation of two or more servo amplifiers POINT Close mounting is availabl e for the servo amplifier of under 3.5kW for 200V class and 400W for 1 00V class. Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to preven t the internal tempe[...]

2 - 3 2. INSTALLATION (b) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to preven t the internal temperature of the control b ox from exceeding the environmental conditions. 100mm or mor e 10mm or more 30m or more 120[...]

2 - 4 2. INSTALLATION 2.4 Inspection items WARNING Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm tha t the voltage between P( ) and N( ) is safe with a voltage tes ter and others. Otherwise, an electric shock may occur. In addition, alwa ys confirm fr[...]

3 - 1 3. SIGNALS AND WIRING 3. SIGNALS AND WIRING WARNING Any person who is involved in wiring s hould be fully competent to do the work. Before wiring, turn off the p ower and wait for 15 minute s or more until the charge lamp turns off. Then, confirm tha t the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, a n [...]

3 - 2 3. SIGNALS AND WI RING 3.1 Input power supply circuit CAUTION Always connect a magnetic contactor (M C) between the main circuit power supply and L 1 , L 2 , and L 3 of the servo amplifier, and confi gure the wiring to be able to shut down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor (MC) is no[...]

3 - 3 3. SIGNALS AND WI RING (2) For 1-phase 200 to 230VAC power supply to MR-J3-10T to MR-J3-70T RA NFB MC L 1 L 2 L 3 P 1 P 2 P SK MC ON OFF MC L 11 L 21 N D C U V W CNP1 CNP3 PE CNP2 U V W 2 3 4 1 M CN2 EMG ALM RA DICOM DOCOM DOCOM CN6 CN6 SON DICOMD CN10 MR-J3-D0 1 DOCOMD 24VDC 24VDC (Note 3) Encoder cable Encoder Trouble (Note 4) (Note 4) (Not[...]

3 - 4 3. SIGNALS AND WI RING (3) MR-J3-10T1 to MR-J3-40T1 RA NFB MC L 1 L 2 P 1 P 2 P SK MC ON OFF MC L 11 L 21 N D C U V W CNP1 CNP3 PE CNP2 U V W 2 3 4 1 M CN2 EMG ALM RA DICOM DOCOM DOCOM CN6 CN6 SON DICOMD CN10 MR-J3-D0 1 DOCOMD Trouble Servo-on (Not e 4) (Note 4) (Note 3) Encoder ca ble Encoder (Note 1 ) (Note 2 ) 1-ph ase 100 t o 120VAC Servo[...]

3 - 5 3. SIGNALS AND WI RING (4) MR-J3-60T4 to MR-J3-200T4 DOCOM EMG CN6 CN6 DOCOM DICOM ALM Forced stop RA Servo am plifier CNP3 CNP1 U V W (Note 5 ) CNP2 (Note 1 ) (Note 2 ) (Note 3) Encoder cable Encoder Servo motor (Note 4) Forced stop (Note 4) P N NFB MC RA PE U V W 2 3 4 1 M Motor CN2 24VDC Trouble SK MC ON OFF MC (Note 6) Stepdown transforme[...]

3 - 6 3. SIGNALS AND WI RING (5) MR-J3-500T MR-J3-700T (Note 4) Forced s top (Note 4) Forced stop RA NFB MC L 1 L 2 L 3 3-ph ase 200 t o 230VAC Servo am plifier C SK MC ON OFF MC P U V W TE1 PE L 11 L 21 TE2 Servo motor U V W 2 3 4 1 M Motor Encoder CN2 (Not e 3) Encoder cable (Note 5) P 1 P 2 N TE3 (Note 1 ) (Note 2 ) Built-in regene rati ve resis[...]

3 - 7 3. SIGNALS AND WI RING (6) MR-J3-350T4 to MR-J3-700T4 (Note 6) Stepdown transformer Forced stop RA NFB MC L 1 L 2 L 3 3-ph ase 380 t o 480VAC Servo amplifier C SK MC ON OFF MC P U V W TE1 PE L 11 L 21 TE2 Servo motor U V W 2 3 4 1 M Motor Encoder CN2 (Note 3) Encoder cable (Note 5) P 1 P 2 N TE3 (Note 1 ) (Note 2 ) Built-in regene rati ve res[...]

3 - 8 3. SIGNALS AND WI RING (7) MR-J3-11KT to MR-J3-22KT NFB MC L 1 L 2 L 3 P C U V W TE PE L 11 L 21 U V W M CN2 P 1 RA2 OHS2 OHS1 MC SK MC ON OFF RA1 EMG ALM RA1 DICOM DOCOM DOCOM CN6 CN6 SON DICOMD CN10 MR-J3-D01 DOCOMD Servo motor thermal relay RA2 Forced stop Regenerative resistor (Note 1) (Note 2) Servo a mplifie r Dynamic break (Option) Ser[...]

3 - 9 3. SIGNALS AND WI RING (8) MR-J3-11TK4 to MR-J3-22KT4 (Note 8) Stepdown transformer BU BV BW NFB MC L 1 L 2 L 3 P C U V W TE PE L 11 L 21 U V W M CN2 P 1 EMG ALM RA1 DICOM DOCOM 24VDC Trouble DOCOM CN6 CN6 (Note 4) OHS2 OHS1 MC SK MC ON OFF (Not e 5) (Note 1) (Note 2) 3-phase 200 to 230VAC Servo amplifier Dynamic break (Option) Servo mot or C[...]

3 - 10 3. SIGNALS AND WI RING 3.2 I/O signal connection diagra m 3.2.1 Positioning operation using the poi nt table SD LBR LAR LA LB LZ LZR LG 15 12 25 RA1 RA2 RA3 14 RD ALM 16 ZP CN6 11 24 13 26 1 2 3 CN6 4 5 17 EMG DOG LSP LSN DICOM DOCOM 23 CN5 MR-J3- T MR-J3-D01 Point table No. selection 1 1 2 3 CN10 4 13 37 DI0 DI1 DI2 DI3 DICOMD DOCOMD 5 6 7 [...]

3 - 11 3. SIGNALS AND WI RING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal mark ed ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo am plifier or the MR-J3-D01 will be fault y and will [...]

3 - 12 3. SIGNALS AND WI RING 3.2.2 BCD input positioning operat ion with the digital switch SD LBR LAR LA LB LZ LZR LG 15 12 25 RA1 RA2 RA3 14 RD ALM 16 ZP CN6 11 24 13 26 1 2 3 CN6 4 5 17 EMG DOG LSP LSN DICOM DOCOM 23 CN5 MR-J3- T MR-J3-D0 1 CN20 10k 10k 4M O 1 11 LG 14 MO2 CN20 SD CN10 DICOM 14 RA8 46 PUS 48 RA9 RA10 RA11 47 MEND CPO 49 INP 12 [...]

3 - 13 3. SIGNALS AND WI RING MR-J3-D 01 CN10 13 37 DICOMD DOCOMD 21 26 27 28 SON RES TL TL1 29 30 31 32 TP0 TP1 OVR MD0 33 34 35 36 TSTP PC ST1 ST2 18 SP0 19 SP1 20 SP2 1 2 3 4 POS00 POS01 POS02 POS03 5 6 7 8 POS10 POS11 POS12 POS13 44 45 PRQ1 PRQ2 9 10 POS20 POS21 11 12 15 16 POS22 POS23 POSP POSN 6A 6B 7A 7B 4A 4B 5A 5B 9A 9B 2A 2B 3A 3B 1A 1B C[...]

3 - 14 3. SIGNALS AND WI RING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal mark ed ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo am plifier or the MR-J3-D01 will be fault y and will [...]

3 - 15 3. SIGNALS AND WI RING 3.2.3 BCD input positioning operation with the programmable controller Overrid e 10V/0 to 200% SD LBR LAR LA LB LZ LZR LG 15 12 25 RA1 RA2 RA3 14 RD ALM 16 ZP CN6 11 24 13 26 1 2 3 CN6 4 5 17 EMG DOG LSP LSN DICOM DOCOM 23 CN5 MR-J 3-D01 CN20 10k 10k 4M O 1 11 LG 14 MO2 CN20 SD Plate CN10 DICOM 14 44 RA6 RA7 PRQ1 45 PR[...]

3 - 16 3. SIGNALS AND WI RING MR-J3-D01 CN10 44 45 1 2 3 4 5 6 7 8 9 10 PRQ1 PRQ2 POS00 POS01 POS02 POS03 POS10 11 12 15 16 17 DICOMD 13 DOCOMD 37 SON 21 RES 26 TL 27 TL1 28 TP0 29 TP1 30 OVR 31 MD0 32 TSTP 33 PC 34 ST1 35 ST2 36 SP0 18 SP1 19 SP2 20 POS11 POS12 POS13 POS20 POS21 POS22 POS23 POSP POSN STRB X00 X01 X02 X0F COM Y01 Y02 Y03 Y04 Y05 Y0[...]

3 - 17 3. SIGNALS AND WI RING Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal mark ed ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo am plifier or the MR-J3-D01 will be fault y and will [...]

3 - 18 3. SIGNALS AND WI RING 3.3 Explanation of power supply system 3.3.1 Signal explanations POINT For the layout of connector and termi nal block, refer to outline drawings in chapter 11. Abbreviation Connection Ta rget (Application) Description L 1 L 2 L 3 Main circuit power supply Supply the following power to L 1 , L 2 , L 3 . For the 1-phase[...]

3 - 19 3. SIGNALS AND WI RING 3.3.2 Power-on sequence (1) Power-on procedure 1) Always wire the power s upply as shown in above section 3.1 using the magnetic contactor with the main circuit power supply (three-phase: L 1 , L 2 , L 3 , single-phase: L 1 , L 2 ). Configure up an external sequence to switch off the magnetic c ontactor as soon as an a[...]

3 - 20 3. SIGNALS AND WI RING (3) Forced stop CAUTION Provide an external forced stop circuit to ensure that operation can be stopped and power switched off immediately. Make up a circuit that shuts off main circuit power as soon as EMG is turned off a t a forced stop. When EMG is turned off, the dynamic brake is operated to br ing the servo motor [...]

3 - 21 3. SIGNALS AND WI RING 3.3.3 CNP1, CNP2, CNP3 wiring method POINT Refer to table 13.1 in section 13.9 for the wire sizes u sed for wiring. MR-J3-500T or more and MR-J3 -35 0T4 or more does not have these connecto rs. Use the supplied servo amplifier power supply c onnectors for wir ing of CNP1, CNP2 and CNP3 . (1) MR-J3-10T to MR-J3-100T (a)[...]

3 - 22 3. SIGNALS AND WI RING (2) MR-J3-200T MR-J3-60T4 to MR-J3-200T4 (a) Servo amplifier power supply connectors <Applica ble cable exam ple> Cable finish OD: 4.1mm or less Connector for CNP3 721-203/026-000(Plug) (WAGO) Servo amplifier power supply connectors CNP2 CNP1 CNP3 Connector for CNP1 721-207/026-000(Plug) (WAGO) Connector for CNP2[...]

3 - 23 3. SIGNALS AND WI RING (3) MR-J3-350T (a) Servo amplifier power supply connectors Servo amplifier power supply connectors CNP3 CNP1 CNP2 <Applic able cabl e example> Cable finis h OD: to 5 mm <Applicable c able example> Cable f inish OD: to 3. 8mm Connector for CNP2 54928-0520 (Molex) Connector for CNP3 PC4/ 3-STF- 7.62-CRWH (Pho[...]

3 - 24 3. SIGNALS AND WI RING (4) Insertion of cable into Molex and WAGO connectors Insertion of cable into 54928-0670, 54928-0520, 54928-0370 (Molex) connectors and 721-207/026-000, 721-205/026-000 and 721-203/026-000 (WAGO) connectors are as follows. The following explains for Molex, however use t he same procedures for inserting WAGO connectors [...]

3 - 25 3. SIGNALS AND WI RING 2) Cable connection procedure 1) Attach the cable connection lever to the housing. (Detachable) 2) Push the cable connection lever in the direction of arrow. 3) Hold down the cable c onnection lever and insert the cable in the direction of arrow. 4) Release the cable connection lever . Cable connection lever[...]

3 - 26 3. SIGNALS AND WI RING (b) Inserting the cable into the connector 1) Applicable flat-blade screwdriver dimen sions Always use the screwdriver shown here to do the work. [Unit: mm] 3 0.6 A pprox.R0.3 Approx.22 Approx.R0.3 3 to 3.5 2) When using the flat-blad e screwdriver - part 1 1) Insert the screwdriver into the square hole. Insert it alon[...]

3 - 27 3. SIGNALS AND WI RING 3) When using the flat-blad e screwdriver - part 2 1) Insert the screwdriver into the square window at top of the connector. 2) Pus h the screw drive r in the direct ion of arrow . 3) With the sc rewdrive r pushed , insert the ca ble in the direction of arrow. (Insert the cable as far as it will go.) 4) Releasing the s[...]

3 - 28 3. SIGNALS AND WI RING (5) How to insert the cable into Phoenix Contact connector POINT Do not use a precision driver be cause the cable cann ot be tightened with enough torque. Insertion of cables into Phoenix Contact connecto r PC4/6-STF-7.62-CRWH or PC4/3-STF-7.62-CRWH is shown as follows. Before inserting the cable into the opening, make[...]

3 - 29 3. SIGNALS AND WI RING 3.4 Connectors and signal arrangements POINT The pin configurations of the conne ctors are a s viewed from the cable connector wi ring section. Refer to (3) in this section for CN10 signal assignm ent. Refer to section 3.5 for details o f each signal (device). (1) Signal arrangement The servo amplifier front view show [...]

3 - 30 3. SIGNALS AND WI RING (2) Signal arrangement of CN6 connector The symbols in the Device change column in the table represent the followings. : The device can be changed by the parameter s in parentheses. : The device cannot be changed. : For manufacturer settin g. Do not connect anything to it. Pin No. Device assigned in the initial status [...]

3 - 31 3. SIGNALS AND WI RING (3) Signal arrangement of CN10 connector The symbols in the Device change column in the table represent the followings. : The device can be changed by the parameter s in parentheses. : The device cannot be changed. Pin No. Device assigned in the initial status (Symbol) I/O division Device change When using the point ta[...]

3 - 32 3. SIGNALS AND WI RING Pin No. Device assigned in the initial status (Symbol) I/O division Device change When using the point table When using the BCD input 49 In position (INP) DO-1 (Po09) 50 Shield (SD) Plate Shield (SD) 3.5 Signal (device) explanation 3.5.1 Devices (1) Input device The Connector pin No. column indicates the connector pin [...]

3 - 33 3. SIGNALS AND WI RING Device Symbol Connector pin No. Functions/Applications PT BCD Servo-on SON CN10-21 Turn SON on to power on the bas e circuit and make the servo amplifier ready to operate (servo-on). Turn it off to shut off the base circuit and coast the servo motor. Set " 4 " in parameter No. PD01 to switch this signal on (k[...]

3 - 34 3. SIGNALS AND WI RING Device Symbol Connector pin No. Functions/Applications PT BCD Forward rotation start ST1 CN10-35 1. In absolute value command system Turning ST1 ON for automatic operati on executes positioni ng once on the basis of the position data set to the point table. Turning ST1 ON for a home position return immediatel y starts [...]

3 - 35 3. SIGNALS AND WI RING Device Symbol Connector pin No. Functions/Applications PT BCD Position data input 1 (1/4digit bit0) POS00 CN10-1 The 6-digit (BCD 3 digits 2) position data is input by POS00 to POS03, POS10 to POS13 and POS20 to POS23. 3rd digit 6th d igit bit3 POS23 bit2 POS22 bit1 POS21 bit0 POS20 bit3 POS13 bit2 POS12 bit1 POS11 bit[...]

3 - 36 3. SIGNALS AND WI RING (2) Output device The Connector pin No. column indicates the connector pin Nos. assigned at de fault. The device with can change the connector pin Nos. assigned by changing t he parame ter No. PD09 to PD11, Po 08 and Po09. The devices indicated with cannot be used. PT in the table indicates w hen using a point table , [...]

3 - 37 3. SIGNALS AND WI RING Device Symbol Connector pin No. Functions/Applications PT BCD Zero speed ZSP ZSP turns on when the servo motor speed is zero speed (50r/min) or less. Zero speed can be changed using parameter No. PC17. Example Zero speed is 50r/min OFF ON 0r/mi n 1) 2) 4) Forwar d rotati on direc tion Servo motor speed Reverse rotation[...]

3 - 38 3. SIGNALS AND WI RING Device Symbol Connector pin No. Functions/Applications PT BCD Point table No. output 1 PT0 As soon as Movement finish (MEND) tu rns ON, th e point table No. is output in 8- bit code. Point table No. output 2 PT1 (Note) Device Point table No. PT7 PT6 PT5 PT4 PT3 PT2 PT1 PT0 Point table No. output 3 PT2 0 0 0 0 0 0 0 1 1[...]

3 - 39 3. SIGNALS AND WI RING Device Symbol Connector pin No. Functions/Applications PT BCD M code 1 (bit0) MCD00 C N10 -38 As soon as R ough match (CPO) turns ON, the M code is output. 2nd digit bit3 MCD13 bit2 MCD12 bit1 MCD11 bit0 MCD10 bit3 MCD03 bit2 MCD02 bit1 MCD01 bit0 MCD00 1st digit MCD00 to MCD03 and MCD10 to MCD13 tur n OFF in any of th[...]

3 - 40 3. SIGNALS AND WI RING 3.5.3 Output signals Refer to section 3.8.2 for the output interfaces (symbol s in the I/O Division field in the table) of the corresponding connector pins. Signal Symbol Connector pin No. Functions/Applications I/O division Encoder A-phase pulse (differential line driver) LA LAR CN6-11 CN6-24 Outputs pulses per servo [...]

3 - 41 3. SIGNALS AND WI RING 3.6 Detailed description of signal s (devices) 3.6.1 Forward rotation start Reverse rotation start Temporary stop/Restart (1) A forward rotation start (ST1) or a reverse rotation start (ST2) should make the sequence which can be used after the main circuit has been esta blished. These si gnals are invalid if it is swit[...]

3 - 42 3. SIGNALS AND WI RING 3.6.2 Movement finish Rough match In position POINT If servo-on occurs after a stop made by servo-off, alarm occurrence or Forced stop (EMG) ON during au tomatic operation, Movement finish (ME ND), Rough match (CPO) and In position (INP) turn on. To make a start ag ain, confirm the point table No. being specified, and [...]

3 - 43 3. SIGNALS AND WI RING (3) In position The following timing chart shows the relationship be tween the sig nal and the feedback pulse of the servo motor. This timing can be changed using parameter No . PA10 (in-position range). INP turns ON in the servo-on status. ON OFF ON OFF Forwar d rota tion start (ST1 ) or reverse rotation star t (ST2) [...]

3 - 44 3. SIGNALS AND WI RING 3.6.3 Torque limit CAUTION If the torque limit is c anceled during servo lock, the servo motor may suddenly rotate according to position deviation in respect to the command position . (1) Torque limit and torque By setting parameter No. PA11 (forward torque limit) or parameter No. PA12 (revers e torque limit), torque i[...]

3 - 45 3. SIGNALS AND WI RING (2) Torque limit value selection and internal torque limit selection (TL1) As shown below, the forward torque limit (parame ter No. PA11), or reverse torque limit (p arameter No. PA12), the analog torque limit (TLA) and internal torque limit 2 (Para meter No. PC35) can be chosen using the internal torque limit sele cti[...]

3 - 46 3. SIGNALS AND WI RING 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. As soon as an alarm occurs, turn off Servo-on (SON) and power o ff. When an alarm occurs in the servo amplifier[...]

3 - 47 3. SIGNALS AND WI RING 3.8 Interface 3.8.1 Internal connection diagra m CN6 14 15 16 RD ALM ZP RA RA <Isolated> 11 24 12 25 13 26 LA LAR LB LBR LZ LZR 23 LG CN6 Differen tial line driver output (35mA or less ) 12VDC CN20 2 VC 12 TLA 13 P15R 9 LG Plate SD 15 N12R 15VDC 5 4 3 6 1 7 CN3 SDP SDN RDP RDN LG LG RS-422 3 CN2 2 4 7 8 MR MRR MD[...]

3 - 48 3. SIGNALS AND WI RING 3.8.2 Detailed description of interfaces This section provides the details of the I/O signal interf aces (refer to the I/O division in the table) given in section 3.5. Refer to this section and make connection with the exter nal equipment. (1) Digital input interface DI-1 Give a signal with a rela y or open collector t[...]

3 - 49 3. SIGNALS AND WI RING (b) Output pulse Servo motor CCW rotation LA LAR LB LBR LZ LZR T /2 400 s or more OP Time cycle (T) is determined by the settings of pa rameter N o.PA 15 and PC19. (4) Analog input Input impedance 10 to 12k Upper limit setting 2k 15VDC P15R VC, etc LG SD 2k Servo amplifier Approx. 10k VC N12R P15R SD MR-J3-D0 1 LG 15VD[...]

3 - 50 3. SIGNALS AND WI RING 3.8.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1 output signals are of source type. Perform wiring according to the following interface s. (1) Digital input interface DI-1 EMG, etc. Servo am plifier Switch Appro x. 5m A DICOM V CE[...]

3 - 51 3. SIGNALS AND WI RING 3.9 Treatment of cable shield external conductor In the case of the CN2, CN6, CN10 and CN20 connectors, securely connect the shielded external conductor of the cable to the ground p late as shown in this section and fix it to the connector shell. External conductor Sheath External conductor Pull back the external condu[...]

3 - 52 3. SIGNALS AND WI RING 3.10 Connection of servo a mplifier and servo motor WARNIN G During power-on, do not open or clos e th e motor power line. O therwise, a malfunction or faulty may oc cur. 3.10.1 Connection instructions WARNING Insulate the c onnections of the power supply terminals to prevent an electr ic shock. CAUTION Connect the wir[...]

3 - 53 3. SIGNALS AND WI RING 3.10.2 Power supply cable wiring diagra ms (1) HF-MP service HF-KP series servo motor (a) When cable length is 10m or less CNP3 AWG 19(red) AWG 19 (white ) AWG 19(black) AWG 19(green/yellow) W V U Servo motor Servo amplifier 10m or less MR-PWS1CBL M-A1-L MR-PWS1CBL M-A2-L MR-PWS1CBL M-A1-H MR-PWS1CBL M-A2-H M U V W (b)[...]

3 - 54 3. SIGNALS AND WI RING (2) HF-SP series HC-RP series HC-UP series HC-LP series servo motor POINT B Insert a contact in the direction shown in the figure . If inserted in the wrong direction, the contact is damaged and falls off. Soldered part or c rim ping part facing up Soldered part or crimpi ng pa rt facing down Pin No.1 Pin No.1 For CM10[...]

3 - 55 3. SIGNALS AND WI RING 2) When the power supply connector and the electromagnetic brake connector are shared Servo motor (Note 1) Servo a mplifie r M U V W B1 B2 U V W 24VDC power supply for electromagnetic brake 50m or l ess Forced stop (EMG) Troubl e (ALM) RA1 24VDC ALM DOCOM DICOM MBR CN6 RA1 RA2 Electr oma gneti c brak e inter lock (MBR)[...]

3 - 56 3. SIGNALS AND WI RING Encoder connector signal allotment CM10-R10P Power supply connector signal allotment MS3102A18-10P MS3102A22-22P CE05-2A32-17PD-B Power supply connector signal allotment CE05-2A22-23PD-B 5 6 1 4 View a 3 2 8 7 9 10 Terminal No. Signal CD A B View b Terminal No. Signal F E D H G A B C View b Terminal No. Signal 1 MR A U[...]

3 - 57 3. SIGNALS AND WI RING (3) HA-LP series servo motor (a) Wiring diagrams Refer to section 13.9 for th e cables used for wiring. 1) 200V class Servo motor (Note 1) Servo amplifier U V W B1 B2 U V W 24VDC power supply for electromagnetic brake 50m or less Forced stop (EMG) Trouble (ALM) RA1 24VDC ALM DOCOM DICOM MBR CN6 RA1 RA2 Electromagnetic [...]

3 - 58 3. SIGNALS AND WI RING 2) 400V class Servo motor (Note 1) Servo amplifier U V W B1 B2 U V W 24VDC power supply for elect romag netic brake 50m or less Forced stop (EMG) Troubl e (ALM) RA1 24VDC ALM DOCOM DICOM MBR CN6 RA1 RA2 Electromagnetic brake interlock (MBR) RA2 RA3 M Cooling fa n (Note 2 ) 24VDC power supply OHS2 OHS1 Servo motor therm[...]

3 - 59 3. SIGNALS AND WI RING (b) Servo motor terminals Terminal box Encoder connector CM10-R10P Brake connector MS3102A10SL-4P Encoder connector signal allotment CM10-R10P 5 6 1 4 3 2 8 7 9 10 Terminal No. Signal Brake connector signal allotment MS3102A10SL-4P 1 2 Terminal No. Signal 1 MR 1 B1 (Note) 2 MRR 3 2 B2 (Note) 4 BAT 5 LG Note. For the mo[...]

3 - 60 3. SIGNALS AND WI RING Terminal box insi de (HA-LP801(4) 12K1( 4 ) 11K1M(4 ) 15K1M( 4) 15K2( 4) 22K2(4 ) ) Earth terminal M6 screw Thermal sensor terminal block (OHS1 OHS2) M4 screw Cooling fan terminal block (BU BV BW) M4 screw Encoder connector CM10-R10P Motor power supply terminal block (U V W) M8 screw Terminal block signal arrangement U[...]

3 - 61 3. SIGNALS AND WI RING Terminal box inside (HA-LP25K1) BW BV BU W V U Encoder connector CM10-R10P Earth terminal M6 screw Thermal sensor terminal block Cooling fan terminal block Motor power suppl y t erminal block (OHS1 OHS2) M4 screw (BU BV BW) M4 screw (U V W) M10 screw Terminal block signal arra ngement BV UV W BU BW OHS1 OHS2[...]

3 - 62 3. SIGNALS AND WI RING Signal Name Abbreviation Description Power supply U V W Connect to the motor output terminals (U, V, W) of the servo amplifier. During power-on, do not open or close the motor power line. Otherwise, a malfunction or fault y may occur. Cooling fan (Note) BU BV BW Supply power which satisfies the following specifications[...]

3 - 63 3. SIGNALS AND WI RING 3.11 Servo motor with electromagnetic brake 3.11.1 Safety precautions CAUTION Configure the electromagnetic brake op eration circuit so that it is activated not only by the servo amplifier signals but al so by an external forced stop sign al. EMG RA 24VDC Contacts must be open when servo-off, when an trouble (ALM) and [...]

3 - 64 3. SIGNALS AND WI RING 3.11.2 Timing charts (1) Servo-on (SON) command (from controller) ON/OFF Tb [ms] after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electroma[...]

3 - 65 3. SIGNALS AND WI RING (3) Alarm occurrence Electromagnetic brake Dynamic brake Electromagnetic brake Dynamic brake (ON) Forwar d rotati on Electromagnetic brake interlock (MBR) Servo motor speed Base circuit Trouble (ALM) ON OFF ON OFF (Note) 0r/min No Yes (OFF) Electromagn etic brake operatio n delay time (10ms) Note. ON: Electromagnetic b[...]

3 - 66 3. SIGNALS AND WI RING (5) Only main circuit power supply off (co ntrol circuit power supply remains on) (10ms) (Note 1) (10ms) Electr omag netic bra ke Dynamic brake Electromagnetic brake Dynamic brake Electromagnetic brake oper ation d elay ti me (Note 2 ) (ON) Forwa rd rotation Electr oma gneti c brak e inter lock ( MBR) Servo motor speed[...]

3 - 67 3. SIGNALS AND WI RING (2) When cable length exceeds 10m When the cable length exceeds 10m, fabricate an extensi on cable as shown below on the customer side. In this case, the motor brake cable should be within 2m lo ng. Refer to section 13.9 for th e wire used for the extensio n cable. 2m or le ss 24VDC power supply for electromagnetic bra[...]

3 - 68 3. SIGNALS AND WI RING 3.12 Grounding WARNING Ground the servo amplifier and servo motor securely. To prevent an electric shock, alwa ys co nnect the prote ctive earth (PE) terminal (terminal marked ) of the servo amp lifier with the protective earth (PE) o f the control box. The servo amplifier switches the power transistor on-o ff to suppl[...]

4 - 1 4. OPERATION 4. OPERATION WARNIN G Do not operate the switche s with wet ha nds. You may get an electr ic shock. CAUTION Before starting operation, check the par ameters. Some machines may per form unexpected operation. Take safety measures, e.g. provide covers , to prevent accidental contact of hands and parts (cables, etc.) with the servo a[...]

4 - 2 4. OPERATION 4.1.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control ci rcuit power supplies, check the following items. (a) Power supply system wiring The power supplied to the p ower input terminals (L 1 , L 2 , L 3 , L 11 , L 21 ) of the servo a mplifier should satisfy the defined specifications. [...]

4 - 3 4. OPERATION 2) When regenerative option is used with over 5kW of 200V class and 3.5kW of 4 00V class The lead of built- in regenerative resistor connected to P terminal and C terminal of TE1 terminal block should not be connected. The generative option sho uld be c onnected to P terminal and C terminal. A twisted cable should be us ed when w[...]

4 - 4 4. OPERATION 4.2 Startup 4.2.1 Power on and off procedures (1) Power-on Switch power on in the following procedure. Al ways follow this pr ocedure at power-on. 1) Switch off the servo-on (SON). 2) Make sure that the Forward rota tion star t (ST1) and Reverse rotation start (ST2) are off. 3) Switch on the main circuit power s upply and contro [...]

4 - 5 4. OPERATION 4.2.3 Test operation Before starting actual operation , perform test operatio n to make sur e that the machine operate s normally. Refer to section 4.2.1 for th e power on and off methods of the servo amplifier. Test operation of servo motor alone in JOG operation of test operation mode In this step, confirm that t he servo ampli[...]

4 - 6 4. OPERATION 4.2.4 Parameter setting POINT The encoder cable MR-EKCBL M-L/H for the HF-MP series HF-KP series servo motor requires the parameter No. PC22 setting to be change d depending on its length. Check wh ether the par ameter is set co rrectly. If it is not set correctly, the encoder error 1 (A16) w ill occur at power-on. Encoder Cable [...]

4 - 7 4. OPERATION 4.2.5 Point table setting Set necessary items to the point table before starting operation. The following tabl e indicates the items that must be set. Name Description Position data Set the position data for movement. Servo motor speed Set the command speed of t he servo motor for e xecution of positioning. Acceleration time cons[...]

4 - 8 4. OPERATION 4.3 Servo amplifier display On the servo amplifier display (thr ee-digit, seven-segment displa y), c heck the sta tion number, and diagnose a fault at occurrence of an alarm. (1) Display sequence Servo amplifier power ON Not ready (Note 1) When alarm warning No. is display ed Servo ON Ready 2s later Point table No. display 2s lat[...]

4 - 9 4. OPERATION (2) Indication list Indication Status Description d ## Ready The servo was switched on after completion of initialization and the servo amplifier is ready to operate. (This is indicated for 2 seconds.) C # # Not ready The servo amplifier is being initialized or an alarm has occurred. (Note 1) $ $ $ Ready for operation Two seconds[...]

4 - 10 4. OPERATION 4.4 Operation mode and selection meth od This servo has the operation modes indicated in the fo llowing table. Select an operation mode to be used with a parameter and input de vices. Parameters and inpu t devices filled with a diagonal line are not re quired to set. Selection item of operation mode Operation mode Parameter No. [...]

4 - 11 4. OPERATION 4.5 Automatic operation mode 4.5.1 What is the automatic operation mode? (1) Concept of Automatic operation Automatic operation is a positioning fun ction to autom atically start and stop at a target position with one- time start signal. The da ta required for po sitioning is set with the point table. The position data can be se[...]

4 - 12 4. OPERATION (3) Command system After selection of preset point tables using the inpu t s ignals or communication, operation is st arted by the forward rotation start (ST1) or reverse rotation star t (ST2). Automatic operation has the absolute valu e command sy stem, incremental value com mand system. (a) Absolute value command system As pos[...]

4 - 13 4. OPERATION 4.5.2 Automatic operation using point table (1) One-time positioning operation (a) Absolute value command system 1) Poi nt table Set the point table values using the MR C onfigurator or the MR-PRU03 parameter unit. Set the position data, motor speed, acceleration t ime constant, deceleration time constant, dwell, auxiliary funct[...]

4 - 14 4. OPERATION Choose the servo motor rotation direction at the time when the forward rotation start (ST1) is switched on with parameter No.PA14 (Rotation direction selection). Parameter No. PA14 setting Servo motor rota tion direction when forward rotation start (ST1) is switched on 0 CCW rotation with position data CW rotation with position [...]

4 - 15 4. OPERATION (b) Incremental value command system 1) Poi nt table Set the point table values using the MR C onfigurator or the MR-PRU03 parameter unit. Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell, auxiliary function and M code to the po int table. The following table gives a setting examp[...]

4 - 16 4. OPERATION Choose the servo motor rotation direction at the t ime when the forw ard rotation start (ST1) signal or reverse rotation start (ST2) signal is switched on with paramet er No.PA14 (Rotation dire ction selection). Parameter No.PA14 setting Servo motor rotation direction Forward rotation start (ST1) ON Reverse rotation start (ST2 )[...]

4 - 17 4. OPERATION (c) Automatic operation timing chart The timing chart is shown b elow. 3ms or more (Note 2) ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 0r/mi n 2 1 Point table No. ON OFF 12 5ms or more ON OFF ON OFF Forward rotation start (ST1) Reverse rotation start (ST2) 5ms or more (Note 1) Automatic/manual selection (MD0) Servo -on (SON) Serv[...]

4 - 18 4. OPERATION (2) Automatic continuous operation (a) What is automatic continuous operation? By merely choosing one point table and making a st art (ST1 or ST2), operation can be performed in accordance with the point ta bles having consecutive numbers. Automatic operation is available in two types . var ied speed operation and automatic cont[...]

4 - 19 4. OPERATION 1) Absolute value command specifying system This system is an auxiliary function for point tables to perform automatic operation by specifying the absolute value command or incrementa l value command. Positioning in single direc tion The operation example given below assumes that the set values ar e as indicated in the follo win[...]

4 - 20 4. OPERATION Positioning that reverses the direction midway The operation example given below assumes that the set values ar e as indicated in the follo wing table. Here, the point table No. 1 uses the abs olute value command system, the point table No. 2 the incremental value command system, and the poi nt table No. 3 the absolute value sys[...]

4 - 21 4. OPERATION 2) Incremental value command system The position data of the incremental value command system is the sum of the position data of the consecutive point tables. The operation example given be low assumes that the set values are as indicated in the following table. Point table No. Position data [ 10 STM m] Servo motor speed [r/min][...]

4 - 22 4. OPERATION (c) Automatic continuous po sitioning operation By setting "1" or "3" to the auxiliary function of t he point table , the continuous positioning to the next point table No. can be exec uted. By setting "1" or "3" to the auxiliary function up to the point tab le No. 254, a contin uous autom[...]

4 - 23 4. OPERATION (3) Temporary stop/restart on automatic operation When TSTP is turned ON during automatic operation, t he motor is decelerated to a temporary stop at the deceleration time constant in the poin t table being executed. When TSTP is turned ON again, the remaining distance is executed. If the forward/reverse rotation start signal (S[...]

4 - 24 4. OPERATION 2) During dwell tb ta ON OFF ON OFF ON OFF OFF OFF ON ON OFF ON Point table No. n Forward rotation 0r/min Servo motor speed Point table No. n No. n M code Point table No. out p ut (PT0 to PT7) Movemen t finish (MEND) In position (INP) Rough matc h (CP O) Temporar y stop (PUS) Temporary stop/Restart (TSTP) Forwa rd rota tion star[...]

4 - 25 4. OPERATION 4.5.3 Automatic operation by BCD (3 digits 2) input with the MR-DS60 digital switch The positioning is executed based on the positioning data set with the MS-DS60 digital switch and the selected speed command. For the connection e xample of the MR-DS60 digita l switch to the servo a mplifier, refer to section 3.2.2. (1) Paramete[...]

4 - 26 4. OPERATION (3) Timing chart ON OFF ON OFF ON OFF ON OFF Ready (RD) Trouble (ALM) Digit al swit ch BCD (3 digit s 2) ON OFF ON OFF ON OFF ON OFF ON OFF Speed selection 1 to 4 Forwar d rotati on 0r/mi n Servo motor speed Moveme nt fini sh (MEND ) In position (INP) Rough match (CPO) Reverse rotation start (ST2) Speed 2) Position 2) 3ms or mor[...]

4 - 27 4. OPERATION (4) Temporary stop/restart on automatic operation When TSTP is turned ON during automatic operation, t he motor is decelerated to a temporary stop at the deceleration time constant in the poin t table being executed. When TSTP is turned ON again, the remaining distance is executed. If the forward/reverse rotation start signal (S[...]

4 - 28 4. OPERATION 4.5.4 Automatic operation by BCD (3 digits 2) input with the programmable controller The positioning is executed the positioning based on th e positioning data set with the programmable controller and the selected speed command. For the connection example of the programmable controller to the servo amplifier, refer to section 3.[...]

4 - 29 4. OPERATION (3) Timing chart ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON ON Strobe(STRB) Position 1) last 3 digits Position 1) first 3 digits OFF ON OFF Forward rot ation start (ST 1) (Note 1 ) OFF Speed 1) Position 1) Speed 1) 5ms or more 5ms or more (N ote 2) 4ms or more (N ote 2) 3ms or more (N ote 2) 5ms or more 5ms or more 5ms or more[...]

4 - 30 4. OPERATION (4) Temporary stop/restart on automatic operation When TSTP is turned ON during automatic operation, t he motor is decelerated to a temporary stop at the deceleration time constant in the poin t table being executed. When TSTP is turned ON again, the remaining distance is executed. If the forward/reverse rotation start signal (S[...]

4 - 31 4. OPERATION 4.6 Manual operation mode For machine adjustment, home position matching , etc ., jog operation or a manual pulse generator may be used to make a motio n to any position. 4.6.1 JOG operation (1) Setting Set the input device and parameters as follows according to the purpose of use. In this case, th e point table No. selection 1 [...]

4 - 32 4. OPERATION (4) Timing chart 100m ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 0r/min ON OFF ON OFF Servo-on (SON) Ready (RD) Trouble (ALM) Automatic/manual s election (MD0) Rough mat ch ( CPO) Servo motor speed Forward rotation s tart (ST1 ) Reverse rotatio n start (ST2) Forward rotation jog Reverse rotati on jog Forwar d rotation Reverse rot[...]

4 - 33 4. OPERATION (3) Manual pulse generator multiplica tion (a) Using the parameter for setting Use parameter No. PA05 to set the multiplication ratio of the servo motor rotation to the manual pulse generator rotation. Parameter No. PA05 setting Multiplication ratio of servo motor rotation to manual pulse generator rotation Moving distance 0 1 t[...]

4 - 34 4. OPERATION 4.7 Manual home position return mode 4.7.1 Outline of home position return Home position return is performed to match the comm and coordinates with the machine coordinates. In the incremental system, home position return is required ev ery time input power is switched on. In the absolute position detection system, once home posi[...]

4 - 35 4. OPERATION (1) Home position return types Choose the optimum home position retur n according to the machine type, e tc. Type Home position re turn method Features Dog type home position return With deceleration started at the front end of a proximity dog, the position where the first Z-phase signal is given past t he rear end of the dog or[...]

4 - 36 4. OPERATION (2) Home position return parameter When performing home position return, set each parameter as fo llows. (a) Choose the home position return method with par ameter No. PC02 (Home position return type). 0 Para mete r No.P C02 00 Home position return method 0: Dog type 1: Count type 2: Data setting type 3: Stopper type 4: Home pos[...]

4 - 37 4. OPERATION 4.7.2 Dog type home position return A home position return method using a proximity dog. With deceleration started at the front end of the proximity dog, the position where the first Z-phase signal is gi ven past the rear end of the dog or a motion has bee n made over the home position shift distan ce starting fr om the Z-phase [...]

4 - 38 4. OPERATION (3) Timing chart ON OFF ON OFF ON OFF td ON OFF ON OFF ON OFF ON OFF ON OFF 0 Selected point table No. Movement finish (MEND) Roug h mat ch ( CPO) Home position return completion (ZP) Servo motor speed Z-phase Proximity dog (DOG) Forward rotation start (ST1) Home pos ition 5ms or mor e Point table No. 1 Acceleration time constan[...]

4 - 39 4. OPERATION 4.7.3 Count type home position return In count type home position return, a motion is made over the distance set in p arameter No.PC08 (moving distance after proximity dog) after de tection of the proximity dog front end. The po sition where the first Z-phase signal is given after that is defined as a home position. Hence, if th[...]

4 - 40 4. OPERATION (2) Timing chart (Note) 3ms or more 0r/mi n Forward rotation ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 0 ON OFF ON OFF Moveme nt fini sh (MEND ) Rough ma t ch (CPO) Home position return completion (ZP) Servo motor speed Z-phas e Proximit y dog ( DOG) Forward rotation start (ST1) 5ms or more 3ms or less Home position shift distan[...]

4 - 41 4. OPERATION 4.7.4 Data setting type home position return Data setting type home position return is used when it is desired to d etermine any position as a home position . JOG operation can be used for mo vement. (1) Devices, parameters Set the input devices and p arameters as follows. Item Device/Parameter used Description Manual home posit[...]

4 - 42 4. OPERATION 4.7.5 Stopper type home position return In stopper type home position return, a machine part is pressed against a stopper or the like by jog operation to make a home position return and that posi tion is de fined as a home position. (1) Devices, parameters Set the input devices and p arameters as follows. Item Device/Parameter u[...]

4 - 43 4. OPERATION (2) Timing chart ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Parameter No. PC35 (No te 3)Parameter No. PC10 Parameter No. PC35 0 ON OFF Rough match (MEND) Home po sition re turn completion (ZP) Servo moto r speed Forward rotation start (ST1) Home position address Para meter No . PC 07 Automa tic/ manua l selec tion (MD0) Limiting [...]

4 - 44 4. OPERATION 4.7.6 Home position ignorance (servo-on position d efined as home position) The position where servo is switched on is de fined as a home position. (1) Devices, parameter Set the input devices and p arameter as follows. Item Device/Parameter used Description Manual home position return mode selection Automatic/manual selection ([...]

4 - 45 4. OPERATION 4.7.7 Dog type rear end reference home position retu rn POINT This home position return method de pends on the timing of reading Proximity dog (DOG) that has detected the rea r e nd of a proximity dog. Hence, if a home position return is made at the creep spe ed of 100r/min, an error of 400 pulses will occur in the home position[...]

4 - 46 4. OPERATION (2) Timing chart ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 0 Automatic/manual selection (MD0) Movemen t finish (MEND) Rough match (CPO) Home position return completion (ZP) Servo motor s peed Proximity dog (DOG) Forward rotation start (ST1) Home position ret urn speed Creep speed 5ms or mor e 3ms or less Home position add[...]

4 - 47 4. OPERATION 4.7.8 Count type front end reference home position return POINT This home position return method de pends on the timing of reading Proximity dog (DOG) that has detected the front e nd of a proxi mity dog. Hence, if a home position return is made at the home positio n return speed of 100r/min, an error of 400 pulses will occur in[...]

4 - 48 4. OPERATION (2) Timing chart 0 5ms or more Creep speed Moving dist ance after proximity dog Home position shift distance Home position retur n speed 3ms or less ON OFF ON OFF ON OFF ON OFF ON OFF Automatic/manual selection (MD0) Movement finish (MEND) Rough match (CPO) Home position return completion (ZP) Servo mot or spe ed Proximity dog ([...]

4 - 49 4. OPERATION 4.7.9 Dog cradle type home position ret urn The position where the first Z-phase signal is issued a fter de tection of the proximity dog front end can be defined as a home position. (1) Devices, parameters Set the input devices and p arameters as indicated below. Item Device/Parameter used Description Manual home position return[...]

4 - 50 4. OPERATION (2) Timing chart 0 ON OFF Forward rotation 0r/min Reverse rotation 3ms or less Creep speed Home position ret urn speed H ome pos ition sh ift dist ance Home pos ition add ress Parameter No. PC07 Proximity d og 5ms or mor e ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Movement finish (MEND) Rough matc h (CP O) Home position r[...]

4 - 51 4. OPERATION 4.7.10 Dog type first Z-phase reference home po sition return After the proximity dog front end is det ected, the current position moves in the reverse direction at cr eep speed. After this moving away from the proximity dog, the home position is de termined to be where the first Z- phase pulse is issued. (1) Devices, parameters[...]

4 - 52 4. OPERATION (2) Timing chart ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF 0 Movemen t finish (MEND) Rough match (CPO) Home position return completion (ZP) Z-phas e Proximity dog (DOG) Servo motor s peed Selec ted point tab le No. Forward rotation 0r/min Reverse rotation 3ms or less 5ms or more Home position shift distance Home position addres [...]

4 - 53 4. OPERATION 4.7.11 Dog type front end reference home positio n return method POINT This home position return method de pends on the timing of reading Proximity dog (DOG) that has detected the front e nd of a proxi mity dog. Hence, if a home position return is made at the creep spe ed of 100r/min, an error of 400 pulses will occur in the hom[...]

4 - 54 4. OPERATION (2) Timing chart ON OFF 0 Movement finish (MEND) Rough match (CPO) Home position return completion (ZP) Proxi mity do g (DO G) Servo motor s peed Selec ted point tabl e No. Forwar d rotation 0r/min Reverse rotation 3ms or less 5ms or more Home position retu rn speed ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF Proximity dog Moving [...]

4 - 55 4. OPERATION 4.7.12 Dogless Z-phase re ference home position return method The home position is determined to be where the first Z-phase pulse is issued after the home position return is started. (1) Devices, parameters Set the input devices and p arameters as indicated below. Item Device/Parameter used Description Manual home position retur[...]

4 - 56 4. OPERATION (2) Timing chart 0 0r/min Forwar d rotat ion Reverse rotation Movement finish (MEND) Rough matc h (CP O) Home position return completion (ZP) Z-phase Servo motor s peed Selec ted point tabl e No. ON OFF 3ms or less 5ms or mor e Creep speed Home position r eturn speed Home position shift distance ON OFF ON OFF ON OFF ON OFF ON OF[...]

4 - 57 4. OPERATION 4.7.13 Home position return automatic return fun ction If the current position is at or beyond the proximity dog in the home position return using the proximity dog , this function starts home position return a fter making a return to the position where the home position return can be made. (1) When the current position is a t t[...]

4 - 58 4. OPERATION 4.7.14 Automatic positioning function to the home posi tion POINT You cannot perform automatic po sitioning from outside the position data setting range to the home position. In this case, make a home positi on return again using a manual hom e position return. If this function is used when returning to the hom e position again [...]

4 - 59 4. OPERATION 4.8 Roll feed display function in roll feed mode With the roll feed display function, the servo amplifier can operate in the roll feed mode. The roll feed mod e uses the incremental system. (1) Parameter settings No. Name Digit to be set Setting item Setting value Description PA03 Absolute position detection system Operation sys[...]

4 - 60 4. OPERATION 4.9 Absolute position detection system CAUTION If an absolute position erase alarm (A25) or an absolute position counter warning (AE3) has occurred, always perform home position setting aga in. Not doing so can cause runaway. POINT If the encoder cable is disconnected, absolute positio n data will be lost in the following servo [...]

4 - 61 4. OPERATION (4) Outline of absolute position detection data communication For normal operation, as shown below, the encoder c onsists of a detector des igned to detect a position within one revolution and a cumulative revolution counter designed to detec t the number of revolutions . The absolute position detection system always detects the[...]

4 - 62 4. OPERATION (5) Battery installation procedure WARN ING Before installing a battery, turn off the main circuit pow er while keeping the control circuit power on. Wait for 15 minu tes or mo re until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric[...]

4 - 63 4. OPERATION (b) For MR-J3-500T or more and MR-J3-350T4 or more Insert connector into CN4. (c) Parameter setting Set parameter No.PA03 (Absolute position detection sy stem) as indicated below to make the absolute position detection system valid. Parameter No.PA03 Selectio n of abso lute position d etection syst em 0: Increment al system 1: A[...]

4 - 64 4. OPERATION MEMO[...]

5 - 1 5. PARAMETERS 5. PARAMETERS CAUTION When using the MR-J3- T servo amplifier with the MR -J3-D01 extension I/O unit, always refer to the parame ters indicate d in this chapter . Some parameters have different functions when they are used with the MR-J3- T servo amplifier alone. Never adjust or change the parameter va lues extremely as it will [...]

5 - 2 5. PARAMETERS 5.1 Basic setting paramete rs (No.PA ) 5.1.1 Parameter list No. Symbol Name Initial value Unit PA01 *STY Control mode 0000h PA02 *REG Regenerative option 0000h PA03 *ABS Absolute position detection system 0000h PA04 *AOP1 Function selection A-1 0000h PA05 *FTY Feeding function selection 0000h PA06 *CMX Electronic gear numerator [...]

5 - 3 5. PARAMETERS 5.1.2 Parameter write inhibit Parameter Initial value Unit Setting range No. Symbol Name PA19 *BLK Parameter write i nhibit 000Ch Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting, or when the controll er reset has been perfo rmed. In the factory setting, this servo amplifier[...]

5 - 4 5. PARAMETERS 5.1.4 Selection of regenerative option Parameter Initial value Unit Setting range No. Symbol Name PA02 *REG Regenerative option 0000h Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting. Wrong setting may cause the regene rative option to burn. If the regenerative option select[...]

5 - 5 5. PARAMETERS 5.1.5 Using absolute position dete ction system Parameter Initial value Unit Setting range No. Symbol Name PA03 *ABS Absolute position detection system 0000h Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting, or when the controll er reset has been perfo rmed. Set this paramet[...]

5 - 6 5. PARAMETERS 5.1.7 Feeding function selection Parameter Initial value Unit Setting range No. Symbol Name PA05 *FTY Feeding function selection 0000h Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting, or when the controll er reset has been perfo rmed. Select the feed leng th multiplication [...]

5 - 7 5. PARAMETERS (1) Concept of electronic gear Use the electronic gear (parameters No.PA06, PA07) to make adjustment so that the servo amplifier setting matches the moving distance of the mac hine. Also, by changing the electronic gear value , the machine can be moved at any multiplica tion ratio to th e moving distance on the servo amp lifier.[...]

5 - 8 5. PARAMETERS 5.1.9 Auto tuning Parameter Initial value Unit Setting range No. Symbol Name PA08 ATU Auto tuning mode 0001h Refer to the text. PA09 RSP Auto tuning response 12 1 to 32 Make gain adjustment using auto tuning. Refer to section 9.2 for details. (1) Auto tuning mode (para meter No. PA08) Select the gain adjustment mode. Gain adjust[...]

5 - 9 5. PARAMETERS 5.1.10 In-position range Parameter Initial value Unit Setting range No. Symbol Name PA10 INP In-position range 100 m 0 to 10000 Set the range, where In po sition (INP) and Movemen t finish (MEND) are output, in the command pulse u nit before calculation of the electronic gear. With the se tting of parameter No. PC24, the range c[...]

5 - 10 5. PARAMETERS 5.1.12 Selection of servo motor rotation direction Parameter Initial value Unit Setting range No. Symbol Name PA14 *POL Rotation direction selection 0 0 1 POINT This parameter is made valid when power is switched off, then on after setting, or when the controll er reset has been perfo rmed. Select the servo motor rotation direc[...]

5 - 11 5. PARAMETERS (1) For output pulse designation Set " 0 " (initial value) in p arameter No. PC19. Set the number of pulses per servo moto r revolution. Output pulse set value [pulses/ rev] For instance, set "5600" to Parameter No. PA15, the actually output A/B-phase pulses are as indicated below. 4 5600 A B-phase outp ut p[...]

5 - 12 5. PARAMETERS 5.2 Gain/filter parameters (No.PB ) 5.2.1 Parameter list No. Symbol Name Initial value Unit PB01 FILT Adaptive tuning mode (Adaptive f ilter ) 0000h PB02 VRFT Vibration suppression control filter tuning mode (Advanced vibration suppression control) 0000h PB03 For manufacturer setting 0000h PB04 FFC Feed forward gain 0 % PB05 Fo[...]

5 - 13 5. PARAMETERS 5.2.2 Detail list No. Symbol Name and function Initial value Unit Setting range PB01 FILT Adaptive tuning mode (adaptive filter ) Select the setting method for filter tuning. Setting this parameter to " 1" (filter tuning mode 1) automatic ally changes the machine resonance suppression filter 1 (parameter No. PB13) and[...]

5 - 14 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range PB02 VRFT Vibration suppre ssion control t uning mode (advanced vibration suppression control) The vibration suppression is valid when the parameter No. PA08 (auto tuning) setting is " 2" or " 3". When PA08 is " 1", vibr ation suppressio[...]

5 - 15 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range PB05 For manufacturer setting Do not change this value by any means. 500 PB06 GD2 Ratio of load inertia moment to servo motor inertia moment Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. When auto tuning mode 1 and interpol[...]

5 - 16 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range PB14 NHQ1 Notch shape selection 1 Used to selection the machine resonance suppression filter 1. Notch depth selection Setting value Depth Gain 0- 4 0 d B Deep 1- 1 4 d B 2- 8 d B 3- 4 d B Shallow Notch width Setting valu e Width 02 Standard 13 24 35 Wide 0 0 to to Se[...]

5 - 17 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range PB18 LPF Low-pass filter setting Set the low-pass filter. Setting parameter No. PB23 (low-pass filter selection) to " 0 " automatically changes this parameter. When parameter No. PB23 is set to " 1 ", this parameter can be set manually. 3141 rad/s[...]

5 - 18 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range PB25 For manufacturer setting Do not change this value by any means. 0000h PB26 *CDP Gain changing selection Select the gain changing condition. (Refer to section 9.6.) Gain changing sele ction Under any of the following conditions, the gains change on the basis of t[...]

5 - 19 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range PB33 VRF1B Gain changing vibration suppression control vibration frequency sett ing Set the vibration frequency for vibrat ion suppression control when the gain changing is valid. This parameter is made valid when the parameter No. PB02 setting is " 2" and [...]

5 - 20 5. PARAMETERS 5.3 Extension setting parameters (No.PC ) 5.3.1 Parameter list No. Symbol Name Initial value Unit PC01 For manufacturer setting 0000h PC02 *ZTY Hom e po sition ret urn ty pe 0000h PC03 *ZDIR Home p ositio n retur n dire cti on 0001h PC04 ZRF Home p ositio n retur n speed 500 r/min PC 05 C RF Creep speed 10 r/min PC0 6 ZST Home [...]

5 - 21 5. PARAMETERS No. Symbol Name and functi on Initial value Unit PC49 For manufacturer setting 0000h PC50 0000h 5.3.2 Detail list No. S ymbol Name and function Initial value Unit Setting range PC01 For manufacturer setting Do not change this value by any means. 0000h PC02 *ZTY Home po sition re turn ty pe Used to se t the home position return [...]

5 - 22 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PC10 ZTT Stopper ty pe home positio n return torque limit Used to set th e torque limit v alue relative to the max. torque in [%] in stoppe r typ e home p osi tion re turn. (Refer to section 5.6.5.) 15.0 % 1 to 100.0 PC11 CRP Rough matc h output ran ge Used to set t[...]

5 - 23 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PC19 *ENRS Encoder output p ulse selection Use to select the, encoder output pulse direction and encoder output pulse setting. 00 Encoder output pu lse phase changi ng Changes the phases of A, B-phase encoder pulses output . Encoder output pu lse setting selection ([...]

5 - 24 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PC24 *COP3 Function selection C-3 Select the unit of the in-position range. In-position range unit selection 0: Command input unit 1: Servo motor encoder unit 000 0000h Re fer to name and function column. PC25 For manufacturer setting Do not change this value by any[...]

5 - 25 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PC29 For manufacturer setting Do not change this value by any means. 0000h PC30 0000h PC31 LMPL So ftware limit Used to set th e address inc rement side sof tware stroke limit. The softwa re limit is made invalid if this value is the sam e as in "software limit[...]

5 - 26 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range PC37 *LPPL Position range ou tput address Used to set th e address inc rement side position ran ge output ad dress. Set the same sign t o paramet ers No. PC3 7 and PC38. Setting of different signs will result in a parameter error. In parameters No . PC37 to PC40, set[...]

5 - 27 5. PARAMETERS 5.3.3 S-pattern acceleration/deceleration In servo operation, linear a cceleration/deceleration is usually made. By setting the S-pattern acceleration/ deceleration time constant (paramet er No. PC13), a smooth star t/stop c an be mad e. When the S-pattern time constant is set, smooth pos itioning is exe cuted as show n below. [...]

5 - 28 5. PARAMETERS 5.3.6 Software limit A limit stop using a software limi t (parameter No. PC31 to PC34) is made as in stroke end operation. When a motion goes beyond the s etting range, the motor is st opped and se rvo-locked. This function is made valid a t power-on but made invalid during home position return. This function is made invalid wh[...]

5 - 29 5. PARAMETERS 5.4.2 Detail list No. S ymbol Name and function Initial value Unit Setting range PD01 *DIA1 Input signal automatic ON selection 1 Select the input devices to be automatically turned ON. part is for manufacturer setting. Do not set the value by any means. 0 0 0 Initial value BIN HEX Signal name 0 0 Initial value BIN HEX Proporti[...]

5 - 30 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PD03 *DIA3 Input signal automatic ON selection 3 Select the input devices to be automatically turned ON. part is for manufacturer setting. Do not set the value by any means. 0 0 0 0 0 0 0 0 0 0 Automatic/manual selecti on(MD0) BIN HEX Initial value Signal name Speed[...]

5 - 31 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PD04 *DIA4 Input signal automatic ON selection 4 Select the input devices to be automatically turned ON. 0 0 Initial value BIN HEX Signal name Point table No. selection 2 (DI1) 0 BIN 0: Used to external input signal. BIN 1: Automatic ON 0 0 Point table No. selection[...]

5 - 32 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PD06 *DI2 Input signal device selection 2 (CN6-2) Any input device can be assigned to the CN6-2 pin. 0 Select the input device of the CN6-2 pin 0 The devices that can be assigned are indicated in the following table. Setting (Note) Input device Name Abbreviation 00 [...]

5 - 33 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PD09 *DO1 Output signal device selection 1 (CN6-14) Any output signal can be assigned to the CN6-14 pin. 0 Select the output device of the CN6-14 pin 0 The devices that can be assigned are indicated in the following table. Setting (Note) Output device Name Symbol 00[...]

5 - 34 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PD11 *DO3 Output signal device selection 3 (CN6-16) Any output signal can be assigned to the CN6-16 pin. The devices that can be assigned and the setting method are the same as in parameter No. PD09. 0 Select the output device of the CN6-16 pin 0 0024h Re fer to nam[...]

5 - 35 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PD20 *DOP1 Function selection D-1 Select the stop processing at forward rotation stroke end (LSN)/reverse rotation stroke end (LSN) OFF and the bas e circuit status at reset ( RES) ON. Stopping me thod used when forward rot ation stroke end (LSP ), reverse rotation [...]

5 - 36 5. PARAMETERS No. S ymbol Name and function Initial value Unit Setting range PD24 *DOP5 Function selection D-5 Select the output status of the warning (WNG). 00 0 Selection of output device at warning occurrence Select the warning (WNG) and trouble (ALM) output status at warning occurrence. 0 1 Setting (Note) De vice status Warning occurred.[...]

5 - 37 5. PARAMETERS 5.5 Option unit parameters (No.Po ) 5.5.1 Parameter list No. Symbol Name Initial value Unit Po01 For manufa cturer set tin g 1234h Po02 *ODI1 MR-J3-D01 input signal devic e selection 1 (CN10-21, 26) 0302h Po03 *ODI2 MR-J3-D01 input signal devic e selection 2 (CN10-27, 28) 0905h Po04 *ODI3 MR-J3-D01 input signal devic e selectio[...]

5 - 38 5. PARAMETERS 5.5.2 Detail list No. Symbol Name and function Initial value Unit Setting range Po01 For man ufacturer setting Do not change this value by any means. 1234h Po02 *OD I1 MR-J3-D01 input signal dev ice selection 2 (CN10-21, 26) Any input signal can be assigned to the CN10-21, 26 pin. Select the input device of the CN1 0-21 pin Sel[...]

5 - 39 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Po04 *ODI3 MR-J3-D01 input signal devic e selection 3 (CN10-29, 30) Any input signal can be assigned to the CN10-29, 30 pin. The devices that can be assigned and the setting method are the same as in parameter No. Po02. Select the input device of the CN10-29 pin Sele[...]

5 - 40 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Po08 *ODO1 MR-J3-D01 outp ut signal device selection 1 (CN10-46, 47) Any output signal can be assigned to the CN10-46, 47 pin. Select the ou tput device of the CN10-46 Select the output device of the CN10-47 The devices that can be assigned are indicated in the follo[...]

5 - 41 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Po10 *OOP1 Function selection O-1 Select the positioning operation by point table selection and BCD input. 0 CN10 Pin No. Setting value BCD input used 1 2 3 4 5 6 7 8 9 10 11 12 15 16 0 DI0 17 18 19 20 Point t able used 12 DI1 DI2 DI3 DI4 DI5 DI6 DI7 POS00 POS01 POS0[...]

5 - 42 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Po11 For man ufacturer setting Do not change this value by any means. 0000h Po12 *OOP3 Function selection O-3 Set the output of the alarm code and M code. Alarm code output 0: Invalid Alarm code is not ou tput. 1: Valid Alarm code is output at alarm occurrence. M cod[...]

5 - 43 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range Po15 MO1 MR-J3-D01 analog monitor 1 offset Used to set the offset voltage of the analog monitor (MO1). 0 mV 9999 to 9999 Po16 MO2 MR-J3-D01 analog monitor 2 offset Used to set the offset voltage of the analog monitor (MO2). 0 mV 99 99 to 9999 Po17 For manufacturer se[...]

5 - 44 5. PARAMETERS 5.5.3 Analog monitor The servo status can be output to two channels in term s of voltage. The servo status can be monitored using un ammeter. (1) Setting Change the following digits of parameter No. Po13 , Po14. Analog monitor (MO1) output selection (Sig nal out put t o acro ss MO1 -LG) Analog monitor (MO2) o utput selection (S[...]

5 - 45 5. PARAMETERS Setting Output item Description Setting Output item Description 6 Droop pulses (Note 1) ( 10V/100 pulses) 100[pulse] CW direction CCW direct ion 100[pulse] 0 10[V] -10[V] 7 Droop pulses (Note 1) ( 10V/1000 pulses) 1000[pulse] CW direction CCW direct ion 1000[pulse] 0 10[V] -10[V] 8 Droop pulses (Note 1) ( 10V/10000 pulses) 1000[...]

5 - 46 5. PARAMETERS (3) Analog monitor block diagram PWM M Feedb ack position Home position Current control Speed control Current command Position control Droop pul se Differ- enti al Command speed Bus voltage Speed command Command posit ion Current feedback Positi on fe edback Servo Mot or speed Current encoder Servo Motor Encoder Torque differen[...]

6 - 1 6. MR Confi g urator 6. MR Configurator The MR Configurator uses the communication func tion of the servo amplifier to perform parameter setting changes, graph display, test operatio n, etc. on a personal compu ter. 6.1 Specifications Item Description Compatibility with a servo amplifier The following table shows MR Configurator software vers[...]

6 - 2 6. MR Configurator 6.2 System configuration (a) Components To use this software, the following components are requi red in ad dition to the servo amplifier and servo motor. Equipment (N ote 1) Description (Note 2, 3) Personal com puter OS IBM PC/AT compatible where the English version of Windows R 98, Windows R Me, Windows R 2000 Professional[...]

6 - 3 6. MR Configurator (b) Connection with servo a mplifier 1) For use of USB MR-J3- T MR-J3-D01 CN5 USB cable MR-J3USBCBL3M (Option) Pers onal c omputer To USB connector 2) For use of RS-422 MR-J3- T MR-J3-D01 CN3 RS-422/232C conversion cable DSV-CABV (Diatre nd) Person al comp uter To RS-232C connector (Note) Note. Do not connect to the CN30 co[...]

6 - 4 6. MR Configurator 6.3 Station selection Click "Setup" on the menu bar and cl ick "System settings" on the menu. When the above choices a re made, the following window appe ars. a) (1) Station number selection Choose the station number in the combo box ( a) ) . POINT This setting should be the same as the station number wh[...]

6 - 5 6. MR Configurator 6.4 Parameters Click "Parameters" on the menu bar an d click "Parameter list" on the menu. When the above choices a re made, the following window appe ars. g) h) i) j) k) l) c) a) f) b) d) e) (1) Parameter value write ( a) ) Click the parameter whose setting was changed and press the "Write" bu[...]

6 - 6 6. MR Configurator (4) Parameter value batch-write ( d) ) Click the "Write All" button to write all par ameter values to the servo amplifier. (5) Parameter default value indication ( e) ) Click the "Set to default" button to s how the initia l value of each parameter. (6) Basic settings for parameters ( g) ) Used to make t[...]

6 - 7 6. MR Configurator 6.5 Point table POINT The value of the parameter No. PA05 se t on the parameter setting screen is not engaged with the STM (feed length multiplication) value on the point table list screen. Set the STM (feed length mult iplication) value to the same as set in the parameter No. PA05 on the point table list screen. Click &quo[...]

6 - 8 6. MR Configurator (5) Point table data insertion ( e) ) Click the "Insert" button to insert one block of data into the position bef ore the point table No. chosen. The blocks after the chosen point tabl e No. are shifted down one by one. (6) Point table data d eletion ( f) ) Click the "Delete" button to delete all data in[...]

6 - 9 6. MR Configurator 6.6 Device assignment method (1) How to open the setting screen Click "Parameters" on the menu bar and click "Device setting" in the menu. Making selection displays the following window.[...]

6 - 10 6. MR Configurator (2) Screen explanation (a) DIDO device setting window screen This is the device assignment screen of the servo am plifier displays the pin assignment status of the servo amplifier. a) b) d) c) 1) Read of function assignment ( a) ) Click the "Read" button rea ds and displays all functi on s assigned to the pins fr[...]

6 - 11 6. MR Configurator (b) DIDO function display window screen This screen is used to select the device assigned to the pins. The functions displayed below * and * are assignable. a) b) Move the pointer to the place of the func tion to be assigned. Drag and drop it as-is to the pin you want to assign in the DIDO de vice setting window. 1) Assign[...]

6 - 12 6. MR Configurator (c) Function device assignment checking auto ON se tting display Click the "Assignment check / auto ON setting" butt on in the DIDO function display window displays the following window. d) c) e) b) a) The assigned functions are indicated by . The functions assigned by auto ON are grayed. When y ou want to set au[...]

6 - 13 6. MR Configurator 6.7 Test operation CAUTION When confirming the machine operation in the test operation mode, use the machine after checking that the safety mechanism such as the forced stop (EMG) operates. If any operational fault has occurred, stop operation us ing the forced stop (EMG) . 6.7.1 Jog operation POINT For the program operati[...]

6 - 14 6. MR Configurator a) b) g) c) d) e) h) f) (1) Servo motor speed setting ( a) ) Enter a new value into the "Motor speed " input field and press the enter key. (2) Acceleration/deceleration t ime constant setting ( b) ) Enter a new value into the "Accel/decel ti me" input field and press the enter key. (3) Servo motor star[...]

6 - 15 6. MR Configurator 6.7.2 Positioning operation POINT The servo motor will not op erate if the forced stop (EMG), forward rotation stroke end (LSP) and re verse rotation stroke end (LSN) are off. Make automatic ON setting to turn on these devices or make device setting to assign them as external input signals a nd turn on across these signals[...]

6 - 16 6. MR Configurator d) e) f) g) h) l) m) a) b) i) j) k) c) (1) Servo motor speed setting ( a) ) Enter a new value into the "Motor speed " input field and press the enter key. (2) Acceleration/deceleration t ime constant setting ( b) ) Enter a new value into the "Accel/decel ti me" input field and press the enter key. (3) M[...]

6 - 17 6. MR Configurator (10) Pulse move distance u nit selection (k) Select with the option button s whether the moving distanc e set is in the command input pulse unit or in the encoder pulse unit. (11) Servo motor software forced stop (1)) Click the "Software forced stop" but ton to stop the servo motor rotati on immediately. W hen th[...]

6 - 18 6. MR Configurator 6.7.3 Motor-less operation POINT When this operation is used in an absol ute position detection system, the home position cannot be restored properly. Without a servo motor being connect ed, the output signals are provided and the servo amplifier display shows the status as if a servo motor is actually running in response [...]

6 - 19 6. MR Configurator 6.7.4 Output signal (DO) forced output POINT When an alarm occurs, the DO forced output is automatically ca nceled. Each servo amplifier output signal is forcibly switched on/off indepe ndently of the output condition of the output signal. Click "Test" on the menu bar and click "Forced outpu t" on the m[...]

6 - 20 6. MR Configurator (1) Signal ON/OFF setting ( a), b) ) Choose the signal name or pin number and click the "ON" or "OFF" button to write the corresponding signal status to the s ervo amplifier. (2) DO forced output window closing ( c) ) Click the "Close " button to c ancel the DO forced outp ut mode and close th[...]

6 - 21 6. MR Configurator Click the "OK" button to display the setting screen of the Single-step feed. During the servo on, the confirmation window indicati ng that the next operation is in the stop status is displayed. After confirming that the op eration is in th e stop status, click the "O K" button. b) c) d) e) g) f) a) (1) [...]

6 - 22 6. MR Configurator (7) Servo motor software forced stop ( f) ) Click the "Software forced stop" but ton to stop the servo motor rotati on immediately. W hen the "Software forced stop" button is enabled, the "Start" button can not be used. Click the "Sof tware forced stop" button again to make the "[...]

6 - 23 6. MR Configurator 6.8 Alarm 6.8.1 Alarm display POINT If a menu is clicked or any other operation is performed during ala rm occurrence, the following message wi ndow appears. The example given here is the window that indicates an occurren ce of Encoder error 1 (16). The current alarm can be displayed. To display the current alarm, click &q[...]

6 - 24 6. MR Configurator (1) Current alarm display The window shows the alarm number , name, cause and occurrence time . The following example is the window that indicates an occurrence of Encoder error 1 (16). (2) Alarm reset ( a) ) Click the "Reset alarm" button to reset th e current alarm and clear alarms on the window. The alarm at t[...]

6 - 25 6. MR Configurator Click the "Read" button to read the monitor data at err o r occurrence from the servo amplifier. Read results are displayed as follows.[...]

6 - 26 6. MR Configurator 6.8.3 Alarm history Click "Alarm" on the menu bar and click "History" on the menu. When the above choices are made , the following window appears. b) a) (1) Alarm history display The most recent six alarms are displayed. The smaller numbers indicate newer alarms. (2) Alarm history clear ( a) ) Click the[...]

7 - 1 7. PARAMETER UNIT ( MR-PRU03 ) 7. PARAMETER UNIT (MR-PRU03) POINT Do not use MR-PRU03 parameter u nit and MR Configurator together. Perform simple data setting, test operation, parame ter setting, etc. w ithout MR Configurator by connecting the MR-PRU03 parameter unit to the servo a mplifier.[...]

7 - 2 7. PARAMETER UNIT (MR-PRU 03) 7.1 External appearance and key explanations This section gives the exter nal appearance and explanations o f the keys. PRU03 MON DATA PARAM ALM/ DGN TEST Fn SHIFT ESC 7 89 DE F 4 5 6 A BC 123 0 1STEP STOP RESET REV FWD Key MON DATA PARAM ALM/ DGN TEST Mode key Fn SHIFT ESC 0 9 F STOP RESET REV FWD 1STEP Key expl[...]

7 - 3 7. PARAMETER UNIT (MR-PRU 03) 7.2 Specifications Item Description Model MR-PR U03 Power supply Supplied from the servo amplifier Functions Parameter mode Basic setting parameters, Gain/filt er parameters, Extension setting parameters, I/O setting parameters Monitor mode (Status display) Current position, Command position, Command remaining di[...]

7 - 4 7. PARAMETER UNIT (MR-PRU 03) 7.4 Connection with servo amplifier POINT A parameter unit cannot be connected to the CN30 connector of MR-J3-D01. 7.4.1 Single axis (1) Configuration diagram Operate the single-axis servo amplifier. It is recommended to use the following cable. Parameter unit (MR-PRU03) 10BASE-T cable, etc. (EIA568-compliant cab[...]

7 - 5 7. PARAMETER UNIT (MR-PRU 03) 7.4.2 Multidrop connection (1) Configuration diagram Up to 32 axes of servo amplifiers from st a tions 0 to 31 can be opera ted on the same bus. Para mete r unit (MR-PRU03) (Note 1) (Note 3) (Not e 2) (Note 2) (Note 2) (Note 1) (Note 4) (Note 4 ) (Note 4) (Note 1) CN3 MR-J3- T MR-J3-D01 CN3 MR-J3- T MR-J3-D 01 MR[...]

7 - 6 7. PARAMETER UNIT (MR-PRU 03) (2) Cable internal wiring dia gram Wire the cables as shown below. Para mete r unit 7 1 2 3 4 5 6 8 7 1 2 3 4 5 6 8 12345678 7 1 2 3 4 5 6 8 (Not e 4, 5) LG P5D RDP SDN SDP RDN LG NC (Note 5) (Note 1) Axis 1 s ervo am plifier CN3 connector (RJ45 c onnec tor) 7 1 2 3 4 5 6 8 7 1 2 3 4 5 6 8 12345678 7 1 2 3 4 5 6 [...]

7 - 7 7. PARAMETER UNIT (MR-PRU 03) 7.5 Display Connect the MR-PRU03 parameter unit to the servo amplifier, and turn ON the power of the servo amplifier . In this section, the screen transition of the MR-PRU03 parameter unit is explained, together with the operation procedure in each mode. 7.5.1 Outline of screen transition ESC DATA PARAM ALM/ DGN [...]

7 - 8 7. PARAMETER UNIT (MR-PRU 03) 7.5.2 MR-PRU03 paramet er unit setting Set and enter the station number. (e.g. To enter 31st axis) Stati on numb er Contrast adjustment Buzzer Baud ra te selection 3 1 ESC MR-PRU03 parameter unit setting Press the " " keys to select, and press the " " key to set. Press the " " keys t[...]

7 - 9 7. PARAMETER UNIT (MR-PRU 03) 7.5.3 Monitor mode (status display) (1) Monitor display The servo status during operation is shown on the disp lay . Refer to (2) in this section for details. 1. Current position 2. Command position 3. Comm and re main ing di stan ce 4. Point table No. 5. Cumulative feedback pulses 6. Servo motor spee d 7. Droop [...]

7 - 10 7. PARAMETER UNIT (MR-PRU 03) (2) Monitor display list The following table lis ts the items and des criptions of monitor displa y. Status display Display on parameter unit Unit Description Display range Current position Cur posit 10 STM mm The current position from the machine home position of 0 is displayed. 9999999 to 9999999 Command posit[...]

7 - 11 7. PARAMETER UNIT (MR-PRU 03) 7.5.4 Alarm/diagnostic mode (1) Alarm display The flowchart below shows the procedure of settings in volving alarms, alarm history, external I/O signal (DIDO) display, device and diagnosis. ALM/ DGN Alarm Curr ent alar m (When undervoltage (A10) occurred.) Alar m hist ory Motor inform ation Total power-on time S[...]

7 - 12 7. PARAMETER UNIT (MR-PRU 03) (2) Alarm history clear The servo amplifier stores one current alarm and five pas t alarms from when its power is switched on first. To control alarms which will occur during operation, cle ar the alarm history before starting operation. ALM/ DGN STOP RESET 1) Select "ALM Hist". For six alarms includin[...]

7 - 13 7. PARAMETER UNIT (MR-PRU 03) 7.5.5 Parameter mode The flowchart below shows the procedure for setting pa rameters. DATA PARAM Sele ct a par ameter gr oup. First parameter number is displayed. e.g. To select the gain/filter para meter, press: Write Write is c ompleted. The following message appears if swit ching power of f or on is needed to[...]

7 - 14 7. PARAMETER UNIT (MR-PRU 03) 7.5.6 Point table mode The flowchart below shows the procedure for setting point table data. DATA PARAM e.g. To set setting value "4567.89 ", press: SHIFT Servo motor speed disp lay Accelerati on time constant d isplay Deceleration time constant d isplay Dwell display Auxiliary function display Select [...]

7 - 15 7. PARAMETER UNIT (MR-PRU 03) 7.5.7 Test operation mode CAUTION When confirming the machine operation in the test operation mode, use the machine after checking that the safety mechanism such as the forced stop (EMG) operates. If any operational fault has occurred, stop operation us ing the forced stop (EMG) . POINT Test operation cannot be [...]

7 - 16 7. PARAMETER UNIT (MR-PRU 03) (1) Jog operation Jog operation can be performed when th ere is no command fro m the external command devic e. Connect EMG-DOCOM to start jog operation . (a) Operation/cancel You can change the operation conditions with the p arameter unit. The initial conditions and setting ranges for operation are listed below[...]

7 - 17 7. PARAMETER UNIT (MR-PRU 03) (2) Positioning operation Positioning operation can be performed on ce when there is no co mmand from the external com mand device. Connect EMG-DOCOM to start position ing operation. (a) Operation/cancel You can change the operation conditions with the p arameter unit. The initial conditions and setting ranges f[...]

7 - 18 7. PARAMETER UNIT (MR-PRU 03) If the communication cable is disconnected during positio ning operation, the servo motor will come to a sudden stop. To switch from the test operation mode to the usual operation mode, turn OFF the power of the servo amplifier. (b) Status display You can monitor the status displa y even during posit ioning oper[...]

7 - 19 7. PARAMETER UNIT (MR-PRU 03) To switch from the test operation mode to the usual operation mode, turn OFF the power of the servo amplifier. (5) Single-step feed Operation is performed in accordance with the preset point table No. Connect EMG-DOCOM to start single-step feed. The following shows the operation conditi on settings and the opera[...]

7 - 20 7. PARAMETER UNIT (MR-PRU 03) (2) Messages Message Description Valid parameters were written when power is off. The MR-PRU03 parameter unit was used to s et a station number and perform transition duri ng the test operation mode. Operation mode is the test operation mode. The test mode was changed due to external factor. Reading settings spe[...]

8 - 1 8 GENERAL GAIN ADJUSTMENT 8. GENERAL GAIN ADJUSTMENT 8.1 Different adjustment methods 8.1.1 Adjustment on a single servo ampli fier The gain adjustment in this section can be made on a singl e servo amplifier. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2 and manua[...]

8 - 2 8. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage END Inter polatio n made for 2 or more axes? START Operation Auto tuning mode 2 OK? OK? Manual mode OK? No No Yes No Yes No Yes Auto tuning mode 1 Operation Interpolation mode Operation Yes Usage Used when you want to match the position gain (PG1) between 2 or more axes. Normal[...]

8 - 3 8. GENERAL GAIN ADJUSTMENT 8.2 Auto tuning 8.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning functi on which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjus tment of the servo amplifier.[...]

8 - 4 8. GENERAL GAIN ADJUSTMENT 8.2.2 Auto tuning mode operation The block diagram of real-time auto tunin g is shown below. Servo motor Command Automa tic se tting Loop gains PG1,VG1 PG2,VG2,VIC Current control Current feedback Load inertia momen t Encoder Positi on/spe ed feedback Real-time auto tuning secti on Spee d feed bac k Load inertia mom[...]

8 - 5 8. GENERAL GAIN ADJUSTMENT 8.2.3 Adjustment procedure by auto tuning Since auto tuning is ma de valid before s hipment from t he factory, simply running the servo motor automatica lly sets the optimum gains that match the machine. Mere ly changing the response level setting value as required completes the adjustment. The adjus tment procedure[...]

8 - 6 8. GENERAL GAIN ADJUSTMENT 8.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No. PA09) of the whole servo system. As the response level setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration . Hence, make setting unt[...]

8 - 7 8. GENERAL GAIN ADJUSTMENT 8.3 Manual mode 1 (simple manual adju stment) If you are not satisfied with the adjus tment of auto tuni ng, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, filter tuning mode (parameter No. PB01) or machine resonance suppression filter (parameter No. PB13 to PB16) may[...]

8 - 8 8. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed loop gain (parame ter No. PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate . The actual response frequency of the speed loop is as indicated [...]

8 - 9 8. GENERAL GAIN ADJUSTMENT (2) For position control (a) Parameters The following parameters are used for gain adjustment. Parameter No. Abbreviation Name PB06 GD2 Ratio of load inertia moment to servo motor inertia moment PB07 PG1 Model loop gain PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation (b) Adj[...]

8 - 10 8. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed loop gain (VG2 : parameter No. PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the me chanical system liable to vibrate. The actual response frequency of the speed loop is a s ind[...]

8 - 11 8. GENERAL GAIN ADJUSTMENT 8.4 Interpolation mode The interpolation mode is used to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X- Y table or the like. In this mode, manually set the model loop gain that determines c ommand track ability. Other parameters fo[...]

8 - 12 8. GENERAL GAIN ADJUSTMENT 8.5 Differences between MELSERVO-J2-S upe r and MELSERVO-J3 in auto tuning To meet higher response demands, the MELSERVO-J 3 series has been changed in response level setting range from the MR-J2-Super. The fo llowing table lists comparison of the response level setting. MELSERVO-J2-Super MELSERVO-J3 Parameter No. [...]

9 - 1 9. SPECIAL ADJUSTMENT FUNCTI ONS 9. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adju stment in the methods in chapter 9. If a mechanical system has a natural resonance point, in creasing the servo system response level[...]

9 - 2 9. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive tuning mode (parameter No. PB01). Filter tunin g mode selection 000 Parameter No.PB01 Setting Filter adjustment mode Automatically set parameter 0 Filter OFF (Note) 1 Filter tuning mode Parameter No. PB13 Parameter No. PB14 2 Manual mode Note. Parameter No. PB19 and PB20[...]

9 - 3 9. SPECIAL ADJUSTMENT FUNCTIONS (3) Adaptive tuning mode procedure The response has increased to the machi ne limi t. The mac hine is too comp licated to provide the optimum filter. Factor Adapt ive tu ning a djustme nt Operation Is the target response reac hed? Tuning ends automatically after the predetermined period of time. (Parameter No. [...]

9 - 4 9. SPECIAL ADJUSTMENT FUNCTIONS POINT "Filter OFF" enables a return to the factory-set initial value. When adaptive tuning is executed, vibr ation sound increases a s an excitation signal is forcibly applied for several second s. When adaptive tuning i s executed, machine resonance is detected for a maximum of 10 seconds and a filte[...]

9 - 5 9. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters (a) Machine resonance suppression filter 1 (parameter No. PB13, PB14) Set the notch frequency, notch depth a nd notch widt h of the machine resonance suppression filter 1 (parameter No. PB13, PB14) When you have made adaptive filter tuning mode (parameter No. PB01) "manual mode", set up[...]

9 - 6 9. SPECIAL ADJUSTMENT FUNCTIONS 9.4 Advanced vibration suppre ssion control (1) Operation Vibration suppression control is used to further suppr ess machine end vibration, such as workpiece end vibration and base shake. The motor side operation is adjusted for positioning so t hat the machine does not shake. t t Position Position Motor end Ma[...]

9 - 7 9. SPECIAL ADJUSTMENT FUNCTIONS (3) Vibration suppression control tuning mode procedure No Estimation cannot be made as machine end vib ration has not b een transmitted to the motor end. The response of the model loop gain has increased to the machine end vibration frequency (vibration suppression control limit). Vibration suppression control[...]

9 - 8 9. SPECIAL ADJUSTMENT FUNCTIONS (4) Vibration suppression control manual mode Measure work end vibration and device shake with the machine analyzer or external measuring instrument, and set the vibration suppression control vibratio n frequency (parameter No. PB19) a nd vibration suppression control resonance frequency (parameter No. PB20) to[...]

9 - 9 9. SPECIAL ADJUSTMENT FUNCTIONS POINT When machine end vibrat ion does not show up in motor end vi bration, the setting of the motor end vibration frequency does not produce an effect. When the anti-resonan ce frequency and resonance frequency can be confirmed using the machine analy z er or external FFT device, do not set the same value but [...]

9 - 10 9. SPECIAL ADJUSTMENT FUNCTIONS 9.5 Low-pass filter (1) Function When a ball screw or the like is used, resonance of hi gh frequency may occur as the response level of the servo system is increased. To prevent this , the low- pass filter is factor y-set to be valid for a torque command. The filter frequency of this low-pass filter is automat[...]

9 - 11 9. SPECIAL ADJUSTMENT FUNCTIONS 9.6.2 Function block diagram The valid loop gains PG2, VG2, VIC and GD2 of the actual loop are c hanged according to the conditions selected by gain changing selection CD P (parameter No. PB26) a nd gain changing condition CDS (parameter No. PB27). PG2B Par ame ter No . PB30 GD2 Par ame ter No . PB06 GD2B Par [...]

9 - 12 9. SPECIAL ADJUSTMENT FUNCTIONS 9.6.3 Parameters When using the gain changing function, always set " 3 " in parameter No. PA08 (auto tuning) to choose the manual mode of the gain adjustment modes. The gai n changing function cannot be used in the auto tuning mode. Parameter No. Abbreviation Name Unit Description PB06 GD2 Ratio of l[...]

9 - 13 9. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No. PB06 to PB10 These parameters are the same as in or dinary manual adjus tment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position loop gain , speed loop gain and speed integral compensation to be changed. (2) Gain changing ratio of lo ad i[...]

9 - 14 9. SPECIAL ADJUSTMENT FUNCTIONS 9.6.4 Gain changing operation This operation will be described b y way of setting exa mples. (1) When you choose changing by input device (a) Setting Parameter No. Abbreviation Name Setting Unit PB07 PG1 Model loop gain 100 rad/s PB06 GD2 Ratio of load inertia moment to servo moto r inertia moment 4.0 times PB[...]

9 - 15 9. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation Name Setting Unit PB07 PG1 Model loop ga in 100 rad/s PB06 GD2 Ratio of load i nertia moment to servo m otor inertia mo ment 4.0 times PB08 PG2 Po sit ion loop gain 120 rad/s PB09 VG2 Sp eed lo op gain 3000 rad/s PB10 V IC Spee[...]

9 - 16 9. SPECIAL ADJUSTMENT FUNCTIONS MEMO[...]

10 - 1 10. TROUBLESHOOTING 10. TROUBLESHOOTING 10.1 Trouble at start-up CAUTION Excessive adjustment or change of para meter setting must not be made as it will make operation instable. POINT Using the MR Configurator, you can re fer to unrota ted servo motor reasons, etc. The following faults ma y occur at start-up. If any of such faults occurs, t[...]

10 - 2 10. TROUBL ESHOOTING No. Start-up sequence Fault Investigation Possible cause Reference 4 C yclic operation Position shift occurs Confirm the cumulative command pulses, cumulative feedback pulses and actual servo motor position. Pulse counting error, etc. due to noise. 10.2 When alarm or warnin g has occurred POINT Configure up a circuit whi[...]

10 - 3 10. TROUBL ESHOOTING Display Name Warnings A90 Home positioning incomplete war ning A92 Open ba ttery cable warning A96 Home position setting erro r A98 Software limit wa rning A99 Stoke limit warning A9A Option unit input data error warning A9F Battery warning AE0 Excessive regeneration warning AE1 Overload warning 1 AE3 Absolute position c[...]

10 - 4 10. TROUBL ESHOOTING Display Name Definition Cause Action A10 Undervoltage Power supply voltage dropped. MR-J3- T: 160VAC or less MR-J3- T1: 83VAC or less MR-J3- T4: 280VAC or less 1. Power supply voltage is low. Check the po wer supply. 2. There was an instantaneous control power failure of 60ms or longer. 3. Shortage of power supply capaci[...]

10 - 5 10. TROUBL ESHOOTING Display Name Definition Cause Action A24 Main circuit error Ground fault occurred at the servo motor power (U,V and W phases) of the servo amplifier. 1. Power input wires and servo motor power wires are in contact. Connect correctly. 2. Sheathes of servo motor power cables deteriorated, resulting in ground fault. Change [...]

10 - 6 10. TROUBL ESHOOTING Display Name Definition Cause Action A31 Overspeed Speed has exceeded the instantaneous permissible speed. 1. Input command pulse frequency exceeded the permissible instantaneous speed frequency. Set command pulses correctly. 2. Small acceleration/deceleration time constant caused overshoot to be large. Increase accelera[...]

10 - 7 10. TROUBL ESHOOTING Display Name Definition Cause Action A33 Overvoltage The following shows the input value of converter bus voltage. MR-J3- T(1): 400VDC or more MR-J3- T4: 800VDC or more 1. Regenerative option is not us ed. Use the regenerative option. 2. Though the regenerative option is used, the parameter No.PA02 setting is " 00 ([...]

10 - 8 10. TROUBL ESHOOTING Display Name Definition Cause Action A45 Main circuit device overheat Main circuit device overheat 1. Servo amplifier faulty. Change the se rvo amplifier. 2. The power supply was turned on and off continuously by overloaded status. The drive method is reviewed. 3. Ambient temperature of servo motor is over 55 (131 ). Che[...]

10 - 9 10. TROUBL ESHOOTING Display Name Definition Cause Action A51 Overload 2 Machine collision or the like caused max. For the time of the alarm occurrence, refer to the section 12.1. 1. Machine struck something. 1. Check operation pattern. 2. Install limit switches. 2. Wrong connection of servo motor. Servo amplifier's output terminals U, [...]

10 - 10 10. TROUBL ESHOOTING Display Name Definition Cause Action (Note) 888 Watchdog CPU, parts fault y Fault of parts in servo amplifier Checking method Alarm ( 888) oc curs if power is switched on aft er discon nection of all cables but the control circuit power supply cable. Change the servo amplifier. Note. At power-on, "888" appears[...]

10 - 11 10. TROUBL ESHOOTING 10.2.3 Remedies for warni ngs CAUTION If an absolute position counter warni ng (AE3) occurred, always make home position setting again. Not d oing so may cause unexpected operation . POINT When any of the following alarms has occurred, do not resume operation b y switching power of the servo amplifier OFF/ON repeatedly.[...]

10 - 12 10. TROUBL ESHOOTING Display Name Definition Cause Action A98 Software limit warni ng Software limit set in parameter is reached. 1. Software limit was set within actual operation range. Set parameter No. PC31 to PC34 correctly. 2. Point table of position data in excess of software limit was executed. Set point table correctly. 3. Software [...]

10 - 13 10. TROUBL ESHOOTING Display Name Definition Cause Action AEC Overload warnin g 2 Operation, in which a current exceeding the rating flew intensively in any of the U, V and W phases of the servo motor, was repeated. During a stop, the status in which a current flew intensively in any of the U, V and W phases of the servo motor occurred repe[...]

10 - 14 10. TROUBL ESHOOTING MEMO[...]

11 - 1 11. OUTLINE DRAWINGS 11. OUTLINE DRAWINGS 11.1 Servo amplifier (1) MR-J3-10T MR-J3-20T MR-J3-10T1 MR-J3-20T1 [Unit: mm] With MR-J3BAT 6 mounting hole Rating plate Approx. 80 Approx. 68 Approx. 25.5 6 CNP3 4 60 CNP2 CNP1 6 135 CN1 41 40 (Note) Note. This data applies to the 3-phase or 1-phase 200 to 230VAC p ower supply models. For a single-p[...]

11 - 2 11. OUTL INE DRAWINGS (2) MR-J3-40T MR-J3-60T MR-J3-40T1 [Unit: mm] Rating plate 6 mounting hole With MR-J3BAT 60 CNP1 Approx. 68 6 Approx. 25.5 CNP2 5 6 Approx. 80 170 CNP3 76 40 CN1 (Note) Note. This data applies to the 3-phase or 1-phase 200 to 230VAC p ower supply models. For a single-phase, 100 to 120VAC power supply, refer to the termi[...]

11 - 3 11. OUTL INE DRAWINGS (3) MR-J3-70T MR-J3-100T [Unit: mm] Cooling fan wind direction 6 mounting hole With MR-J3BAT Rating plate Approx. 68 Approx. 25.5 6 42 12 CNP3 6 80 CNP2 CNP1 12 185 CN1 91 Approx. 80 Mass: 1.4 [kg] (3.09 [lb]) (Servo amplifier alone) U V W CNP3 P C D L 11 L 21 CNP2 L 1 L 2 L 3 N P 1 P 2 CNP1 Terminal signal layout PE te[...]

11 - 4 11. OUTL INE DRAWINGS (4) MR-J3-60T4 MR-J3-100T4 [Unit: mm] Approx. 68 Approx. 80 195 101 6 Approx. 25.5 6 42 12 CNP3 80 CNP2 CNP1 12 CN1 Rating plate 6 mounting hole With MR-J3BAT Mass: 1.4 [kg] (3.09 [lb]) (Servo amplifier alone) U V W CNP3 P C D L 11 L 21 CNP2 L 1 L 2 L 3 N P 1 P 2 CNP1 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [l[...]

11 - 5 11. OUTL INE DRAWINGS (5) MR-J3-200T(4) POINT Connectors (CNP1, CNP2, and CNP3) and ap pearance of MR-J3-200T se rvo amplifier have been changed from Janu ary 2008 production. Model name of the existing servo amplifier is changed to MR-J3-200 T-RT. For MR-J3-200T- RT, refer to appendix 4. [Unit: mm] Approx. 68 6 Approx. 25.5 6 6 78 6 45 105 [...]

11 - 6 11. OUTL INE DRAWINGS (6) MR-J3-350T [Unit: mm] 6 mounting hole With MR-J3BAT Rating plate Cooling fan wind direction 85 78 Approx. 25.5 105 Approx. 68 6 6 45 Approx. 80 195 6 101 CNP1 CNP3 CNP2 CN1 Mass: 2.3 [kg] (5.07 [lb]) (Servo amplifier alone) U V W CNP3 P C D L 11 L 21 CNP2 L 1 L 2 L 3 N P 1 P 2 CNP1 Terminal signal layout PE terminal[...]

11 - 7 11. OUTL INE DRAWINGS (7) MR-J3-350T4 MR-J3-500T(4) [Unit: mm] 6 118 6 130 6 Approx. 80 200 CN1 26.5 11 7 11 77 21.5 10 67 1111 42 1111 150.7 147.9 109.1 81.5 140 106 TE2 TE1 TE3 2- 6 mounting hole With MR-J3BAT Built-in regenerative resistor lead terminal fixing screw Rating plate Cooling fan wind direction Mass: 4.6 [kg] (10.1 [lb]) (Servo[...]

11 - 8 11. OUTL INE DRAWINGS (8) MR-J3-700T(4) [Unit: mm] Cooling fan wind direction 2- 6 mounting hole With MR-J3BAT Rating plate Built-in regenerative resistor lead terminal fixing screw 200 172 160 6 6 Approx. 80 6 24.5 13 7 13 91 14.5 10 34 1313 31 13 13 75 99.8 102.6 149.2 106 182 TE3 TE1 TE2 CN1 Mass: 6.2 [kg] (13.7[lb]) (Servo amplifier alon[...]

11 - 9 11. OUTL INE DRAWINGS (9) MR-J3-11KT(4) to 22KT(4) [Unit: mm] Cooling fan wind direction With MR-J3BAT 2-12 mounting hole Rating plate 12 236 12 260 12 260 Approx. 80 TE 26 6 26 156 13 123 183 227 52 CN1 236 0.5 Approx. 260 Servo amplifier MR-J3-11KT(4) 18.0(40) MR-J3-15KT(4) 18.0(40) MR-J3-22KT(4) 19.0(42) Mass[kg]([Ib]) 4-M10 screw Mountin[...]

11 - 10 11. OUTL INE DRAWINGS 11.2 MR-J3-D01 extension IO unit [Unit: mm] Approx. 80 CN20 20 103 98 94 79.5 CN30 CN10[...]

11 - 11 11. OUTL INE DRAWINGS 11.3 Connector (1) Miniature delta ribbon (MDR) system (3M) (a) One-touch lock type [Unit: mm] E B A 23.8 39.0 12.7 C Logo etc, are indicated here. D Connector Shell kit Each type of dimension A B C D E 10150-3000PE 10350-52F0-008 41.1 52.4 18.0 14.0 17.0 (b) Jack screw M2.6 type This is not available as option. [Unit:[...]

11 - 12 11. OUTL INE DRAWINGS (2) SCR connector system (3M) Receptacle : 36210-0100PL Shell kit : 36310-3200-008 34.8 39.5 22.4 11.0[...]

12 - 1 12. CHARACTERISTICS 12. CHARACTERISTICS 12.1 Overload protection characteristics An electronic thermal relay is built in the servo ampl ifier to protect the servo motor and servo amplifier from overloads. Overload 1 alarm (A50) occurs if overload operation per formed is above the electro nic thermal relay protection curve shown in any of Fig[...]

12 - 2 12 CHARACTERISTICS 10000 1000 100 10 1 0 100 200 300 During operat ion During servo lock O p e r a t i o n t i m e [ s ] (Note) Lo ad ratio [%] MR-J3-11KT(4) to MR-J3-22KT(4) Note. If operation that generates torque mo re than 100% of the rating is performed with an abno rmally high frequency in a servo motor stop status (servo lock status) [...]

12 - 3 12 CHARACTERISTICS 12.2 Power supply equipment capacity and ge nerated loss (1) Amount of heat generated by the servo amplifier Table 12.1 indicates servo amplifiers' power suppl y capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 12.1 in consideration for the worst operating c[...]

12 - 4 12 CHARACTERISTICS Servo amplifier Servo motor (Note 1) Power supply capacity[kVA] (Note 2) Servo amplifier-generated heat[W] Area required for heat dissipation At rated torque With servo off [m 2 ] MR-J3-700T (4) HF-SP702 (4) 10.0 300 25 6.0 HA-LP702 10.6 300 25 6.0 HA-LP601 (4) 10.0 260 25 5.2 HA-LP701M (4) 11.0 300 25 6.0 MR-J3-11KT (4) H[...]

12 - 5 12 CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo ampli fier should be designed to ensure that its temperature rise is with in 10 ( 50 ) at the ambien t temperature of 40 (104 ). (With a 5 (41 ) safety margin, the system should op[...]

12 - 6 12 CHARACTERISTICS 12.3 Dynamic brake characteristics 12.3.1 Dynamic brake operation (1) Calculation of coasting distance Fig. 12.3 shows the pattern in which the servo motor c omes to a stop when the dynamic brake is operated. Use Equation 12.2 to calculate an approximate coastin g distance to a stop . The dynamic brake time constant varies[...]

12 - 7 12 CHARACTERISTICS Speed [r/min] T i m e c o n s t a n t [ m s ] 500 1000 1500 2000 10 20 30 40 50 60 0 0 81 201 121 51 421 301 Speed [ r/min ] Time constant [ms] 52 500 1000 1500 2000 2500 3000 152 20 40 60 80 100 120 0 0 102 202 502 702 352 HF-SP1000r/min series HF-SP2000r/min series Spee d [r/m in] 0 2 4 6 8 10 12 14 16 18 0 500 1000 1500[...]

12 - 8 12 CHARACTERISTICS 0 Speed[r/m in] 20 40 60 80 100 120 0 500 1000 1500 2000 11K1M 15K1M 22K1M 701M T i m e c o n s t a n t [ m s ] Speed[r/min] 0 0 500 1000 1500 2000 80 60 40 20 11K2 15K2 22K2 502 702 T i m e c o n s t a n t [ m s ] HA-LP1500r/min series HA-LP2000r/min series Ti m e c o n s t a n t [ m s ] 0 0 52 500 1000 150 0 2000 202 200[...]

12 - 9 12 CHARACTERISTICS 12.3.2 The dynamic brake at the load in ertia moment Use the dynamic brake under the load iner tia moment ratio indicated in the fo llowing table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may excee d th e value, c ontac[...]

12 - 10 12 CHARACTERISTICS 12.4 Cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allow ance for these values. 1 10 7 5 10 7 1 10 8 5 10 6 1 10 6 5 10 5 1 10 5 5 10 4 1 10 4 5 10 3 1 10 3 a b F l e x i n g l i f e [ t i m e s ] 4 7 10 20 40 70 100 2[...]

13 - 1 13. OPTIONS AND AUXILIARY EQUIPMENT 13. OPTIONS AND AU XILIARY EQUIPMENT WARNING Before connecting any option or peripheral equipmen t, turn off the power and wait for 15 minutes or more un til the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and o thers. Otherwise, an electric sho[...]

13 - 2 13. OPTIONS AN D AUXILIARY EQUIPMENT Servo motor HA-LP Servo motor HC-RP HC-UP HC-LP Servo motor HF-SP Encoder connector Brake connector Power supply connector Encoder connector Brake connector Power supp ly connector Terminal box a) b) 24) 25) 26) 27) 28) 2 9) 30) 26) 34) 30) 35) 36) 26) 24) 2 5) 24) 2 5)[...]

13 - 3 13. OPTIONS AN D AUXILIARY EQUIPMENT No. Product Model Description Application 1) Servo amplifier power supply connector Supplied with servo amplifiers of 1kW or less in 100V class and 200V class CNP1 connector: 54928- 0670 (Molex) CNP2 connector: 54928- 0520 (Molex) CNP3 connector: 54928- 0370 (Molex) <Applicable cable example> Wire s[...]

13 - 4 13. OPTIONS AN D AUXILIARY EQUIPMENT No. Product Model Description Application 5) Motor power supply cable MR-PWS1CBL M- A2-L Cable length: 2 5 10m Power s upply connec tor HF-MP series HF-KP series Refer to section 13.1.3 for details. IP65 Opposite-to- load side lead 6) Motor power supply cable MR-PWS1CBL M- A2-H Cable length: 2 5 10m IP65 [...]

13 - 5 13. OPTIONS AN D AUXILIARY EQUIPMENT No. Product Model Description Application 17) Encoder cable MR-J3ENCBL M-A2-L Cable length: 2 5 10m Encoder co nnector HF-MP series HF-KP series Refer to section 13.1.2 (1) for details. IP65 Opposite-to- load side lead 18) Encoder cable MR-J3ENCBL M-A2-H Cable length: 2 5 10m IP65 Opposite-to- load side l[...]

13 - 6 13. OPTIONS AN D AUXILIARY EQUIPMENT No. Product Model Description Application 29) Power supply connector set MR-PWCNS5 Plug: CE05-6A22-22SD- D-BSS Cable clamp: CE3057-12A-1-D (DDK) Example of applicable cable Applicable wire size: 5.5mm 2 (AWG10) to 8mm 2 (AWG8) Cable finish D: 12.5 to 16mm For HF-SP 121 to 301 For HF-SP202 to 502 IP67 30) [...]

13 - 7 13. OPTIONS AN D AUXILIARY EQUIPMENT No. Product Model Description Application 39) Digital switch cable MR-DSCBL M-G Refer to section 3.2.2 and section 13.19 for details. For digital switch 40) Digital switch cable MR-DSCBL Refer to section 3.2.2 and section 13.19 for details. For digital switch junction 41) Junction terminal block (Recommen[...]

13 - 8 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.1.2 Encoder cable/connecto r sets (1) MR-J3ENCBL M-A1-L/H MR-J3ENCBL M-A2-L/H These cables are encoder cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols a[...]

13 - 9 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) Cable internal wiring dia gram Servo amplifier side connector Encoder side connector Plate MR-J3ENCBL2M-L/-H MR-J3ENCBL5M-L/-H MR-J3ENCBL10M-L/-H P5 LG 1 2 MR MRR 3 4 2 3 9 SD 5 4 6 9 LG MR MRR SHD P5 BAT BAT (2) MR-EKCBL M-L/H POINT The following encoder cabl es are of f our-wire type. When using any[...]

13 - 10 13. OPTIONS AN D AUXILIARY EQUIPMENT (a) Connection of servo amplifier and servo motor Servo motor HF-MP HF-KP 1) MR-EKCBL M-L MR-EKCBL M-H MR-J3JCBL03M-L Cabl e le ngth: 0.3m 2) Servo amplifier CN2 Cable Model 1) Servo amplifier si de Connector 2) Encoder side Connector MR-EKCBL M-L Receptacle: 36210-0100PL Shell kit: 536310-3200-008 (3M) [...]

13 - 11 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) Internal wiring diagram MR-EKCBL20M-L Servo amplifier side En coder side P5 LG 1 2 MR MRR 3 4 3 7 9 SD Plate 1 2 8 9 P5G MR MRR SHD P5E BAT BAT (Note ) MR-EKCBL30M-L Servo amplifi er side Encoder side P5 LG 1 2 MR MRR 3 4 MDR 8 5 3 7 4 MD 7 9 SD 1 2 8 9 P5G MR MRR MDR MD SHD P5E 6C O N T BAT BAT Plat[...]

13 - 12 13. OPTIONS AN D AUXILIARY EQUIPMENT (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts and tool, and fabrica te it according to the wiring diagram in (b). Refer to section 13 .9 fo r the specificatio ns of the used cable. Parts/Tool Description Connector set MR-ECNM Servo amplifier side connector[...]

13 - 13 13. OPTIONS AN D AUXILIARY EQUIPMENT (a) Connection of servo amplifier and servo motor Servo motor HF-MP HF-KP MR-J3JCBL03M-A2-L MR-EKCBL M-L/-H 1) Servo amplifier 2) Servo motor HF-MP HF-KP MR-J3JCBL03M-A1-L 1) 2) or CN2 Cable Model 1) Junction Connec tor 2) For Encoder Connector MR-J3JCBL03M-A1-L Housing: 1-172169-9 Contact: 1473226-1 Cab[...]

13 - 14 13. OPTIONS AN D AUXILIARY EQUIPMENT (4) MR-J3ENSCBL M-L MR-J3ENSCBL M-H These cables are detector cables for HF-SP HA-LP HC-RP HC-UP HC-LP Series servo motors. The number in the cable length column of the table indicates the symbol filling the square in the cable model. Cable lengths corresponding to the specified symbols a re prepared. Ca[...]

13 - 15 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) Internal wiring diagram P5 LG 1 2 MR MRR 3 4 4 8 9 SD 1 2 5 10 LG MR MRR SHD P5 BAT BAT Servo amplifier side co nnector Encoder si de connector Plate MR-J3ENSCBL10M-L/H MR-J3ENSCBL5M-L/H MR-J3ENSCBL2M-L/H Servo amplifier side connector Encoder side connector Plate P5 LG 1 2 MR MRR 3 4 4 8 9 SD 1 2 5 [...]

13 - 16 13. OPTIONS AN D AUXILIARY EQUIPMENT (5) MR-J3BTCBL03M This cable is a battery connection cable. Use this ca b le to retain the current position e ven if the detector cable is disconnected from the servo amplifier. Cable Model Cable Length Application MR-J3BTCBL03M 0.3m Fo r HF-M P HF-KP HF-SP servo moto r (a) Connection of servo amplifier [...]

13 - 17 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.1.3 Motor power supply cables These cables are motor power supply cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are ava ilable. Refer to section 3.10[...]

13 - 18 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.1.4 Motor brake cables These cables are motor brake cables for the HF-MP HF-KP series servo motors. The numera ls in the Cable Length field of the table ar e the symbols entered in the part of th e cable model. The cables of the leng ths with the symbols are availa ble. Refer to section 3.11 when wiri[...]

13 - 19 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.2 Regenerative options CAUTION The specified combinations of regenerative options an d servo amplifiers may onl y be used. Otherwise, a fire may occur. (1) Combination and regenerative power The power values in the table are resi stor-generated powers and not rated powers. Servo amplifier Regenerative[...]

13 - 20 13. OPTIONS AN D AUXILIARY EQUIPMENT (2) Selection of the regenerative option Use the following method when regeneration occurs conti nuously in vertical motion applications or when it is desired to make an in-depth selec tion of the regenerative op tion. (a) Regenerative energy calculation Use the following table to ca lculate the regenera[...]

13 - 21 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) Losses of servo motor and servo amp lifier in regenerative mode The following table lists the e fficiencies and other data of the servo motor and servo a mplifier in the regenerative mode. Servo amplifier Inverse efficiency[%] Capacitor chargi ng[J] Servo amplifier Inverse efficiency[%] Capacitor cha[...]

13 - 22 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Parameter setting Set parameter No. PA02 ac cording to the option to be used. Selection of regenerative option 00: Regenerative option is not used For MR-J3-10T, regenerative resistor is not used. For MR-J3-20T 40T 60T(4) to 700T(4) built-in regenerative resistor is used. Supplied regenerative resi s[...]

13 - 23 13. OPTIONS AN D AUXILIARY EQUIPMENT (4) Connection of the regenerative op tion POINT When the MR-RB50 MR-RB51 MR-RB3M-4 MR-RB 3G-4 MR-RB5G-4 MR-RB34-4 MR-RB54-4 is used, a cooling fan is requ ired to cool it. The cooling fan should be prepared by the custom er. For the sizes of wires used f or wiring, refer to section 13.9. The regenerativ[...]

13 - 24 13. OPTIONS AN D AUXILIARY EQUIPMENT For the MR-RB50, MR-RB3M-4, MR-RB3G-4 or MR-RB5G-4 instal l the cooling fan as shown. 40 82.5 82.5 133 Coolin g fan instal lation screw hole dim e nsion s 2-M3 scr ew hole (for cooling fan installation) Depth 10 or less (Screw h ole already machined ) Cooling fan Terminal block Thermal rela y Installatio[...]

13 - 25 13. OPTIONS AN D AUXILIARY EQUIPMENT When using the regenerative resistor option , remove the servo a mplifier's built -in regenerative resistor terminals (across P-C), fit them back to back, and secure them to the frame with the accessory screw as shown below. Mounting method Accessory sc rew The drawing below shows the MR-J3-350T4 an[...]

13 - 26 13. OPTIONS AN D AUXILIARY EQUIPMENT For the MR-RB51, MR-RB3G-4, MR-RB5G-4, MR -RB 34-4 or MR-RB54-4 install the cooling fan as shown. 82.5 133 Cooling fan installation screw hole dimensions 2-M3 screw hole (for cooling fan installation) Depth 10 or l ess (Screw hole already machine d) Cooling fan Terminal block Thermal relay Installatio n [...]

13 - 27 13. OPTIONS AN D AUXILIARY EQUIPMENT (c) MR-J3-11KT(4) to MR-J3-22KT(4) (when using th e supplied regenerative resistor) CAUTION The regenerative resistor supplied with 1 1 kW to 22 kW servo ampl ifiers does not have a protect cover. Touc hing the resistor (including wiring/screw hole area) may cause a burn injury and electric shock. Even i[...]

13 - 28 13. OPTIONS AN D AUXILIARY EQUIPMENT (d) MR-J3-11KT(4)-PX to MR-J3-22KT(4)- PX (when using the regenerative option) The MR-J3-11KT(4)-PX to MR-J3-22KT(4)-PX servo amplifiers are not supplied with regenerative resistors. When using any of thes e servo amplifiers , always use the MR-RB5E, 9P, 9F, 6B-4, 60-4 and 6K-4 regenerative option. The M[...]

13 - 29 13. OPTIONS AN D AUXILIARY EQUIPMENT (5) Outline dimension drawings (a) MR-RB032 MR-RB12 [Unit: mm (in)] LA 5 LB TE1 6 6 1 5 6 1 6 8 1 4 4 1 2 A p p r o x . 6 A p p r o x . 1 2 Approx. 20 LD 1.6 LC G3 G4 P C 6 mounting hole MR-RB TE1 Terminal block G3 G4 P C Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m] (4 to 5 [lb in]) Mounting sc[...]

13 - 30 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) MR-RB30 MR-RB31 MR-RB32 MR-RB34-4 MR-RB3M-4 MR-RB3G-4 [Unit: mm (in)] 7 10 90 100 B A 318 82.5 101.5 Cooling fan mounting screw (2-M4 screw) Wind blows in the arrow direction TE1 Terminal block G3 G4 P C Terminal screw: M4 Tightening torque: 1.2 [N m] (10.62 [lb in]) Mounting screw Screw size: M6 Tig[...]

13 - 31 13. OPTIONS AN D AUXILIARY EQUIPMENT (d) MR-RB5E MR-RB9P MR-RB9F MR-RB6B-4 MR-RB60-4 MR-RB6K-4 [Unit: mm (in)] 2- 10 mounting hole 10 43 480 500 427 10 30 215 2.3 10 230 TE1 G4 G3 C P 260 230 15 82.5 82.5 82.5 Cooling fan mounting screw 4-M3 screw Terminal block G3 G4 P C Terminal screw: M5 Tightening torque: 2.0 [N m] (17.70 [lb in]) Mount[...]

13 - 32 13. OPTIONS AN D AUXILIARY EQUIPMENT (f) MR-RB1H-4 [Unit: mm (in)] TE1 6 2 149 173 6 Approx. 24 15 36 40 6 mounting hole Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m] (4.43 to 5.31 [lb in]) G3 G4 P C Mounting screw Screw size: M5 Tightening torque: 3.2 [N m] (28.32 [lb in]) Regenerative option Mass [kg] ([lb]) MR-RB1H-4 1.1 (2.4)[...]

13 - 33 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.3 FR-BU2-(H) brake unit POINT Use a 200V class brake unit and a resist or unit with a 200V class servo amplifier, and a 400V class brake unit and a re sistor unit with a 400V class servo amplifier. Combination of different voltage class units and servo amplifier cannot be used. Install a brake unit an[...]

13 - 34 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.3.1 Selection Use a combination of servo amplifier, brake unit and resist or unit listed below. Brake unit Resistor unit Number of connected units Permissible continuous power [kW] Total resistance [ ] Applicable servo amplifier 200V class FR-BU2-15K FR-BR-15K 1 0.99 8 MR-J3-500T (Note) 2(parallel) 1.[...]

13 - 35 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.3.3 Connection exampl e POINT Connecting PR terminal of the brake unit to P terminal of the servo amplifier results in brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit. (1) Combination with FR-BR-(H) resistor unit (a) When connecting a br[...]

13 - 36 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) When connecting two brake units to a servo amplifier POINT To use brake units with a parallel co nne ction, use two sets of FR-BU2 brake unit. Combination with other brake unit results in al arm occurrence or malfunction. Always connect the maste r and slave terminals (MSG and SD) of the two brake un[...]

13 - 37 13. OPTIONS AN D AUXILIARY EQUIPMENT DOCOM DICOM ALM N/ P/ NFB 24VDC ALM RA1 MC SK MC ON OFF EM G Servo motor thermal relay RA2 (Note 7) (Not e 1) Power supply BUE SD PR B C A SD MSG (Not e 4) (Note 6) 17 5 EMG P 1 P 2 P N C FR-BU2-(H) FR-BR Servo amplifier P PR TH2 TH1 (Not e 5) MC Termin al block (Note 3) (Note 11) (Not e 2) (Not e 8) 1 1[...]

13 - 38 13. OPTIONS AN D AUXILIARY EQUIPMENT (2) Combination with MT -BR5-(H) resistor unit NFB 24VDC ALM RA1 MC SK MC ON OFF EMG Servo motor thermal relay RA2 (Not e 8) (Not e 1) Power supply N/ P/ BUE SD PR B C A SD MSG (Note 3) (Note 6) RA3 17 5 EMG DOCOM DICOM ALM P 1 P N FR-BU2-(H) MT-BR5-(H) Servo amplifier P PR TH2 TH1 (Not e 5) MC (Note 4) [...]

13 - 39 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Precautions for wiring The cables between the servo amplifier and the brake uni t, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5m (twist five times or more per one meter). Even when the cable is twis ted, the cabl e should be les[...]

13 - 40 13. OPTIONS AN D AUXILIARY EQUIPMENT 2) Control circuit terminal POINT Undertightening can ca use a cable disconnection o r malfunction. Overtightening can cause a sho r t circuit or malfunction due to dam age to the screw or the brake unit. A RES PC B SD BUE C MSG SD MSG SD SD Jumper Terminal block 6mm Sheath Core Wire the stripped cable a[...]

13 - 41 13. OPTIONS AN D AUXILIARY EQUIPMENT (5) Crimping terminals for P and N terminals of servo amplifier (a) Recommended crimping terminals POINT Always use recommended crimpi ng terminals or equivalent since som e crimping terminals cannot be installed depending o n the size. Servo amplifier Brake unit Number of connected units Crimping termin[...]

13 - 42 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.3.4 Outline dimension drawings (1) FR-BU2- (H) brake unit [Unit: mm] FR-BU2-15K Rating plate 5 hole (Screw size: M4) 68 6 56 6 5 18.5 52 62 4 132.5 FR-BU2-30K FR-BU2-H30 K 129.5 5 59 18.5 Rating plate 52 2- 5 hole (Screw size: M4) 5 108 6 6 96 FR-BU2-55K FR-BU2-H55K, H75K 18.5 Rating plate 52 72 5 142[...]

13 - 43 13. OPTIONS AN D AUXILIARY EQUIPMENT (2) FR-BR- (H) resistor unit [Unit: mm] 2 C Control circuit terminal Main circuit terminal W1 1 Approx. 35 Approx. 35 204 Hanging bolt C C W 5 For FR-BR-55K/FR-BR-H55K, a hanging bolt is placed on two locations (Indicated below). (Note) (Note) Note. Ventilation ports are provided on both sides and the to[...]

13 - 44 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.4 Power regeneration converter When using the power reg eneration converter, set " 01" in parameter No.PA02. (1) Selection The converters can continuou sly return 75% of the nom inal regenerative power. They are applied to the servo amplifiers of the 5kW to 22kW. Power regeneration converter[...]

13 - 45 13. OPTIONS AN D AUXILIARY EQUIPMENT (2) Connection example Servo am plifier Alarm outpu t RDY output 5m or less Operation ready Ready Power factor improving reactor Phase detection terminals (Note 1 ) Trouble (Note 3 ) Forced stop (Note 4 ) (Note 2) NFB MC L 11 L 21 L 1 L 2 L 3 SK ON MC BC N P C RDY SE A B C N/ P/ MC OFF EMG RA RX R SX S T[...]

13 - 46 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Outside dimensions of the power regeneration converters [Unit : mm] AA A C F K EE BA B E D 2- D ho le Rati ng plat e Front cover Display panel window Mounting foot (removable) Mounting foot movable Coolin g fan Heat generation area outside mounting dimension Power regeneration converter A AA B BA C D[...]

13 - 47 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.5 Power regeneration common converter POINT Use the FR-CV for the servo amplifier of 200V cl ass and the FR-CV-H for that of 400V class. For details of the power regeneration common conv erter FR-CV-(H ), refer to the FR-CV-(H) Installation Guide (IB(NA)06000 75). Do not supply power to the main circu[...]

13 - 48 13. OPTIONS AN D AUXILIARY EQUIPMENT The following table lists the restrictions. Item FR-CV- 7.5K 11K 15K 22K 30K 37K 55K Maximum number of connected servo amplifiers 6 Total of connectable servo amplifier c apacities [kW] 3.75 5.5 7.5 11 15 18.5 27.5 Total of connectable servo motor rated currents [A] 33 46 61 90 115 145 215 Maximum servo [...]

13 - 49 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Connection diagram (a) 200V class Thermal relay (Note 2) 24VDC power supply (Note 1) (Note 3) (Note 4 ) Servo am plifier Servo motor (Note 1) (Note 5) (Note 1) (Note 1) (Note 2) C B R/L 11 3-pha se 200 t o 230VAC S/L 21 T/L 31 R2/L 1 S2/L 22 R2/L 12 T2/L 32 S2/L 2 SD RDYB RDYA RSO SE A T2/L 3 R/L 11 [...]

13 - 50 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) 400V class Thermal relay (Note 2) 24VDC power supply (Note 1) (Note 3 ) (Note 4) Servo amplifier Servo motor (Note 1) (Note 5) (Note 1) (Note 1) (Note 2) C B R/L 11 3-phase 380 to 480VAC S/L 21 T/L 31 R2/L 1 S2/L 22 R2/L 12 T2/L 32 S2/L 2 SD RDYB RDYA RSO SE A T2/L 3 R/L 11 S/L 21 T/MC1 RES SD L 11 L[...]

13 - 51 13. OPTIONS AN D AUXILIARY EQUIPMENT (4) Selection example of wires used for wiring POINT Selection condition of wi re size is as follows. Wire type: 600V Polyvinyl chloride insulated wire (IV wire) Construction condition: One wire is constructe d in the air (a) Wire sizes 1) Across P( )-P, N-N( ) The following table indicates the connectio[...]

13 - 52 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) Examp le of select ing the wire sizes When connecting multiple servo amplif iers, always use junction terminals for wiring the servo amplifier terminals P, N. Also, connect the servo amplifiers in th e order of larger to smaller capacities. 1) 200V class R2/L 1 S2/L 2 T2/L 3 R/L 11 S/L 21 T/MC1 P/L N[...]

13 - 53 13. OPTIONS AN D AUXILIARY EQUIPMENT (5) Other precautions (a) Always use the FR-CVL-(H) as the power factor imp roving reac tor. Do not use the FR-BAL or FR-BEL. (b) The inputs/outputs (ma in circuits) of the FR -CV-(H) and servo amplifiers include high-frequency components and may provide electroma gnetic wave interference to communicatio[...]

13 - 54 13. OPTIONS AN D AUXILIARY EQUIPMENT (6) Specifications Power regeneration common converter FR-CV- Item 7.5K 11K 15K 22K 30K 37K 55K Total of connectable servo amplifier capacities [kW] 3.75 5.5 7.5 11 15 18.5 27.5 Maximum servo amplifier capacity [kW] 3.5 5 7 11 15 15 22 Output Total of connectable servo motor rated currents [A] 33 46 61 9[...]

13 - 55 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.6 External dynamic brake POINT Configure up a sequence which switches off the contact of the brake unit after (or as soon as) it has turned off the serv o on signal at a power failure or failure. For the braking time taken when the dy namic brake is operated, refer to section 12.3. The brake unit is r[...]

13 - 56 13. OPTIONS AN D AUXILIARY EQUIPMENT (2) Connection example Plate SD NFB MC L 11 L 21 U V W U V W M 13 U 14 V W External dynamic brake a b Servo amplifier Servo motor RA2 MC SK MC ON OFF ALM RA1 Operation-ready EMG (Note 1) L 3 L 2 L 1 (Not e 6) Power supply P P 1 (Note 2) (Note 3) 17 21 DB DOCOMD SON RA2 24VDC (Note 4) CN10 14 DICOMD 5 17 [...]

13 - 57 13. OPTIONS AN D AUXILIARY EQUIPMENT Servo motor rotation Coasti ng Trou ble (ALM ) RA1 ON OFF Forc ed stop (EMG) Absent Invalid Valid Short Open a. Timing chart at alarm occurrence b . Timing chart at Forced stop (EMG) validit y Dynamic brake Base ON OFF Coasting Dynamic brake Dynamic brake Pres ent Forwar d rotation (Note 2)15 to 60m s (N[...]

13 - 58 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Outline dimension drawing (a) DB-11K DBU-15K DBU-22K UV W D 100 D 5 C E G F 2.3 Termin al block Screw : M3.5 Screw : M4 B A 5 E 13 14 E (GND) ab [Unit: mm] Tightening torque: 1.2 [N m](10.6 [lb in]) Tight ening t orqu e: 0.8 [N m](7 [l b in]) Dynamic brake A B C D E F G Mass [kg]([Ib]) Connection wir[...]

13 - 59 13. OPTIONS AN D AUXILIARY EQUIPMENT (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- 7mount ing hole 195 228 26 26 210 2.3 Mass: 6.7[kg] (14.8 [lb]) a TE1 Tightening torque: 0.8[N m](7[lb in]) Screw: M3.5 b 13 14 Terminal block W V U Tightening torque: 1.2 [N m](10.6 [lb in]) Screw: M[...]

13 - 60 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.7 Battery MR-J3BAT POINT The revision (Edition 44) of the Dang erou s Goods Rule of the International Air Transport Association (IATA) went in to effect on Jan uary 1, 2003 and was enforced immediately. In this rule, "pro visions of the lithium an d lithium ion batteries" were revised to tig[...]

13 - 61 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.8 Heat sink outside mounti ng attachment (M R-J3ACN) Use the heat sink outside mounting atta chment to mount the heat generation ar ea of the servo amplifier in th e outside of the control bo x to dissipate servo amplifier-g enerated heat to the ou tside of the box an d reduce the amount of heat gener[...]

13 - 62 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Fitting method Attachment Fit using the assembling screws. Serv o ampl if ier Attachment Servo amplifier Punched hole Control box a. Assembling the heat sink outside mounting atta chment b. Installation to the control box (4) Outline dimension drawing [Unit: mm] 236 280 Approx. 260 20 3.2 105 155 App[...]

13 - 63 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.9 Selection example of wires POINT Wires indicated in this section are separated wi res. When using a cable for power line (U, V, and W) between the se rvo amplifier and servo motor, use a 600V grade EP rubber insu lated chloropr ene sheath cab-tire cable (2PNCT). For selection of cables, refer to app[...]

13 - 64 13. OPTIONS AN D AUXILIARY EQUIPMENT (a) When using the 600V Polyvinyl chloride insulated wire (IV wire) Selection example of wire s ize when using IV wires is indicated be low. Table 13.1 Wire size select ion example 1 (IV wire) Servo amplifier Wires [mm 2 ] (Note 1, 4) 1) L 1 L 2 L 3 2) L 11 L 21 3) U V W 4) P C 5) B1 B2 6) BU BV BW 7) OH[...]

13 - 65 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) When using the 600V Grade heat-resistant polyv inyl chloride insulated wire (HIV wire) Selection example of wire size when using HIV wire s is indicated below. For th e wire ( 8)) for power regeneration converter (FR-RC-(H)), use the IV wi re indicated in (1) (a) in this section. Table 13.2 Wire size[...]

13 - 66 13. OPTIONS AN D AUXILIARY EQUIPMENT (c) Selection example of crimping termin als Selection example of crimping terminals for the se r vo amplifier terminal box when using the wires mentioned in (1) (a) and (b) in this section is indicated below. Symbol Servo amplifier side crimping terminals (Note 2) Crimping terminal Applicable tool Manuf[...]

13 - 67 13. OPTIONS AN D AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent. Table 13.3 Wires for option cables Type Model Length [m(ft)] Core size [mm 2 ] Number of Cores Characteristics of one core (Note 3) Finishing OD [mm] Wire model Structure [ Wires/mm] Conductor r[...]

13 - 68 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.10 No-fuse breakers, fuses, magnetic co ntactors Always use one no-fuse br eaker and one magnetic contac tor with one servo amplifier. When using a fus e instead of the no-fuse breaker, use the one having the specifications give n in th is section. Servo amplifier No-fuse breaker Fuse Magnetic contact[...]

13 - 69 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.11 Power factor improving DC re actor POINT For the 100V power supply type (MR-J3- T1), the power factor improving DC reactor cannot be used. The power factor improving DC reactor increases the form factor of the servo amplifier's in put current to improve the power factor. It can decrease the po[...]

13 - 70 13. OPTIONS AN D AUXILIARY EQUIPMENT Servo amplifier Power factor improving DC reactor Outline drawing Dimensions [mm] Mounting screw size Mass [kg(lb)] Wire [mm 2 ] (Note) A B C D E F L G H MR-J3-10T 20T FR-BEL-0.4K 110 50 94 1.6 95 6 12 M3.5 25 M5 0.5(1.10) MR-J3-40T FR-BEL-0.75K 120 53 102 1.6 105 6 12 M4 25 M5 0.7(1.54) MR-J3-60T 70T FR[...]

13 - 71 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.12 Power factor improving re actors The power factor improving reactors improve the pha se fact or by increasing the form factor of servo amplifier's input current. It can reduce the power capacity. The input power factor is improved to be about 90%. Fo r use with a 1-phase power supply, it may b[...]

13 - 72 13. OPTIONS AN D AUXILIARY EQUIPMENT Servo amplifier Model Dimensions [mm] Mounting screw size Terminal screw size Mass [kg (lb)] W W1 H D D1 C MR-J3-10T 20T 10T1 FR-BAL-0.4K 135 120 115 59 45 0 -2.5 7.5 M4 M3.5 2.0 (4.41) MR-J3-40T 20T1 FR-BAL-0.75K 135 120 115 69 57 0 -2.5 7.5 M4 M3.5 2.8 (6.17) MR-J3-60T 70T 40T1 FR-BAL-1.5K 160 145 140 [...]

13 - 73 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.14 Surge absorbers (recommended) A surge absorber is required for the electromagnetic br ake. Use the following surge absorber or equivalent. When using the surge absorber, perform insula tion beforehand to prevent short-circuit. Maximum rating Maximum limit voltage Static capacity (reference value) V[...]

13 - 74 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.15 Noise reduction techniques Noises are classified into external noises which en ter t he servo amp lifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devic es to malfunction. Since the servo amplifier is an electronic device which handles small signals, t[...]

13 - 75 13. OPTIONS AN D AUXILIARY EQUIPMENT (c) Techniques for noises radiated by the servo amp lifier that cause peripheral devices to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits ( input and out put circuits), those induc ed electromag[...]

13 - 76 13. OPTIONS AN D AUXILIARY EQUIPMENT Noise transmission route Suppression techniques 1) 2) 3) When measuri ng instrumen ts, receivers, se nsors, etc. which handle w eak signals and may malfunc tion due to noise a nd/or thei r signal cables a re contained in a control bo x together with the servo amplifier or run near th e servo amplifi er, [...]

13 - 77 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC va lve, AC electromagne tic brake or the like near the servo amp lifier is shown below. Use this product or equivalent. Surge suppressor MC Surge suppressor Relay Surge suppressor This distance should be short (with[...]

13 - 78 13. OPTIONS AN D AUXILIARY EQUIPMENT (c) Cable clamp fitting AE RSBAN- SET Generally, the earth of the shielded cable ma y only be connected to the connector's SD terminal. However, the effect can be increased by directly c onnecting the cable to an earth plate as shown below. Install the earth pla te near the servo amplifier for the e[...]

13 - 79 13. OPTIONS AN D AUXILIARY EQUIPMENT (d) Line noise filter (FR-BSF01, FR-BLF) This filter is effective in suppressing noises radi ated fr om the power supply side and output side of the servo amplifier and also in suppressing high-frequen cy leakage current (zero-phase current) especially within 0.5MHz to 5MHz band. Connection diagram Outli[...]

13 - 80 13. OPTIONS AN D AUXILIARY EQUIPMENT (f) Varistors for input power supply (Recommended) Varistors are effective to prevent exogen ous noise and lightning surge from entering the servo amplifier. When using a varistor, connect it between each phase of the input p ower supply of the equipment. For varistors, the TND20V-431K, TND20V- 471K and [...]

13 - 81 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.16 Leakage current bre aker (1) Selection method High-frequency chopper currents controlled by pulse widt h modulation flow in the AC servo circuits. Leakage currents containing harmonic c ontents are larger than th ose of the motor which is run with a commercial power supply. Select a leakage current[...]

13 - 82 13. OPTIONS AN D AUXILIARY EQUIPMENT Table 13.4 Servo motor’s leakage current example (Igm) Tabl e 13.5 Servo amplifier's leakage current example (Iga) Servo motor output [kW] Leakage current [mA] Serv o amplifier capacity [kW] Leakage current [mA] 0.05 to 1 0.1 0.1 to 0.6 0.1 2 0.2 0.75 to 3.5 (Note ) 0.15 3.5 0.3 5 7 2 5 0.5 11 15 [...]

13 - 83 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.17 EMC filter (recommended) For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter . Some EMC filters are large in leakage current. (1) Combination with the servo amplifier Servo amplifier Recommended fi lter (Soshin Electric) Mass [kg]([lb]) Model Leak[...]

13 - 84 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Outline drawing (a) EMC filter HF3010A-UN [Unit: mm] M4 IN 3-M4 65 4 4-5.5 7 258 4 273 2 288 4 300 5 3-M4 85 2 32 2 110 4 Approx.41 HF3030A-UN HF-3040A-UN J 2 H 2 G 1 F 2 E 1 D 2 3-L 6-K 3-L M C 1 B 2 A 5 C 1 Model Dimensions [mm] A B C D E F G H J K L M HF3030A-UN 260 210 85 155 140 125 44 140 70 R3[...]

13 - 85 13. OPTIONS AN D AUXILIARY EQUIPMENT HF3100A-UN 2-6.5 8 M8 2- 6.5 145 1 165 3 M6 380 1 400 5 160 3 M8 TF3005C-TX TX3020C-TX TF3030C-TX [Unit: mm] 290 2 100 1 308 5 332 5 Appro x.12. 2 3-M4 16 16 6-R3.25 length8 M4 M4 125 2 140 1 155 2 IN 150 2 Appro x.67. 5 3 Approx.160 170 5 M4 3 M4 100 1[...]

13 - 86 13. OPTIONS AN D AUXILIARY EQUIPMENT TF3040C-TX TF3060C-TX [Unit: mm] K 2 L J H 5 M6 C 2 D 1 B 5 A 5 Approx. 17 3-M6 22 22 8-M M4 M4 G 2 3-M6 F 1 E 2 IN D 1 D 1 Model Dimensions [mm] A B C D E F G H J K L M TF3040C-TX 438 412 390 100 175 160 145 200 Approx. 190 180 Approx.91.5 R3.25 length 8 (M6) TF3060C-TX[...]

13 - 87 13. OPTIONS AN D AUXILIARY EQUIPMENT (b) Surge protector RAV-781BYZ-2 4.5 0.5 1 3 2 41 1.0 28.5 1.0 28 1.0 4.2 0.2 200 30 0 UL-1015AWG16 5.5 1 11 1 [Unit: mm] Black 1) 2) 3) Black Black RAV-781BXZ-4 1 3 2 UL-1015AWG16 4.2 0.2 5.5 1 11 1 28.5 1.0 200 30 0 28 1.0 41 1.0 4.5 0.5 [Unit: mm] 1) 2) 3) 4)[...]

13 - 88 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.18 MR-HDP01 manual pulse generator Use the MR-HDP01 manual pulse generator to ro tate the servo motor. The tra vel of the servo motor to the pulse signal generated by MR-HDP01 with an external input signal can be changed with the manual pulse generator multiplication 1 (TP0) and 2 (T P1). (1) Specific[...]

13 - 89 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Terminal layout 5 to 0V A B 12V Signal Description 5 to 12V Power input 0V Common for po wer and signal A A-phase pulse output B B-phase pulse output (4) Installation 6 2 2 0 7 2 0 . 2 3- 4.8 Equally spaced Panel cut (5) Outline drawing 8.89 7. 6 M3 6 may only be i nstalled 12V 0V A B 5V to 3-M4 s tu[...]

13 - 90 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.19 MR-DS60 6-digit digital switch Using the MR-DS60 6-digit digital switch can send the position data in the BCD signal. For the connection of MR-DS60 and MR-J3-D01, refer to section 3.2.2. (1) Parameter setting When using MR-DS60, set the parameter as shown below. Positioning operation by BCD input. [...]

13 - 91 13. OPTIONS AN D AUXILIARY EQUIPMENT (4) Terminal layout TB DCM2 COM2 DCM1 COM1 Signal Pin No. Description DO04 Common output 1, sign, 1000, 10 000, 100000 si de common output 9A Common output 2, 1, 10, 100 sid e common output DO04 DO05 DI03 DI02 DI01 DI00 DI07 DI06 DI05 DI04 DI11 DI10 DI09 DI08 DI13 DI12 10B 1B 10A 1A CON1,CON2 Signal DCM2[...]

13 - 92 13. OPTIONS AN D AUXILIARY EQUIPMENT (6) Installation [Unit: mm] 85 48 68 34 93 93 Panel cu t Panel cut Front in stallation Internal installation Square hole Square hole 2 5 2 5[...]

13 - 93 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.20 External digital display (MR-DP60) (1) Specifications Item Specifications Display Red seven-segment LED, signed, six digits Power supply Permissible voltage fluctuat ion Single-phase, 85 to 253VAC, 50/60Hz Current consumption Within 200mA Communication Interface Conforms to RS -422A. Baud rate 4800[...]

13 - 94 13. OPTIONS AN D AUXILIARY EQUIPMENT (4) Mounting Front mounting 2- 5 Square hole 141 150 53 [Unit: mm] Inside mounting 2- 5 Square hole 95 150 20 (5) Outline dimension drawing 7.5 MITSUBISHI 7.5 150 165 MR-DP 60 TB1 TB2 29 29 58 4 43 38 48 [Unit: mm] 2- 4.5 mounting hole 2- 6.5 , depth 1[...]

13 - 95 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.21 Junction terminal block PS7DW-2 0V14B-F (recommended) (1) How to use the junction terminal block Always use the junction ter minal block (PS7DW-20V 14B-F(YOSHIDA)) with the option cable (MR-J2HBUS M) as a set. A connection example is shown below. Cable clamp (AERSBAN-ESET) Juncti on ter minal bloc [...]

13 - 96 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Outline drawings of junction termina l block [Unit: mm] 36.5 27.8 18.8 7.62 44.11 54 63 4.5 4.5 5 4 60 50 9.3 27 TB.E( 6) M3 5L M3 6L 1.42 6.2[...]

13 - 97 13. OPTIONS AN D AUXILIARY EQUIPMENT 13.22 Junction terminal block MR-TB50 (1) How to use the junction terminal block Always use the junction ter minal block (MR-TB50) with the junction terminal block cable (MR-J2M-CN1TBL M) as a set. A connection example is shown below. MR-J3- D01 CN10 Juncti on termi nal bl ock MR-TB 50 Cable clam p MR-J2[...]

13 - 98 13. OPTIONS AN D AUXILIARY EQUIPMENT (3) Connection of MR-J2M-CN1TBL M cable and MR-TB50 SD SD Plate Symbol(N ote 3) (Note 1) MR-J2M-CN1TBL M CN10 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 MR-J3-D0 1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 1[...]

14 - 1 14. COMMUNICATION FUNCTION 14. COMMUNICATION FUNCTION Using the serial communication function of RS-422 , th is servo amplifier enables servo operation, parameter change, monitor function, e tc. 14.1 Configuration POINT A personal computer canno t be connected to the CN30 con nector of MR-J3- D01. (1) Single axis Operate the single-axis serv[...]

14 - 2 14. COMMUNICATION FUNCTION (b) Cable connection diagram Wire the cables as shown below. 7 1 2 3 4 5 6 8 7 1 2 3 4 5 6 8 12345678 7 1 2 3 4 5 6 8 (Note 4 , 5) (Note 1) Axis 1 servo amplifier CN3 connec tor (RJ45 conne c tor) LG P5D RDP SDN SDP RDN LG NC (Note 5) (Note 5) 7 1 2 3 4 5 6 8 7 1 2 3 4 5 6 8 12345678 7 1 2 3 4 5 6 8 LG P5D RDP SDN [...]

14 - 3 14. COMMUNICATION FUNCTION 14.2 Communication sp ecifications 14.2.1 Communication overview This servo amplifier is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g. personal computer) is called a master station and the device which sends a reply in response to the instruction (servo amplifi[...]

14 - 4 14. COMMUNICATION FUNCTION 14.2.2 Parameter setting When the USB/RS-422 communication function is used to ope rate the servo, set the communicatio n specifications of the servo amplifier in the corresponding parameters. After setting the values of these par ameters, they are made valid by switching power off once, then on again. (1) Serial c[...]

14 - 5 14. COMMUNICATION FUNCTION 14.3 Protocol 14.3.1 Transmission data configuratio n Since up to 32 axes may be connected to the bus, add a station number or group to the command, data No., etc. to determine the destination servo amplifier of data communication . Set the station number to each servo amplifier using the parameter and set the grou[...]

14 - 6 14. COMMUNICATION FUNCTION 14.3.2 Character codes (1) Control codes Code name Hexadecimal (ASCII code) Description Personal computer terminal key operation (General) SOH STX ETX EOT 01H 02H 03H 04H start of head start of text end of text end of transmission ctrl A ctrl B ctrl C ctrl D (2) Codes for data ASCII codes are used. b 8 0 0 0 0 0 0 [...]

14 - 7 14. COMMUNICATION FUNCTION 14.3.3 Error codes Error codes are used in the fo llowing cases and an error code of single-code length is transmitted. On receipt of data from the master station, the slave stati on sends the error code corresponding to that data to the master station . The error code sent in upper case i ndicates that the servo i[...]

14 - 8 14. COMMUNICATION FUNCTION 14.3.5 Time-out operation The master station transmits EOT when the slave station does not start repl y operation (ST X is not received) 300ms after the master station has ended communication operation. 100ms after that , the master station retransmits the message. Time-out occurs if the slave station does not answ[...]

14 - 9 14. COMMUNICATION FUNCTION 14.3.7 Initialization After the slave station is switched on, it cannot reply to communication until the internal initializ ation processing terminates. Hence, at power-on, ordinary communication should be started after: (1) 1s or more time has elapsed afte r the slave s tation is switched on; and (2) Making sure t[...]

14 - 10 14. COMMUNICATION FUNCTION 14.4 Command and data No. list POINT If the command and data No. a re the same, the description m ay be different depending on models of se rvo amplifiers. 14.4.1 Read commands (1) Status display (Command [0][1]) Command Data No. Description Display Item Frame Length [0][1] 00 Status display name and unit Current [...]

14 - 11 14. COMMUNICATION FUNCTION (2) Parameters (Command [0][4] [0][5] [0][6] [0][7] [0][8 ] [0][9]) Command Data No. Description Frame Length [0] [4] [0] [1] Parameter group read 0000: Basic setting parameter (No.PA ) 0001: Gain filter parameter (No.PB ) 0002: Extension setting parameter (No.PC ) 0003: I/O setting parameter (No.PD ) 0009: Option[...]

14 - 12 14. COMMUNICATION FUNCTION (3) External I/O signals (Command [1][2]) Command Data No. Description Frame Length [1] [2] [0] [0] Input device status 8 [0] [1] [0] [2] [4] [0] External input pin status [4] [1] [6] [0] Status of input device turned ON by communication [6] [1] [6] [2] [8] [0] Output device status [8] [1] [8] [2] [C] [0] External[...]

14 - 13 14. COMMUNICATION FUNCTION (5) Current alarm (Command [0][2] [3 ][5]) Command Data No. Description Frame Length [0] [2] [0] [0] Current alarm nu mber 4 [3] [5] [0][0] Status display name and unit at alarm occurrence Current position 16 [0][1] Command position [0][2] Command remaining distance [0][3] Point table No. [0][4] Cumulative feedbac[...]

14 - 14 14. COMMUNICATION FUNCTION (8) Point table/acceleration time constant (Command [5 ][4]) Command Data No. Description Frame length [5][4] [0][1] to [F][F] Acceleration time constant read The decimal equivalent of the data No. val ue (hexadecimal) corresponds to the Point table No. 8 (9) Point table/deceleration time constant (Command [5][8])[...]

14 - 15 14. COMMUNICATION FUNCTION 14.4.2 Write commands (1) Status display (Command [8][1]) Command Data No. Description Setting Range Frame length [8] [1] [0] [0] Status display data erasure 1EA5 4 (2) Parameters (Command [8][4] [8][5]) Command Data No. Description Setting Range Frame length [8] [4] [0] [1] to [F] [F] Write of parameters Writes t[...]

14 - 16 14. COMMUNICATION FUNCTION (8) Point table/acceleration time constant (Command [C ][7]) Command Data No. Description Setting range Frame length [C][7] [0][1] to [F][ F] Acceleration time constant write The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point table No. 0 to 20000 8 (9) Point table/deceleration time[...]

14 - 17 14. COMMUNICATION FUNCTION (14) Operation mode selection (Command [8 ][B]) Command Data No. Description Setting Range Frame Length [8] [B] [0] [0] Operation mode switching 0000: Test operation mode cancel 0001: JOG operation 0002: Positioning operation 0003: Motorless operation 0004: Output signal (DO) forced output 0005: Single-step feed 0[...]

14 - 18 14. COMMUNICATION FUNCTION 14.5 Detailed explanations of command s 14.5.1 Data processing When the master station tr ansmits a command data No. or a command data No. data to a slave station, the servo amplifier returns a reply or data according to the purpose. When numerical values are represented in these send data and rece ive data, they [...]

14 - 19 14. COMMUNICATION FUNCTION (2) Writing the processed data When the data to be written is handled as decimal, the dec imal point position must be specified. If it is not specified, the data cannot be writt en. When the data is handled as hexadec imal, specify "0" as the decimal point position. The data to be sent is the following v[...]

14 - 20 14. COMMUNICATION FUNCTION 14.5.2 Status display (1) Reading the status display name and unit Read the status display name and unit. (a) Transmission Transmit command [0][1] a nd the data No. corresponding to the status display item to be read, [0][0] to [0][E]. (Refer to section 14.4.1.) (b) Reply The sla ve station sends back the sta t us[...]

14 - 21 14. COMMUNICATION FUNCTION 14.5.3 Parameters (1) Specify the parameter group The group of the parameters to be oper ated must be specified in advance to read or write the parameter settings, etc. Write data to the servo amplifier as described below to specify the parameter group to be operated. Command Data No. Transmission Data Parameter G[...]

14 - 22 14. COMMUNICATION FUNCTION (4) Reading the setting Read the parameter setting. Specify the parameter group in advance (refer to (1) in this section). (a) Transmission Transmit command [0][5] and the data N o. corresponding to the parameter No., [0][1] to [F][F]. (Refer to section 14.4.1.) The data No. is expressed in hexadecimal. The decima[...]

14 - 23 14. COMMUNICATION FUNCTION (6) Parameter write POINT If setting values need to be changed with a high freq uency (i.e. one time or more per one hour), write the setting va lues to the RA M, not the EEP-ROM. The EEP-ROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction. Note[...]

14 - 24 14. COMMUNICATION FUNCTION 14.5.4 External I/O signal statuses (DIO diagnosis) (1) Reading of input device statuses Read the statuses of the input devices. (a) Transmission Transmit command [1][2] and the data N o. corresponding to the input de vice. Command Data No. [1][2] [0][0] [0][1] [0][2] (b) Reply The slave station sends back the sta[...]

14 - 25 14. COMMUNICATION FUNCTION (2) External input pin status read Read the ON/OFF statuses of the external ou tput pins. (a) Transmission Transmit command [1][2] and the data N o. corresponding to the pin. Command Data No. [1][2] [4][0] [4][1] (b) Reply The ON/OFF statuses of th e input pins are sent back. b31 b0 0:OFF 1:ON b1 Command of each b[...]

14 - 26 14. COMMUNICATION FUNCTION (3) Read of the statuses of input de vices switched on through communication Read the ON/OFF statuses of the input d e vices switched on through communication. (a) Transmission Transmit command [1][2] and the data N o. corresponding to the input de vice. Command Data No. [1][2] [6][0] [6][1] [6][2] (b) Reply The s[...]

14 - 27 14. COMMUNICATION FUNCTION (4) External output pin status read Read the ON/OFF statuses of the external ou tput pins. (a) Transmission Transmit command [1][2] and the data N o. corresponding to the pin. Command Data No. [1][2] [C][0] (b) Reply The slave station sends back the ON/OFF statuses of the output pins. b31 b0 0:OFF 1:ON b1 Command [...]

14 - 28 14. COMMUNICATION FUNCTION (5) Read of the statuses of output de vices Read the ON/OFF statuses of the outpu t devices. (a) Transmission Transmit command [1][2] and the data N o. corresponding to the output device . Command Data No. [1][2] [8][0] [8][1] [8][2] (b) Reply The slave station sends back the sta tuses of the output devices. b31 b[...]

14 - 29 14. COMMUNICATION FUNCTION 14.5.5 Device ON/OFF POINT The ON/OFF states of all devices in the servo ampli fier are the states of the data received last. Hence, when there is a device which must be kept ON, send data which turns that device O N every time. Each input device can be switched on/off. However, when the device to be switched off [...]

14 - 30 14. COMMUNICATION FUNCTION 14.5.6 Disable/enable of I/O device s (DIO) Inputs can be disabled independently o f the I/O devices ON/OFF. When inputs ar e disabled, the inpu t signals (devices) are recognized as follows. Among the i nput devices, EMG, LSP and LSN cannot be disabled. Signal Status In put devices (DI ) OF F (1) Disabling/enabli[...]

14 - 31 14. COMMUNICATION FUNCTION 14.5.7 Input devices ON /OFF (test operation) Each input devices can be turned on/o ff for test opera tion. when the device to be sw itched off exists in the external input signal, also sw itch off that input signal. Send command [9] [2], data No. corresponding to the input device and data. Command Data No. Set da[...]

14 - 32 14. COMMUNICATION FUNCTION 14.5.8 Test operation mode POINT The test operation mode is used to confir m operation. Do not use it for actual operation. If communication stops for longe r than 0. 5s during test operation, the servo amplifier decelerates to a stop, result ing in servo lock. To prevent this, continue communication all the time,[...]

14 - 33 14. COMMUNICATION FUNCTION (2) JOG operation Send the command, data N o. and data as i ndicated below to execute JOG operation. Comman d : [8][B] Data No. : [0][ 0] Data : 000 1(JOG ope ration) When LS P/LSN was turned OFF by external input signal or automatically Command: [9] [2] Data No. : [0][0] Data : Forward ro tation directio n 000008[...]

14 - 34 14. COMMUNICATION FUNCTION (3) Positioning operation (a) Operation procedure Send the command, data N o. and data as indicated below to execute positioning operation. Command : [8][ B] Data No. : [0][0] Data : 0002 (posit ioning operatio n) When LSP/LSN was turned OFF by external input signal o r automa tically turned ON Command : [9][2] Da[...]

14 - 35 14. COMMUNICATION FUNCTION (b) Temporary stop/restart/remaining distance clear Send the following command, data No. a nd data during positioning operation to make deceleration to a stop. Command Data No. Data [A][0] [4][1] STOP Send the following comman d, data No. and data during a temporary stop to make a restart. Command Data No. (Note) [...]

14 - 36 14. COMMUNICATION FUNCTION (4) Single-step feed Set necessary items to the point table before starting the single-step feed. Send the command, data N o. and data as indicated below to execute single-step feed. Command : [9][ 2] Data No. : [0][0 ] Data : 00020807 (ST1 is ON) Operat ion s tart Command : [8 ][B] Data No. : [0][0] Data : 0000 ([...]

14 - 37 14. COMMUNICATION FUNCTION (5) Output signal pin ON/OFF ou tput signal (DO) forced output In the test op eration mode, the output sig nal pins can be turned on/off independently of the servo sta tus. Using command [9][0], disable the outpu t signals in advance. (a) Choosing DO forced output in test ope ration mode Transmit command [8][B] da[...]

14 - 38 14. COMMUNICATION FUNCTION (6) Motorless operation (a) Performing motorless operation Transmit command [8][B] + data No. [0][0 ] + data "0003" to perform motorless operation . Sele ction of tes t oper ation m ode 3: Moto rless operati on 0003 To perform operation after performing the motorl ess operation, issue a co m mand from th[...]

14 - 39 14. COMMUNICATION FUNCTION 14.5.9 Alarm history (1) Alarm No. read Read the alarm No. which occurred in th e past. Th e alarm numbers and occurrence times of No. 0 (last alarm) to No. 5 (sixth alarm in the pas t) are read. (a) Transmission Send command [3][3] and data No. [1][0] to [1][5]. Refer to section 14.4.1. (b) Reply The alarm No. co[...]

14 - 40 14. COMMUNICATION FUNCTION 14.5.10 Current alarm (1) Current alarm read Read the alarm No. which is occurring currently. (a) Transmission Send command [0][2] and data No. [0][0]. Command Data No. [0][2] [0][0] (b) Reply The slave station sends back the alarm currently occurring. 00 Alarm No. is tr ansferred i n decim al. For example, "[...]

14 - 41 14. COMMUNICATION FUNCTION 14.5.11 Point table (1) Data read (a) Position data Read the position data of the point table. 1) Transmission Transmit command [4][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 14.4.1. 2) Reply The slave station sends back the position data of the re quested[...]

14 - 42 14. COMMUNICATION FUNCTION (c) Acceleration time constant Read the acceleration time constant of the poin t table. 1) Transmission Transmit command [5][4] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 14.4.1. 2) Reply The slave station sends back the acceleration time constant of the requ[...]

14 - 43 14. COMMUNICATION FUNCTION (e) Dwell Read the dwell of the poin t table. 1) Transmission Transmit command [6][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 14.4.1. 2) Reply The slave station sends back the dwell of the requested point table. 0 Hexade cima l data Display type 0: Used un[...]

14 - 44 14. COMMUNICATION FUNCTION (g) M code Read the M code of the po int table. 1) Transmission Transmit command [4][5] and any of data No. [0][1] to [F][F] corresponding to the point table to be read. Refer to section 14.4.1. 2) Reply The slave station sends back the M code of the requested poin t table. 0 Hexade cima l data Display type 0: Use[...]

14 - 45 14. COMMUNICATION FUNCTION (2) Data write POINT If setting values need to be changed with a high freq uency (i.e. one time or more per one hour), write the setting va lues to the RA M, not the EEP-ROM. The EEP-ROM has a limitation in the number of write times and exceeding this limitation causes the servo amplifier to malfunction. Note that[...]

14 - 46 14. COMMUNICATION FUNCTION (c) Acceleration time constant Write the acceleration time constant of th e point table. Transmit command [C][7], any o f data No. [0][1] to [F ][F ] corresponding to the point table to be written to, and the da ta. Refer to se ction 14.4.2. Command Data No. Data [C][7] [0][1] to [F][ F] See below. 0 Hexadecimal d[...]

14 - 47 14. COMMUNICATION FUNCTION (f) Auxiliary function Write the auxiliary function of the point table. Transmit command [C][B], any of data No. [0 ][1] to [F][F] corresponding to the point table to be writte n to, and the da ta. Refer to se ction 14.4.2. Command Data No. Data [C][B] [0][1] to [F][F] See below. 0 Hexade cima l data Write mode 0:[...]

14 - 48 14. COMMUNICATION FUNCTION 14.5.12 Servo amplifier group desig nation With group setting made to the slave stations, data can be transmitted simultaneously to two or more slave stations set as a group. (1) Group setting write Write the group designation value to the slave station. (a) Transmission Transmit command [9][F], data No. [0 ][0] a[...]

14 - 49 14. COMMUNICATION FUNCTION 14.5.13 Other commands (1) Servo motor end pulse unit absolute position Read the absolute position in the servo motor end pulse unit. Note that overflow will occur in the positio n of 8192 or more revolutions from the home position. (a) Transmission Send command [0][2] and data No. [9][0]. Command Data No. [0][2] [...]

14 - 50 14. COMMUNICATION FUNCTION MEMO[...]

App. - 1 APPENDIX App. 1 Parameter list POINT For any parameter whose symbol i s preceded by *, set the parameter value and switch power off once, then switch it on again to make that pa rameter setting valid. Basic setting parameters (PA ) Gain/filter parameters (PB ) No. Symbol Name No. Symbol Name PA01 *STY Control mode PB01 FILT Adaptive tuning[...]

App. - 2 A PPENDI X Extension setting parameters (PC ) I/O setting parameters (PD ) No. Symbol Name No. Symbol Name PC01 For manufacturer setting PD01 *DIA1 Input signal automatic ON selection 1 PC02 *ZTY Home position return type PD02 For manufacturer setting PC03 *ZDIR Home position return direction PD03 *DIA3 Input signal automatic ON selection [...]

App. - 3 A PPENDI X Option unit parameters (Po ) No. Symbol Name Po01 For manufacturer setting Po02 *ODI1 MR-J3-D01 input signal device selection 1 (CN10-21, 26) Po03 *ODI2 MR-J3-D01 input signal device selection 2 (CN10-27, 28) Po04 *ODI3 MR-J3-D01 input signal device selection 3 (CN10-29, 30) Po05 *ODI4 MR-J3-D01 input signal device selection 4 ([...]

App. - 4 A PPENDI X App. 2 Signal layout recording paper CN10 When u sing the point table CN6 11 4 21 5 DICOM 31 6 DOCOM 41 7 5 6 8 10 12 7 9 11 13 19 21 23 25 18 20 22 24 26 LB LA LZ LG LBR LAR LZR PP NP OPC 1 DI0 2 DI1 27 26 3 DI2 4 DI3 29 28 5 DI4 6 DI5 31 30 7 DI6 8 DI7 33 32 9 10 35 34 11 12 37 36 13 14 39 38 15 16 41 40 17 18 43 42 MCD10 19 2[...]

App. - 5 A PPENDI X App. 3 Change of con nector sets to the RoHS compatible products Connector sets (options) in the following table are c hanged to the Ro HS compatible products after September, 2006 shipment. Please accept that the current products might be mixed with RoHS compatible products based on availability. Model Current Product RoHS Comp[...]

App. - 6 A PPENDI X App. 4 MR-J3-200T-RT servo amplifier Connectors (CNP1, CNP2, and CNP3) and appeara nce of MR-J3-200T servo amplifier have been changed from June 2014 production. Model name of the e xisting servo amplifier is changed to MR-J3-200T-RT. Th e difference between new MR-J3-200T servo amplifier and ex isting MR-J3-200T-RT servo amplif[...]

App. - 7 A PPENDI X App. 4.2 Configuration including auxiliary equipme nt (1.7 Configuration including auxiliary equi pment) Regenerative option (Note 3) Power supply R S T CN2 CN4 MR Con figurator L 2 L 1 L 3 P 1 P 2 L 21 L 11 UV W MR-J3- D01 CN10 CN5 CN3 CN20 CN30 CN6 P C No-f use br eaker (NFB) or fuse Magnetic contactor (MC) (Note 2) Line noise[...]

App. - 8 A PPENDI X App. 4.3 CNP1, CNP2, CNP3 wiring method (3.3.3 CNP1, CNP2, CNP 3 wiring method) (a) Servo amplifier power supply connectors Servo amplifie r power supply c onnector s CNP3 CNP1 CNP2 <Applicabl e cable exam ple> Cable fini sh OD: to 5mm <Applicable cab le example> Cable finish OD: to 3.8mm Connector for CNP2 54928 -05[...]

App. - 9 A PPENDI X App. 4.4 OUTLINE DRAWINGS (Chapter 11 OUTLINE DRAWI NGS) [Unit: mm] 85 6 78 Approx. 25.5 90 Approx. 68 6 6 45 Approx. 80 195 21.4 6 CNP1 CNP3 CNP2 CN1 6 mounting hole With MR-J3BAT Rating plate Cooling fan wind direction Mass: 2.3 [kg] (5.07 [lb]) U V W CNP3 P C D L 11 L 21 CNP2 L 1 L 2 L 3 N P 1 P 2 CNP1 Terminal signal layout [...]

App. - 10 A PPENDI X App. 5 Selection example of servo motor power cable POINT Selection condition of wi re size is as follows. Wire length: 30m or less Depending on the cabl e selected, there may be cases that the cabl e does not fit into the Mitsubishi optional or reco mmended cable clam p. Select a cable clamp according to the cable diamete r . [...]

REVISIONS *The manual number is given on the bott om left of the back cover. Print Data *Manual Number Revision Jun. 2006 SH(NA)030061-A First edition Oct. 2007 SH(NA)0300 61-B Servo amplifiers MR-J3-60T 4 to 22KT4 are added Servo motors HF-SP524/1024/152 4/20 24/3524/5024/702 4 are added Servo motor HA-LP6014/701M4 are ad ded Compliance with EC di[...]

Print Data *Manual Number Revision Oct. 2007 SH(NA)0300 61-B Section 13.3 Section 13.4 (2) Section 13.4 (3) Section 13.4 (4) Section 13.5 (3)(b) Section 13.5 (4)(b) 2) Section 13.5 (6) Section 13.6 (2) Section 13.7 (3) Section 13.16 (2) Section 13.19 (1) App. 6 Brake unit is changed to FR-BU2-(H) brak e unit Note on stepdown transformer is added FR[...]

Print Data *Manual Number Revision Feb. 2008 SH(NA)0300 61-C Section 13.1.3 (2) Section 13.1.4 (2) Section 13.5 (4) Section 13.5 (4)(b) 1) Section 13.6 (3) Section 13.9 Section 13.1 0 Section 13.1 1 Section 14.1 App. 4 App. 5 Note added Note added POINT addition Wire size changed Note in table added 600V grade heat-resistanc e PVC insulated wire (H[...]

Country/Region Sales office Tel/Fax USA MITSUBISHI ELECTRIC AUTOMATION, INC. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. Tel Fax : +1-847-478-2100 : +1-847-478-2253 Mexico MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch Mariano Escobedo #69, Col.Zona Industrial, Tlalnepantla Edo, C.P.54030, México Tel Fax : +52-55-9171-7600 : +5[...]

Warranty 1. Warra nty period an d coverage We will repair any failure or defect hereinaf ter referred to as "failure" in our FA e quipment hereinafter re ferred to as the "P roduct" ar isen during warrant y period at no cha rge due to causes for which we ar e responsible thro ugh the distrib utor from which you purchased the Pro[...]

SH(NA)030061-E[...]

SH (NA) 030061-E (1406) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper. MODEL MODEL CODE J3 Series E MR-J3- T MR-J3-D01 Servo Amplifier Instruction Manual (General-Purpose Interface) General-Purpose AC Servo MODEL MR-J3- T MR-J3-D01 SERVO AMPLIFIER INSTRUCTION MANUAL (General-Pu[...]