mr-j3w-0303bn6/mr-j3w- b servo amplifier

mr-j3w-0303bn6/mr-j3w- b servo amplifier
General-Purpose AC Servo
SSCNET
J3W Series
interface 2-axis AC Servo Amplifier
MODEL
MODEL
CODE
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
SH (NA) 030073-D (1304) MEE
Printed in Japan
This Instruction Manual uses recycled paper.
Specifications subject to change without notice.
J3W Series MR-J3W-0303BN6/MR-J3W- B Servo Amplifier Instruction Manual D
MODEL
MR-J3W-0303BN6
MR-J3W- B
SERVO AMPLIFIER
INSTRUCTION MANUAL
D
Safety Instructions
Always read these instructions before using the equipment.
Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read
through this Instruction Manual, Installation guide, Servo motor Instruction Manual (Vol.2) and appended
documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until
you have a full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING
CAUTION
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
: Indicates what must not be done. For example, "No Fire" is indicated by
: Indicates what must be done. For example, grounding is indicated by
.
.
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on
are classified into "POINT".
After reading this Instruction Manual, always keep it accessible to the operator.
A- 1
1. To prevent electric shock, note the following
WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns
off. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier,
whether the charge lamp is off or not.
Connect the servo amplifier and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you
may get an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric
shock.
To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the
servo amplifier with the protective earth (PE) of the control box.
When using an earth-leakage current breaker (RCD), select the type B.
To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following
CAUTION
Install the servo amplifier, servo motor and regenerative resistor on incombustible material. Installing them
directly or close to combustibles will lead to a fire.
Always connect a magnetic contactor between the power supply and the main circuit power supply (L1, L2,
and L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of
the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large
current may cause a fire when the servo amplifier malfunctions.
Always connect a circuit protector between the power supply and power supply voltage input terminals (24,
0, and M) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side
of the servo amplifier's power supply. If a circuit protector is not connected, continuous flow of a large
current may cause a fire when the servo amplifier malfunctions.
When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.
Always connect a molded-case circuit breaker to the power supply of the servo amplifier.
A- 2
3. To prevent injury, note the following
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst,
damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while
power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a
parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock,
etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The servo amplifier and servo motor must be installed in the specified direction.
Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.
Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts
missing.
Do not block the intake and exhaust areas of the servo amplifier. Doing so may cause faults.
Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.
Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
The geared servo motor must be installed in the specified direction to prevent oil leakage.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo
motor during operation.
Never hit the servo motor or shaft, especially when coupling 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, contact your local sales office.
When treating the servo amplifier be careful about the edged parts such as the corners of the servo
amplifier.
The servo amplifier must be installed in the metal cabinet.
A- 3
CAUTION
When you keep or use it, please fulfill the following environmental conditions.
Environment
Item
Ambient
temperature
Ambient
humidity
Operation
Storage
Servo amplifier
Servo motor
[ ] 0 to 55 (non-freezing)
0 to 40 (non-freezing)
[ ] 32 to 131 (non-freezing)
32 to 104 (non-freezing)
[ ]
20 to 65 (non-freezing)
[ ]
4 to 149 (non-freezing)
Operation
15 to 70 (non-freezing)
5 to 158 (non-freezing)
90 RH or less (non-condensing)
Storage
80 RH or less (non-condensing)
90 RH or less (non-condensing)
Ambience
Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude
Max. 1000m above sea level
5.9 m/s2 at 10 to 55Hz
(directions of X, Y and Z axes)
(Note)
Vibration resistance
HF-MP series
HF-KP series
X, Y: 49 m/s2
HF-SP51 52
HC-UP72
HF-JP53 73 103
X, Y: 24.5 m/s2
HC-LP52
X: 9.8 m/s2
Y: 24.5 m/s2
HG-AK series
X, Y: 49 m/s2
Note. Except the servo motor with a reduction gear.
When you disinfect or protect wooden packing from insects, take measures except by fumigation.
Fumigating the servo amplifier or packing the servo amplifier with fumigated wooden packing can cause a
malfunction of the servo amplifier due to halogen materials (such as fluorine, chlorine, bromine, and iodine)
which are contained in fumigant.
The servo amplifier must not be used with parts which contain halogen-series flame retardant materials
(such as bromine) under coexisting conditions.
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge killer or radio noise filter (FR-BIF option) between the servo motor
and servo amplifier.
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.
Not doing so may cause unexpected operation.
Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W)
directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
Servo amplifier
U
V
W
U
V
Servo motor
Servo amplifier
U
V
M
W
W
A- 4
U
V
W
Servo motor
M
CAUTION
Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified
direction. Otherwise, the emergency stop and other protective circuits may not operate.
Servo amplifier
DOCOM
Servo amplifier
24VDC
Control output
signal
DICOM
24VDC
DOCOM
Control output
signal
DICOM
RA
For sink output interface
RA
For source output interface
When the cable is not tightened enough to the terminal block (connector), the cable or terminal block
(connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified
torque.
Connecting an encoder for different axis to the CN2A or CN2B connector may cause a malfunction.
Connecting a servo motor for different axis to the CNP3A or CNP3B connector may cause a malfunction.
(3) Test run adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
Never adjust or change the parameter values extremely as it will make operation instable.
(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off
immediately.
Any person who is involved in disassembly and repair should 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, etc. to minimize the influence of electromagnetic interference, which may be caused by
electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor are
coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install
a stopper on the machine side.
A- 5
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with an electromagnetic brake or an external brake mechanism for the
purpose of prevention.
Configure a electromagnetic brake circuit so that it is activated also by an external emergency stop switch.
Contacts must be opened when a
malfunction (ALM-A/ALM-B) and when an
electromagnetic brake interlock (MBR-A/
MBR-B).
Contacts must be opened with
the emergency stop switch.
Servo motor
RA
B
24VDC
U
Electromagnetic brake
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident
due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment.
Please contact your local sales office.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have
been drawn without covers and safety guards. When the equipment is operated, the covers and safety
guards must be installed as specified. Operation must be performed in accordance with this Specifications
and Instruction Manual.
A- 6
DISPOSAL OF WASTE
Please dispose a converter unit, servo amplifier (drive unit), battery (primary battery) and other options according
to your local laws and regulations.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the
total number of the following operations exceeds 100,000, the servo amplifier may fail when the EEP-ROM
reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes
Precautions for Choosing the Products
Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; machine
damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident
compensation caused by special factors unpredictable by Mitsubishi; damages to products other than
Mitsubishi products; and to other duties.
A- 7
COMPLIANCE WITH CE MARKING
Refer to Appendix 3 for the compliance with CE marking.
COMPLIANCE WITH UL/CSA STANDARD
Refer to Appendix 4 for the compliance with UL/CSA standard.
<<About the manuals>>
This Instruction Manual and the following Servo Amplifier/Servo Motor Instruction Manuals (Vol.2) are
required if you use the General-Purpose AC servo MR-J3W- B for the first time. Always purchase them and
use the MR-J3W- B safely.
Refer to chapter 15 for using MR-J3W-0303BN6.
Relevant manuals
Manual name
Manual No.
MELSERVO-J3W Series Instructions and Cautions for Safe Use of AC Servos
IB(NA)0300148
MELSERVO Servo Motor Instruction Manual (Vol.2)(Note 1)
SH(NA)030041
EMC Installation Guidelines
IB(NA)67310
SSCNET III Interface Linear Servo MR-J3- B-RJ004 INSTRUCTION MANUAL (Note 2)
SSCNET III Interface Direct drive servo MR-J3- B-RJ004 INSTRUCTION MANUAL (Note 3)
SH(NA)030054
In production
Note 1. Required to use the rotary servo motor.
2. Required to use the linear servo motor.
3. Required to use the direct drive motor.
<<Wiring>>
Wires mentioned in this instruction manual are selected based on the ambient temperature of 40
A- 8
(104 ).
CONTENTS
1. FUNCTIONS AND CONFIGURATION
1 - 1 to 1 - 10
1.1 Summary .................................................................................................................................................. 1 - 1
1.2 Function block diagram............................................................................................................................ 1 - 2
1.3 Servo amplifier standard specifications................................................................................................... 1 - 3
1.4 Function list .............................................................................................................................................. 1 - 5
1.5 Model code definition ............................................................................................................................... 1 - 6
1.6 Combination with servo motor ................................................................................................................. 1 - 7
1.7 Parts identification.................................................................................................................................... 1 - 8
1.8 Configuration including auxiliary equipment ........................................................................................... 1 - 9
2. INSTALLATION
2 - 1 to 2 - 6
2.1 Installation direction and clearances ....................................................................................................... 2 - 1
2.2 Keep out foreign materials....................................................................................................................... 2 - 3
2.3 Cable stress ............................................................................................................................................. 2 - 3
2.4 SSCNET cable laying........................................................................................................................... 2 - 3
2.5 Inspection items ....................................................................................................................................... 2 - 5
2.6 Parts having service lives ........................................................................................................................ 2 - 6
3. SIGNALS AND WIRING
3 - 1 to 3 -40
3.1 Input power supply circuit ........................................................................................................................ 3 - 2
3.2 I/O signal connection example ................................................................................................................ 3 - 4
3.3 Explanation of power supply system ....................................................................................................... 3 - 6
3.3.1 Signal explanations ........................................................................................................................... 3 - 6
3.3.2 Power-on sequence .......................................................................................................................... 3 - 8
3.3.3 CNP1, CNP2, CNP3A, CNP3B wiring method ................................................................................ 3 - 9
3.4 Connectors and signal arrangements .................................................................................................... 3 -12
3.5 Signal (device) explanations................................................................................................................... 3 -13
3.6 Alarm occurrence timing chart................................................................................................................ 3 -17
3.6.1 Timing chart...................................................................................................................................... 3 -17
3.6.2 Supplementary information.............................................................................................................. 3 -18
3.7 Interfaces................................................................................................................................................. 3 -19
3.7.1 Internal connection diagram ............................................................................................................ 3 -19
3.7.2 Detailed description of interfaces..................................................................................................... 3 -20
3.7.3 Source I/O interfaces ....................................................................................................................... 3 -22
3.8 Treatment of cable shield external conductor ........................................................................................ 3 -23
3.9 SSCNET cable connection ................................................................................................................. 3 -24
3.10 Connection of servo amplifier and servo motor ................................................................................... 3 -26
3.10.1 Connection instructions.................................................................................................................. 3 -26
3.10.2 Power supply cable wiring diagrams ............................................................................................. 3 -27
3.11 Servo motor with an electromagnetic brake......................................................................................... 3 -31
3.11.1 Safety precautions ......................................................................................................................... 3 -31
3.11.2 Timing charts .................................................................................................................................. 3 -33
3.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor)..................................................... 3 -36
3.12 Grounding.............................................................................................................................................. 3 -38
1
3.13 Control axis selection............................................................................................................................ 3 -39
3.14 Servo motor selection switch (SW3) .................................................................................................... 3 -40
4. STARTUP
4 - 1 to 4 -14
4.1 Switching power on for the first time ....................................................................................................... 4 - 2
4.1.1 Startup procedure.............................................................................................................................. 4 - 2
4.1.2 Wiring check ...................................................................................................................................... 4 - 3
4.1.3 Surrounding environment.................................................................................................................. 4 - 4
4.2 Startup ...................................................................................................................................................... 4 - 4
4.3 Servo amplifier display............................................................................................................................. 4 - 6
4.3.1 Scrolling display................................................................................................................................. 4 - 6
4.3.2 Status display of an axis ................................................................................................................... 4 - 7
4.4 Test operation .......................................................................................................................................... 4 - 9
4.5 Test operation mode ............................................................................................................................... 4 -10
4.5.1 Test operation mode in MR Configurator ........................................................................................ 4 -10
4.5.2 Motor-less operation in controller .................................................................................................... 4 -12
5. PARAMETERS
5 - 1 to 5 -30
5.1 Basic setting parameters (No.PA
) ................................................................................................... 5 - 1
5.1.1 Parameter list .................................................................................................................................... 5 - 2
5.1.2 Parameter write inhibit ...................................................................................................................... 5 - 3
5.1.3 Selection of control mode ................................................................................................................. 5 - 4
5.1.4 Selection of regenerative option ....................................................................................................... 5 - 4
5.1.5 Using absolute position detection system ........................................................................................ 5 - 5
5.1.6 Forced stop input selection ............................................................................................................... 5 - 5
5.1.7 Auto tuning ........................................................................................................................................ 5 - 6
5.1.8 In-position range................................................................................................................................ 5 - 7
5.1.9 Selection of servo motor rotation direction ....................................................................................... 5 - 8
5.1.10 Encoder output pulse ...................................................................................................................... 5 - 8
5.2 Gain/filter parameters (No.PB
)........................................................................................................ 5 -10
5.2.1 Parameter list ................................................................................................................................... 5 -10
5.2.2 List of details..................................................................................................................................... 5 -11
5.3 Extension setting parameters (No.PC
) ........................................................................................... 5 -17
5.3.1 Parameter list ................................................................................................................................... 5 -17
5.3.2 List of details..................................................................................................................................... 5 -18
5.3.3 Analog monitor ................................................................................................................................. 5 -21
5.3.4 Alarm history clear............................................................................................................................ 5 -23
5.4 I/O setting parameters (No.PD
) ...................................................................................................... 5 -24
5.4.1 Parameter list ................................................................................................................................... 5 -24
5.4.2 List of details..................................................................................................................................... 5 -25
5.5 Option setting parameters (No.Po
) ................................................................................................. 5 -27
5.5.1 List of parameters............................................................................................................................. 5 -27
5.5.2 List of details..................................................................................................................................... 5 -28
6. GENERAL GAIN ADJUSTMENT
6 - 1 to 6 -12
6.1 Different adjustment methods.................................................................................................................. 6 - 1
6.1.1 Adjustment on a single servo amplifier............................................................................................. 6 - 1
2
6.1.2 Adjustment using MR Configurator................................................................................................... 6 - 2
6.2 Auto tuning ............................................................................................................................................... 6 - 3
6.2.1 Auto tuning mode .............................................................................................................................. 6 - 3
6.2.2 Auto tuning mode basis .................................................................................................................... 6 - 4
6.2.3 Adjustment procedure by auto tuning............................................................................................... 6 - 5
6.2.4 Response level setting in auto tuning mode .................................................................................... 6 - 6
6.3 Manual mode 1 (simple manual adjustment).......................................................................................... 6 - 7
6.4 Interpolation mode .................................................................................................................................. 6 -11
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 1 to 7 -10
7.1 Function block diagram............................................................................................................................ 7 - 1
7.2 Machine resonance suppression filter..................................................................................................... 7 - 1
7.3 Vibration suppression control manual mode........................................................................................... 7 - 3
7.4 Low-pass filter .......................................................................................................................................... 7 - 5
7.5 Gain changing function ............................................................................................................................ 7 - 5
7.5.1 Applications ....................................................................................................................................... 7 - 5
7.5.2 Function block diagram..................................................................................................................... 7 - 6
7.5.3 Parameters ........................................................................................................................................ 7 - 7
7.5.4 Gain changing procedure.................................................................................................................. 7 - 9
8. TROUBLESHOOTING
8 - 1 to 8 -34
8.1 Alarms and warning list............................................................................................................................ 8 - 1
8.2 Troubleshooting at power on ................................................................................................................... 8 - 3
8.3 Remedies for alarms................................................................................................................................ 8 - 4
8.4 Remedies for warnings ........................................................................................................................... 8 -29
9. OUTLINE DRAWINGS
9 - 1 to 9 - 4
9.1 Servo amplifier ......................................................................................................................................... 9 - 1
9.2 Connector ................................................................................................................................................. 9 - 3
10. CHARACTERISTICS
10- 1 to 10- 8
10.1 Overload protection characteristics ...................................................................................................... 10- 1
10.2 Power supply equipment capacity and generated loss ....................................................................... 10- 2
10.3 Dynamic brake characteristics.............................................................................................................. 10- 4
10.3.1 Dynamic brake operation............................................................................................................... 10- 4
10.3.2 The dynamic brake at the load inertia moment............................................................................. 10- 6
10.4 Cable bending life ................................................................................................................................. 10- 6
10.5 Inrush currents at power-on of main circuit and control circuit............................................................ 10- 7
11. OPTIONS AND AUXILIARY EQUIPMENT
11- 1 to 11-56
11.1 Cable/connector sets ............................................................................................................................ 11- 1
11.1.1 Combinations of cable/connector sets .......................................................................................... 11- 1
11.1.2 Encoder cable/connector sets ....................................................................................................... 11- 9
11.1.3 Motor power supply cables ........................................................................................................... 11-20
11.1.4 Motor brake cables........................................................................................................................ 11-21
3
11.1.5 SSCNET cable .......................................................................................................................... 11-22
11.1.6 Battery cable.................................................................................................................................. 11-24
11.2 Regenerative options ........................................................................................................................... 11-25
11.3 MR-BTCASE battery case and MR-BAT battery................................................................................ 11-30
11.4 MR Configurator................................................................................................................................... 11-31
11.5 Selection example of wires .................................................................................................................. 11-36
11.6 No-fuse breakers, fuses, magnetic contactors ................................................................................... 11-40
11.7 Power factor improving AC reactors ................................................................................................... 11-41
11.8 Relays (recommended) ....................................................................................................................... 11-42
11.9 Noise reduction techniques ................................................................................................................. 11-42
11.10 Earth-leakage current breaker........................................................................................................... 11-49
11.11 EMC filter (recommended) ................................................................................................................ 11-52
11.12 Junction terminal block MR-TB26A................................................................................................... 11-54
11.13 Surge absorbers (recommended) ..................................................................................................... 11-55
12. ABSOLUTE POSITION DETECTION SYSTEM
12- 1 to 12- 8
12.1 Features ............................................................................................................................................... 12-.1
12.2 Specifications ........................................................................................................................................ 12- 2
12.3 Assembling a battery unit ..................................................................................................................... 12- 5
12.3.1 Required items ............................................................................................................................... 12- 5
12.3.2 Disassembly and assembly of the battery case MR-BTCASE..................................................... 12- 5
12.3.3 Battery transportation..................................................................................................................... 12- 7
12.4 Confirmation of absolute position detection data................................................................................. 12- 8
13. USING A LINEAR SERVO MOTOR
13- 1 to 13-84
13.1 Functions and configuration ................................................................................................................. 13- 1
13.1.1 Summary ........................................................................................................................................ 13- 1
13.1.2 Combinations of Servo Amplifiers and Linear Servo Motors........................................................ 13- 2
13.1.3 Configuration including auxiliary equipment.................................................................................. 13- 4
13.2 Connection of servo amplifier and linear servo motor ......................................................................... 13- 5
13.2.1 Connection instructions.................................................................................................................. 13- 5
13.2.2 Power supply cable wiring diagrams ............................................................................................. 13- 6
13.3 Linear encoder ...................................................................................................................................... 13- 7
13.3.1 Compatible linear encoder list ....................................................................................................... 13- 7
13.3.2 Linear encoder and branch cable .................................................................................................. 13- 8
13.4 Signals and wiring ................................................................................................................................. 13- 9
13.4.1 Precautions on this chapter .......................................................................................................... 13-10
13.4.2 Power supply system circuit connection example ....................................................................... 13-10
13.4.3 Internal connection diagram ......................................................................................................... 13-13
13.5 Operation and functions....................................................................................................................... 13-14
13.5.1 Startup ........................................................................................................................................... 13-14
13.5.2 Magnetic pole detection ................................................................................................................ 13-17
13.5.3 Home position return..................................................................................................................... 13-26
13.5.4 Test operation mode in MR Configurator ..................................................................................... 13-29
13.5.5 Operation from the controller ........................................................................................................ 13-30
13.5.6 Functions ....................................................................................................................................... 13-33
13.5.7 Absolute position detection system .............................................................................................. 13-35
13.6 Parameters........................................................................................................................................... 13-36
4
13.6.1 Parameter write inhibit (Parameter No.PA19).............................................................................. 13-37
13.6.2 Basic setting parameters (No.PA
)......................................................................................... 13-38
)............................................................................................. 13-42
13.6.3 Gain/Filter parameters (No.PB
13.6.4 Extension setting parameters (No.PC
) ................................................................................. 13-45
13.6.5 I/O setting parameters (No.PD
)............................................................................................. 13-51
)...................................................................................... 13-52
13.6.6 Special setting parameters (No.PS
13.6.7 Option setting parameter .............................................................................................................. 13-57
13.7 Troubleshooting ................................................................................................................................... 13-58
13.7.1 Alarms and warning list................................................................................................................. 13-58
13.7.2 Remedies for alarms..................................................................................................................... 13-60
13.7.3 Remedies for warnings ................................................................................................................. 13-80
13.7.4 Detailed explanation of linear encoder error 1 (2A. ) ................................................................ 13-84
14. USING A DIRECT DRIVE MOTOR
14- 1 to 14-72
14.1 Functions and configuration ................................................................................................................. 14- 1
14.1.1 Summary ........................................................................................................................................ 14- 1
14.1.2 Combinations of servo amplifier and direct drive motor ............................................................... 14- 2
14.1.3 Configuration including peripheral equipment............................................................................... 14- 3
14.2 Connection of servo amplifier and direct drive motor .......................................................................... 14- 4
14.3 Signals and wiring ................................................................................................................................. 14- 5
14.3.1 Notes of this chapter ...................................................................................................................... 14- 6
14.3.2 Input power supply circuit .............................................................................................................. 14- 7
14.3.3 Internal connection diagram ......................................................................................................... 14-10
14.4 Operation and functions....................................................................................................................... 14-11
14.4.1 Startup procedure ......................................................................................................................... 14-12
14.4.2 Magnetic pole detection ................................................................................................................ 14-13
14.4.3 Operation from controller .............................................................................................................. 14-20
14.4.4 Function ......................................................................................................................................... 14-25
14.5 Parameters........................................................................................................................................... 14-27
14.5.1 Parameter writing inhibit (parameter No.PA19) ........................................................................... 14-28
14.5.2 Basic setting parameters (No.PA
)......................................................................................... 14-29
14.5.3 Gain/filter parameters (No.PB
).............................................................................................. 14-32
14.5.4 Extension setting parameters (No.PC
) ................................................................................. 14-34
14.5.5 I/O setting parameters (No.PD
)............................................................................................. 14-35
14.5.6 Special setting parameters (No.PS
)...................................................................................... 14-36
14.5.7 Option setting parameters (No.Po
) ....................................................................................... 14-40
14.6 Troubleshooting ................................................................................................................................... 14-41
14.6.1 Alarm and warning list................................................................................................................... 14-41
14.6.2 Remedies for alarms..................................................................................................................... 14-43
14.6.3 Remedies for warnings ................................................................................................................. 14-56
14.7 Characteristics ..................................................................................................................................... 14-61
14.7.1 Overload protection characteristics .............................................................................................. 14-61
14.7.2 Dynamic brake characteristics...................................................................................................... 14-62
14.8 Options for direct drive motor .............................................................................................................. 14-64
14.8.1 Cable/connector sets .................................................................................................................... 14-64
14.8.2 Absolute position storage unit MR-BTAS01................................................................................. 14-71
5
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15- 1 to 15-72
15.1 Functions and configuration ................................................................................................................. 15- 1
15.1.1 Function block diagram.................................................................................................................. 15- 2
15.1.2 Servo amplifier standard specifications......................................................................................... 15- 3
15.1.3 Model designation .......................................................................................................................... 15- 5
15.1.4 Combination with servo motor ....................................................................................................... 15- 5
15.1.5 Parts identification .......................................................................................................................... 15- 6
15.1.6 Configuration including peripheral equipment............................................................................... 15- 7
15.2 Installation (direction and clearances).................................................................................................. 15- 8
15.3 Signals and wiring ................................................................................................................................ 15-10
15.3.1 Input power supply circuit ............................................................................................................. 15-11
15.3.2 I/O signal connection example...................................................................................................... 15-13
15.3.3 Explanation of power supply system ............................................................................................ 15-15
15.3.4 Connectors and pin assignment ................................................................................................... 15-19
15.3.5 Alarm occurrence timing chart ...................................................................................................... 15-20
15.3.6 Connection of servo amplifier and HG-AK series servo motor.................................................... 15-23
15.3.7 Servo motor with an electromagnetic brake................................................................................. 15-26
15.3.8 Grounding...................................................................................................................................... 15-31
15.4 Startup .................................................................................................................................................. 15-32
15.4.1 Startup procedure ......................................................................................................................... 15-33
15.4.2 Troubleshooting during "24V ERROR" lamp on. ......................................................................... 15-33
15.4.3 Wiring check .................................................................................................................................. 15-34
15.4.4 Surrounding environment ............................................................................................................. 15-35
15.5 Parameters........................................................................................................................................... 15-36
15.5.1 Basic setting parameters (No.PA
)......................................................................................... 15-36
15.5.2 Extension setting parameters (No.PC
) ................................................................................. 15-38
)............................................................................ 15-42
15.5.3 Manufacturer setting parameters (No.PE
15.5.4 Other function parameters (No.PF
)....................................................................................... 15-43
15.5.5 Option setting parameters (No.Po
) ....................................................................................... 15-43
15.6 Troubleshooting ................................................................................................................................... 15-44
15.7 Dimensions........................................................................................................................................... 15-52
15.8 Characteristics ..................................................................................................................................... 15-53
15.8.1 Overload protection characteristics .............................................................................................. 15-53
15.8.2 Power supply capacity and generated loss.................................................................................. 15-54
15.8.3 Dynamic brake characteristics...................................................................................................... 15-54
15.8.4 Inrush currents at power-on of main circuit and control circuit .................................................... 15-56
15.9 Options and peripheral equipment ...................................................................................................... 15-57
15.9.1 Cable/connector sets .................................................................................................................... 15-57
15.9.2 Selection example of wires ........................................................................................................... 15-64
15.9.3 Circuit protector ............................................................................................................................. 15-65
15.10 Absolute position detection system................................................................................................... 15-66
15.10.1 Features ...................................................................................................................................... 15-66
15.10.2 Specifications .............................................................................................................................. 15-67
15.10.3 Battery replacement procedure .................................................................................................. 15-69
15.10.4 Battery mounting/removing procedure ....................................................................................... 15-70
15.10.5 Procedure to replace battery with the control circuit power off.................................................. 15-71
6
APPENDIX
App.- 1 to App.-21
App. 1 Difference between MR-J3-B and MR-J3W-B ..............................................................................App.- 1
App. 2 Signal layout recording paper ........................................................................................................App.- 5
App. 3 COMPLIANCE WITH CE MARKING.............................................................................................App.- 6
App. 4 COMPLIANCE WITH UL/CSA STANDARD .................................................................................App.- 9
App. 5 Handling of AC servo amplifier batteries for the United Nations
Recommendations on the Transport of Dangerous Goods.........................................................App.-14
App. 6 Symbol for the new EU Battery Directive .....................................................................................App.-15
App. 7 Recommended cable for servo amplifier power supply ...............................................................App.-16
App. 8 Certificate by Certification Body....................................................................................................App.-18
7
MEMO
8
1. FUNCTIONS AND CONFIGURATION
1. FUNCTIONS AND CONFIGURATION
1.1 Summary
The Mitsubishi AC servo amplifier MELSERVO-J3W series is an AC servo that requires less space, less wiring,
and less energy while it maintains high performance, functionality and usability of MELSERVO-J3-B.
Two servo motors can be driven by this MR-J3W servo amplifier. Driving two servo motors by one MR-J3W
servo amplifier cuts down the installation area compared to the area required for two MR-J3 servo amplifiers.
Side-by-side installation is also available, making the system more compact.
Integrated 2-axis structure allows two axes to share the same SSCNET cable, control circuit power cable, and
main circuit power cable, cutting down the wiring area.
The capacitor in the MELSERVO-J3W series is re-charged, doubling the reusable energy compared to it of the
MELSERVO-J3 series. Regenerative energy is generated during deceleration of a servo motor. By reusing that
energy, much energy is saved. Depending on the operating condition, the regenerative option may be disabled.
The MR-J3W-77B servo amplifier has a 100W regenerative resistor built in, making the regenerative option
unnecessary even for a large regenerative load.
By simply shifting the switch, a rotary servo motor, a linear servo motor or a direct drive motor can be used for
each axis for the MR-J3W servo amplifier. A rotary servo motor, a linear servo motor and a direct drive motor
with different capacities can be connected to the MR-J3W-22B and MR-J3W-44B servo amplifier axes.
Using MELSERVO-J3W makes the linear servo motor and the direct drive motor structure simple and the
equipment compact with high performance. Using MELSERVO-J3W also saves the space.
As explained above, integrated 2-axis structure, multi-function, and improved regeneration efficiency reduce the
required parts for a servo system.
1- 1
1. FUNCTIONS AND CONFIGURATION
1.2 Function block diagram
The function block diagram of this servo is shown below.
Regenerative
option
P
Servo amplifier
Diode
stack Relay
D
A-axis Servo motor
Built-in regenerative resistor
TRM(A)
L2
Current
detector
L3
CNP3A
L1
CNP1
RegeneCHARGE rative
lamp
TR
L11
Control
circuit
power
supply
U
V
V
W
W
RA
24VDC
M
B1
ElectroB magnetic
brake
B2
CN2A
L21
U
Dynamic
brake circuit
(A)
Cooling fan
(Note 1)
Encoder
B-axis Servo motor
TRM(B)
Overcurrent
A
Control (A)
Model position
control (A)
Current
detection
A
Virtual
encoder
Overcurrent
B
Overvoltage
Control (B)
Model speed
control (A)
Model position
control (B)
Virtual
encoder
Model speed
control (B)
Virtual
motor
Actual position
control (A)
Actual speed
control (A)
CN1A
Virtual
motor
Current
control (A)
I/F
Control
Actual position
control (B)
USB
CN1B
Controller or Servo amplifier
servo amplifier
or cap
Current
detection
B
CN5
Personal
computer
USB
1- 2
Actual speed
control (B)
U
V
V
W
W
RA
24VDC
M
B1
ElectroB magnetic
brake
B2
Encoder
MRBTCASE
Optional battery
Case Battey
(for absolute position
detection system)
Current
control (B)
D/A
CN3
Analog monitor
(2 channels)
U
CN2B
Dynamic
brake circuit
(B)
Base amplifier
Regenerative
brake
CNP3B
Current
detector
CN4
(Note 2)
Power
supply
MC
CNP2
MCCB
C
CNP2
Digital I/O
control
1. FUNCTIONS AND CONFIGURATION
Note 1. MR-J3W-22B dose not have a cooling fan.
2. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open. Refer to section 1.3 for the power supply
specification.
1.3 Servo amplifier standard specifications
Servo amplifier
MR-J3W-
22B
44B
77B
1010B
Item
Main circuit power supply
Output
Rated output capacity
A-axis
200W
B-axis
200W
A-axis
400W
1.5
1.5
2.8
B-axis
400W
Rated voltage
[A]
Voltage, frequency
Rated current
2.8
A-axis
1kW
B-axis
1kW
5.8
6.0
6.0
5.8
3-phase or 1-phase 200 to 230VAC, 50/60Hz
[A]
3.5
3-phase 200 to 230VAC, 50/60Hz
6.1
10.4
3-phase or 1-phase 200 to 230VAC:
170 to 253VAC
Permissible voltage fluctuation
Permissible frequency fluctuation
Refer to section 10.2
Inrush current
Refer to section 10.5
Voltage, frequency
Rated current
1-phase 200 to 230VAC, 50/60Hz
[A]
0.4
Permissible voltage
fluctuation
1-phase 170 to 253VAC
Permissible
frequency fluctuation
Power
consumption
Within 5
[W]
55
Inrush current
Refer to section 10.5
Voltage
Power supply
capacity
24VDC 10
[A]
(Note 1) 0.25
1- 3
13.9
3-phase 170 to 253VAC
Within 5
Power supply capacity
Interface power
supply
B-axis
750W
3-phase 170VAC
Rated current
Control circuit
power supply
A-axis
750W
1. FUNCTIONS AND CONFIGURATION
Servo amplifier
MR-J3W-
22B
44B
77B
1010B
17
22
46
3.45
4.46
9.32
8.5
11.0
23.0
Item
Capacitor
regenerative
Reusable
regenerative energy
(Note 3)
[J]
Rotary servo motor’s
inertia moment
equivalent to
permissible charging
amount (Note 4)
[ 10-4kg m2]
Linear servo motor’s
mass equivalent to
permissible charging
amount (Note 5) [kg]
Control system
Sine-wave PWM control, current control system
Built-in regenerative resistor
[W]
10
100
Dynamic brake
Built-in
Protective functions
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal
relay), servo motor overheat protection, encoder error protection, regenerative error protection,
undervoltage, instantaneous power failure protection, overspeed protection, excessive error
protection, magnetic pole detection protection, Linear servo control error detection protection
Structure
Natural-cooling, open
(IP rating: IP00)
Force-cooling, open (IP rating: IP00)
Environmental conditions
Side-by-side installation
Ambient
temperature
Ambient
humidity
Operation
Storage
(Note 2)
[
]
0 to 55 (non-freezing)
[ ]
[
32 to 131 (non-freezing)
]
20 to 65 (non-freezing)
[ ]
4 to 149 (non-freezing)
Operation
90 RH or less (non-condensing)
Storage
Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Ambient
Altitude
Max. 1000m above sea level
2
Vibration resistance
Mass
5.9 m/s at 10 to 55Hz (X, Y and Z directions)
[kg]
1.4
2.3
[lb]
3.09
5.07
Note 1. 0.25A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O
points.
2. When closely mounting MR-J3W-44B, operate them at 90 or smaller effective load ratio.
3. The regenerative energy is generated under the following conditions.
Rotary servo motor: The energy is generated when a machine with the inertia moment equivalent to permissible charging amount
decelerates from the rated speed to stop.
Linear servo motor: The energy is generated when a machine with the mass equivalent to permissible charging amount decelerates
from the maximum speed to stop.
Direct drive motor: The energy is generated when a machine with the inertia moment equivalent to permissible charging amount
decelerates from the rated speed to stop.
4. This value is inertia moment when decelerating rotary servo motor from the rated speed to a stop. When decelerating two axes
simultaneously, the inertia moment is a total of two axes. When not decelerating two axes simultaneously, the inertia moment is for
one axis. This note also applies to the direct drive motor.
5. This value is mass when decelerating linear servo motor from the rated speed to a stop. The mass includes a mass of primary side
(coil). When decelerating two axes simultaneously, the mass is a total of two axes. When not decelerating two axes simultaneously,
the mass is for one axis.
1- 4
1. FUNCTIONS AND CONFIGURATION
1.4 Function list
The following table lists the functions of this servo. For details of the functions, refer to the reference field.
Function
Description
Reference
High-resolution encoder
High-resolution encoder of 262144 pulses/rev is used as a rotary servo motor
encoder.
Absolute position detection
system
Merely setting a home position once makes home position return unnecessary
at every power-on.
Gain changing function
Switches gains by using input devices or gain switching conditions (including the
Section 7.5
servo motor speed).
Low-pass filter
Suppresses high-frequency resonance which occurs as servo system response
is increased.
Machine analyzer function
Analyzes the frequency characteristic of the mechanical system by simply
connecting an MR Configurator installed personal computer and servo amplifier.
MR Configurator is necessary for this function.
Machine simulation
Can simulate machine motions on a personal computer screen on the basis of
the machine analyzer results.
MR Configurator is necessary for this function.
Gain search function
Personal computer with MR Configurator changes gains automatically and
searches for overshoot-free gains in a short time.
MR Configurator is necessary for this function.
Slight vibration suppression
control
Suppresses vibration of 1 pulse produced at a servo motor stop.
Parameters No.PB24
Auto tuning
Automatically adjusts the gain to optimum value if load applied to the servo
motor shaft varies.
Chapter 6
Regenerative option
Used when the built-in regenerative resistor of the servo amplifier does not have
sufficient regenerative capability for the regenerative power generated.
Section 11.2
Alarm history clear
Alarm history is cleared.
Parameter No.PC21
Output signal (DO)
forced output
Output signal can be forced on/off independently of the servo status.
Use this function for output signal wiring check, etc.
Section 4.5.1 (1) (d)
Test operation mode
JOG operation positioning operation DO forced output
However, MR Configurator is necessary for positioning operation.
Section 4.5
Analog monitor output
Servo status is output in terms of voltage in real time.
Parameter No.PC09
MR Configurator
Using a personal computer, parameter setting, test operation, status display,
etc. can be performed.
Section 11.4
1- 5
Chapter 12
Section 7.4
1. FUNCTIONS AND CONFIGURATION
1.5 Model code definition
(1) Rating plate
MITSUBISHI
MODEL MR-J3W-44B
AC SERVO
DATE 2011-08
POWER: 400W(A)+400W(B)
INPUT: 6.1A 3PH+1PH200-230V 50Hz
3PH+1PH200-230V 60Hz
OUTPUT: 170V 0-360Hz 2.8A(A)+2.8A(B)
SERIAL: A99001050
KCC-REI-MEK-TC300A***G51
MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN
The year and month
of manufacture
Model
Capacity
Applicable power supply
Rated output current
Serial number
PASSED
KC mark number
Country of origin
(2) Model
SSCNET
Series
interface
Rated output
Rated outpur[W]
A-axis B-axis
22
200
200
44
400
400
77
750
750
1010
1k
1k
Symbol
Rating plate
1- 6
1. FUNCTIONS AND CONFIGURATION
1.6 Combination with servo motor
POINT
Refer to section 13.1.2 for the combinations with linear servo motors.
Refer to section 14.1.2 for the combinations with direct drive motors.
The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the
models with an electromagnetic brake and the models with a reduction gear.
With the servo amplifier whose software version is B3 or later, the following servo motors can be used without
parameter change.
Servo amplifier
Servo motor
MR-J3W-22B
A-axis
B-axis
MR-J3W-44B
A-axis
B-axis
HF-MP053
(Note 1)
HF-MP13
(Note 1)
MR-J3W-77B
A-axis
B-axis
MR-J3W-1010B
A-axis
B-axis
HF-MP23
HF-MP43
(Note 1)
(Note 1)
(Note 1)
(Note 1)
HF-MP73
HF-KP053
(Note 1)
HF-KP13
(Note 1)
HF-KP23
HF-KP43
HF-KP73
HF-SP51
(Note 1)
HF-SP81
HF-SP52
(Note 1)
HF-SP102
HC-LP52
(Note 1)
HC-LP102
HC-UP72
(Note 1)
HF-JP53
(Note 2)
(Note 2, 3)
HF-JP73
(Note 2)
(Note 2)
HF-JP103
(Note 2)
Note 1. With the servo amplifier whose software version is B2 or earlier, this servo motor can be used by setting parameter No.Po04 to
"
1 ". With the servo amplifier whose software version is B3 or later, no parameter setting is required.
2. This servo motor can be used with the servo amplifier whose software version is B3 or later.
3. With this combination, the maximum torque of the HF-JP53 servo motor increases to 400 of the rated torque.
1- 7
1. FUNCTIONS AND CONFIGURATION
1.7 Parts identification
Name/Application
Display
The 3-digit, seven-segment LED shows the servo status
and alarm number.
Detailed
explanation
Section 4.3
F01
1
3456
2
F01
ON 4E
B CDE
2
789
A
B CDE
SW1
TEST
SW2
789
A
34 56
Rotary axis setting switch (SW1)
SW1
Used to set the axis No. of servo amplifier.
Section 3.13
Test operation select switch (SW2-1)
Used to perform the test operation
mode by using MR Configurator.
SW2
2
1
2
For manufacturer setting (Be sure to set
to the "Down" position).
Charge lamp
Lit to indicate that the main circuit is charged. While this
lamp is lit, do not reconnect the cables.
Side view
Main circuit power supply connector (CNP1)
Connect the input power supply.
Section 3.1
Section 3.3
USB communication connector (CN5)
Connect the personal computer.
Section 11.4
I/O signal connector (CN3)
Used to connect digital I/O signals.
More over an analog monitor is output.
Section 3.2
Section 3.4
Control circuit connector (CNP2)
Connect the control circuit power supply/regenerative
option.
Section 3.1
Section 3.3
SSCNET cable connector (CN1A)
Used to connect the servo system controller or the front
axis servo amplifier.
Section 3.9
A-axis servo motor power output connector (CNP3A)
Connect the A-axis servo motor.
Section 3.1
Section 3.3
SSCNET cable connector (CN1B)
Used to connect the rear axis servo amplifier. For the final
axis, puts a cap.
Section 3.9
A-axis servo motor encoder connector (CN2A)
Used to connect the A-axis servo motor encoder.
B-axis servo motor encoder connector (CN2B)
Used to connect the B-axis servo motor encoder.
Battery connector (CN4)
Used to connect the battery for absolute position data
backup. Battery is not required in fully closed control.
B-axis servo motor power output connector (CNP3B)
Connect the B-axis servo motor.
Protective earth (PE) terminal (
Ground terminal.
)
Rating plate
Section 3.4
Section 11.1
Section 11.3
Chapter 12
Section 3.1
Section 3.3
Section 1.5
2
Front side
NO
1
SW3
Servo motor selection switch (SW3)
Bottom
1- 8
A-axis
B-axis
Used to select the servo motor to
be used.
OFF: Rotary servo motor
ON : Linear servo motor and
direct drive motor
Section 3.14
1. FUNCTIONS AND CONFIGURATION
1.8 Configuration including auxiliary equipment
Connecting a servo motor for different axis to the CNP3A or CNP3B connector may
cause a malfunction.
CAUTION
POINT
Equipment other than the servo amplifier and the servo motor are optional or
recommended products.
To use a rotary servo motor, turn SW3 off (factory setting).
(Note 2)
RST
Power supply
Servo amplifier
MR Configurator
Personal
computer
CN5
Molded-case
circuit breaker
(MCCB) or fuse
L1
L2
CNP1
L3
Magnetic
contactor
(MC)
CN3
(Note 2)
Power factor
improving AC
reactor
(FR-BAL)
Regenerative
option
P
C
V (Note 3)
U
W
Line noise
filter
(FR-BSF01)
I/O signal
CNP2
D
CNP3A
CN1A
CN1B
W
Servo system
controller or Front axis
servo amplifier CN1B
Rear axis servo amplifier
CN1A or Cap
CNP3B
V
CN2A
U
CN2B
(Note 1)
CN4
L21
L11
Battery
unit
B-axis servo motor
A-axis servo motor
SW3
1
A-axis
2
Front side
ON
B-axis
Note 1. A battery unit consists of one MR-BTCASE battery case and eight MR-BAT batteries. Use the battery unit in the absolute position
detection system of the position control mode. (Refer to section 12.3.)
2. For 1-phase 200V to 230VAC, connect the power supply to L1 L2 and leave L3 open. Refer to section 1.3 for the power supply
specification.
3. Make sure to connect the P terminal to the D terminal. When using the regenerative option, refer to section 11.2.
1- 9
1. FUNCTIONS AND CONFIGURATION
MEMO
1 - 10
2. INSTALLATION
2. INSTALLATION
WARNING
To prevent electric shock, ground each equipment securely.
CAUTION
Stacking in excess of the limited number of products is not allowed.
Install the equipment on incombustible material. Installing it directly or close to
combustibles will lead to a fire.
Install the equipment in a load-bearing place in accordance with this Instruction
Manual.
Do not get on or put heavy load on the equipment to prevent injury.
Use the equipment within the specified environmental condition range. (For the
environmental conditions, refer to section 1.3.)
Provide an adequate protection to prevent screws and other conductive matter, oil
and other combustible matter from entering the servo amplifier.
Do not block the intake and exhaust areas of the servo amplifier. Doing so may
cause faults.
Do not drop or strike the servo amplifier. Isolate from all impact loads.
Do not install or operate the servo amplifier which has been damaged or has any
parts missing.
Do not install or operate a faulty servo amplifier.
When the product has been stored for an extended period of time, contact your local
sales office.
When treating the servo amplifier, be careful about the edged parts such as the
corners of the servo amplifier.
The servo amplifier must be installed in the metal cabinet.
When you disinfect or protect wooden packing from insects, take measures except
by fumigation. Fumigating the servo amplifier or packing the servo amplifier with
fumigated wooden packing can cause a malfunction of the servo amplifier due to
halogen materials (such as fluorine, chlorine, bromine, and iodine) which are
contained in fumigant.
The servo amplifier must not be used with parts which contain halogen-series flame
retardant materials (such as bromine) under coexisting conditions.
2.1 Installation direction and clearances
CAUTION
The equipment must be installed in the specified direction. Otherwise, a fault may
occur.
Leave specified clearances between the servo amplifier and control box inside walls
or other equipment. Doing so may cause faults.
When using heat generating equipment such as the regenerative option, install them with full consideration of
heat generation so that the servo amplifier is not affected.
Install the servo amplifier on a perpendicular wall in the correct vertical direction.
2- 1
2. INSTALLATION
(1) Installation of one servo amplifier
Control box
Control box
40mm
or more
Wiring
allowance
80mm
Servo amplifier
10mm
or more
10mm
or more
Top
Bottom
40mm
or more
(2) Installation of two or more servo amplifiers
POINT
MR-J3W- B can be installed side-by-side. However, use MR-J3W-44B with the
effective load ratio of 90 or less.
Leave a large clearance between the inner surface of a control box and the servo amplifier to circulate air above
and below the servo amplifier.
When installing the servo amplifiers closely, leave a clearance of 1mm between the adjacent servo amplifiers in
consideration of mounting tolerances.
Control box
Control box
100mm
or more
100mm
or more
10mm
or more
1mm
1mm
Top
30mm
or more
30mm
or more
30mm
or more
30mm
or more
Bottom
40mm
or more
40mm
or more
Leaving clearance
Mounting closely
2- 2
2. INSTALLATION
2.2 Keep out foreign materials
(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the servo
amplifier.
(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control box or
a cooling fan installed on the ceiling.
(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an air
purge (force clean air into the control box from outside to make the internal pressure higher than the
external pressure) to prevent such materials from entering the control box.
2.3 Cable stress
(1) The way of clamping the cable must be fully examined so that bending stress and cable's own weight stress
are not applied to the cable connection.
(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) with
having some slack from the connector connection part of the servo motor to avoid putting stress on the
connector connection part. Use the optional encoder cable within the bending life range. Use the power
supply and brake wiring cables within the bending life of the cables.
(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or
stamped by workers or vehicles.
(4) For installation on a machine where the servo motor will move, the bending radius should be made as large
as possible. Refer to section 10.4 for the bending life.
2.4 SSCNET
cable laying
SSCNET cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral
pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be
available. Especially, as optical fiber for MR-J3BUS M MR-J3BUS M-A is made of synthetic resin, it melts
down if being left near the fire or high temperature. Therefore, do not make it touched the part, which becomes
high temperature, such as radiator or regenerative option of servo amplifier.
Read described item of this section carefully and handle it with caution.
(1) Minimum bend radius
Make sure to lay the cable with greater radius than the minimum bend radius. Do not press the cable to
edges of equipment or others. For SSCNET cable, the appropriate length should be selected with due
consideration for the dimensions and arrangement of servo amplifier. When closing the door of control box,
pay careful attention for avoiding the case that SSCNET cable is hold down by the door and the cable
bend becomes smaller than the minimum bend radius.
For the minimum bend radius, refer to section 11.1.5.
2- 3
2. INSTALLATION
(2) Prohibition of vinyl tape use
Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and MR-J3BUS M-A cables away
from vinyl tape because the optical characteristic may be affected.
SSCNET
cable
Cord
Cable
MR-J3BUS M
MR-J3BUS M-A
MR-J3BUS M-B
Optical cord
: Phthalate ester plasticizer such as DBP and DOP
may affect optical characteristic of cable.
: Normally, cable is not affected by plasticizer.
Cable
(3) Precautions for migrating plasticizer added materials
Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non-migrating
plasticizer and they do not affect the optical characteristic of SSCNET cable.
However, some wire sheaths and cable ties, which contain migrating plasticizer (phthalate ester), may affect
MR-J3BUS M and MR-J3BUS M-A cables (made of plastic).
In addition, MR-J3BUS M-B cable (made of quartz glass) is not affected by plasticizer.
(4) Bundle fixing
Fix the cable at the closest part to the connector with bundle material in order to prevent SSCNET cable
from putting its own weight on CN1A CN1B connector of servo amplifier. Optical cord should be given
loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted.
When bundling the cable, fix and hold it in position by using cushioning such as sponge or rubber which
does not contain migratable plasticizers.
If using adhesive tape for bundling the cable, fire resistant acetate cloth adhesive tape 570F (Teraoka
Seisakusho Co., Ltd) is recommended.
Connector
Optical cord
Loose slack
Bundle material
Recommended product:
NK clamp SP type
( NIX, INC.)
Cable
(5) Tension
If tension is added on optical cable, the increase of transmission loss occurs because of external force
which concentrates on the fixing part of optical fiber or the connecting part of optical connector. At worst, the
breakage of optical fiber or damage of optical connector may occur. For cable laying, handle without putting
forced tension. For the tension strength, refer to section 11.1.5.
2- 4
2. INSTALLATION
(6) Lateral pressure
If lateral pressure is added on optical cable, the optical cable itself distorts, internal optical fiber gets
stressed, and then transmission loss will increase. At worst, the breakage of optical cable may occur. As the
same condition also occurs at cable laying, do not tighten up optical cable with a thing such as nylon band
(TY-RAP).
Do not trample it down or tuck it down with the door of control box or others.
(7) Twisting
If optical fiber is twisted, it will become the same stress added condition as when local lateral pressure or
bend is added. Consequently, transmission loss increases, and the breakage of optical fiber may occur at
worst.
(8) Disposal
When incinerating optical cable (cord) used for SSCNET , hydrogen fluoride gas or hydrogen chloride gas
which is corrosive and harmful may be generated. For disposal of optical fiber, request for specialized
industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or
hydrogen chloride gas.
2.5 Inspection items
WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more until
the charge lamp turns off. Otherwise, an electric shock may occur. In addition,
always confirm from the front of the servo amplifier, whether the charge lamp is off
or not.
To avoid an electric shock, only qualified personnel should attempt inspections.
Otherwise, you may get an electric shock. For repair and parts replacement, contact
your safes representative.
CAUTION
Do not perform insulation resistance test on the servo amplifier as damage may
result.
Do not disassemble and/or repair the equipment on customer side.
It is recommended to make the following checks periodically.
(1) Check for loose terminal block screws. Retighten any loose screws.
(2) Check if the cables and the wires have no damage or crack. Perform periodic inspection according to
operating conditions.
(3) Check that the connector is securely connected to the servo amplifier.
(4) Check that the wires are not coming out from the connector.
(5) Check for dust accumulation on the servo amplifier.
(6) Check for unusual noise generated from the servo amplifier.
2- 5
2. INSTALLATION
2.6 Parts having service lives
Service lives of the following parts are listed below. However, the service lives vary depending on operating
methods and environmental conditions. If any fault is found in the parts, they must be replaced immediately
regardless of their service lives. For parts replacement, please contact your sales representative.
Part name
Life guideline
Smoothing capacitor
10 years
Relay
Number of power-on, forced stop, and controller
forced stop times: 100000 times
Cooling fan
50,000 to 70,000 hours (2 to 3 years)
Absolute position battery
Refer to section 12.2
(1) Smoothing capacitor
Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly depends
on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of
continuous operation in normal air–conditioned environment (40 (104 ) surrounding air temperature or
less).
(2) Relays
Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their
lives when the power is turned on and forced stop/controller forced stop occurs 100,000 times in total.
(3) Servo amplifier cooling fan
The cooling fan bearings reach the end of their life in 50,000 to 70,000 hours. Normally, therefore, the fan
must be changed in seven or eight years of continuous operation as a guideline.
It must also be changed if unusual noise or vibration is found during inspection.
The life of the servo amplifier cooling fan applies under an environment of an average ambient temperature
of 40 (104 ) a year, and a corrosive gas-free, flammable gases-free, an oil-mist-free, and a dust-free
environment.
2- 6
3. SIGNALS AND WIRING
3. SIGNALS AND WIRING
WARNING
Any person who is involved in wiring should be fully competent to do the work.
Before wiring or inspection, turn off the power and wait for 15 minutes or more until
the charge lamp turns off. Otherwise, an electric shock may occur. In addition,
always confirm from the front of the servo amplifier, whether the charge lamp is off
or not.
Ground the servo amplifier and the servo motor securely.
Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, you may get an electric shock.
The cables should not be damaged, stressed excessively, loaded heavily, or
pinched. Otherwise, you may get an electric shock.
To avoid an electric shock, insulate the connections of the power supply terminals.
Wire the equipment correctly and securely. Otherwise, the servo motor may operate
unexpectedly, resulting in injury.
Connect cables to correct terminals to prevent a burst, fault, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay for control output should be fitted
in the specified direction. Otherwise, the emergency stop and other protective
circuits may not operate.
Servo amplifier
24VDC
DOCOM
Control output
signal
DICOM
RA
For sink output interface
CAUTION
Servo amplifier
24VDC
DOCOM
Control output
signal
DICOM
RA
For source output interface
Use a noise filter, etc. to minimize the influence of electromagnetic interference,
which may be given to electronic equipment used near the servo amplifier.
Do not install a power capacitor, surge killer or radio noise filter (FR-BIF option) with
the power line of the servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
Connect the servo amplifier power output (U, V, and W) to the servo motor power
input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.
Otherwise, it may cause a malfunction.
Servo amplifier
U
V
W
U
Servo motor
V
W
3- 1
Servo amplifier
U
M
V
W
U
V
W
Servo motor
M
3. SIGNALS AND WIRING
3.1 Input power supply circuit
CAUTION
Always connect a magnetic contactor between the power supply and the main circuit
power supply (L1, L2, and L3) of the servo amplifier, in order to configure a circuit
that shuts down the power supply on the side of the servo amplifier’s power supply. If
a magnetic contactor is not connected, continuous flow of a large current may cause
a fire when the servo amplifier malfunctions.
Shut off the main circuit power supply when alarms are occurring in both of the Aaxis and the B-axis. Otherwise, a regenerative transistor fault or the like may
overheat the regenerative resistor, causing a fire.
Check the servo amplifier model, and then input proper voltage to the servo amplifier
power supply. If input voltage exceeds the upper limit, the servo amplifier will break
down.
POINT
Even if alarm has occurred, do not switch off the control circuit power supply.
When the control circuit power supply has been switched off, optical module does
not operate, and optical transmission of SSCNET communication is interrupted.
Therefore, the servo amplifier on the rear axis displays "AA" at the indicator and
turns into base circuit shut-off. The servo amplifier stops with starting dynamic
brake.
Wire the power supply/main circuit as shown below so that power is shut off and the servo-on command turned
off as soon as an alarm occurs, a servo forced stop is made valid, or a controller forced stop is made valid. A
molded-case circuit breaker (MCCB) must be used with the input cables of the main circuit power supply.
3- 2
3. SIGNALS AND WIRING
(Note 3)
Malfunction
RA1(A-axis)
RA2(B-axis)
Controller
forced stop
RA3
OFF
ON
Forced stop
(Note 6)
MCCB
(Note 8)
MC
(Note 9)
Power
supply
MC
Servo amplifier
CNP1
(Note 10)
L1
CNP3A
L2
U
L3
CNP2
P
(Note 1)
C
MC
SK
A-axis servo motor
(Note 5)
U
V
V
W
W
CN2A
D
(Note 2)
Encoder cable
Motor
M
Encoder
L11
PE(
L21
)
B-axis servo motor
(Note 10)
CNP3B
U
V
W
W
CN3
CN3
EM1
DOCOM
DOCOM
DICOM
SW3 (Note 7)
ON
1
2
Front side
(Note 4)
A-axis
B-axis
U
V
CN2B
(Note 6) Forced stop
(Note 5)
(Note 2)
Encoder cable
Motor
M
Encoder
24VDC
ALM-A
RA1
ALM-B
RA2
A-axis malfunction
(Note 3)
B-axis malfunction
(Note 3)
(Note 4)
Note 1. Always connect P and D. When using the regenerative option, refer to section 11.2.
2. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable.
3. If deactivating output of malfunction (ALM-A/ALM-B) with parameter change, configure up the power supply circuit which switches
off the magnetic contactor after detection of alarm occurrence on the controller side. In this connection example, the operation
continues in the other axis when an alarm occurs in the A-axis or the B-axis. To stop both axes in an alarm occurrence, connect
RA1 and RA2 in series.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.
5. For the power line connection, refer to section 3.10.
6. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of forced stop (EM1) using the
external sequence.
7. This connection example is a connection using a rotary servo motor. Turn SW3 off (factory setting). (Refer to section 3.14.)
8. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is the time interval
between current being applied to the coil until closure of contacts.
9. For 1-phase 200V to 230VAC, connect the power supply to L1 L2 and leave L3 open. Refer to section 1.3 for the power supply
specification.
10. Connecting a servo motor for different axis to the CNP3A or CNP3B connector may cause a malfunction.
3- 3
3. SIGNALS AND WIRING
3.2 I/O signal connection example
10m or less
10m or less
Servo amplifier
(1 axis 2 axis)
(Note 10)
24VDC
(Note 12) (Note 12)
DICOM
(Note 14)
DOCOM
(Note 3, 4) Forced
A-axis upper stroke limit (FLS)
A-axis lower stroke limit (RLS)
A-axis proximity dog (DOG)
(Note 15)
B-axis upper stroke limit (FLS)
B-axis lower stroke limit (RLS)
B-axis proximity dog (DOG)
(Note 5)
MR Configurator
Personal
computer
EM1
DI1-A
DI2-A
DI3-A
DI1-B
DI2-B
DI3-B
11
ALM-A
RA1
12
MBR-A
RA2
24
ALM-B
RA3
25
MBR-B
RA4
3
16
4
17
5
18
6
19
USB cable
MR-J3USBCBL3M
(option)
CN5
Servo system
controller (Note 6)
SSCNET
(option)
(Note 2)
CN3
CN3
23
26
10
7
8
9
20
21
22
2
1
15
14
Plate
cable
CN1A
LA-A
LAR-A
LB-A
LBR-A
LA-B
LAR-B
LB-B
LBR-B
MO1
LG
MO2
LG
SD
SW1
SW2 (Note 8)
CN1B
12
A-axis
2
ON
1
Front side
SW3 (Note 16)
B-axis
MR-J3W-B
(Note 7)
(3 axis
4 axis)
CN1A
SW1
CN1B
SW2 (Note 8)
12
SW3 (Note 16)
Front side
ON
A-axis
2
cable
1
B-axis
MR-J3W-B
(Note 9)
Cap
(Note 7)
(n-1 axis
n axis)
CN1A
SW1
CN1B
SW2 (Note 8)
12
SW3 (Note 16)
A-axis
2
ON
1
Front side
(Note 6)
SSCNET
(option)
(Note 1)
B-axis
3- 4
A-axis malfunction
(Note 11)
A-axis electromagnetic
brake interlock (Note 17)
B-axis malfunction
(Note 11)
B-axis electromagnetic
brake interlock (Note 17)
(Note 13, 14)
A-axis encoder A-phase pulse
(Differential line driver)
A-axis encoder B-phase pulse
(Differential line driver)
B-axis encoder A-phase pulse
(Differential line driver)
B-axis encoder B-phase pulse
(Differential line driver)
10VDC Analog monitor 1
10VDC Analog monitor 2
3. SIGNALS AND WIRING
Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) 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 amplifier will be faulty and will not output signals,
disabling the emergency stop and other protective circuits.
3. If the controller does not have forced stop function, always install the forced stop 2 switch (Normally closed contact).
4. When starting operation, always turn on the forced stop (EM1). (Normally closed contact) By setting " 1
" in parameter
No.PA04 the forced stop (EM1) can be made invalid.
5. Use MRZJW3-SETUP 221E. (Refer to section 11.4)
6. Use SSCNET cables listed in the following table.
Cable
Standard cord inside panel
Cable model name
Cable length
MR-J3BUS M
0.15 to 3m
Standard cable outside panel
MR-J3BUS M-A
5 to 20m
Long-distance cable
MR-J3BUS M-B
30 to 50m
7. The wiring of the third and subsequent axes is omitted.
8. Up to sixteen axes may be connected. Refer to section 3.13 for setting of axis selection.
9. Make sure to put a cap on the unused CN1A CN1B.
10. Supply 24VDC 10 250mA current for interfaces from the outside. 250mA is the value applicable when all I/O signals are used.
The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.7.2 (1) that gives the current value
necessary for the interface.
11. Malfunction (ALM-A/ALM-B) turns on in normal alarm-free condition. (Normally closed contact)
12. The pins with the same signal name are connected in the servo amplifier.
13. The signal can be changed by parameter No.PD07, PD09.
14. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.
15. Devices can be assigned for DI1-A DI2-A DI3-A DI1-B DI2-B DI3-B with controller setting. For devices that can be assigned,
refer to the controller instruction manual. The assigned devices are for the Q173DCPU Q172DCPU Q173HCPU Q172HCPU,
Q170MCPU, QD74MH , QD75MH and LD77MH .
16. Select the servo motor to be used as below. (Refer to section 3.14.)
OFF: Rotary servo motor, ON: Linear servo motor
17. When you use a linear servo motor or direct drive motor, use MBR (Electromagnetic brake interlock) for an external brake
mechanism.
3- 5
3. SIGNALS AND WIRING
3.3 Explanation of power supply system
3.3.1 Signal explanations
POINT
Keep the manufacturer-setting terminals open.
(1) Signal layout and connector application
Connector
CNP1
L1
1
L2
2
L3
3
Servo amplifier
CNP2
P
C
L11
1
L21
2
D (Note)
A
Name
Main circuit power supply connector
Used to input the main circuit power
supply.
CNP2
Control circuit power supply connector
Used to input the control circuit power
supply. Used to connect the regenerative
option.
CNP3A
A-axis Servo motor power connector
Used to connect to the A-axis servo motor.
CNP3B
B-axis Servo motor power connector
Used to connect to the B-axis servo motor.
3
B
CNP3A
W
A
U
1
V
2
B
CNP3B
W
A
U
1
V
2
Function/Application
CNP1
B
Note. For manufacturer setting. Keep the manufacturer-setting terminals open.
3- 6
3. SIGNALS AND WIRING
(2) Detailed description
Abbreviation
Connection target
(Application)
Description
Supply the following power to L1, L2, L3. For the 1-phase 200V to 230VAC power supply, connect
the power supply to L1, L2, and keep L3 open.
L1 L2 L3
Main circuit power
supply
Servo amplifier
Power supply
MR-J3W-22B
MR-J3W-44B
3-phase 200V to 230VAC, 50/60Hz
1-phase 200V to 230VAC, 50/60Hz
P
C D
MR-J3W-77B
MR-J3W-1010B
L1
L1
L2
L3
L2
When using servo amplifier built-in regenerative resistor, connect P
Regenerative option regenerative option, connect regenerative option to P and C.
Refer to section 11.2.
and D. When using
Supply the following power to L11 L21.
L11 L21
Control circuit
power supply
Servo amplifier
Power supply
1-phase 200V to 230VAC, 50/60Hz
U V W
MR-J3W-22B to MR-J3W-1010B
L11 L21
Servo motor power
Connect to the servo motor power supply terminals (U, V, W). Connect the servo amplifier power
output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do not let a magnetic
contactor, etc. intervene. Otherwise, it may cause a malfunction.
Protective earth
(PE)
Connect to the earth terminal of the servo motor and to the protective earth (PE) of the control box
to perform grounding.
3- 7
3. SIGNALS AND WIRING
3.3.2 Power-on sequence
POINT
The voltage of analog monitor output, output signal, etc. may be unstable at poweron.
(1) Power-on procedure
1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the
main circuit power supply (three-phase: L1, L2, L3, single-phase: L1, L2). Configure an external
sequence which switches off the magnetic contactor when an alarm occurs in both A and B axes.
2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply
or before switching on the main circuit power supply. If the main circuit power supply is not on, the
display shows the corresponding warning. However, by switching on the main circuit power supply,
the warning disappears and the servo amplifier will operate properly.
3) The servo amplifier can accept the servo-on command within 3s the main circuit power supply is
switched on. (Refer to paragraph (2) of this section.)
(2) Timing chart
Servo-on command accepted
(3s)
ON
Main circuit
power OFF
Control circuit
Base circuit
ON
OFF
Servo-on command
(from controller)
ON
OFF
95ms
10ms
95ms
(3) Forced stop
CAUTION
Install an forced stop circuit externally to ensure that operation can be stopped and
power shut off immediately.
If the controller does not have an forced stop function, make up a circuit that switches off main circuit power
as soon as EM1 is turned off at a forced stop. When EM1 is turned off, the dynamic brake is operated to
stop the servo motor. At this time, the display shows the servo forced stop warning (E6.1).
During ordinary operation, do not use forced stop (EM1) to alternate stop and run. The service life of the
servo amplifier may be shortened.
Servo amplifier
24VDC
DICOM
(Note)
Forced stop
EM1
Note. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.
3- 8
3. SIGNALS AND WIRING
3.3.3 CNP1, CNP2, CNP3A, CNP3B wiring method
POINT
Refer to section 11.5 for the wire sizes used for wiring.
Connectors to wire CNP1, CNP2, CNP3A, and CNP3B are not supplied with the
servo amplifier. Refer to section 11.1, and purchase the connector set.
This section shows the recommended products.
(1) Crimping type
Servo amplifier
1)
2)
3)
4)
No.
Connector
for
Receptacle
housing
CNP1
CNP2
CNP3A
CNP3B
Receptacle contact
Model
1) CNP1
J43FSS-03V-KX
BJ4F-71GF-M3.0
2) CNP2
F32FMS-06V-KXY
BF3F-71GF-P2.0
LF3F-41GF-P2.0
3-178129-6
917511-2
353717-2
3) CNP3A/
4) CNP3B
F35FDC-04V-K
BF3F-71GF-P2.0
LF3F-41GF-P2.0
175363-1
917511-2
353717-2
175218-2
Description
Crimping tool
Manufacturer
Cable size: 1.25 to 2.0mm2
(AWG16 to AWG14)
Insulator OD: 2.0 to 3.8mm
Cable size: 1.25 to 2.0mm2
(AWG16 to AWG14)
Insulator OD: 2.4 to 3.4mm
Cable size: 0.75 to 1.25mm2
(AWG19 to AWG16)
Insulator OD: 1.8 to 2.8mm
Cable size: 1.25 to 2.0mm2
(AWG16 to AWG14)
Insulator OD: 2.2 to 2.8mm
Cable size: 1.25 to 2.0mm2
(AWG16 to AWG14)
Insulator OD: 3.3 to 3.8mm
Cable size: 1.25 to 2.0mm2
(AWG16 to AWG14)
Insulator OD: 2.4 to 3.4mm
Outer diameter of finished cable:
2.4 to 3.3mm
Insulator OD: 1.8 to 2.8mm
Option cable: MR-PWS CBL
Cable size: 1.25 to 2.0mm2
(AWG16 to AWG14)
Insulator OD: 2.2 to 2.8mm
Cable size: 1.25 to 2.0mm2
(AWG16 to AWG14)
Insulator OD: 3.3 to 3.8mm
YRF-1130
Japan Solderless
Terminals
YRF-1070
Japan Solderless
Terminals
Option cable: MR-PWS CBL
PEW12
YRF-880
91560-1
91561-1
YRF-1070
Japan Solderless
Terminals
YRF-880
91560-1
91561-1
1762957-1
(Dice)
3- 9
TE Connectivity
TE Connectivity
3. SIGNALS AND WIRING
(2) Terminal block type (Spring type)
(a) Connector
Servo amplifier
CNP1
1)
CNP2
2)
CNP3A
3)
CNP3B
4)
Table 3.1 Connectors and applicable wires
No. Connector for
Receptacle assembly
Applicable
wire size
Strip-off length
[mm]
Open tool
1) CNP1
03JFAT-SAXGFK-43
AWG16 to
AWG14
11.5
J-FAT-OT-EXL(Large size)
2) CNP2
06JFAT-SAXYGG-F-KK
AWG16 to
AWG14
9
J-FAT-OT-EXL(Small size)
3) CNP3A/
4) CNP3B
04JFAT-SAGG-G-KK
AWG19 to
AWG14
9
J-FAT-OT-EXL(Small size)
(b) Connection method
1) Stripping off the wire sheath
For the strip-off length of the wire sheath, refer to table 3.1.
Sheath
Core wires
Strip-off length
Twist the core wires lightly to straighten them as shown in the following figure.
Loose or bended
core wires
Make sure to twist
the core wires to
strengthen them.
3 - 10
Manufacturer
Japan Solderless
Terminals
3. SIGNALS AND WIRING
2) Inserting the wire
Insert the open tool as shown in the following figure, and push down the open tool to open the spring
hole. The open tool has protrusions for the CNP1 (large size) on one side and those for the others
(small size) on another side. While the open tool is pushed down, insert the stripped wire into the
wire insertion hole. Check the insertion depth so that the wire sheath does not get caught by the
spring. The following shows a connection example of the CNP1 connector.
Open tool
Wire insertion hole
3) Securing the wire
Release the open tool, and secure the wire. Pull the wire lightly, and check that the wire is connected
firmly.
3 - 11
3. SIGNALS AND WIRING
3.4 Connectors and signal arrangements
POINT
The pin configurations of the connectors are as viewed from the cable connector
wiring section.
CN5 (USB connector)
Refer to section 11.4.
CN3
14
1
2
MO1
4
LB-A
6
LB-B
CN1A
Connector for
SSCNET cable
for previous servo
amplifier axis
CN2A
2
LG
4
6
THM2
MRR
1
P5
3
MR
8
10
CN1B
Connector for
SSCNET cable
for next servo
amplifier axis
MDR
5
THM1
7
MD
9
BAT
CN2B
8
DI2-A
10
EM1
12
MBR-A
LG
3
LA-A
5
LA-B
7
DI1-A
9
DI3-A
11
ALM-A
13
15
LG
MO2
16
17 LAR-A
LBR-A
18
19 LAR-B
LBR-B
21
DI2-B
23
DICOM
25
MBR-B
20
DI1-B
22
DI3-B
24
ALM-B
26
DOCOM
2
LG
4
6
THM2
MRR
1
P5
3
MR
8
10
MDR
5
THM1
7
MD
9
BAT
The 3M make connector is shown.
When using any other connector,
refer to section 11.1.2.
The frames of the CN2A, CN2B and
CN3 connectors are connected to
the PE (earth) terminal ( ) in the
amplifier.
3 - 12
3. SIGNALS AND WIRING
3.5 Signal (device) explanations
For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.7.2.
In the control mode field of the table
The pin No.s in the connector pin No. column are those in the initial status.
(1) Connector applications
Connector
CN1A
Name
Function/Application
Connector for bus cable from
Used for connection with the controller or preceding-axis servo amplifier.
preceding axis.
CN1B
Connector for bus cable to
next axis
Used for connection with the next-axis servo amplifier or for connection of the cap.
CN2A
A-axis encoder connector
Used for connection with the A-axis servo motor encoder.
CN2B
B-axis encoder connector
Used for connection with the B-axis servo motor encoder.
CN4
(Note) Battery unit
connection connector
CN5
Communication connector
When using as absolute position detection system, connect to battery unit.
Before connecting a battery unit, turn off the power and wait for 15 minutes or more
until the charge lamp turns off. Otherwise, an electric shock may occur. In addition,
always confirm from the front of the servo amplifier whether the charge lamp is off or
not. Replace the battery unit with main circuit power OFF and with control circuit power
ON. Replacing the battery with the control circuit power OFF results in loosing absolute
position data.
The personal computer is connected.
Note. A battery unit is a unit that has eight MR-BAT batteries inserted in an MR-BTCASE battery case.
(2) I/O device
(a) Input device
Device
Forced stop
I/O
division
Symbol
Connector
pin No.
EM1
CN3-10
Turn EM1 off (open between commons) to bring the motor to an forced stop
state, in which the base circuit is shut off and the dynamic brake is operated.
Turn EM1 on (short between commons) in the forced stop state to reset that
state.
When parameter No.PA.04 is set to " 1
", automatically ON (always
ON) can be set inside.
DI-1
DI1-A
CN3-7
DI-1
DI2-A
CN3-8
DI3-A
CN3-9
DI1-B
CN3-20
DI2-B
CN3-21
DI3-B
CN3-22
Devices can be assigned for DI1-A DI2-A DI3-A DI1-B DI2-B DI3-B with
controller setting. For devices that can be assigned, refer to the controller
instruction manual. The following devices can be assigned for
Q173DCPU Q172DCPU Q173HCPU Q172HCPU Q170MCPU
QD74MH
QD75MH
LD77MH .
DI1-A: A-axis upper stroke limit (FLS)
DI2-A: A-axis lower stroke limit (RLS)
DI3-A: A-axis proximity dog (DOG)
DI1-B: B-axis upper stroke limit (FLS)
DI2-B: B-axis lower stroke limit (RLS)
DI3-B: B-axis proximity dog (DOG)
Function/Application
3 - 13
DI-1
DI-1
DI-1
DI-1
DI-1
3. SIGNALS AND WIRING
(b) Output device
Device
Symbol
Connector
pin No.
A-axis malfunction
ALM-A
CN3-11
B-axis malfunction
ALM-B
CN3-24
A-axis
electromagnetic
brake interlock
B-axis
electromagnetic
brake interlock
A-axis in-position
MBR-A
CN3-12
MBR-B
CN3-25
B-axis in-position
INP-B
A-axis ready
RD-A
B-axis ready
RD-B
A-axis speed
reached
SA-A
B-axis speed
reached
SA-B
A-axis limiting
speed
VLC-A
B-axis limiting
speed
VLC-B
A-axis limiting
torque
TLC-A
B-axis limiting
torque
TLC-B
INP-A
Function/Application
I/O
division
ALM-A/ALM-B turns off when power is switched off or the protective circuit is
activated to shut off the base circuit.
Without alarm occurring, ALM-A/ALM-B turns on within about 1.5s after
power-on.
When using this signal, set operation delay time of the electromagnetic brake
in parameter No.PC02.
In the servo-off or alarm status, MBR-A/MBR-B turns off.
DO-1
When using the signal, make it usable by the setting of parameter No.PD07
or PD09.
INP-A/INP-B turns on when the number of droop pulses is in the preset inposition range. The in-position range can be changed using parameter
No.PA10.
When the in-position range is increased, INP-A/INP-B may be on conductive
status during low-speed rotation.
INP turns on when servo on turns on.
This signal cannot be used in the speed loop mode and the torque loop
mode.
DO-1
When using the signal, make it usable by the setting of parameter No.PD07
or PD09.
RD-A/RD-B turns on when the servo is switched on and the servo amplifier is
ready to operate.
When using this signal, make it usable by the setting of parameter No.PD07
or PD09.
When the servo is off, SA will be turned OFF. When servo motor rotation
speed becomes approximately setting speed, SA-A/SA-B will be turned ON.
When the preset speed is 20r/min or less, SA-A/SA-B always turns on. This
signal cannot be used in the position loop mode and the torque loop mode.
DO-1
When using this signal, make it usable by the setting of parameter No.PD07
or PD09.
VLC-A/VLC-B turns on when the servo motor speed reaches the speed set
with the controller in the torque loop mode. VLC-A/VLC-B turns off when the
servo turns off.
This signal cannot be used in position loop mode and the torque loop mode.
DO-1
When using this signal, make it usable by the setting of parameter No.PD07
or PD09.
When torque is produced level of torque set with controller, TLC-A/TLC-B will
be turned ON. When the servo is off, TLC-A/TLC-B will be turned OFF.
This signal cannot be used in the torque loop mode.
DO-1
3 - 14
DO-1
DO-1
3. SIGNALS AND WIRING
Device
Symbol
A-axis zero speed
ZSP-A
B-axis zero speed
ZSP-B
A-axis warning
WNG-A
B-axis warning
WNG-B
A-axis battery
warning
BWNG-A
B-axis battery
warning
BWNG-B
A-axis variable
gain selection
B-axis variable
gain selection
A-axis absolute
position erasing
CDPS-A
B-axis absolute
position erasing
ABSV-B
CDPS-B
ABSV-A
Connector
pin No.
I/O
division
Function/Application
When using this signal, make it usable by the setting of parameter No.PD07
or PD09.
ZSP-A/ZSP-B turns on when the servo motor speed is zero speed (50r/min)
or less. Zero speed can be changed using parameter No.PC07.
Example
Zero speed is 50r/min
Forward
rotation
direction
OFF level
70r/min
ON level
50r/min
Servo motor
speed
0r/min
ON level
50r/min
OFF level
70r/min
Zero speed ON
(ZSP-A/
OFF
ZSP-B)
Reverse
rotation
direction
1)
2)
20r/min
(Hysteresis width)
3)
Parameter
No.PC07
Parameter
No.PC07
4)
20r/min
(Hysteresis width)
ZSP-A/ZSP-B turns on 1) when the servo motor is decelerated to 50r/min,
and ZSP-A/ZSP-B turns off 2) when the servo motor is accelerated to
70r/min again.
ZSP-A/ZSP-B turns on 3) when the servo motor is decelerated again to
50r/min, and turns off 4) when the servo motor speed has reached -70r/min.
The range from the point when the servo motor speed has reached ON level,
and ZSP-A/ZSP-B turns on, to the point when it is accelerated again and has
reached OFF level is called hysteresis width.
Hysteresis width is 20r/min for the MR-J3W-B servo amplifier.
When using this signal, make it usable by the setting of parameter No.PD07
or PD09.
When warning has occurred, WNG-A/WNG-B turns on. When there is no
warning, WNG-A/WNG-B turns off within about 1.5s after power-on.
When using this signal, make it usable by the setting of parameter No.PD07
or PD09.
BWNG-A/BWNG-B turns on when battery cable disconnection warning
(92.1) or battery warning (9F.1) has occurred. When there is no battery
warning, BWNG-A/BWNG-B turns off within about 1.5s after power-on.
When using this signal, make it usable by the setting of parameter No.PD07
or PD09.
CDPS-A/CDPS-B is on during variable gain.
When using this signal, make it usable by the setting of parameter No.PD07
or PD09.
ABSV-A/ABSV-B turns on when the absolute position erased.
This signal cannot be used in the speed loop mode and the torque loop
mode.
3 - 15
DO-1
DO-1
DO-1
DO-1
DO-1
3. SIGNALS AND WIRING
(c) Output signals
Signal name
Symbol
Connector
pin No.
A-axis encoder Aphase pulse
(Differential line
driver)
A-axis encoder Bphase pulse
(Differential line
driver)
B-axis encoder Aphase pulse
(Differential line
driver)
B-axis encoder Bphase pulse
(Differential line
driver)
Analog monitor 1
LA-A
LAR-A
CN3-6
CN3-16
LB-A
LBR-A
CN3-4
CN3-17
LA-B
LAR-B
CN3-5
CN3-18
LB-B
LBR-B
CN3-6
CN3-19
MO1
CN3-2
Analog monitor 2
MO2
CN3-15
Function/Application
Outputs pulses per servo motor revolution set in parameter No.PA15 in the differential
line driver type. In CCW rotation of the servo motor, the encoder B-phase pulse lags the
encoder A-phase pulse by a phase angle of /2.
The relationships between rotation direction and phase difference of the A and B-phase
pulses can be changed using parameter No.PC03.
Output pulse specification and dividing ratio setting can be set. (Refer to section 5.1.10.)
Used to output the data set in parameter No.PC09 to across MO1-LG in terms of
voltage. Resolution 10 bits
Used to output the data set in parameter No.PC10 to across MO2-LG in terms of
voltage. Resolution 10 bits
(d) Power supply
Signal name
Symbol
Connector
pin No.
Digital I/F power
supply input
DICOM
CN3-23
Digital I/F
common
DOCOM
CN3-26
Monitor common
LG
CN3-1
Shield
SD
Plate
Function/Application
Used to input 24VDC (24VDC 10 250mA) for I/O interface of the servo amplifier. The
power supply capacity changes depending on the number of I/O interface points to be
used.
For sink interface, connect
of 24VDC external power supply.
For source interface, connect
of 24VDC external power supply.
Common terminal for input device such as EM1 of the servo amplifier. Pins are
connected internally. Separated from LG.
For sink interface, connect
of 24VDC external power supply.
For source interface, connect
of 24VDC external power supply.
Common terminal of MO1 MO2
Pins are connected internally.
Connect the external conductor of the shield cable.
3 - 16
3. SIGNALS AND WIRING
3.6 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.
Shut off the main circuit power supply when alarms are occurring in both of the Aaxis and the B-axis. Otherwise, a regenerative transistor fault or the like may
overheat the regenerative resistor, causing a fire.
When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop.
Switch off the main circuit power supply in the external sequence. To deactivate the alarm, power the control
circuit off, then on or give the error reset or CPU reset command from the servo system controller. However, the
alarm cannot be deactivated unless its cause is removed.
3.6.1 Timing chart
(1) Occurrence of all axis stop alarm
Main circuit
power ON
Control circuit
OFF
A-axis
B-axis
Power ON
Base circuit
ON
OFF
Dynamic brake
ON
OFF
Servo-on command
(from controller)
ON
OFF
Servo-on command
Alarm
ON
OFF
No alarm
Reset command
ON
OFF
Base circuit
ON
OFF
Dynamic brake
ON
OFF
Servo-on command
(from controller)
ON
OFF
Servo-on command
Alarm
ON
OFF
No alarm
Reset command
ON
OFF
Power ON
Base circuit ON
Base circuit ON
Base circuit ON
Brake operation
Brake operation
Servo-on command
Occurrence of all axis stop alarm
No alarm
Base circuit ON
Brake operation
Servo-on command
Occurrence of all axis stop alarm
No alarm
Occurrence of all axis stop alarm
No alarm
Reset operation
Brake operation
Brake operation
Servo-on command
Occurrence of all axis stop alarm
No alarm
Base circuit ON
Brake operation
Servo-on command
Occurrence of all axis stop alarm
No alarm
Occurrence of all axis stop alarm
No alarm
Reset operation
1.5s
Power on
Base circuit ON
Base circuit ON
Base circuit ON
50ms or
60ms or
50ms or
Fault cause
Fault cause
more
more
more
removed
removed
Alarm reset
Alarm reset Power shutoff Power on
Occurrence of all
axis stop alarm
Occurrence of all
axis stop alarm
3 - 17
3. SIGNALS AND WIRING
(2) Occurrence of each axis stop alarm
Main circuit
power ON
Control circuit
OFF
A-axis
B-axis
Power ON
Base circuit
ON
OFF
Dynamic brake
ON
OFF
Servo-on command
(from controller)
ON
OFF
Servo-on command
Alarm
ON
OFF
No alarm
Reset command
ON
OFF
Base circuit
ON
OFF
Dynamic brake
ON
OFF
Servo-on command
(from controller)
ON
OFF
Alarm
ON
OFF
Reset command
ON
OFF
Power ON
Base circuit ON
Base circuit ON
Base circuit ON
Brake operation
Brake operation
Servo-on command
No alarm
Each axis stop alarm
Occurrence of all axis stop alarm
No alarm
Reset operation
Base circuit ON
Base circuit ON
Brake operation
Servo-on command
Base circuit ON
Brake operation
Servo-on command
No alarm
Each axis stop alarm
No alarm
Occurrence of all axis stop alarm
No alarm
Reset operation
1.5s
50ms or
more
Power on
50ms or
60ms or
Fault cause
Fault cause
more
more
removed
removed
A-axis stop alarm Alarm reset
Alarm reset Power shutoff Power on
B-axis stop alarm
3.6.2 Supplementary information
(1) Overcurrent, overload 1 or overload 2
If operation is repeated by switching control circuit power off, then on to reset the overcurrent (32. ),
overload 1 (50. ) or overload 2 (51. ) alarm after its occurrence, without removing its cause, the servo
amplifier and servo motor may become faulty due to temperature rise. Securely remove the cause of the
alarm and also allow about 30 minutes for cooling before resuming operation.
(2) Regenerative alarm
If operation is repeated by switching control circuit power off, then on to reset the regenerative (30. ) alarm
after its occurrence, the regenerative resistor will generate heat, resulting in an accident.
(3) Undervoltage
Undervoltage (10. ) occurs when the input power is in either of the following statuses.
Power failure of the control circuit power supply has continued for 60ms or longer, then the power
restores.
Bus voltage drops to 200VDC or less during the servo-on status.
3 - 18
3. SIGNALS AND WIRING
3.7 Interfaces
3.7.1 Internal connection diagram
Servo amplifier
CN3
24VDC
(Note 2)
(Note 1)
DICOM
23
DOCOM
26
EM1
10
DI1-A
7
24 ALM-B
DI2-A
8
25 MBR-B
DI3-A
9
CN3
11 ALM-A
Approx
5.6k
12 MBR-A
CN3
3
16
4
17
5
18
6
19
14
DI1-B 20
DI2-B 21
DI3-B 22
Approx
5.6k
<Isolated>
USB
RA
CN5
VBUS
1
D
2
3
D
GND 5
(Note 2)
RA
LA-A
LAR-A
LB-A
LBR-A
Differential line
driver output
(35mA or less)
LA-B
LAR-B
LB-B
LBR-B
LG
CN3
Analog monitor
2
MO1
15
MO2
1
LG
10VDC
10VDC
A-axis servo motor
CN2A
7
8
3
4
2
Encoder
MD
MDR
MR
MRR
LG
E
CNP3A
2A
M
B-axis servo motor
CN2B
7
8
3
4
2
CNP3B
2A
Note 1. Signal can be assigned for these pins with the controller setting.
For contents of signals, refer to the instruction manual of the controller.
2. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.
3 - 19
Encoder
MD
MDR
MR
MRR
LG
E
M
3. SIGNALS AND WIRING
3.7.2 Detailed description of interfaces
This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section
3.5. Refer to this section and make connection with the external equipment.
(1) Digital input interface DI-1
Give a signal with a relay or open collector transistor. Refer to section 3.7.3 for source input.
Servo amplifier
For transistor
EM1, Approx. 5.6k
etc.
Approx. 5mA
Switch
TR
DICOM
VCES 1.0V
ICEO 100 A
24VDC 10
250mA
(2) Digital output interface DO-1
A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush
current suppressing resistor (R) for a lamp load. (Rated current: 40mA or less, maximum current: 50mA or
less, inrush current: 100mA or less) A maximum of 2.6V voltage drop occurs in the servo amplifier.
Refer to section 3.7.3 for the source output.
Servo amplifier
ALM,
etc.
Lord
If polarity of diode is
reversed, servo
amplifier will fail.
DOCOM
(Note) 24VDC 10
250mA
Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high
voltage (maximum of 26.4V) from external source.
3 - 20
3. SIGNALS AND WIRING
(3) Encoder output pulse DO-2 (differential line driver type)
(a) Interface
Max. output current: 35mA
Servo amplifier
Servo amplifier
LA-A/LA-B
(LB-A/LB-B)
LA-A/LA-B
(LB-A/LB-B)
Am26LS32 or equivalent
100
150
LAR-A/LAR-B
(LBR-A/LBR-B)
LAR-A/LAR-B
(LBR-A/LBR-B)
High-speed photocoupler
LG
SD
SD
(b) Output pulse
Servo motor CCW rotation
LA-A/LA-B
Time cycle (T) is determined by the settings
of parameter No.PA15, PA16 and PC03.
LAR-A/LAR-B
T
LB-A/LB-B
LBR-A/LBR-B
/2
(4) Analog output
Servo amplifier
MO1
(MO2)
LG
Output voltage: 10V (Note)
Max. Output current: 1mA
Resolution: 10 bits or equivalent
Note. Output voltage range varies depending on the monitored signal. (Refer to section 5.3.3
or 13.8.4(3).) When connecting an analog output to an external device, use one whose
withstand voltage is 15VDC or more.
3 - 21
3. SIGNALS AND WIRING
3.7.3 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 interfaces.
(1) Digital input interface DI-1
Servo amplifier
EM1,
etc.
Approx. 5.6k
Switch
DICOM
Approx. 5mA
VCES 1.0V
ICEO 100 A
24VDC 10
250mA
(2) Digital output interface DO-1
A maximum of 2.6V voltage drop occurs in the servo amplifier.
Servo amplifier
ALM,
etc.
Lord
If polarity of diode is
reversed, servo
amplifier will fail.
DOCOM
(Note) 24VDC 10
250mA
Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high
voltage (up to 26.4V) from external source.
3 - 22
3. SIGNALS AND WIRING
3.8 Treatment of cable shield external conductor
In the case of the CN3 connectors, securely connect the shielded external conductor of the cable to the ground
plate as shown in this section and fix it to the connector shell.
External conductor
Sheath
Core
Sheath
External conductor
Pull back the external conductor to cover the sheath
Strip the sheath.
(1) For CN3 connector (3M connector)
Screw
Cable
Screw
Ground plate
(2) For CN2A and CN2B connector (3M or Molex connector)
Cable
Ground plate
Screw
3 - 23
3. SIGNALS AND WIRING
3.9 SSCNET
cable connection
POINT
Do not see directly the light generated from CN1A CN1B connector of servo
amplifier or the end of SSCNET cable.
When the light gets into eye, may feel something is wrong for eye.
(1) SSCNET cable connection
For CN1A connector, connect SSCNET cable connected to controller in host side or servo amplifier.
For CN1B connector, connect SSCNET cable connected to servo amplifier in lower side.
For CN1B connector of the final axis, put a cap came with servo amplifier.
Servo amplifier
SSCNET
cable
Controller
Servo amplifier
SSCNET
cable
Final axis servo amplifier
SSCNET
cable
CN1A
CN1A
CN1A
CN1B
CN1B
CN1B
Cap
(2) How to connect/disconnect cable.
POINT
CN1A CN1B connector is put a cap to protect light device inside connector from
dust.
For this reason, do not remove a cap until just before mounting SSCNET cable.
Then, when removing SSCNET cable, make sure to put a cap.
Keep the cap for CN1A CN1B connector and the tube for protecting optical cord
end of SSCNET cable in a plastic bag with a zipper of SSCNET cable to
prevent them from becoming dirty.
When asking repair of servo amplifier for some troubles, make sure to put a cap on
CN1A CN1B connector.
When the connector is not put a cap, the light device may be damaged at the
transit.
In this case, exchange and repair of light device is required.
(a) Mounting
1) For SSCNET cable in the shipping status, the tube for protect optical cord end is put on the end of
connector. Remove this tube.
2) Remove the CN1A CN1B connector cap of servo amplifier.
3 - 24
3. SIGNALS AND WIRING
3) With holding a tab of SSCNET cable connector, make sure to insert it into CN1A CN1B connector
of servo amplifier until you hear the click.
If the end face of optical cord tip is dirty, optical transmission is interrupted and it may cause
malfunctions.
If it becomes dirty, wipe with a bonded textile, etc.
Do not use solvent such as alcohol.
Click
Tab
(b) Removal
With holding a tab of SSCNET cable connector, pull out the connector.
When pulling out the SSCNET cable from servo amplifier, be sure to put the cap on the connector
parts of servo amplifier to prevent it from becoming dirty.
For SSCNET cable, attach the tube for protection optical cord's end face on the end of connector.
3 - 25
3. SIGNALS AND WIRING
3.10 Connection of servo amplifier and servo motor
Connect the servo amplifier power output (U, V, and W) to the servo motor power
input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.
Otherwise, it may cause a malfunction.
CAUTION
Servo amplifier
U
U
Servo motor
U
V
V
M
W
W
Servo amplifier
V
W
U
V
Servo motor
M
W
POINT
To use a rotary servo motor, turn SW3 off (factory setting).
3.10.1 Connection instructions
WARNING
To avoid an electric shock, insulate the connections of the power supply terminals.
CAUTION
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and
servo motor. Not doing so may cause unexpected operation.
Do not connect AC power supply directly to the servo motor. Otherwise, a fault may
occur.
Do not use the 24VDC interface power supply for the electromagnetic brake. Always
use the power supply designed exclusively for the electromagnetic brake. Otherwise,
a fault may occur.
POINT
Refer to section 11.1 for the selection of the encoder cable.
Refer to section 11.13 for the selection of a surge absorber for the electromagnetic
brake.
This section indicates the connection of the servo motor power (U, V, W). Use of the optional cable and
connector set is recommended for connection between the servo amplifier and servo motor. When the options
are not available, use the recommended products. Refer to section 11.1 for details of the options.
For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal ( ) of the servo
amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the control
box. Do not connect them directly to the protective earth of the control panel.
Control box
Servo amplifier
Servo motor
PE
terminal
3 - 26
3. SIGNALS AND WIRING
3.10.2 Power supply cable wiring diagrams
(1) HF-MP series HF-KP series HF-KP series servo motor
(a) When cable length is 10m or less
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
CNP3
U
V
W
AWG 19 (red)
AWG 19 (white)
AWG 19 (black)
AWG 19 (green/yellow)
Servo motor
U
V
W
M
(b) When cable length exceeds 10m
When the cable length exceeds 10m, fabricate an extension cable as shown below. In this case, the
motor power supply cable should be within 2m long.
Refer to section 11.5 for the wire used for the extension cable.
50m or less
Servo amplifier
CNP3
U
V
W
Extension cable
(Note)
a) Relay connector for
extension cable
2m or less
MR-PWS1CBL2M-A1-L
MR-PWS1CBL2M-A2-L
MR-PWS1CBL2M-A1-H
MR-PWS1CBL2M-A2-H
MR-PWS2CBL03M-A1-L
MR-PWS2CBL03M-A2-L Servo motor
AWG 19 (red)
AWG 19 (white)
AWG 19 (black)
AWG 19 (green/yellow)
U
V
W
M
(Note)
b) Relay connector for motor
power supply cable
Note. Use of the following connectors is recommended when ingress protection (IP65) is necessary.
Relay connector
Description
IP rating
Connector: RM15WTPZ-4P(71)
Cord clamp: JR13WCC-5(72)
(Hirose Electric)
Numeral changes depending on the cable OD.
IP65
b) Relay connector for Connector: RM15WTJZ-4S(71)
motor power supply Cord clamp: JR13WCC-8(72)
Numeral changes depending on the cable OD.
(Hirose Electric)
cable
IP65
a) Relay connector for
extension cable
3 - 27
3. SIGNALS AND WIRING
(2) HF-SP series HC-UP series HC-LP series servo motor
POINT
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 crimping part
facing up
Pin No.1
Soldered part or
crimping part
facing down
Model: CM10-SP10S-VP-M
CM10-AP10S-VP-M
Pin No.1
Model: CM10-SP2S-VPCM10-AP2S-VP-
(a) Wiring diagrams
Refer to section 11.5 for the cables used for wiring.
1) When the power supply connector and the electromagnetic brake connector are separately supplied.
50m or less
Servo amplifier
A-axis servo motor
CNP3A
U
V
W
U
V
W
M
(Note 2) 24VDC power
24VDC
DOCOM
supply for
electromagnetic
brake
(Note 3)
ALM-A
RA1
MBR-A
RA2
DICOM
B1
U
ALM-A
RA1
MBR-A
RA2
ALM-B
RA3
MBR-B
RA4
ALM-B
RA3
B2
B-axis servo motor
MBR-B
RA4
B1
U
CNP3B
U
V
W
B2
U
V
W
Note 1. There is no polarity in electromagnetic brake terminals B1 and B2.
2. Do not use the 24VDC interface power supply for the electromagnetic brake.
3. Shut off the circuit by interlocking with the emergency stop switch.
3 - 28
B (Note 1)
B (Note 1)
M
3. SIGNALS AND WIRING
2) When the power supply connector and the electromagnetic brake connector are shared.
50m or less
Servo amplifier
A-axis servo motor
CNP3A
U
V
W
U
V
W
M
(Note 2) 24VDC power
24VDC
DOCOM
supply for
electromagnetic
brake
(Note 3)
ALM-A
RA1
MBR-A
RA2
DICOM
B1
U
ALM-A
RA1
MBR-A
RA2
ALM-B
RA3
MBR-B
RA4
ALM-B
RA3
B2
B (Note 1)
B-axis servo motor
MBR-B
RA4
B1
U
CNP3B
U
V
W
B2
U
V
W
B (Note 1)
M
Note 1. There is no polarity in electromagnetic brake terminals B1 and B2.
2. Do not use the 24VDC interface power supply for the electromagnetic brake.
3. Shut off the circuit by interlocking with the emergency stop switch.
(b) Connector and signal allotment
The connector fitting the servo motor is prepared as optional equipment. Refer to section 11.1. For
types other than those prepared as optional equipment, refer to chapter 3 in Servo Motor Instruction
Manual, (Vol. 2) to select.
Servo motor side connectors
Servo motor
Encoder
HF-SP51
HF-SP81
HF-SP52
HF-SP102
CM10-R10P
(DDK)
HC-UP72
HC-LP52
HC-LP102
HF-JP53
HF-JP73
HF-JP103
3 - 29
Power supply
Electromagnetic
brake
MS3102A18-10P
CM10-R2P
(DDK)
CE05-2A22-23PD-B
Shared with the
power supply
MS3102A18-10P
CM10-R2P
(DDK)
3. SIGNALS AND WIRING
Encoder connector signal allotment
Power supply connector signal allotment
Power supply connector signal allotment
CM10-R10P
MS3102A18-10P
CE05-2A22-23PD-B
10
9
8
7
6
5
4
3
2
1
View a
Terminal
No.
Signal
1
MR
2
MRR
C
B
3
4
BAT
5
LG
Terminal
No.
Signal
A
U
B
V
C
W
D
A
D
A
B
C
Signal
A
U
B
V
C
W
D
(earth)
(earth)
E
F
P5
G
9
10
E
View b
7
8
H
D
View b
6
G
F
Terminal
No.
SHD
H
B1
(Note)
B2
(Note)
Note. For the motor
with an
electromagnetic
brake, supply
electromagnetic
brake power
(24VDC). There
is no polarity.
Brake connector signal allotment
CM10-R2P
2
1
View c
Terminal
No.
Signal
1
B1
(Note)
2
B2
(Note)
Note. For the motor
with an
electromagneti
c brake, supply
electromagneti
c brake power
(24VDC).
There is no
polarity.
3 - 30
3. SIGNALS AND WIRING
3.11 Servo motor with an electromagnetic brake
3.11.1 Safety precautions
Configure a electromagnetic brake circuit so that it is activated also by an external
emergency stop switch.
Contacts must be opened when a
malfunction (ALM-A/ALM-B) and when an Contacts must be opened with
electromagnetic brake interlock (MBR-A/ the emergency stop switch.
MBR-B).
Servo motor
RA
B
CAUTION
U
24VDC
Electromagnetic brake
The electromagnetic brake is provided for holding purpose and must not be used for
ordinary braking.
Before performing the operation, be sure to confirm that the electromagnetic brake
operates properly.
Do not use the 24VDC interface power supply for the electromagnetic brake. Always
use the power supply designed exclusively for the electromagnetic brake. Otherwise,
a fault may occur.
POINT
Refer to the Servo Motor Instruction Manual (Vol.2) for specifications such as the
power supply capacity and operation delay time of the electromagnetic brake.
Refer to section 11.13 for the selection of a surge absorber for the electromagnetic
brake.
Note the following when the servo motor with an electromagnetic brake is used.
1) The brake will operate when the power (24VDC) switches off.
2) Switch off the servo-on command after the servo motor has stopped.
3 - 31
3. SIGNALS AND WIRING
(1) Connection diagram
Servo amplifier
A-axis servo motor
24VDC
(Note 2)
RA5
DOCOM
EM1
(Note 1)
EM1
DICOM
DICOM
ALM-A
RA1
MBR-A
RA2
ALM-B
RA3
MBR-B
RA4
ALM-A
RA1
MBR-A
RA2
24VDC power
supply for
electromagnetic
brake
B1
U
B
B2
B-axis servo motor
ALM-B
RA3
MBR-B
RA4
B1
U
B
B2
Note 1. Do not use the 24VDC interface power supply for the electromagnetic brake.
2. Shut off the circuit by interlocking with the emergency stop switch.
(2) Setting
In parameter No.PC02 (electromagnetic brake sequence output), set the time delay (Tb) from
electromagnetic brake operation to base circuit shut-off at a servo off time as in the timing chart in section
3.11.2.
3 - 32
3. SIGNALS AND WIRING
3.11.2 Timing charts
(1) Servo-on command (from controller) ON/OFF
Tb [ms] after the servo-on 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 electromagnetic brake in a vertical lift application or the like, set delay time (Tb) to about the same
as the electromagnetic brake operation delay time to prevent a drop.
Coasting
Servo motor speed
0 r/min
(95ms)
Base circuit
Tb
ON
OFF
Electromagnetic (Note 1) ON
brake interlock
OFF
(MBR-A/MBR-B)
Servo-on command
(from controller)
ON
Ready-on command
(from controller)
ON
Electromagnetic
brake operation
delay time
(95ms)
OFF
OFF
(Note 3)
Operation command
0 r/min
(from controller)
Electromagnetic
brake
Release
Activate
Release delay time and external relay (Note 2)
Note 1. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of external
circuit relay. For the release delay time of electromagnetic brake, refer to the Servo Motor Instruction Manual (Vol.2).
3. Give the operation command from the controller after the electromagnetic brake is released.
(2) Forced stop command (from controller) or forced stop (EM1) ON/OFF
Servo motor speed
(10ms)
Base circuit
Electromagnetic
brake interlock
(MBR-A/MBR-B)
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
Electromagnetic brake release
(210ms)
ON
OFF
(Note) ON
OFF
Forced stop command Invalid (ON)
(from controller)
Valid (OFF)
or
Forced stop (EM1)
Note. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
3 - 33
(210ms)
Electromagnetic brake
operation delay time
3. SIGNALS AND WIRING
(3) Alarm occurrence
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
Servo motor speed
(10ms)
ON
Base circuit
OFF
Electromagnetic (Note) ON
brake interlock
OFF
(MBR-A/MBR-B)
Alarm
Electromagnetic brake
operation delay time
No (ON)
Yes (OFF)
Note. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
(4) Both main and control circuit power supplies off
(10ms)
Servo motor speed
ON
Base circuit
(Note 1)
15 to 100ms
OFF
10ms
Electromagnetic (Note 2) ON
brake interlock
OFF
(MBR-A/MBR-B)
Alarm
No (ON)
Yes (OFF)
Main circuit
power
Control circuit
ON
OFF
Note 1. Changes with the operating status.
2. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
3 - 34
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
Electromagnetic brake
operation delay time
(Note 2)
3. SIGNALS AND WIRING
(5) Only main circuit power supply off (control circuit power supply remains on)
(10ms)
Servo motor speed
ON
Base circuit
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
(Note 1)
15ms or more
OFF
Electromagnetic (Note 2) ON
brake interlock
OFF
(MBR-A/MBR-B)
Electromagnetic brake
operation delay time
No (ON)
Alarm
Yes (OFF)
Main circuit
power
Control circuit
ON
OFF
Note 1. Changes with the operating status.
2. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
(6) Ready off command from the controller
Dynamic brake
Dynamic brake
Electromagnetic brake
Electromagnetic brake
Servo motor speed
(10ms)
ON
Base circuit
Electromagnetic
brake interlock
(MBR)
OFF
(Note) ON
OFF
Ready-on command
(For controller)
Electromagnetic brake
operation delay time
ON
OFF
Note. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
3 - 35
3. SIGNALS AND WIRING
3.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor)
POINT
For HF-SP/HC-UP/HC-LP/HF-JP series servo motors, refer to section 3.10.2 (2).
(1) When cable length is 10m or less
10m or less
(Note 4)
24VDC power
supply for
electromagnetic
brake
(Note 3)
A-axis electromagnetic
brake interlock
(MBR-A)
A-axis malfunction
(ALM-A)
(Note 1) U
B-axis electromagnetic
brake interlock
(MBR-B)
B-axis malfunction
(ALM-B)
MR-BKS1CBL
MR-BKS1CBL
MR-BKS1CBL
MR-BKS1CBL
M-A1-L
M-A2-L
M-A1-H Servo motor
M-A2-H
(Note 2)
AWG20
B1
B
AWG20
B2
MR-BKS1CBL
MR-BKS1CBL
MR-BKS1CBL
MR-BKS1CBL
(Note 1) U
M-A1-L
M-A2-L
M-A1-H Servo motor
M-A2-H
(Note 2)
AWG20
B1
B
AWG20
B2
Note 1. Connect a surge absorber as close to the servo motor as possible.
2. There is no polarity in electromagnetic brake terminals (B1 and B2).
3. Shut off the circuit by interlocking with the emergency stop switch.
4. Do not use the 24VDC interface power supply for the electromagnetic brake.
When fabricating the motor brake cable MR-BKS1CBL- M-H, refer to section 11.1.4.
3 - 36
3. SIGNALS AND WIRING
(2) When cable length exceeds 10m
When the cable length exceeds 10m, fabricate an extension cable as shown below on the customer side. In
this case, the motor brake cable should be within 2m long.
Refer to section 11.5 for the wire used for the extension cable.
2m or less
50m or less
(Note 5)
24VDC power
supply for
electromagnetic
brake
(Note 3)
A-axis electromagnetic
brake interlock
(MBR-A)
A-axis malfunction
(ALM-A)
MR-BKS1CBL2M-A1-L
MR-BKS1CBL2M-A2-L
MR-BKS1CBL2M-A1-H
MR-BKS1CBL2M-A2-H
MR-BKS2CBL03M-A1-L Servo motor
MR-BKS2CBL03M-A2-L
(Note 4)
AWG20
(Note 1) U
AWG20
(Note 2)
a) Relay connector for
extension cable
B-axis electromagnetic
brake interlock
(MBR-B)
B-axis malfunction
(ALM-B)
B1
B2
B
(Note 2)
b) Relay connector for
motor brake cable
MR-BKS1CBL2M-A1-L
MR-BKS1CBL2M-A2-L
MR-BKS1CBL2M-A1-H
MR-BKS1CBL2M-A2-H
MR-BKS2CBL03M-A1-L Servo motor
MR-BKS2CBL03M-A2-L
(Note 1) U
(Note 2)
a) Relay connector for
extension cable
(Note 4)
AWG20
AWG20
B1
B2
B
(Note 2)
b) Relay connector for
motor brake cable
Note 1. Connect a surge absorber as close to the servo motor as possible.
2. Use of the following connectors is recommended when ingress protection (IP65) is necessary.
Relay connector
Description
a) Relay connector for
extension cable
CM10-CR2P(DDK)
b) Relay connector for
motor brake cable
CMV1-SP2S(DDK)
IP rating
IP65
Wire size: S, M, L
IP65
Wire size: S, M1, M2, L
3. Shut off the circuit by interlocking with the emergency stop switch.
4. There is no polarity in electromagnetic brake terminals (B1 and B2).
5. Do not use the 24VDC interface power supply for the electromagnetic brake.
3 - 37
3. SIGNALS AND WIRING
3.12 Grounding
WARNING
Ground the servo amplifier and servo motor securely.
To prevent an electric shock, always connect the protective earth (PE) terminal
(terminal marked ) of the servo amplifier with the protective earth (PE) of the
control box.
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the
wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and
dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.
To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).
Control box
Servo amplifier
MCCB
A-axis servo motor
CN2A
L1
Encoder
Line filter
(Note 1)
Power
supply
MC
CNP1
L2
L3
CNP2
CNP3A
U
U
V
V
L21
W
W
Servo system
controller
L11
M
(Note 2)
B-axis servo motor
CN2B
Encoder
CNP3B
U
Protective earth (PE)
U
V
V
W
W
M
(Note 2)
Outer
box
Note 1. For 1-phase 200V to 230VAC, connect the power supply to L1 L2 and leave L3 open. Refer to section 1.3 for the
power supply specification.
2. Ensure to connect it to
of a CN3A/CN3B connector. Do not connect it directly to the protective earth of the
control panel.
3 - 38
3. SIGNALS AND WIRING
3.13 Control axis selection
POINT
The control axis number set to rotary axis setting switch (SW1) should be the same
as the one set to the servo system controller.
For changing the setting of the rotary switch, use a flat-blade screwdriver with the
blade edge width of 2.1 to 2.3 [mm] and the blade edge thickness of 0.6 to 0.7
[mm].
When the test operation mode is selected by using the test operation select switch
(SW2-1), the SSCNET communication for the servo amplifier in the test
operation mode and the following servo amplifiers is blocked.
Use the rotary axis setting switch (SW1) to set the control axis number for the servo. If the same numbers are
set to different control axes in a single communication system, the system will not operate properly. The control
axes may be set independently of the SSCNET cable connection sequence.
Rotary axis setting switch(SW1)
(Note) SW2
7 8 9
B C DE
3 4 5 6
A
2
For manufacturer setting (Be sure to set to the
"Down" position. Setting the switch to the "Up"
position causes the switch setting error (11.2).)
Up
Down
Test operation select switch (SW2-1)
Set the test operation select switch to the "Up" position, when
performing the test operation mode by using MR Configurator.
F 0 1
Note. This table indicates the status when the switch is set to "Down".
(Default)
Manufacturer
setting switch
Rotary axis setting switch (SW1)
(Note 2)
A-axis
(Note 2)
B-axis
0
Axis No.1
Axis No.2
1
Axis No.2
Axis No.3
2
Axis No.3
Axis No.4
3
Axis No.4
Axis No.5
4
Axis No.5
Axis No.6
5
Axis No.6
Axis No.7
6
Axis No.7
Axis No.8
7
Axis No.8
Axis No.9
8
Axis No.9
Axis No.10
9
Axis No.10
Axis No.11
A
Axis No.11
Axis No.12
B
Axis No.12
Axis No.13
C
Axis No.13
Axis No.14
D
Axis No.14
Axis No.15
E
Axis No.15
Axis No.16
Down
(Be sure to set to the
"Down" position.)
F (Note 1)
Cannot be set Cannot be set
Note 1. Setting the switch to the "F" position causes the switch setting error (11.1).
2. An axis number is assigned even for the axis that is set as motor-less operation. Set SW1
so as to avoid overlapping the axis numbers.
3 - 39
3. SIGNALS AND WIRING
3.14 Servo motor selection switch (SW3)
POINT
To prevent an electric shock, wait at least 15 minutes after turning off the power
and confirm that the charge lamp is off before changing the servo motor selection
switch (SW3) setting. In addition, always confirm from the front of the servo
amplifier whether the charge lamp is off or not.
One servo amplifier can use rotary servo motors, linear servo motors and direct
drive motor in combination.
If the connected servo motor does not match the SW3 setting, the switch setting
error (11.3) occurs.
MR-J3W-0303BN6 does not have SW3.
Select the servo motor type by using the servo motor selection switch (SW3) located on the bottom of the servo
amplifier. A servo motor can be selected for each of the A-axis and the B-axis.
Make sure to confirm the power-off before changing the SW3 setting.
SW3 setting status
Servo motor type
1
A-axis
OFF
(factory setting)
Rotary servo motor
2
B-axis
ON
Linear servo motor
Direct drive motor
NO
Front side
SW3
3 - 40
4. STARTUP
4. STARTUP
WARNING
Do not operate the switches with wet hands. You may get an electric shock.
CAUTION
Before starting operation, check the parameters. Some machines may perform
unexpected operation.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands
and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor,
servo motor, etc. since they may be hot while power is on or for some time after
power-off. Their temperatures may be high and you may get burnt or a parts may
damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can
cause injury.
POINT
To use a rotary servo motor, turn SW3 off (factory setting). MR-J3W-0303BN6
does not have SW3.
NO
1
A-axis
2
Front side
SW3
B-axis
When using only one of A-axis or B-axis, set "
1" in the parameter No.PC05
of the axis, which not connected to the servo motor, to select the motor-less
operation.
4- 1
4. STARTUP
4.1 Switching power on for the first time
When switching power on for the first time, follow this section to make a startup.
4.1.1 Startup procedure
Setting status check of the servo
motor selection switch (SW3)
Check that the setting status matches the servo motor type to be used. (Refer
to section 3.14.)
Wiring check
Check whether the servo amplifier and servo motor are wired correctly using
visual inspection, DO forced output function (section 4.5.1), etc. (Refer to
section 4.1.2.)
Surrounding environment check
Check the surrounding environment of the servo amplifier and servo motor.
(Refer to section 4.1.3.)
Axis No. settings
Confirm that the axis No. settings for rotary axis setting switch (SW1) and
servo system controller are consistent. (Refer to section 3.13.)
Parameter setting
Set the parameters as necessary, such as the used control mode and
regenerative option selection. (Refer to chapter 5.)
Test operation of servo motor
alone in test operation mode
For the test operation, with the servo motor disconnected from the machine
and operated at the speed as low as possible, check whether the servo motor
rotates correctly. (Refer to section 4.5.)
Test operation of servo motor
alone by commands
For the test operation with the servo motor disconnected from the machine and
operated at the speed as low as possible, give commands to the servo
amplifier and check whether the servo motor rotates correctly.
Test operation with servo motor
and machine connected
Connect the servo motor with the machine, give operation commands from the
host command device, and check machine motions.
Gain adjustment
Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)
Actual operation
Stop giving commands and stop operation.
Stop
4- 2
4. STARTUP
4.1.2 Wiring check
(1) Power supply system wiring
Before switching on the main circuit and control circuit power supplies, check the following items.
(a) Power supply system wiring
The power supplied to the power input terminals (L1, L2, L3, L11, L21) of the servo amplifier should satisfy
the defined specifications. (Refer to section 1.3.)
(b) Connection of servo amplifier and servo motor
1) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the
power input terminals (U, V, W) of the servo motor.
Servo amplifier
U
U
Servo motor
V
V
M
W
W
2) The power supplied to the servo amplifier should not be connected to the servo motor power supply
terminals (U, V, W). To do so will fail the connected servo amplifier and servo motor.
Servo amplifier
Servo motor
M
U
V
W
U
V
W
3) The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier.
Servo amplifier
Servo motor
M
4) The built-in regenerative resistor is connected to the P
terminal and the C terminal.
Servo amplifier
Built-in
regenerative
resistor
P
C
(c) When option and auxiliary equipment are used
When regenerative option is used
The generative brake option should be connected to P terminal and C terminal.
A twisted cable should be used. (Refer to section 11.2.)
4- 3
4. STARTUP
(2) I/O signal wiring
(a) The I/O signals should be connected correctly.
Use DO forced output to forcibly turn on/off the pins of the CN3 connector. This function can be used to
perform a wiring check. In this case, switch on the control circuit power supply only.
(b) 24VDC or higher voltage is not applied to the pins of connectors CN3.
(c) SD and DOCOM of connector CN3 is not shorted.
Servo amplifier
CN3
DOCOM
SD
4.1.3 Surrounding environment
(1) Cable routing
(a) The wiring cables are free from excessive force.
(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.)
(c) The connector part of the servo motor should not be strained.
(2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
4.2 Startup
POINT
The controller recognizes MR-J3W- B as two servo amplifiers. For this reason,
select "MR-J3-B" for both of the A-axis and the B-axis. The following tables shows
the servo amplifier setting in the controller when using the MR-J3W- B servo
amplifier.
Compatible controller
Servo amplifier selection
Motion controller
(Q172HCPU, Q173HCPU, Q172DCPU,
Q173DCPU, Q170MCPU)
Select "MR-J3-B" in the system setting screen.
Positioning module
(QD75MH, QD74MH , LD77MH )
Select "MR-J3-B" in "Servo series" (Pr.100) of the
servo parameter.
Connect the servo motor with a machine after confirming that the servo motor operates properly alone.
4- 4
4. STARTUP
(1) Power on
When the main and control circuit power supplies are switched on, "b01" (for the first axis) appears on the
servo amplifier display.
In the absolute position detection system, first power-on results in the absolute position lost (25.1) alarm and
the servo system cannot be switched on.
The alarm can be deactivated by then switching power off once and on again.
Also in the absolute position detection system, if power is switched on at the servo motor speed of
2000r/min or higher, position mismatch may occur due to external force or the like. Power must therefore be
switched on when the servo motor is at a stop.
(2) Parameter setting
Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for the
parameter definitions.
Parameter No.
PA14
Name
Setting
Rotation direction setting
PA08
Auto tuning mode
PA09
Auto tuning response
0
1
12
Description
Increase in positioning address rotates the motor in
the CCW direction.
Used.
Slow response (factory setting) is selected.
After setting the above parameters, switch power off once. Then switch power on again to make the set
parameter values valid.
(3) Servo-on
Switch the servo-on in the following procedure.
1) Switch on main circuit/control circuit power supply.
2) The controller transmits the servo-on command.
When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.
(4) Home position return
Always perform home position return before starting positioning operation.
(5) Stop
If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and
brings it to a stop.
When the servo motor is with an electromagnetic brake, refer to section 3.11.
Operation/command
Servo system controller
Servo amplifier
Stopping condition
Servo off command
The base circuit is shut off and the servo motor coasts.
Ready off command
The base circuit is shut off and the dynamic brake operates to bring the
servo motor to stop.
Forced stop command
The base circuit is shut off and the dynamic brake operates to bring the
servo motor to stop. The controller forced stop warning (E7.1) occurs.
Alarm occurrence
The base circuit is shut off and the dynamic brake operates to bring the
servo motor to stop.
Forced stop
(EM1) OFF
The base circuit is shut off and the dynamic brake operates to bring the
servo motor to stop. The servo forced stop warning (E6.1) occurs.
4- 5
4. STARTUP
4.3 Servo amplifier display
On the servo amplifier display (3-digit, 7-segment display), check the status of communication with the servo
system controller at power-on, check the axis number, and diagnose a fault at occurrence of an alarm.
4.3.1 Scrolling display
The statuses of the A-axis and the B-axis are displayed alternately. The statuses of the both axes can be
checked.
(1) Normal display
When there is no alarm, the statuses of the A-axis and the B-axis are displayed alternately. In this example,
the A-axis is set as the first axis, and the B-axis as the second axis.
After 2s
A-axis status display
B-axis status display
After 2s
Status display Axis number
(1 digit)
(2 digits)
"b" : Indicates ready OFF/servo OFF status.
"C" : Indicates ready ON/servo OFF status.
"d" : Indicates ready ON/servo ON status.
(2) Alarm display
When there is an alarm, the alarm number (two digits) and the alarm detail (one digit) are displayed
following the status display. In this example, the encoder initial communication error 1 (16.1) is occurring in
the A-axis, and the overcurrent (32.2) is occurring in the B-axis.
A-axis status display
After 2s
After 2s
After 2s
B-axis status display
A-axis alarm number
display
B-axis alarm number
display
After 2s
Status display Axis number
(1 digit)
(2 digits)
Alarm number Alarm detail
(2 digits)
(1 digit)
"F": Indicates that an alarm is occurring.
4- 6
4. STARTUP
4.3.2 Status display of an axis
(1) Display sequence
Servo amplifier power ON
Waiting for servo system controller
power to switch ON
(SSCNET communication)
Servo system controller power ON
(SSCNET communication beginning)
Initial data communication with servo
system controller
(Initialization communication)
When alarm warning No. is displayed
(Note)
Ready OFF/servo OFF
Example: At occurrence of overload
Flicker display
After 2s
Ready ON
(Note)
Flicker display
Ready ON/servo OFF
When alarm occurs,
alarm code appears.
Example: At occurrence of overload
Flicker display
After 2s
Servo ON
Flicker display
(Note)
Ready ON/servo ON
Ordinary operation
Servo system controller power OFF
Only alarm and warning No. are
displayed, but no axis No. is
displayed.
During a non servo-off causing
warning, the decimal point on the
third digit LED shows the servo-on
status.
Alarm reset or warning cleared
Servo system controller power ON
Note.
Axis 1 Axis 2
The segment of the last 2 digits shows the axis number.
Axis 16 (Below example indicates Axis 1)
4- 7
4. STARTUP
(2) Indication list
Indication
Status
Description
Power of the servo amplifier was switched on at the condition that the power of
servo system controller is OFF.
The axis No. set to the servo system controller does not match the axis No. set
with the rotary axis setting switch (SW1) of the servo amplifier.
A servo amplifier fault, or communication error with the servo system controller or
the prior servo amplifier axis occured. In this case, the indication changes as
follows:
"Ab "
"AC "
"Ad "
"Ab "
The servo system controller is faulty.
A b
Initializing
A b
. Initializing
AC
Initializing
Initial setting for communication specifications completed, and then it synchronized
with servo system controller.
A d
Initializing
During initial parameter setting communication with servo system controller
AE
Initializing
During motor encoder information and telecommunication with servo system
controller
A F
Initializing
During initial signal data communication with servo system controller
AH
Initializing completion
During the completion process for initial data communication with servo system
controller
AA
Initializing standby
The power supply of servo system controller is turned off during the power supply of
servo amplifier is on.
(Note 1) b # #
Ready OFF
The ready off signal from the servo system controller was received.
(Note 1) d # #
Servo ON
The ready off signal from the servo system controller was received.
(Note 1) C # #
Servo OFF
The ready off signal from the servo system controller was received.
(Note 2)
Alarm
8 8 8
During initial setting for communication specifications
Warning
The alarm No./warning No. that occurred is displayed. (Refer to section 8.1.)
CPU Error
CPU watchdog error has occurred.
(Note 3)
b 0 A. b 0 b.
JOG operation, positioning operation, program operation, DO forced output.
(Note 3)
(Note 1) b # #.
Test operation mode
d # #.
Motor-less operation
C # #.
Note 1. ## denotes any of numerals 00 to 16 and what it means is listed below.
#
Description
0A/0B
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Set to the test operation mode.
First axis
Second axis
Third axis
Fourth axis
Fifth axis
Sixth axis
Seventh axis
Eighth axis
Ninth axis
Tenth axis
Eleventh axis
Twelfth axis
Thirteenth axis
Fourteenth axis
Fifteenth axis
Sixteenth axis
2. ** indicates the warning/alarm No. "A" in the third digit indicates the A-axis, and the "B" indicates the B-axis.
3. Requires the MR Configurator.
4- 8
4. STARTUP
4.4 Test operation
Before starting actual operation, perform test operation to make sure that the machine operates normally.
Refer to section 4.2 for the power on and off methods of the servo amplifier.
POINT
If necessary, verify controller program by using motor-less operation.
Refer to section 4.5.2 for the motor-less operation.
Test operation of servo motor
alone in JOG operation of test
operation mode
Test operation of servo motor
alone by commands
Test operation with servo motor
and machine connected
In this step, confirm that the servo amplifier and servo motor operate normally.
With the servo motor disconnected from the machine, use the test operation
mode and check whether the servo motor rotates correctly. Refer to section 4.5
for the test operation mode.
In this step, confirm that the servo motor rotates correctly under the commands
from the controller.
Make sure that the servo motor rotates in the following procedure.
Give a low speed command at first and check the rotation direction, etc. of the
servo motor.
If the servo motor does not operate in the intended direction, check the input
signal.
In this step, connect the servo motor with the machine and confirm that the
machine operates normally under the commands from the command device.
Make sure that the servo motor rotates in the following procedure.
Give a low speed command at first and check the operation direction, etc. of
the machine. If the machine does not operate in the intended direction, check
the input signal. By using MR Configurator, check if the servo motor speed, the
load ratio, and the other items in the status display are not incorrect.
Then, check automatic operation with the program of the command device.
4- 9
4. STARTUP
4.5 Test operation mode
CAUTION
The test operation mode is designed for servo operation confirmation and not for
machine operation confirmation. Do not use this mode with the machine. Always use
the servo motor alone.
If an operation fault occurred, use the forced stop (EM1) to make a stop.
POINT
The content described in this section indicates the environment that servo amplifier
and personal computer are directly connected.
By using a personal computer and the MR Configurator, you can execute jog operation, positioning operation,
DO forced output program operation without connecting the servo system controller.
4.5.1 Test operation mode in MR Configurator
POINT
When using MR-J3W- B, both of the A-axis and the B-axis go into the test
operation mode, but only one of them can be operated.
When the test operation mode is selected by using the test operation select switch
(SW2-1), the SSCNET communication for the servo amplifier in the test
operation mode and the following servo amplifiers is blocked.
(1) Test operation mode
(a) Jog operation
Jog operation can be performed without using the servo system controller. Use this operation with the
forced stop reset. This operation may be used independently of whether the servo is on or off and
whether the servo system controller is connected or not.
Exercise control on the jog operation screen of the MR Configurator.
1) Operation pattern
Factory setting
Setting range
Speed [r/min]
Item
200
0 to max. speed
Acceleration/deceleration time constant [ms]
1000
0 to 50000
2) Operation method
When the check box of "Rotation only while the button is being pushed" is checked.
Operation
Forward rotation start
Screen control
Keep pressing the "Forward" button.
Reverse rotation start
Keep pressing the "Reverse" button.
Stop
Release "Forward" or "Reverse" button.
When the check box of "Rotation only while the button is being pushed" is not checked.
Operation
Forward rotation start
Screen control
Click the "Forward" button.
Reverse rotation start
Click the "Reverse" button.
Stop
Click the "Stop" button.
4 - 10
4. STARTUP
(b) Positioning operation
Positioning operation can be performed without using the servo system controller. Use this operation
with the forced stop reset. This operation may be used independently of whether the servo is on or off
and whether the servo system controller is connected or not.
Exercise control on the positioning operation screen of the MR Configurator.
1) Operation pattern
Item
Factory setting
Setting range
Travel distance [pulse]
4000
0 to 99999999
Speed [r/min]
200
0 to max. speed
Acceleration/deceleration time constant [ms]
1000
0 to 50000
Fwd. rot. (CCW)
Rev. rot. (CW)
Fwd. rot. (CCW)
Rev rot. (CW)
Fwd. rot. (CCW)
Fwd. rot. (CCW)
Rev rot. (CW)
Fwd. rot. (CCW)
Rev rot. (CW)
Rev rot. (CW)
2.0
0.5 to 50.0
1
1 to 9999
Repeat operation
Dwell time [s]
Number of repeats [time]
2) Operation method
Operation
Screen control
Forward rotation start
Click the "Forward" button.
Reverse rotation start
Click the "Reverse" button.
Pause
Click the "Pause" button.
(c) Program operation
Positioning operation can be performed in two or more operation patterns combined, without using the
servo system controller. Use this operation with the forced stop reset. This operation may be used
independently of whether the servo is on or off and whether the servo system controller is connected or
not.
Exercise control on the program operation screen of the MR Configurator. For full information, refer to
the MR Configurator Installation Guide.
Operation
Screen control
Start
Click the "Start" button.
Stop
Click the "Reset" button.
(d) Output signal (DO) forced output
Output signals can be switched on/off forcibly independently of the servo status. Use this function for
output signal wiring check, etc.
Exercise control on the DO forced output screen of the MR Configurator.
4 - 11
4. STARTUP
(2) Operation procedure
(a) Switch power off.
(b) Set SW2-1 to "UP".
SW2
F012
SW1
TEST
SW2
Set SW2-1 to "UP"
B CD
345
789A
E
6
UP
DOWN
ON 4E
1
2
1
2
Changing SW2-1 to "UP" while power is on will not start the test operation mode.
(c) Switch servo amplifier power on.
When initialization is over, the display shows the following screen.
After 2s
Flicker
Flicker
After 2s
(d) Perform operation with the personal computer.
4.5.2 Motor-less operation in controller
POINT
Use motor-less operation which is available by making the servo system controller
parameter setting.
Motor-less operation is done while connected with the servo system controller.
(1) Motor-less operation
Without connecting the servo motor, output signals or status displays can be provided in response to the
servo system controller commands as if the servo motor is actually running. This operation may be used to
check the servo system controller sequence. Use this operation with the forced stop reset. Use this
operation with the servo amplifier connected to the servo system controller.
For stopping the motor-less operation, set the selection of motor-less operation to [Invalid] in servo
parameter setting of servo system controller. Motor-less operation will be invalid condition after switching on
power supply next time.
(a) Load conditions
Load item
Load torque
Condition
0
Load inertia moment ratio
4 - 12
Same as servo motor inertia moment
4. STARTUP
(b) Alarms
The following alarms and warning do not occur. However, the other alarms and warnings occur as when
the servo motor is connected.
Encoder initial communication error 1 (16. )
Battery cable disconnection warning (92.1)
Encoder normal communication error 1 (20. )
Battery warning (9F.1)
Encoder normal communication error 2 (21. )
Main circuit off warning (E9. )
Absolute position erase (25. )
(2) Operating procedure
1) Switch off servo amplifier
2) Set parameter No.PC05 to "1", change test operation mode switch (SW2-1) to normal condition side
"Down", and then turn on the power supply.
SW2
F012
SW1
TEST
SW2
Set SW2-1 to "DOWN"
B CD
345
789A
E
6
UP
DOWN
ON 4E
1
2
1
3) Perform motor-less operation with the personal computer.
The display shows the following screen.
Decimal point flickers.
4 - 13
2
4. STARTUP
MEMO
4 - 14
5. PARAMETERS
5. PARAMETERS
CAUTION
Never adjust or change the parameter values extremely as it will make operation
instable.
When the fixed values are indicated for any digits of a parameter, never change the
values of the digits.
POINT
When the servo amplifier is connected with the servo system controller, the
parameters are set to the values of the servo system controller.
Setting may not be made to some parameters and ranges depending on the model
or software version of the servo system controller. For details, refer to the servo
system controller user's manual.
In this servo amplifier, the parameters are classified into the following groups on a function basis.
Parameter group
Main description
Basic setting parameters
(No.PA
)
Make basic setting with these parameters. Generally, the operation is possible only with these
parameter settings.
Gain/filter parameters
(No.PB
)
Use these parameters when making gain adjustment manually.
Extension setting parameters
(No.PC
)
When changing settings such as analog monitor output signal or encoder electromagnetic brake
sequence output, use these parameters.
I/O setting parameters
(No.PD
)
Use these parameters when changing the I/O signals of the servo amplifier.
Extension control parameters
(No.PE
)
Use these parameters when selecting a function in the fully closed loop system.
Option setting parameters
(No.Po
)
These parameters are dedicated to MR-J3W.
Mainly setting the basic setting parameters (No.PA
introduction.
5.1 Basic setting parameters (No.PA
) allows the setting of the basic parameters at the time of
)
POINT
The parameter whose symbol preceded by * can be validated with the following
conditions.
* : Turn off the power and then on again, or reset the controller after setting the
parameter.
**: Turn off the power and then on again after setting the parameter.
5- 1
5. PARAMETERS
5.1.1 Parameter list
No.
Symbol
Setting
(Note 1)
Name
Factory
setting
(Note 2)
PA01
**STY
Control mode
Each axis
0000h
PA02
**REG
Regenerative option
Common
0000h
PA03
*ABS
Absolute position detection system
Each axis
0000h
PA04
*AOP1
Function selection A-1
Common
0000h
PA05
This parameter is not used. Do not change the value.
0
PA06
1
PA07
1
PA08
ATU
Auto tuning mode
Each axis
PA09
RSP
Auto tuning response
Each axis
12
PA10
INP
In-position range
Each axis
100
PA11
This parameter is not used. Do not change the value.
0001h
1000.0
PA13
0000h
PA14
*POL
Rotation direction selection
Each axis
0
PA15
*ENR
Encoder output pulses
Each axis
4000
PA16
*ENR2
Encoder output pulses 2
Each axis
0
This parameter is not used. Do not change the value.
pulse/rev
0000h
PA18
PA19
pulse
1000.0
PA12
PA17
Unit
0000h
*BLK
Parameter write inhibit
Each axis
000Bh
Note 1. Each axis: Set a value for each of the A-axis and the B-axis.
Common: Common parameters for the A-axis and the B-axis. Set same values for the A-axis and the B-axis. If different values are
set, the last set value becomes valid.
2. Valid for the A-axis and the B-axis.
5- 2
5. PARAMETERS
5.1.2 Parameter write inhibit
Parameter
No.
Symbol
PA19
*BLK
Name
Parameter write inhibit
Setting
Factory
setting
Each axis
000Bh
Setting
range
Unit
Refer to
the text.
POINT
Turn off the power and then on again, or reset the controller after setting the
parameter to validate the parameter value.
In the factory setting, this servo amplifier allows changes to the basic setting parameter, gain/filter parameter
and extension setting parameter settings. With the setting of parameter No.PA19, write can be disabled to
prevent accidental changes.
The following table indicates the parameters which are enabled for reference and write by the setting of
parameter No.PA19. Operation can be performed for the parameters marked .
Parameter No.
PA19 setting
0000h
000Bh
(factory setting)
000Ch
000Dh
000Eh
100Bh
100Ch
100Dh
100Eh
Setting
operation
Basic setting
parameters
No.PA
Gain/filter
parameters
No.PB
Extension
setting
parameters
No.PC
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
No.PA19 only
Reference
Write
No.PA19 only
Reference
Write
No.PA19 only
Reference
Write
No.PA19 only
Note. Do not use this parameter when using a rotary servo motor.
5- 3
I/O setting
parameters
No.PD
(Note)
Special setting
parameters
No.PS
Option setting
parameters
No.Po
5. PARAMETERS
5.1.3 Selection of control mode
Parameter
No.
Symbol
PA01
**STY
Setting
Factory
setting
Each axis
0000h
Name
Control mode
Unit
Setting
range
Refer to
the text.
POINT
Turn off the power and then on again after setting the parameter to validate the
parameter value.
The direct drive motor can be used with the servo amplifier whose software version
is B3 or later.
Select the control mode.
This parameter is set as "
0 " (rotary servo motor) in the initial setting.
Parameter No.PA01
0 0
0
Control mode selection
0: Rotary servo motor
4: Linear servo motor
6: Direct drive motor
5.1.4 Selection of regenerative option
Parameter
No.
Symbol
PA02
**REG
Name
Regenerative option
Setting
Factory
setting
Common
0000h
Unit
Setting
range
Refer to
the text.
POINT
Turn off the power and then on again after setting the parameter to validate the
parameter value.
Wrong setting may cause the regenerative option to burn.
If the regenerative option selected is not for use with the servo amplifier, parameter
error (37.2) occurs.
The MR-RB3B can be used with the servo amplifier whose software version is B3
or later.
This parameter is not for MR-J3W-0303BN6. Do not change this value by any
means.
Set this parameter when using the regenerative option.
Parameter No.PA02
0 0
Selection of regenerative option
00: Regenerative option is not used (built-in regenerative resistor is used)
0D: MR-RB14
0E: MR-RB34
10: MR-RB3B
5- 4
5. PARAMETERS
5.1.5 Using absolute position detection system
Parameter
No.
Symbol
PA03
*ABS
Name
Absolute position detection system
Setting
Factory
setting
Each axis
0000h
Unit
Setting
range
Refer to
the text.
POINT
Turn off the power and then on again, or reset the controller after setting the
parameter to validate the parameter value.
This parameter cannot be used in the speed control mode.
Set this parameter when using the absolute position detection system in the position control mode.
Parameter No.PA03
0 0 0
Selection of absolute position detection system (refer to chapter 12)
0: Used in incremental system
1: Used in absolute position detection system
5.1.6 Forced stop input selection
Parameter
No.
Symbol
PA04
*AOP1
Name
Function selection A-1
Setting
Factory
setting
Common
0000h
Unit
Setting
range
Refer to
the text.
POINT
Turn off the power and then on again, or reset the controller after setting the
parameter to validate the parameter value.
The servo forced stop function is avoidable.
Parameter No.PA04
0
0 0
Selection of servo forced stop
0: Valid (Forced stop (EM1) is used.)
1: Invalid (Forced stop (EM1) is not used.)
When not using the forced stop (EM1) of servo amplifier, set the selection of servo forced stop to Invalid ( 1
). At this time, the forced stop (EM1) automatically turns on inside the servo amplifier.
5- 5
5. PARAMETERS
5.1.7 Auto tuning
Parameter
No.
Symbol
PA08
ATU
PA09
RSP
Setting
Factory
setting
Auto tuning mode
Each axis
0001h
Refer to
the text.
Auto tuning response
Each axis
12
1 to 32
Name
Unit
Setting
range
POINT
This parameter cannot be used in the torque control mode.
Make gain adjustment using auto tuning. Refer to section 6.2 for details.
(1) Auto tuning mode (parameter No.PA08)
Select the gain adjustment mode.
Parameter No.PA08
0 0 0
Gain adjustment mode setting
Setting Gain adjustment mode Automatically set parameter No. (Note)
0
Interpolation mode
PB06 PB08 PB09 PB10
1
Auto tuning mode 1
PB06 PB07 PB08 PB09 PB10
2
Auto tuning mode 2
PB07 PB08 PB09 PB10
3
Manual mode
Note. The parameters have the following names.
Parameter No.
Name
PB06
Load to motor inertia moment ratio
PB07
Model loop gain
PB08
Position loop gain
PB09
Speed loop gain
PB10
Speed integral compensation
5- 6
5. PARAMETERS
(2) Auto tuning response (parameter No.PA09)
If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g.
shorten the settling time, increase the set value.
Setting
Response
Guideline for machine
resonance frequency [Hz]
Setting
Response
Guideline for machine
resonance frequency [Hz]
1
Low response
Middle response
67.1
10.0
17
2
11.3
18
75.6
3
12.7
19
85.2
4
14.3
20
95.9
5
16.1
21
108.0
6
18.1
22
121.7
7
20.4
23
137.1
8
23.0
24
154.4
9
25.9
25
173.9
10
29.2
26
195.9
11
32.9
27
220.6
12
37.0
28
248.5
13
41.7
29
279.9
14
47.0
30
315.3
15
52.9
31
355.1
59.6
32
16
Middle response
High response
400.0
5.1.8 In-position range
Parameter
No.
Symbol
PA10
INP
Name
In-position range
Setting
Factory
setting
Unit
Setting
range
Each axis
100
pulse
0 to 65535
POINT
This parameter cannot be used in the speed control mode and the torque control
mode.
Set the range, where in-position (INP-A/INP-B) is output, in the command pulse unit.
Servo motor droop pulses
Command pulse
Command pulse
In-position range [pulse]
Droop pulses
In-position (INP-A/INP-B)
ON
OFF
5- 7
5. PARAMETERS
5.1.9 Selection of servo motor rotation direction
Parameter
No.
Symbol
PA14
*POL
Name
Rotation direction selection
Setting
Factory
setting
Each axis
0
Setting
range
Unit
0 1
POINT
Turn off the power and then on again, or reset the controller after setting the
parameter to validate the parameter value.
Select servo motor rotation direction relative.
Servo motor rotation direction (Note)
When positioning address increases
(Position control)
Command speed in the positive direction
(Speed control)
Command torque in the positive direction
(Torque control)
When positioning address decreases
(Position control)
Command speed in the negative direction
(Speed control)
Command torque in the negative direction
(Torque control)
0
CCW
CW
1
CW
CCW
Parameter No.PA14
setting
Note. Torque generation direction for the torque control
Forward rotation (CCW)
Reverse rotation (CW)
5.1.10 Encoder output pulse
Parameter
No.
Setting
Factory
setting
Unit
pulse/rev
PA15
*ENR
Encoder output pulses
Each axis
4000
PA16
*ENR2
Encoder output pulses 2
Each axis
0
Setting
range
1 to 65535
0 to 65535
POINT
Turn off the power and then on again, or reset the controller after setting the
parameter to validate the parameter value.
Used to set the encoder pulses (A/B-phase) output by the servo amplifier.
Set the value 4 times greater than the A-phase or B-phase pulses.
You can use parameter No.PC03 to choose the output pulse setting or output division ratio setting.
The number of A/B-phase pulses actually output is 1/4 times greater than the preset number of pulses.
The maximum output frequency is 4.6Mpps (after multiplication by 4). Use this parameter within this range.
5- 8
5. PARAMETERS
(1) For output pulse designation
Set "
0 " in parameter No.PC03.
Set the number of pulses per servo motor 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.
A/B-phase output pulses
5600
4
1400 [pulse]
(2) For output division ratio setting
1 " in parameter No.PC03.
Set "
The number of pulses per servo motor revolution is divided by the set value.
Output pulse
Resolution per servo motor revolution
[pulses/rev]
Set value
For instance, set "8" to Parameter No.PA15, the actually output A/B-phase pulses are as indicated below.
A/B-phase output pulses
262144
8
1
4
8192 [pulse]
(3) A/B-phase pulse electronic gear setting
3 ".
This parameter is made valid when parameter No.PC03 is set to "
Set the encoder pulses (A/B-phase) output by the servo amplifier.
Set the encoder pulses output by the servo amplifier by parameter No.PA15 and parameter No.PA16.
Travel distance [pulse] of the linear encoder is multiplied by the set value.
Output pulse
Travel distance of linear encoder
Set value of parameter No.PA15
[pulse]
Set value of parameter No.PA16
The number of A/B-phase pulses actually output is 1/4 times greater than the preset number of pulses. Also,
the maximum output frequency is 4.6Mpps (after multiplication by 4). Use this parameter within the range.
When the set value is "0 (factory setting)", it is internally treated as "1".
5- 9
5. PARAMETERS
5.2 Gain/filter parameters (No.PB
)
POINT
The parameter whose symbol preceded by * can be validated with the following
conditions.
* : Turn off the power and then on again, or reset the controller after setting the
parameter.
The gain/filter parameters (No.PB
) cannot be used in the torque loop mode.
5.2.1 Parameter list
No.
Symbol
PB01
FILT
Adaptive tuning mode (Adaptive filter
PB02
VRFT
Vibration suppression control tuning mode
(advanced vibration suppression control)
PB03
PB04
Setting
(Note 1)
Name
)
Each axis
0000h
Each axis
0000h
This parameter is not used. Do not change the value.
FFC
PB05
Feed forward gain
Factory
setting
(Note 2)
Unit
0
Each axis
This parameter is not used. Do not change the value.
0
%
500
PB06
GD2
Load to motor inertia moment ratio
PB07
PG1
Model loop gain
Each axis
24
rad/s
PB08
PG2
Position loop gain
Each axis
37
rad/s
PB09
VG2
Speed loop gain
Each axis
823
rad/s
PB10
VIC
Speed integral compensation
Each axis
33.7
ms
PB11
VDC
Speed differential compensation
Each axis
980
Each axis
4500
Notch shape selection 1
Each axis
0000h
Machine resonance suppression filter 2
Each axis
4500
Notch shape selection 2
Each axis
0000h
Each axis
3141
PB12
This parameter is not used. Do not change the value.
PB13
NH1
PB14
NHQ1
PB15
NH2
PB16
NHQ2
PB17
PB18
Each axis
Machine resonance suppression filter 1
7.0
Multiplier
( 1)
0
Hz
Hz
Automatic setting parameter
LPF
Low-pass filter setting
rad/s
PB19
VRF1
Vibration suppression control vibration frequency setting
Each axis
100.0
Hz
PB20
VRF2
Vibration suppression control resonance frequency setting
Each axis
100.0
Hz
PB21
This parameter is not used. Do not change the value.
0.00
PB22
0.00
PB23
VFBF
Low-pass filter selection
Each axis
PB24
*MVS
Slight vibration suppression control selection
Each axis
PB25
This parameter is not used. Do not change the value.
0000h
0000h
0000h
PB26
*CDP
Gain changing selection
Each axis
0000h
PB27
CDL
Gain changing condition
Each axis
10
PB28
CDT
Gain changing time constant
Each axis
1
ms
PB29
GD2B
Gain changing load to motor inertia moment ratio
Each axis
7.0
Multiplier
( 1)
PB30
PG2B
Gain changing position loop gain
Each axis
37
rad/s
PB31
VG2B
Gain changing speed loop gain
Each axis
823
rad/s
PB32
VICB
Gain changing speed integral compensation
Each axis
33.7
ms
PB33
VRF1B Gain changing vibration suppression control vibration frequency setting
Each axis
100.0
Hz
PB34
VRF2B Gain changing vibration suppression control resonance frequency setting
Each axis
100.0
Hz
5 - 10
5. PARAMETERS
No.
Symbol
PB35
Factory
setting
(Note 2)
Setting
(Note 1)
Name
This parameter is not used. Do not change the value.
Unit
0.00
PB36
0.00
PB37
100
PB38
0.0
PB39
0.0
PB40
0.0
PB41
1125
PB42
1125
PB43
0004h
PB44
0.0
PB45
0000h
Note 1. Each axis: Set a value for each of the A-axis and the B-axis.
Common: Common parameters for the A-axis and the B-axis. Set same values for the A-axis and the B-axis. If different values are
set, the last set value becomes valid.
2. Valid for the A-axis and the B-axis.
5.2.2 List of details
No.
Symbol
PB01
FILT
Name and function
Setting
Adaptive tuning mode (Adaptive filter )
Used to set the mode for the machine resonance suppression filter 1.
Factory
setting
Unit
Each
axis
0000h
Refer to
Name
and
function
column.
Each
axis
0000h
Refer to
Name
and
function
column.
0 0 0
Filter tuning mode
0: Invalid
1: Cannot be set
2: Manual setting
If "
PB02
VRFT
1" is set for this parameter, it is automatically rewritten as "
Setting
range
0".
Vibration suppression control tuning mode (advanced vibration suppression
control)
Used to set the tuning mode for the vibration suppression control.
0 0 0
Vibration suppression control
tuning mode
0: Invalid
1: Cannot be set
2: Manual setting
If "
PB03
PB04
1" is set for this parameter, it is automatically rewritten as "
0".
This parameter is not used. Do not change the value.
FFC
Feed forward gain
This parameter cannot be used in the speed control mode.
Set the feed forward gain. When the setting is 100%, the droop pulses during
operation at constant speed are nearly zero. However, sudden
acceleration/deceleration will increase the overshoot. As a guideline, when the
feed forward gain setting is 100%, set 1s or more as the acceleration time
constant up to the rated speed.
5 - 11
0
Each
axis
0
%
0
to
100
5. PARAMETERS
No.
Symbol
PB05
Name and function
Setting
This parameter is not used. Do not change the value.
Factory
setting
Unit
Setting
range
500
PB06
GD2
Load to motor inertia moment ratio
Used to set the ratio of the load inertia moment to the servo motor shaft inertia
moment. When auto tuning mode 1 and interpolation mode is selected, the
result of auto tuning is automatically used.
(Refer to section 6.1.1)
In this case, it varies between 0 and 100.0.
When parameter No.PA08 is set to "
2" or "
3", this parameter can
be set manually.
Each
axis
7.0
Multiplier
( 1)
0
to
300.0
PB07
PG1
Model loop gain
Set the response gain up to the target position.
Increase the gain to improve track ability in response to the command.
When auto turning mode 1, 2 is selected, the result of auto turning is
automatically used.
When parameter No.PA08 is set to "
0" or "
3", this parameter can
be set manually.
Each
axis
24
rad/s
1
to
2000
PB08
PG2
Position loop gain
This parameter cannot be used in the speed control mode.
Used to set the gain of the position loop.
Set this parameter to increase the position response to level load disturbance.
Higher setting increases the response level but is liable to generate vibration
and/or noise.
When auto tuning mode 1, 2 and interpolation mode is selected, the result of
auto tuning is automatically used.
When parameter No.PA08 is set to "
3", this parameter can be set
manually.
Each
axis
37
rad/s
1
to
1000
PB09
VG2
Speed loop gain
Set this parameter when vibration occurs on machines of low rigidity or large
backlash.
Higher setting increases the response level but is liable to generate vibration
and/or noise.
When auto tuning mode 1, 2 and interpolation mode is selected, the result of
auto tuning is automatically used.
When parameter No.PA08 is set to "
3", this parameter can be set
manually.
Each
axis
823
rad/s
20
to
50000
PB10
VIC
Speed integral compensation
Used to set the integral time constant of the speed loop.
Lower setting increases the response level but is liable to generate vibration
and/or noise.
When auto tuning mode 1, 2 and interpolation mode is selected, the result of
auto tuning is automatically used.
When parameter No.PA08 is set to "
3", this parameter can be set
manually.
Each
axis
33.7
ms
0.1
to
1000.0
PB11
VDC
Speed differential compensation
Used to set the differential compensation.
When parameter No.PB24 is set to "
3 ", this parameter is made valid.
When parameter No.PA08 is set to "
0 ", this parameter is made valid by
instructions of controller.
Each
axis
980
PB12
This parameter is not used. Do not change the value.
5 - 12
0
0
to
1000
5. PARAMETERS
Factory
setting
Unit
Each
axis
4500
Hz
Each
axis
0000h
Machine resonance suppression filter 2
Set the notch frequency of the machine resonance suppression filter 2.
Set parameter No.PB16 (notch shape selection 2) to "
1" to make this
parameter valid.
If a value exceeding "3000" is set for this parameter, it is automatically rewritten
as "3000".
Each
axis
4500
Notch shape selection 2
Select the shape of the machine resonance suppression filter 2.
Each
axis
0000h
No.
Symbol
Name and function
Setting
PB13
NH1
Machine resonance suppression filter 1
Set the notch frequency of the machine resonance suppression filter 1.
When the parameter No.PB01 setting is "
0", the setting of this parameter
is ignored.
If a value exceeding "3000" is set for this parameter, it is automatically rewritten
as "3000".
PB14
NHQ1
Notch shape selection 1
Select the shape of the machine resonance suppression filter 1.
0
Gain
40dB
14dB
8dB
4dB
Notch width
Setting value Width
0
Standard
1
to
2
3
Wide
2
3
4
5
When the parameter No.PB01 setting is "
is ignored.
PB15
NH2
PB16
NHQ2
100
to
4500
Refer to
Name
and
function
column.
0
Notch depth selection
Setting value Depth
0
Deep
1
to
2
3
Shallow
Setting
range
0", the setting of this parameter
0
Machine resonance suppression filter 2 selection
0: Invalid
1: Valid
Notch depth selection
Setting value Depth
0
Deep
1
to
2
3
Shallow
Gain
40dB
14dB
8dB
4dB
Notch width
Setting value Width
0
Standard
1
to
2
3
Wide
2
3
4
5
5 - 13
Hz
100
to
4500
Refer to
Name
and
function
column.
5. PARAMETERS
No.
Symbol
PB17
Name and function
Setting
Factory
setting
Unit
Setting
range
Automatic setting parameter
The value of this parameter is set according to a set value of parameter
No.PB06 (Load to motor inertia moment ratio).
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.
Each
axis
3141
rad/s
100
to
9000
PB19
VRF1
Vibration suppression control vibration frequency setting
This parameter cannot be used in the speed control mode.
Set the vibration frequency for vibration suppression control to suppress lowfrequency machine vibration, such as enclosure vibration. (Refer to section 7.3.)
When parameter No.PB02 is set to "
2", this parameter can be set
manually.
Each
axis
100.0
Hz
0.1
to
100.0
PB20
VRF2
Vibration suppression control resonance frequency setting
This parameter cannot be used in the speed control mode.
Set the resonance frequency for vibration suppression control to suppress lowfrequency machine vibration, such as enclosure vibration. (Refer to section 7.3.)
When parameter No.PB02 is set to "
2", this parameter can be set
manually.
Each
axis
100.0
Hz
0.1
to
100.0
PB21
This parameter is not used. Do not change the value.
0.00
PB22
PB23
0.00
VFBF
Low-pass filter selection
Select the low-pass filter.
0 0
Each
axis
0000h
Refer to
Name
and
function
column.
Each
axis
0000h
Refer to
Name
and
function
column.
0
Low-pass filter selection
0: Automatic setting
1: Manual setting (parameter No.PB18 setting)
When automatic setting has been selected, select the filter that has the band
VG2 10
width close to the one calculated with
[rad/s]
1 + GD2
PB24
*MVS
Slight vibration suppression control selection
Select the slight vibration suppression control and PI-PID change.
When parameter No.PA08 (Auto tuning mode) is set to "
3", the slight
vibration suppression control is enabled. (Slight vibration suppression control
cannot be used in the speed control mode.)
0 0
Slight vibration suppression control selection
0: Invalid
1: Valid
PI-PID control switch over selection
0: PI control is valid. (Switching to PID
control is possible with instructions of
controller.)
3: PID control is always valid.
PB25
This parameter is not used. Do not change the value.
5 - 14
0000h
5. PARAMETERS
No.
Symbol
PB26
*CDP
Name and function
Gain changing selection
Select the gain changing condition. (Refer to section 7.5.)
Setting
Factory
setting
Each
axis
0000h
Unit
Setting
range
Refer to
Name
and
function
column.
0 0
Gain changing selection
Under any of the following conditions, the gains
change on the basis of the parameter No.PB29 to
PB32 settings.
0: Invalid
1: Control instructions from a controller.
2: Command frequency (Parameter No.PB27
setting)
3: Droop pulses value (Parameter No.PB27 setting)
4: Servo motor speed (Parameter No.PB27 setting)
Gain changing condition
0: Valid when the control instruction from a controller
is ON
Valid at equal to or more than the value set in
parameter No.PB27
1: Valid when the control instruction from a controller
is OFF
Valid at equal to or less than the value set in
parameter No.PB27
PB27
CDL
Gain changing condition
Used to set the value of gain changing condition (command frequency, droop
pulses, servo motor speed) selected in parameter No.PB26.The set value unit
changes with the changing condition item. (Refer to section 7.5.)
Each
axis
10
kpps
pulse
r/min
0
to
9999
PB28
CDT
Gain changing time constant
Used to set the time constant at which the gains will change in response to the
conditions set in parameters No.PB26 and PB27. (Refer to section 7.5.)
Each
axis
1
ms
0
to
100
PB29
GD2B
Gain changing load to motor inertia moment ratio
Used to set the load to motor inertia moment ratio when gain changing is valid.
This parameter is made valid when the auto tuning is invalid (parameter
No.PA08:
3).
Each
axis
7.0
Multiplier
( 1)
0
to
300.0
PB30
PG2B
Gain changing position loop gain
This parameter cannot be used in the speed control mode.
Set the position loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning is invalid (parameter
No.PA08:
3).
Each
axis
37
rad/s
1
to
2000
PB31
VG2B
Gain changing speed loop gain
Set the speed loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning is invalid (parameter
No.PA08:
3).
Each
axis
823
rad/s
20
to
20000
PB32
VICB
Gain changing speed integral compensation
Set the speed integral compensation when the gain changing is valid.
This parameter is made valid when the auto tuning is invalid (parameter
No.PA08:
3).
Each
axis
33.7
ms
0.1
to
5000.0
VRF1B Gain changing vibration suppression control vibration frequency setting
This parameter cannot be used in the speed control mode.
Set the vibration frequency for vibration suppression control when the gain
changing is valid. This parameter is made valid when the parameter No.PB02
setting is "
2" and the parameter No.PB26 setting is "
1".
When using the vibration suppression control gain changing, always execute the
changing after the servo motor has stopped.
Each
axis
100.0
Hz
0.1
to
100.0
PB33
5 - 15
5. PARAMETERS
No.
PB34
PB35
Symbol
Name and function
VRF2B Gain changing vibration suppression control resonance frequency setting
This parameter cannot be used in the speed control mode.
Set the resonance frequency for vibration suppression control when the gain
changing is valid. This parameter is made valid when the parameter No.PB02
setting is "
2" and the parameter No.PB26 setting is "
1".
When using the vibration suppression control gain changing, always execute the
changing after the servo motor has stopped.
This parameter is not used. Do not change the value.
Setting
Each
axis
Factory
setting
Unit
100.0
Hz
0.00
PB36
0.00
PB37
100
PB38
0.0
PB39
0.0
PB40
0.0
PB41
1125
PB42
1125
PB43
0004h
PB44
0.0
PB45
0000h
5 - 16
Setting
range
0.1
to
100.0
5. PARAMETERS
5.3 Extension setting parameters (No.PC
)
POINT
The parameter whose symbol preceded by * can be validated with the following
conditions.
* : Turn off the power and then on again, or reset the controller after setting the
parameter.
**: Turn off the power and then on again after setting the parameter.
5.3.1 Parameter list
No.
Symbol
Setting
(Note 1)
Name
Factory
setting
(Note 2)
Unit
PC01
ERZ
Error excessive alarm level
Each axis
0
rev
PC02
MBR
Electromagnetic brake sequence output
Each axis
0
ms
PC03
Each axis
0010h
PC04 **COP1 Function selection C-1
Each axis
0000h
PC05 **COP2 Function selection C-2
Each axis
0000h
PC06
Each axis
0000h
Each axis
50
PC07
*ENRS Encoder output pulses selection
*COP3 Function selection C-3
ZSP
PC08
Zero speed
This parameter is not used. Do not change the value.
PC09
MOD1
PC10
MOD2
PC11
MO1
PC12
MO2
Analog monitor 2 offset
PC13
Analog monitor 1 output
Common
0000h
Analog monitor 2 output
Common
0001h
Analog monitor 1 offset
Common
0
mV
Common
0
mV
This parameter is not used. Do not change the value.
0
PC14
PC15
0
SNO
PC16
Station number selection
Common
0
Each axis
0000h
This parameter is not used. Do not change the value.
PC17 **COP4 Function selection C-4
PC18
0000h
This parameter is not used. Do not change the value.
0000h
PC19
0000h
PC20
0000h
PC21
PC22
r/min
0
*BPS
Alarm history clear
Each axis
This parameter is not used. Do not change the value.
0000h
0000h
PC23
0000h
PC24
0000h
PC25
0000h
PC26
0000h
PC27
0000h
PC28
0000h
PC29
0000h
PC30
0000h
PC31
0000h
PC32
0000h
Note 1. Each axis: Set a value for each of the A-axis and the B-axis.
Common: Common parameters for the A-axis and the B-axis. Set same values for the A-axis and the B-axis. If different values are
set, the last set value becomes valid.
2. Valid for the A-axis and the B-axis.
5 - 17
5. PARAMETERS
5.3.2 List of details
Factory
setting
Unit
Setting
range
No.
Symbol
Name and function
Setting
PC01
ERZ
Error excessive alarm level
This parameter cannot be used in the speed control mode and the torque
control mode.
Used to set the error excessive alarm level with rotation amount of servo motor.
When "0" is set in this parameter, the alarm level is three rotations. When a
value other than "0" is set, the alarm level is the rotation number of the set
value. However, the alarm level stays at 200 rotations even if a value exceeding
"200" is set.
Note. Setting can be changed in parameter No.PC06.
Each
axis
0
rev
(Note 1)
PC02
MBR
Electromagnetic brake sequence output
Used to set the delay time (Tb) between electronic brake interlock (MBR-A/
MBR-B) and the base drive circuit is shut-off.
Each
axis
0
ms
Each
axis
0010h
Refer to
Name
and
function
column.
Each
axis
0000h
Refer to
Name
and
function
column.
Each
axis
0000h
Refer to
Name
and
function
column.
PC03
*ENRS Encoder output pulse selection
Use to select the encoder output pulse direction and encoder output pulse
setting.
0 0
0
to
1000
Encoder output pulse phase changing
Changes the phases of A/B-phase encoder pulses output .
Servo motor rotation direction
CCW
CW
Set
value
0
1
A-phase
A-phase
B-phase
B-phase
A-phase
A-phase
B-phase
B-phase
Encoder output pulse setting selection
0: Output pulse designation
1: Division ratio setting
3: A/B-phase pulse elecrtonic gear setting
(Set with the electronic gear parameter No.PA15 and
PA16)
PC04 **COP1 Function selection C-1
Select the encoder cable communication system selection.
0 0 0
Encoder cable communication system selection
0: Two-wire type
1: Four-wire type
Incorrect setting will result in an encoder alarm 1 (16.3).
Refer to section 11.1.2 for the communication method
of the encoder cable.
PC05 **COP2 Function selection C-2
Motor-less operation select.
0 0 0
Motor-less operation select.
0: Valid
1: Invalid
5 - 18
5. PARAMETERS
No.
PC06
Symbol
Name and function
*COP3 Function selection C-3
Select the error excessive alarm level setting for parameter No.PC01.
Setting
Factory
setting
Each
axis
0000h
Each
axis
50
Unit
Refer to
Name
and
function
column.
0 0 0
Error excessive alarm level setting selection
0: 1
[rev]unit
1: 0.1 [rev]unit
2: 0.01 [rev]unit
3: 0.001[rev]unit
PC07
ZSP
PC08
PC09
Zero speed
Used to set the output range of the zero speed (ZSP-A/ZSP-B).
Zero speed (ZSP-A/ZSP-B) detection has hysteresis width of 20r/min (Refer to
section 3.5 (2) (b))
This parameter is not used. Do not change the value.
MOD1
Analog monitor 1 output
Used to selection the signal provided to the analog monitor 1 (MO1) output.
(Refer to section 5.3.3)
Setting
range
r/min
0
to
10000
0
Common 0000h
Refer to
Name
and
function
column.
Common 0001h
Refer to
Name
and
function
column.
0 0
Analog monitor 1 (MO1) output selection
Setting
0
1
2
3
4
5
6
7
8
9
D
E
Item
Servo motor speed ( 8V/max. speed)
Torque ( 8V/max. torque)
Servo motor speed ( 8V/max. speed)
Torque ( 8V/max. torque)
Current command ( 8V/max. current command)
Speed command ( 8V/max. current command)
Droop pulses ( 10V/100 pulses)
Droop pulses ( 10V/1000 pulses)
Droop pulses ( 10V/10000 pulses)
Droop pulses ( 10V/100000 pulses)
Bus voltage ( 8V/400V)
Speed command 2 (8V/max. current command)
Analog monitor 1 (MO1) output axis selection
0: A-axis
1: B-axis
PC10
MOD2
Analog monitor 2 output
Used to selection the signal provided to the analog monitor 2 (MO2) output.
(Refer to section 5.3.3)
0 0
Analog monitor 2 (MO2) output selection
The settings are the same as those of parameter
No.PC09.
Analog monitor 2 (MO2) output axis selection
The settings are the same as those of parameter
No.PC09.
5 - 19
5. PARAMETERS
No.
Symbol
PC11
MO1
PC12
MO2
PC13
Factory
setting
Unit
Analog monitor 1 offset
Used to set the offset voltage of the analog monitor 1 (MO1) output.
Common
0
mV
9999
to
9999
Analog monitor 2 offset
Used to set the offset voltage of the analog monitor 2 (MO2) output.
Common
0
mV
999
to
999
This parameter is not used. Do not change the value.
0
PC14
PC15
Setting
range
Setting
Name and function
0
SNO
PC16
Station number selection
Used to select the axis to communicate with MR Configurator.
0: A-axis
1: B-axis
Common
0
Each
axis
0000h
This parameter is not used. Do not change the value.
PC17 **COP4 Function Selection C-4
This parameter cannot be used in the speed control mode and the torque
control mode.
This is used to select a home position setting condition.
0000h
0 0 0
Refer to
Name
and
function
column.
Selection of home position setting condition
0: Need to pass motor Z-phase after the power
supply is switched on.
1: Not need to pass motor Z-phase after the power
supply is switched on.
PC18
This parameter is not used. Do not change the value.
0000h
PC19
0000h
PC20
PC21
0000h
*BPS
Alarm history clear
Used to clear the alarm history.
Each
axis
0000h
0 0 0
Alarm history clear
0: Invalid
1: Valid
When alarm history clear is made valid, the alarm
history is cleared at next power-on.
After the alarm history is cleared, the setting is
automatically made invalid (reset to 0).
PC22
This parameter is not used. Do not change the value.
0000h
PC23
0000h
PC24
0000h
PC25
0000h
PC26
0000h
PC27
0000h
PC28
0000h
PC29
0000h
PC30
0000h
PC31
0000h
PC32
0000h
5 - 20
Refer to
Name
and
function
column.
5. PARAMETERS
5.3.3 Analog monitor
POINT
A voltage of analog monitor output may be irregular at power-on.
The servo status can be output to two channels in terms of voltage.
(1) Setting
Change the following digits of parameter No.PC09, PC10.
Parameter No.PC09
0 0
Analog monitor (MO1) output selection
(Signal output to across MO1-LG)
Analog monitor (MO1) output axis selection
0: A-axis
1: B-axis
Parameter No.PC10
0 0
Analog monitor (MO2) output selection
(Signal output to across MO2-LG)
Analog monitor (MO2) output axis selection
0: A-axis
1: B-axis
Parameters No.PC11 and PC12 can be used to set the offset voltages to the analog output voltages. The
setting range is between 999 and 999mV.
Parameter No.
Description
Setting range [mV]
PC11
Used to set the offset voltage for the analog monitor 1 (MO1).
PC12
Used to set the offset voltage for the analog monitor 2 (MO2).
999 to 999
(2) Set content
The servo amplifier is factory-set to output the servo motor speed to analog monitor 1 (MO1) and the torque
to analog monitor (MO2). The setting can be changed as listed below by changing the parameter No.PC09
and PC10 value.
Refer to (3) for the measurement point.
Setting
0
Output item
Description
Servo motor speed
8[V]
Setting
CCW direction
1
Max. speed
Description
8[V]
Driving in CCW
direction
Max. torque
0
CW direction
Output item
Torque
0
Max. speed
-8[V]
Driving in CW
direction
5 - 21
Max. torque
-8[V]
5. PARAMETERS
Setting
2
Output item
Servo motor speed
Description
CW direction 8[V]
Max. speed
4
Setting
CCW direction
0
Torque
5
Speed command
Max. speed
Current command
8[V]
Output item
3
Description
Driving in CW 8[V] Driving in CCW
direction
direction
Max. torque
0
8[V]
CCW direction
Max. current command
(Max. torque command)
Max. speed
0
Max. current command
(Max. torque command)
CW direction
0
-8[V]
CW direction
6
Droop pulses
(Note 1, 2, 3)
( 10V/100 pulses)
10[V]
CCW direction
7
Droop pulses
(Note 1, 2, 3)
( 10V/1000 pulses)
100[pulse]
CCW direction
10[V]
CCW direction
9
Droop pulses
(Note 1, 2, 3)
( 10V/100000 pulses)
10[V]
1000[pulse]
-10[V]
CW direction
10000[pulse]
CCW direction
100000[pulse]
0
CW direction
D
-8[V]
0
100[pulse]
-10[V]
CW direction
Droop pulses
(Note 1, 2, 3)
( 10V/10000 pulses)
10[V]
Max. speed
1000[pulse]
0
8
Max. torque
CCW direction
0 100000[pulse]
10000[pulse]
-10[V]
Bus voltage
-10[V]
CW direction
E
8[V]
Speed command 2
(Note 2, 4)
8[V]
CCW direction
Max. speed
0
0
Max.
400[V]
CW direction
-8[V]
Note 1. Encoder pulse unit.
2. Cannot be used in the torque loop mode.
3. Cannot be used in the speed loop mode.
4. This setting can be used with the servo amplifier whose software version is B3 or later and with MR Configurator whose software
version is C5 or later.
5 - 22
5. PARAMETERS
(3) Analog monitor block diagram
Speed
command
Position
command
received
from a
controller
Differential
Droop pulses
Current
command
Speed
command 2
Speed
Position command
control
Speed
control
Bus voltage
Current
control
Current
encoder
PWM
M Servo motor
Current feedback
Encoder
Differential
Position feedback
Position feedback data
returned to a controller
Servo motor
speed
Torque
5.3.4 Alarm history clear
The servo amplifier stores six past alarms from when its power is switched on first. To control alarms which will
occur during operation, clear the alarm history using parameter No.PC21 before starting operation.
Clearing the alarm history automatically returns to "
0".
After setting, this parameter is made valid by switch power from OFF to ON.
Parameter No.PC21
0 0 0
Alarm history clear
0: Invalid (not cleared)
1: Valid (cleared)
5 - 23
5. PARAMETERS
5.4 I/O setting parameters (No.PD
)
POINT
The parameter whose symbol preceded by * can be validated with the following
conditions.
* : Turn off the power and then on again, or reset the controller after setting the
parameter.
5.4.1 Parameter list
No.
Symbol
PD01
Setting
(Note 1)
Name
This parameter is not used. Do not change the value.
Factory
setting
(Note 2)
0000h
PD02
0000h
PD03
0020h
PD04
0021h
PD05
0022h
PD06
0000h
PD07
*DO1
PD08
PD09
PD10
Output signal device selection 1 (CN3-12 for A-axis and CN3-25 for B-axis)
Each axis
0005h
Each axis
0003h
This parameter is not used. Do not change the value.
*DO3
Output signal device selection 3 (CN3-11 for A-axis and CN3-24 for B-axis)
0004h
This parameter is not used. Do not change the value.
0000h
PD11
0004h
PD12
0000h
PD13
0000h
PD14
PD15
Unit
*DOP3 Function selection D-3
Each axis
This parameter is not used. Do not change the value.
0000h
0000h
PD16
0000h
PD17
0000h
PD18
0000h
PD19
0000h
PD20
0000h
PD21
0
PD22
0
PD23
0
PD24
0
PD25
0000h
PD26
0000h
PD27
0000h
PD28
0000h
PD29
0000h
PD30
0000h
PD31
0000h
PD32
0000h
Note 1. Each axis: Set a value for each of the A-axis and the B-axis.
Common: Common parameters for the A-axis and the B-axis. Set same values for the A-axis and the B-axis. If different values are
set, the last set value becomes valid.
2. Valid for the A-axis and the B-axis.
5 - 24
5. PARAMETERS
5.4.2 List of details
No.
Symbol
PD01
Name and function
Setting
This parameter is not used. Do not change the value.
Factory
setting
Setting
range
0000h
PD02
0000h
PD03
0020h
PD04
0021h
PD05
0022h
PD06
PD07
Unit
0000h
*DO1
Output signal device selection 1 (CN3-12 for A-axis and CN3-25 for B-axis)
Any input signal can be assigned to the CN3-12 pin for A-axis and CN3-25 pin
for B-axis. In the factory setting, MBR-A/MBR-B is assigned.
Each
axis
0005h
Each
axis
0003h
0 0
Refer to
Name
and
function
column.
Select the output device of the CN3-12 pin for Aaxis and CN3-25 pin for B-axis.
The devices that can be assigned in each control mode are those that have the
symbols indicated in the following table.
Setting
Device
Setting
Device
00
Always OFF
0A
SA-A/SA-B (Note 2)
01
For manufacturer
setting (Note 3)
0B
VLC-A/VLC-B (Note 5)
02
RD-A/RD-B
0C
03
ALM-A/ALM-B
0D
04
INP-A/INP-B
(Note 1, 4)
0E
05
MBR-A/MBR-B
0F
06
For manufacturer
setting (Note 3)
10
07
TLC-A/TLC-B (Note 4)
11
08
WNG-A/WNG-B
12 to 1F
09
BWNG-A/BWNG-B
20 to 3F
ZSP-A/ZSP-B
For manufacturer
setting (Note 3)
For manufacturer
setting (Note 3)
CDPS-A/CDPS-B
For manufacturer
setting (Note 3)
ABSV-A/ABSV-B
(Note 1)
For manufacturer
setting (Note 3)
For manufacturer
setting (Note 3)
Note 1. Always off in the speed loop mode.
2. Always off in the position control mode and the torque loop mode.
3. For manufacturer setting. Never change this setting.
4. Always off in the torque loop mode.
5. Always off in the position control mode and the torque loop mode.
PD08
PD09
This parameter is not used. Do not change the value.
*DO3
Output signal device selection 3 (CN3-11 for A-axis and CN3-24 for B-axis)
Any input signal can be assigned to the CN3-11 pin for A-axis and CN3-24 pin
for B-axis. In the factory setting, ALM-A/ALM-B is assigned.
The devices that can be assigned and the setting method are the same as in
parameter No.PD07.
0 0
Select the output device of the CN3-11 pin for Aaxis and CN3-24 pin for B-axis.
5 - 25
0004h
Refer to
Name
and
function
column.
5. PARAMETERS
No.
PD10
Symbol
Name and function
Setting
This parameter is not used. Do not change the value.
Factory
setting
0004h
PD12
0000h
PD13
0000h
*DOP3 Function selection D-3
Set the ALM-A/ALM-B output signal at warning occurrence.
0 0
Each
axis
0000h
0
Selection of output device at warning occurrence
Select the warning (WNG-A/WNG-B) and malfunction
(ALM-A/ALM-B) output status at warning occurrence.
Output of Servo amplifier
Setting
(Note) Device status
1
WNG-A/WNG-B
0
1
0
ALM-A/ALM-B
0
Warning occurrence
1
1
WNG-A/WNG-B
0
1
ALM-A/ALM-B
0
Warning occurrence
Note. 0: OFF
1: ON
PD15
Setting
range
0000h
PD11
PD14
Unit
This parameter is not used. Do not change the value.
0000h
PD16
0000h
PD17
0000h
PD18
0000h
PD19
0000h
PD20
0
PD21
0
PD22
0
PD23
0
PD24
0000h
PD25
0000h
PD26
0000h
PD27
0000h
PD28
0000h
PD29
0000h
PD30
0000h
PD31
0000h
PD32
0000h
5 - 26
Refer to
Name
and
function
column.
5. PARAMETERS
5.5 Option setting parameters (No.Po
)
POINT
The parameter whose symbol preceded by * can be validated with the following
conditions.
* : Turn off the power and then on again, or reset the controller after setting the
parameter.
**: Turn off the power and then on again after setting the parameter.
5.5.1 List of parameters
No.
Symbol
Name
Setting
(Note 1)
Factory
setting
(Note 2)
Po01
*OOP1 Function selection O-1
Common
0000h
Po02
SGRA
Axis selection for graphing analog data (MR Configurator)
Common
0000h
Po03
SGRD
Axis selection for graphing digtal data (MR Configurator)
Common
0000h
Common
0000h
Po04 **OOP2 Function selection O-2
Po05
This parameter is not used. Do not change the value.
Unit
0000h
Po06
0000h
Po07
0000h
Po08
0000h
Po09
0000h
Po10
0000h
Po11
0000h
Po12
0000h
Po13
0000h
Po14
0000h
Po15
0000h
Po16
0000h
Note 1. Each axis: Set a value for each of the A-axis and the B-axis.
Common: Common parameters for the A-axis and the B-axis. Set same values for the A-axis and the B-axis. If different values are
set, the last set value becomes valid.
2. Valid for the A-axis and the B-axis.
5 - 27
5. PARAMETERS
5.5.2 List of details
No.
Po01
Symbol
Name and function
*OOP1 Function selection O-1
Used to set alarms that activate the other axis fault warning (EB).
Setting
Factory
setting
Refer to
Name
and
function
column.
Common 0000h
Refer to
Name
and
function
column.
Common 0000h
Refer to
Name
and
function
column.
The other axis fault warning (EB) activating alarm
selection
0: 11, 15, 17, 24 and 32 only
1: All alarms
The other axis fault warning (EB) is not activated by the
alarms, which occur in the A-axis and the B-axis
simultaneously, regardless of their alarm numbers.
SGRA
Axis selection for graphing analog data (MR Configurator)
Used to select axes that obtain analog data and triggered data in the MR
Configurator's graph function.
Setting
range
Common 0000h
0 0 0
Po02
Unit
Axis selection for analog data ch1
0: Axis that communicates with MR Configurator
1: Axis that does not communicate with MR Configurator
Axis selection for analog data ch2
The setting is same as the ch1.
Axis selection for analog data ch3
The setting is same as the ch1.
Axis selection for triggered data
The setting is same as the ch1.
Select the axis that obtains triggered data. This setting
is valid for analog and digital trigger sources.
Po03
SGRD
Axis selection for graphing digital data (MR Configurator)
Used to select the axes that obtain digital data in the MR Configurator's graph
function.
Axis selection for digital data ch1
0: Axis that communicates with MR Configurator
1: Axis that does not communicate with MR Configurator
Axis selection for digital data ch2
The setting is same as the ch1.
Axis selection for digital data ch3
The setting is same as the ch1.
Axis selection for digital data ch4
The setting is same as the ch1.
5 - 28
5. PARAMETERS
No.
Symbol
Name and function
Setting
Common 0000h
Po04 **OOP2 Function selection O-2
0 0
Factory
setting
0
Special servo motor combination
0: Normal combination
1: When using the servo amplifiers and the servo
motors as shown below in combination in addition to
the normal combination.
Rotary servo motor
Servo
amplifier
MR-J3W-44B
MR-J3W-77B
Rotary servo motor
HF-MP
053 13
43
HF-KP
053 13
43
HF-SP
HC-LP
HC-UP
51 52
52
72
Linear servo motor
Servo
amplifier
Linear servo motor
Primary side(Coil)
Secondary side (Magnet)
LM-H2P1A-06M-4SS0
LM-H2S10-288-4SS0
LM-H2S10-384-4SS0
LM-H2S10-480-4SS0
LM-H2S10-768-4SS0
MR-J3W-77B LM-H2P2A-12M-1SS0
LM-H2S20-288-1SS0
LM-H2S20-384-1SS0
LM-H2S20-480-1SS0
LM-H2S20-768-1SS0
LM-U2PAD-10M-0SS0
LM-U2PAF-15M-0SS0
LM-U2SA0-240-0SS0
LM-U2SA0-300-0SS0
LM-U2SA0-420-0SS0
This parameter is dedicated to the servo amplifier whose software version is B2
or earlier. For the servo amplifier whose software version is B3 or later, this
parameter setting is not required.
Po05
This parameter is not used. Do not change the value.
0000h
Po06
0000h
Po07
0000h
Po08
0000h
Po09
0000h
Po10
0000h
Po11
0000h
Po12
0000h
Po13
0000h
Po14
0000h
Po15
0000h
Po16
0000h
5 - 29
Unit
Setting
range
Refer to
Name
and
function
column.
5. PARAMETERS
MEMO
5 - 30
6. GENERAL GAIN ADJUSTMENT
6. GENERAL GAIN ADJUSTMENT
POINT
Consider differences among machines, and adjust the gain. It is recommended that
the amount of torque generated from the servo motor in operation be set to 90 of
the maximum torque of the servo motor.
The torque loop mode does not require the gain adjustment.
6.1 Different adjustment methods
6.1.1 Adjustment on a single servo amplifier
The gain adjustment in this section can be made on a single 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 manual mode in
this order.
(1) Gain adjustment mode explanation
Gain adjustment mode
Parameter
No.PA08 setting
Estimation of load inertia
moment ratio
Automatically set parameters
Manually set parameters
Auto tuning mode 1
(factory setting)
0001
Always estimated
GD2 (parameter No.PB06)
PG1 (parameter No.PB07)
PG2 (parameter No.PB08)
VG2 (parameter No.PB09)
VIC (parameter No.PB10)
RSP (parameter No.PA09)
Auto tuning mode 2
0002
Fixed to parameter No.
PB06 value
PG1 (parameter No.PB07)
PG2 (parameter No.PB08)
VG2 (parameter No.PB09)
VIC (parameter No.PB10)
GD2 (parameter No.PB06)
RSP (parameter No.PA09)
Manual mode
0003
Interpolation mode
0000
PG1 (parameter No.PB07)
GD2 (parameter No.PB06)
VG2 (parameter No.PB09)
VIC (parameter No.PB10)
Always estimated
6- 1
GD2 (parameter No.PB06)
PG2 (parameter No.PB08)
VG2 (parameter No.PB09)
VIC (parameter No.PB10)
PG1 (parameter No.PB07)
RSP (parameter No.PA09)
6. GENERAL GAIN ADJUSTMENT
(2) Adjustment sequence and mode usage
START
Usage
Yes
Interpolation
made for 2 or more
axes?
Interpolation mode
No
Operation
Auto tuning mode 1
Operation
Yes
No
OK?
No
Yes
Auto tuning mode 2
Operation
Yes
OK?
Used when you want to match
the position gain (PG1)
between 2 or more axes.
Normally not used for other
purposes.
Allows adjustment by merely
changing the response level
setting.
First use this mode to make
adjustment.
Used when the conditions of
auto tuning mode 1 are not
met and the load inertia
moment ratio could not be
estimated properly, for
example.
OK?
You can adjust all gains
manually when you want to do
fast settling or the like.
No
Manual mode
END
6.1.2 Adjustment using MR Configurator
This section gives the functions and adjustment that may be performed by using the servo amplifier with the MR
Configurator which operates on a personal computer.
Description
Adjustment
Machine analyzer
Function
With the machine and servo motor coupled,
the characteristic of the mechanical system
can be measured by giving a random
vibration command from the personal
computer to the servo and measuring the
machine response.
You can grasp the machine resonance frequency and
determine the notch frequency of the machine resonance
suppression filter.
You can automatically set the optimum gains in response
to the machine characteristic. This simple adjustment is
suitable for a machine which has large machine resonance
and does not require much settling time.
Gain search
Executing gain search under to-and-fro
positioning command measures settling
characteristic while simultaneously
changing gains, and automatically searches
for gains which make settling time shortest.
You can automatically set gains which make positioning
settling time shortest.
Machine simulation
Response at positioning settling of a
machine can be simulated from machine
analyzer results on personal computer.
You can optimize gain adjustment and command pattern
on personal computer.
6- 2
6. GENERAL GAIN ADJUSTMENT
6.2 Auto tuning
6.2.1 Auto tuning mode
The servo amplifier has a real-time auto tuning function 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 adjustment of the servo amplifier.
(1) Auto tuning mode 1
The servo amplifier is factory-set to the auto tuning mode 1.
In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains
automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.
Parameter No.
Abbreviation
Name
PB06
GD2
Load to motor inertia moment ratio
PB07
PG1
Model loop gain
PB08
PG2
Position loop gain
PB09
VG2
Speed loop gain
PB10
VIC
Speed integral compensation
POINT
The auto tuning mode 1 may not be performed properly if the following conditions
are not satisfied.
Time to reach 2000r/min is the acceleration/deceleration time constant of 5s or less.
Speed is 150r/min or higher.
The Load to motor inertia moment ratio is 100 times or less.
The acceleration/deceleration torque is 10 or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque during
acceleration/deceleration or on a machine which is extremely loose, auto tuning
may not function properly, either. In such cases, use the auto tuning mode 2 or
manual mode to make gain adjustment.
(2) Auto tuning mode 2
Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since the
load inertia moment ratio is not estimated in this mode, set the value of a correct load inertia moment ratio
(parameter No.PB06).
The following parameters are automatically adjusted in the auto tuning mode 2.
Parameter No.
Abbreviation
PB07
PG1
Model loop gain
Name
PB08
PG2
Position loop gain
PB09
VG2
Speed loop gain
PB10
VIC
Speed integral compensation
6- 3
6. GENERAL GAIN ADJUSTMENT
6.2.2 Auto tuning mode basis
The block diagram of real-time auto tuning is shown below.
Load inertia
moment
Automatic setting
Command
Loop gains
PG1,VG1
PG2,VG2,VIC
Current
control
Servo
motor
Encoder
Current feedback
Set 0 or 1 to turn on.
Gain
table
Parameter No.PA08 Parameter No.PA09
0 0 0
Gain adjustment mode
selection
Real-time auto
tuning section
Switch
Load inertia
moment ratio
estimation section
Position/speed
feedback
Speed feedback
Parameter No.PB06
Load inertia moment
ratio estimation value
Response
setting
When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always
estimates the load inertia moment ratio from the current and speed of the servo motor. The results of estimation
are written to parameter No.PB06 (the ratio of load inertia moment to servo motor). These results can be
confirmed on the status display screen of the MR Configurator.
If the value of the load inertia moment ratio is already known or if estimation cannot be made properly, choose
the "auto tuning mode 2" (parameter No.PA08: 0002) to stop the estimation of the load inertia moment ratio
(Switch in above diagram turned off), and set the load inertia moment ratio (parameter No.PB06) manually.
From the preset load inertia moment ratio (parameter No.PB06) value and response level (parameter No.PA09),
the optimum loop gains are automatically set on the basis of the internal gain tale.
The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on. At
power-on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used as a
factory setting.
POINT
If sudden disturbance torque is imposed during operation, the estimation of the
inertia moment ratio may malfunction temporarily. In such a case, choose the "auto
tuning mode 2" (parameter No.PA08: 0002) and set the correct load inertia
moment ratio in parameter No.PB06.
When any of the auto tuning mode 1 and auto tuning mode settings is changed to
the manual mode 2 setting, the current loop gains and load inertia moment ratio
estimation value are saved in the EEP-ROM.
6- 4
6. GENERAL GAIN ADJUSTMENT
6.2.3 Adjustment procedure by auto tuning
Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically
sets the optimum gains that match the machine. Merely changing the response level setting value as required
completes the adjustment. The adjustment procedure is as follows.
Auto tuning adjustment
Acceleration/deceleration repeated
Yes
Load inertia moment ratio
estimation value stable?
No
Auto tuning
conditions not satisfied.
(Estimation of load inertia
moment ratio is difficult)
No
Yes
Choose the auto tuning mode 2
(parameter No.PA08 : 0002) and
set the load inertia moment ratio
(parameter No.PB06) manually.
Adjust response level setting
so that desired response is
achieved on vibration-free level.
Acceleration/deceleration repeated
Requested
performance satisfied?
No
Yes
END
6- 5
To manual mode
6. GENERAL GAIN ADJUSTMENT
6.2.4 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 until desired response is obtained within the vibration-free range.
If the response level setting cannot be increased up to the desired response because of machine resonance
beyond 100Hz, machine resonance suppression filter (parameter No.PB01, PB13 to PB16) may be used to
suppress machine resonance. Suppressing machine resonance may allow the response level setting to
increase. Refer to section 7.2 for filter tuning mode and machine resonance suppression filter.
Setting of parameter No.PA09
Machine characteristic
Response level setting
1
Machine rigidity
Machine resonance
frequency guideline
Low
10.0
2
11.3
3
12.7
4
14.3
5
16.1
6
18.1
7
20.4
8
23.0
9
25.9
10
29.2
11
32.9
12
37.0
13
41.7
14
47.0
15
52.9
16
Middle
67.1
18
75.6
19
85.2
20
95.9
21
108.0
22
121.7
23
137.1
24
154.4
25
173.9
26
195.9
27
220.6
28
248.5
29
279.9
30
315.3
31
355.1
High
Large conveyor
Arm robot
General machine
tool conveyor
59.6
17
32
Guideline of corresponding machine
400.0
6- 6
Precision
working
machine
Inserter
Mounter
Bonder
6. GENERAL GAIN ADJUSTMENT
6.3 Manual mode 1 (simple manual adjustment)
If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three
parameters.
POINT
If machine resonance occurs, machine resonance suppression filter (parameter
No.PB01, PB13 to PB16) may be used to suppress machine resonance. (Refer to
section 7.2.)
(1) For speed control
(a) Parameters
The following parameters are used for gain adjustment.
Parameter No.
Abbreviation
PB06
GD2
Load to motor inertia moment ratio
Name
PB07
PG1
Model loop gain
PB09
VG2
Speed loop gain
PB10
VIC
Speed integral compensation
(b) Adjustment procedure
Step
Operation
Description
1
Brief-adjust with auto tuning. Refer to section 6.2.3.
2
Change the setting of auto tuning to the manual mode (Parameter No.PA08:
0003).
3
Set an estimated value to the load to motor inertia moment ratio. (If the
estimate value with auto tuning is correct, setting change is not required.)
4
Set a slightly smaller value to the model loop gain
Set a slightly larger value to the speed integral compensation.
5
Increase the speed loop gain within the vibration- and unusual noise-free
range, and return slightly if vibration takes place.
Increase the speed loop gain.
6
Decrease the speed integral compensation within the vibration-free range,
and return slightly if vibration takes place.
Decrease the time constant of the speed
integral compensation.
7
Increase the model loop gain, and return slightly if overshooting takes place.
Increase the model loop gain.
8
If the gains cannot be increased due to mechanical system resonance or the
like and the desired response cannot be achieved, response may be
increased by suppressing resonance with machine resonance suppression
filter and then executing steps 2 and 3.
Suppression of machine resonance.
Refer to section 7.2.
9
While checking the rotational status, fine-adjust each gain.
Fine adjustment
6- 7
6. GENERAL GAIN ADJUSTMENT
(c) Adjustment description
1) Speed loop gain (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 mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.
Speed loop response
frequency(Hz)
(1
Speed loop gain setting
load to motor inertia moment ratio)
2
2) Speed integral compensation (VIC: parameter No.PB10)
To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral control.
Increasing the setting lowers the response level. However, if the load inertia moment ratio is large
or the mechanical system has any vibratory element, the mechanical system is liable to vibrate
unless the setting is increased to some degree. The guideline is as indicated in the following
expression.
Speed integral compensation
setting(ms)
2000 to 3000
Speed loop gain setting/ (1 load to motor inertia moment
ratio setting)
3) Model loop gain (PG1: Parameter No.PB07)
This parameter determines the response level to a position command. Increasing the model loop
gain improves track ability to a position command, but a too high value will make overshooting
liable to occur at the time of setting.
Model loop gain
guideline
(1
Speed loop gain setting
load to motor inertia moment ratio)
6- 8
1
1
to
4
8
6. GENERAL GAIN ADJUSTMENT
(2) For position control
(a) Parameters
The following parameters are used for gain adjustment.
Parameter No.
Abbreviation
PB06
GD2
Load to motor inertia moment ratio
Name
PB07
PG1
Model loop gain
PB08
PG2
Position loop gain
PB09
VG2
Speed loop gain
PB10
VIC
Speed integral compensation
(b) Adjustment procedure
Step
Operation
Description
1
Brief-adjust with auto tuning. Refer to section 6.2.3.
2
Change the setting of auto tuning to the manual mode (Parameter No.PA08:
0003).
3
Set an estimated value to the load to motor inertia moment ratio. (If the
estimate value with auto tuning is correct, setting change is not required.)
4
Set a slightly smaller value to the model loop gain and the position loop gain.
Set a slightly larger value to the speed integral compensation.
5
Increase the speed loop gain within the vibration- and unusual noise-free
range, and return slightly if vibration takes place.
Increase the speed loop gain.
6
Decrease the speed integral compensation within the vibration-free range,
and return slightly if vibration takes place.
Decrease the time constant of the speed
integral compensation.
7
Increase the position loop gain, and return slightly if vibration takes place.
Increase the position loop gain.
8
Increase the model loop gain, and return slightly if overshooting takes place.
Increase the position loop gain.
9
If the gains cannot be increased due to mechanical system resonance or the
like and the desired response cannot be achieved, response may be
increased by suppressing resonance with machine resonance suppression
filter and then executing steps 3 to 5.
Suppression of machine resonance.
Refer to section 7.2.
10
While checking the settling characteristic and rotational status, fine-adjust
each gain.
Fine adjustment
6- 9
6. 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 mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.
Speed loop response
frequency(Hz)
(1
Speed loop gain setting
Load to motor inertia moment ratio 2
2) Speed integral compensation (VIC: parameter No.PB10)
To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral control.
Increasing the setting lowers the response level. However, if the load inertia moment ratio is large
or the mechanical system has any vibratory element, the mechanical system is liable to vibrate
unless the setting is increased to some degree. The guideline is as indicated in the following
expression.
Speed integral compensation
setting(ms)
2000 to 3000
Speed loop gain setting/ (1 Load to motor inertia moment
ratio setting)
3) Position loop gain (PG2: Parameter No.PB08)
This parameter determines the response level to a disturbance to the position control loop.
Increasing the value increases the response level to the disturbance, but a too high value will
increase vibration of the mechanical system.
Position loop gain
guideline
(1
Speed loop gain setting
load to motor inertia moment ratio)
1
1
to
4
8
4) Model loop gain (PG1: parameter No.PB07)
This parameter determines the response level to a position command. Increasing position loop
gain 1 improves track ability to a position command but a too high value will make overshooting
liable to occur at the time of settling.
Model loop gain
guideline
(1
Speed loop gain setting
Load to motor inertia moment ratio)
6 - 10
1
1
to
4
8
6. GENERAL GAIN ADJUSTMENT
6.4 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 command track ability. Other parameters for gain adjustment are set automatically.
(1) Parameter
(a) Automatically adjusted parameters
The following parameters are automatically adjusted by auto tuning.
Parameter No.
Abbreviation
Name
PB06
GD2
Load to motor inertia moment ratio
PB08
PG2
Position loop gain
PB09
VG2
Speed loop gain
PB10
VIC
Speed integral compensation
(b) Manually adjusted parameters
The following parameters are adjustable manually.
Parameter No.
Abbreviation
PB07
PG1
Name
Model loop gain
(2) Adjustment procedure
Step
Operation
Description
1
Set to the auto tuning mode.
Select the auto tuning mode 1.
2
During operation, increase the response level setting (parameter No.PA09),
and return the setting if vibration occurs.
Adjustment in auto tuning mode 1.
3
Check the values of model loop gain.
Check the upper setting limits.
4
Set the interpolation mode (parameter No.PA08: 0000).
Select the interpolation mode.
5
Set the model loop gain of all the axes to be interpolated to the same value.
At that time, adjust to the setting value of the axis, which has the smallest
model loop gain.
Set position loop gain.
6
Looking at the interpolation characteristic and rotation status, fine-adjust the
gains and response level setting.
Fine adjustment.
(3) Adjustment description
(a) Model loop gain (parameter No.PB07)
This parameter determines the response level to a position command. Increasing model loop gain
improves track ability to a position command but a too high value will make overshooting liable to occur
at the time of settling. The droop pulses value is determined by the following expression.
Rotation speed (r/min)
Droop pulses value (pulse)
262144(pulse)
60
Model loop gain setting
6 - 11
6. GENERAL GAIN ADJUSTMENT
MEMO
6 - 12
7. SPECIAL ADJUSTMENT FUNCTIONS
7. 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 adjustment in the methods in
chapter 6.
If a mechanical system has a natural resonance point, increasing the servo system response level may cause
the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
Using the machine resonance suppression filter can suppress the resonance of the mechanical system.
7.1 Function block diagram
Speed
control
Parameter
No.PB01
0
Parameter
No.PB16
0
Low-pass filter
Automatic setting
0
Machine resonance
suppression filter 1
Manual setting
Servo
motor
Parameter
No.PB23
M
Current
command
Machine resonance
suppression filter 2
2
1
Manual setting
1
Encoder
7.2 Machine resonance suppression filter
(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the
specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing
frequency (notch frequency), gain decreasing depth and width.
Machine resonance point
Mechanical
system
response
level
Frequency
Notch width
Notch
characteristics
Notch depth
Notch frequency
Frequency
You can use the machine resonance suppression filter 1 (parameter No.PB13, PB14) and machine
resonance suppression filter 2 (parameter No.PB15, PB16) to suppress the vibration of two resonance
frequencies.
7- 1
7. SPECIAL ADJUSTMENT FUNCTIONS
Machine resonance point
Mechanical
system
response
level
Frequency
Notch
depth
Frequency
Parameter No.PB01,
PB13, PB14
Parameter No.PB15,
PB16
(2) Parameters
(a) Machine resonance suppression filter 1 (parameter No.PB13, PB14)
Set parameter No.PB01 to "
2".
Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1
(parameter No.PB13, PB14)
(b) Machine resonance suppression filter 2 (parameter No.PB15, PB16)
Set parameter No.PB16 to "
1".
Setting method for the machine resonance suppression filter 2 (parameter No.PB15, PB16) is same as
for the machine resonance suppression filter 1 (parameter No.PB13, PB14).
POINT
The machine resonance suppression filter is a delay factor for the servo system.
Hence, vibration may increase if you set a wrong resonance frequency or a too
deep notch.
If the frequency of machine resonance is unknown, decrease the notch frequency
from higher to lower ones in order. The optimum notch frequency is set at the point
where vibration is minimal.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine analyzer on
the MR Configurator. This allows the required notch frequency and depth to be
determined.
7- 2
7. SPECIAL ADJUSTMENT FUNCTIONS
7.3 Vibration suppression control manual mode
Measure work side vibration and device shake with the machine analyzer or external measuring instrument, and
set the vibration suppression control vibration frequency (parameter No.PB19) and vibration suppression control
resonance frequency (parameter No.PB20) to set vibration suppression control manually.
Position
Position
(1) Operation
Vibration suppression control is used to further suppress machine side vibration, such as workpiece end
vibration and base shake. The motor side operation is adjusted for positioning so that the machine does not
shake.
Motor side
Machine side
Motor side
Machine side
t
t
Vibration suppression control ON
Vibration suppression control OFF
(Nomal control)
(2) Parameter
Set parameter No.PB02 (Vibration suppression control tuning mode) as shown below.
Parameter No.PB02
0 0 0 2
Manual setting
(3) Checking the vibration frequency and the resonance frequency
(a) When a vibration peak can be confirmed using MR Configurator, machine analyzer or external
measuring instrument
Gain characteristic
1Hz
Phase
Vibration suppression control
vibration frequency setting
(Anti-resonance frequency)
Parameter No.PB19
-90deg.
7- 3
100Hz
Resonance of more
Vibration suppression than 100Hz is not the
target of control.
control resonance
frequency setting
Parameter No.PB20
7. SPECIAL ADJUSTMENT FUNCTIONS
(b) When vibration can be confirmed using monitor signal or external measuring instrument
Motor side vibration
(Droop pulses)
External acceleration pick signal, etc.
Position command frequency
t
Vibration cycle [Hz]
Vibration suppression control
vibration frequency
Vibration suppression control
resonance frequency
t
Vibration cycle [Hz]
Set the same value.
POINT
When machine side vibration does not show up in motor side vibration, the setting
of the motor side vibration frequency does not produce an effect.
When the anti-resonance frequency and resonance frequency can be confirmed
using the machine analyzer or external measuring instrument, do not set the same
value but set different values to improve the vibration suppression performance.
A vibration suppression control effect is not produced if the relationship between the
model loop gain (parameter No.PB07) value and vibration frequency is as indicated
below. Make setting after decreasing PG1, e.g. reduce the response setting.
1
(1.5 PG1)
2
vibration frequency
7- 4
7. SPECIAL ADJUSTMENT FUNCTIONS
7.4 Low-pass filter
(1) Function
When a ball screw or the like is used, resonance of high frequency may occur as the response level of the
servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque command.
The filter frequency of this low-pass filter is automatically adjusted to the value in the following expression.
Filter frequency(rad/s)
When parameter No.PB23 is set to "
VG2
1 + GD2
10
1 ", manual setting can be made with parameter No.PB18.
(2) Parameter
Set the low-pass filter selection (parameter No.PB23.)
Parameter No.PB23
Low-pass filter selection
0: Automatic setting (factory setting)
1: Manual setting (parameter No.PB18 setting)
7.5 Gain changing function
This function can change the gains. The gains are switched by using the control instruction from the controller or
gain switching conditions (including the servo motor speed).
7.5.1 Applications
This function is used when.
(1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.
(2) You want to increase the gains during settling to shorten the stop settling time.
(3) You want to change the gains by using the control instruction from the controller to ensure stability of the
servo system since the load inertia moment ratio varies greatly during a stop (e.g. a large load is mounted
on a carrier).
7- 5
7. SPECIAL ADJUSTMENT FUNCTIONS
7.5.2 Function block diagram
The valid loop gains PG2, VG2, VIC, GD2, VRF1 and VRF2 of the actual loop are changed according to the
conditions selected by gain changing selection CDP (parameter No.PB26) and gain changing condition CDS
(parameter No.PB27).
CDP
Parameter No.PB26
Control command
of controller
Command pulse
frequency
Droop pulses
Changing
Model speed
CDS
Parameter No.PB27
Comparator
GD2
Parameter No.PB06
GD2B
Parameter No.PB29
PG2
Parameter No.PB08
PG2B
Parameter No.PB30
VG2
Parameter No.PB09
VG2B
Parameter No.PB31
VIC
Parameter No.PB10
VICB
Parameter No.PB32
VRF1
Parameter No.PB19
VRF1B
Parameter No.PB33
VRF2
Parameter No.PB20
VRF2B
Parameter No.PB34
7- 6
Valid
GD2 value
Valid
PG2 value
Valid
VG2 value
Valid
VIC value
Valid
VRF1 value
Valid
VRF2 value
7. SPECIAL ADJUSTMENT FUNCTIONS
7.5.3 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 gain changing function cannot be used in the auto tuning
mode.
Parameter No. Abbreviation
Name
Unit
Description
PB06
GD2
Load to motor inertia moment ratio
Multi- Control parameters before changing
plier
( 1)
PB07
PG1
Model loop gain
rad/s
PB08
PG2
Position loop gain
rad/s
PB09
VG2
Speed loop gain
rad/s
PB10
VIC
Speed integral compensation
Position and speed gains of a model used to set the
response level to a command. Always valid.
ms
PB29
GD2B
Gain changing load to motor inertia
moment ratio
Multi- Used to set the load to motor inertia moment ratio after
plier changing.
( 1)
PB30
PG2B
Gain changing position loop gain
rad/s
Used to set the value of the after-changing position loop
gain.
PB31
VG2B
Gain changing speed loop gain
rad/s
Used to set the value of the after-changing speed loop gain.
PB32
VICB
Gain changing speed integral
compensation
PB26
CDP
Gain changing selection
ms
Used to set the value of the after-changing speed integral
compensation.
Used to select the changing condition.
kpps Used to set the changing condition values.
pulse
r/min
PB27
CDS
Gain changing condition
PB28
CDT
Gain changing time constant
ms
You can set the filter time constant for a gain change at
changing.
PB33
VRF1B
Gain changing vibration suppression
control vibration frequency setting
Hz
Used to set the value of the after-changing vibration
suppression control vibration frequency setting.
PB34
VRF2B
Gain changing vibration suppression
control resonance frequency setting
Hz
Used to set the value of the after-changing vibration
suppression control resonance frequency setting.
7- 7
7. SPECIAL ADJUSTMENT FUNCTIONS
(1) Parameters No.PB06 to PB10
These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of load
to motor inertia moment ratio, position loop gain, speed loop gain and speed integral compensation to be
changed.
(2) Gain changing load to motor inertia moment ratio (GD2B: parameter No.PB29)
Set the load to motor inertia moment ratio after changing. If the load inertia moment ratio does not change,
set it to the same value as load to motor inertia moment ratio (parameter No.PB06).
(3) Gain changing position loop gain (parameter No.PB30), Gain changing speed loop gain (parameter
No.PB31), Gain changing speed integral compensation (parameter No.PB32)
Set the values of after-changing position loop gain, speed loop gain and speed integral compensation.
(4) Gain changing selection (parameter No.PB26)
Used to set the gain changing condition. Choose the changing condition in the first digit and second digit. If
you set "1" in the first digit here, you can use the control command from controller is valid for gain changing.
0 0
Gain changing selection
Under any of the following conditions, the gains
change on the basis of the parameter No.PB29 to
PB34 settings.
0: Invalid
1: Control command from controller is valid
2: Command frequency (Parameter No.PB27 setting)
3: Droop pulses (Parameter No.PB27 setting)
4: Servo motor speed (Parameter No.PB27 setting)
Gain changing condition
0: Valid when the control instruction from a controller is ON
Valid at equal to or more than the value set in parameter No.PB27
1: Valid when the control instruction from a controller is OFF
Valid at equal to or less than the value set in parameter No.PB27
(5) Gain changing condition (parameter No.PB27)
When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing selection
(parameter No.PB26), set the gain changing level.
The setting unit is as follows.
Gain changing condition
Unit
Command frequency
kpps
Droop pulses
pulse
Servo motor speed
r/min
(6) Gain changing time constant (parameter No.PB28)
You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress shock
given to the machine if the gain difference is large at gain changing, for example.
(7) Gain changing vibration suppression control
Control command from the controller is the only command for the gain changing vibration suppression
control.
7- 8
7. SPECIAL ADJUSTMENT FUNCTIONS
7.5.4 Gain changing procedure
This operation will be described by way of setting examples.
(1) When you choose changing by input device
(a) Setting
Parameter No. Abbreviation
Setting
Unit
PB07
PG1
Model loop gain
Name
100
rad/s
PB06
GD2
Load to motor inertia moment ratio
4.0
Multiplier
( 1)
PB08
PG2
Position loop gain
120
rad/s
PB09
VG2
Speed loop gain
3000
rad/s
PB10
VIC
Speed integral compensation
20
Ms
50
Hz
50
Hz
10.0
Multiplier
( 1)
PB19
VRF1
Vibration suppression control vibration
frequency setting
PB20
VRF2
Vibration suppression control resonance
frequency setting
PB29
GD2B
Gain changing load to motor inertia moment
ratio
PB30
PG2B
Gain changing position loop gain
PB31
VG2B
Gain changing speed loop gain
PB32
VICB
Gain changing speed integral compensation
84
rad/s
4000
rad/s
50
ms
0001
(Changed by ON/OFF of input device)
PB26
CDP
Gain changing selection
PB28
CDT
Gain changing time constant
PB33
VRF1B
Gain changing vibration suppression control
vibration frequency setting
Used to set the value of the after-changing
vibration suppression control vibration
frequency setting.
Hz
PB34
VRF2B
Gain changing vibration suppression control
resonance frequency setting
Used to set the value of the after-changing
vibration suppression control resonance
frequency setting.
Hz
100
ms
(b) Changing timing chart
OFF
Control command
of controller
Change of
each gain
ON
OFF
After-changing gaing
Before-changing gain
63.4
CDT 100ms
Model loop gain 1
100
Load to motor inertia moment ratio
4.0
10.0
4.0
Position loop gain
120
84
120
Speed loop gain
3000
4000
3000
Speed integral compensation
20
50
20
Vibration suppression control
vibration frequency setting
50
60
50
Vibration suppression control
resonance frequency setting
50
60
50
7- 9
7. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
In this case, gain changing vibration suppression control cannot be used.
(a) Setting
Parameter No. Abbreviation
Setting
Unit
PB07
PG1
Model loop gain
Name
100
rad/s
PB06
GD2
Load to motor inertia moment ratio
4.0
Multiplier
( 1)
PB08
PG2
Position loop gain
120
rad/s
PB09
VG2
Speed loop gain
3000
rad/s
PB10
VIC
Speed integral compensation
PB29
GD2B
Gain changing load to motor inertia moment
ratio
PB30
PG2B
Gain changing position loop gain
PB31
VG2B
Gain changing speed loop gain
PB32
VICB
Gain changing speed integral compensation
20
ms
10.0
Multiplier
( 1)
84
rad/s
4000
rad/s
50
ms
0003
(Changed by droop pulses)
PB26
CDP
Gain changing selection
PB27
CDS
Gain changing condition
50
pulse
PB28
CDT
Gain changing time constant
100
ms
(b) Changing timing chart
Command pulse
Droop pulses
[pulse]
0
Droop pulses
CDS
CDS
After-changing gain
Change of
each gain
Before-changing gain
63.4
CDT 100ms
Model loop gain
100
Load to motor inertia moment ratio
4.0
10.0
4.0
Position loop gain
120
84
120
84
Speed loop gain
3000
4000
3000
4000
20
50
20
50
Speed integral compensation
7 - 10
10.0
8. TROUBLESHOOTING
8. TROUBLESHOOTING
POINT
When an alarm with "Each axis" indicated in the "Stop method" column occurs, the
servo motor in the non-alarm-occurring axis can continue running.
If an alarm/warning has occurred, refer to this chapter and remove its cause.
8.1 Alarms and warning list
When an error occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning
has occurred, refer to section 8.3 or 8.4 and take the appropriate action. When an alarm occurs, the ALM-A/LMB turns OFF.
After its cause has been removed, the alarm can be deactivated in any of the methods marked
in the alarm
deactivation column. The alarm is automatically canceled after removing the cause of occurrence.
Alarm deactivation
Alarms
Display
Name
Power
OFF ON
Detection
method
Error reset CPU reset (Note 3)
Stop
method
(Note 4)
Deceleration method when
an alarm occurs (Note 5)
MR-J3W22B to MRJ3W-1010B
MR-J3W0303BN6
(Note 6)
10
Undervoltage
Common
All axis
DB
EDB
11
Switch setting error
Common
All axis
DB
FR
12
Memory error 1 (RAM)
Common
All axis
DB
FR
13
Clock error
Common
All axis
DB
EDB
All axis
DB
EDB
15
Memory error 2 (EEP-ROM)
Common
16
Encoder initial communication error 1
Each axis Each axis
DB
FR
17
Board error
Common
All axis
DB
EDB
19
Memory error 3 (Flash-ROM)
Common
All axis
DB
FR
1A
Motor combination error
Each axis Each axis
DB
FR
1E
Encoder initial communication error 2
Each axis Each axis
DB
FR
1F
Encoder initial communication error 3
Each axis Each axis
DB
FR
20
Encoder normal communication error
1
Each axis Each axis
DB
EDB
21
Encoder normal communication error
2
Each axis Each axis
DB
EDB
24
Main circuit error
Each axis
DB
FR
25
Absolute position erase
30
Regenerative error
(Note 1)
(Note 1)
(Note 1)
All axis
Each axis Each axis
DB
FR
Common
DB
EDB (Note 7)
All axis
31
Overspeed
Each axis Each axis
DB
EDB
32
Overcurrent
Each axis
All axis
DB
EDB (Note 8)
33
Overvoltage
Common
All axis
DB
EDB
34
SSCNET receive error 1
Each axis Each axis
DB
EDB
35
Command frequency error
(Note 2)
Each axis Each axis
DB
EDB
36
SSCNET receive error 2
Each axis Each axis
DB
EDB
37
Parameter error
Each axis Each axis
DB
FR
45
Main circuit device overheat
(Note 1)
(Note 1)
(Note 1)
Common
DB
EDB
46
Servo motor overheat
(Note 1)
(Note 1)
(Note 1)
Each axis Each axis
DB
EDB
47
Cooling fan error
Common
DB
FR
8- 1
All axis
All axis
8. TROUBLESHOOTING
Alarm deactivation
Wamings
Alarms
Display
Name
Power
OFF ON
Detection
method
(Note
3)
Error reset CPU reset
Stop
method
(Note 4)
Deceleration method when
an alarm occurs (Note 5)
MR-J3W22B to MRJ3W-1010B
MR-J3W0303BN6
(Note 6)
50
Overload 1
(Note 1)
(Note 1)
(Note 1)
Each axis Each axis
DB
EDB
51
Overload 2
(Note 1)
(Note 1)
(Note 1)
Each axis Each axis
DB
EDB
52
Error excessive
Each axis Each axis
DB
EDB
8A
USB communication time-out error
Common
All axis
DB
EDB
8E
USB communication error
Common
All axis
DB
EDB
888
Watchdog
Common
All axis
DB
FR
91
Main circuit device overheat warning
Common
92
Battery cable disconnection warning
Each axis
96
Home position setting warning
Each axis
9F
Battery warning
Each axis
E0
Excessive regeneration warning
Common
E1
Overload warning 1
Each axis
E3
Absolute position counter warning
Each axis
E4
Parameter warning
Each axis
E6
Servo forced stop warning
Common
All axis
DB
EDB
E7
Controller forced stop warning
Common
All axis
DB
EDB
E8
Cooling fan speed reduction warning
Common
E9
Main circuit off warning
Common
All axis
DB
FR
EB
The other axis fault warning
Each axis
All axis
DB
EDB
EC
Overload warning 2
Each axis
ED
Output watt excess warning
Each axis
Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
2. In some controller communication status, the alarm factor may not be removed.
3. Alarms and warnings are detected in the following axes.
Each axis: Alarms and warnings are detected in the A-axis and the B-axis separately.
Common: Alarms and warnings are detected in the A-axis and the B-axis together.
4. When an alarm or a warning occurs, the axes stop as below.
Each axis: Only the axis that detected the alarm or warning stops.
All axis: All axes stop.
5. The method is for enabled dynamic brake.
DB: Dynamic brake deceleration
EDB: Electronic dynamic brake deceleration
FR: Coasting
6. When an alarm or warning occurs during servo-on, the deceleration method will be electronic dynamic brake.
7. When Regenerative transistor error (30.2) or Regenerative transistor feedback data error (30.3) occurs, it will be FR.
8. When Overcurrent detected at hardware detection circuit (during operation) (32.1) or Overcurrent detected at hardware detection
circuit (during a stop) (32.3) occurs, it will be FR.
8- 2
8. TROUBLESHOOTING
8.2 Troubleshooting at power on
POINT
Refer to section 15.4.2 for MR-J3W-0303BN6.
When the servo system does not boot and system error occurs at power on of the servo system controller,
improper boot of the servo amplifier might be the cause. Check the display of the servo amplifier, and take
actions according to this section.
Display
AA
Description
Communication with the
servo system controller is
disconnected.
Cause
Checkpoint
Action
The power of the servo
system controller is
turned off.
Check the power of the servo system
controller.
Switch on the power of the
servo system controller.
SSCNET cable has
breakage.
"AA" is displayed in the corresponding
axis and following axes.
Replace the SSCNET cable
of the corresponding axis.
Check if the connectors (CNIA, CNIB)
are unplugged.
Connect properly.
"AA" is displayed in an axis and the
following axes.
Check the power of the servo
amplifier.
The power of the servo
amplifier is turned off.
Replace the servo amplifier of
the corresponding axis.
AB
BOA
BOB
Initialization communication Axis No. is set
with the servo system
incorrectly.
controller is not completed. Axis No. does not match
with the axis No. set to
the servo system
controller.
The system is in the test
operation mode.
Check that the other servo amplifier is
not assigned to the same axis No.
Correct the setting.
Check the setting and axis No. of the
servo system controller.
Correct the setting.
Information about the
servo series is not set in
the positioning module.
Check the value set in Servo series
(Pr.100) in the positioning module.
Correct the setting.
One axis setting is
selected when using
MR-J3W.
Check that 2 axes setting is selected in Correct the setting.
the servo system controller.
Communication cycle
does not match.
Check the communication cycle at the
servo system controller side.
When using 8 axes or less: 0.444ms
When using 16 axes or less: 0.888ms
Correct the setting.
SSCNET cable has
breakage.
"AB" is displayed in the corresponding
axis and following axes.
Replace the SSCNET cable
of the corresponding axis.
Check if the connectors (CNIA, CNIB)
are unplugged.
Connect properly.
The power of the servo
amplifier is turned off.
"AB" is displayed in an axis and the
following axes.
Check the power of the servo
amplifier.
The servo amplifier is
faulty.
"AB" is displayed in an axis and the
following axes.
Replace the servo amplifier of
the corresponding axis.
Test operation mode is
active.
Test operation setting switch (SW2-1)
is turned on.
Turn off the test operation
setting switch (SW2-1).
8- 3
8. TROUBLESHOOTING
8.3 Remedies for alarms
CAUTION
When any alarm has occurred, eliminate its cause, ensure safety, then reset the
alarm, and restart operation. Otherwise, injury may occur.
If an absolute position erase (25.1) occurred, always make home position setting
again. Not doing so may cause unexpected operation.
Shut off the main circuit power supply when alarms are occurring in both of the Aaxis and the B-axis. Otherwise, a regenerative transistor fault or the like may
overheat the regenerative resistor, causing a fire.
POINT
When any of the following alarms has occurred, do not deactivate the alarm and
resume operation repeatedly. To do so will cause the servo amplifier/servo motor
to fail. Remove the cause of occurrence, and leave a cooling time of more than 30
minutes before resuming operation. To protect the main circuit elements, any of
these servo alarms cannot be deactivated from the servo system controller until the
specified time elapses after its occurrence. Judging the load changing condition
until the alarm occurs, the servo amplifier calculates this specified time
automatically.
Regenerative error (30. )
Main circuit device overheat (45. )
Servo motor overheat (46. )
Overload 1 (50. )
Overload 2 (51. )
The alarm can be deactivated by switching power off, then on or by the error reset
command CPU reset from the servo system controller. For details, refer to section
8.1.
When an alarm occurs, the malfunction (ALM-A/ALM-B) switches off and the dynamic brake is operated to stop
the servo motor. At this time, the display indicates the alarm No.
The servo motor comes to a stop. Remove the cause of the alarm in accordance with this section. Use the MR
Configurator to refer to a factor of alarm occurrence.
8- 4
8. TROUBLESHOOTING
Alarm No.10
Name: Undervoltage
Alarm description
Stop method: All axes stop
Voltage of the control circuit power has dropped.
Voltage of the main circuit power has dropped.
Display
Name
Cause
10.1
Voltage drop in
the control circuit
power
(1) Connector for the control
circuit power is
disconnected or poorly
connected.
Check the connector of
the control circuit power.
(2) Voltage of control circuit
power is low.
Check if the control circuit 160VAC or less.
power voltage is 160VAC
or less.
Over 160VAC.
Check (3).
(3) Instantaneous control
circuit power failure of
60ms or longer.
Check the power supply
for a problem.
Problem found.
Check the power
supply.
(1) Connector for the main
circuit power is
disconnected.
Check the connector of
the main circuit power.
Disconnected.
Connect properly.
No problem found.
Check (2).
(2) Voltage of main circuit
power is low.
Check if the main circuit
power voltage is 160VAC
or less.
160VAC or less.
Increase the voltage in
the main circuit power.
Over 160VAC.
Check (3) and (4).
(3) Voltage drops during
acceleration.
Check if the bus voltage
is 200VDC or more
during acceleration.
Below 200VDC.
Set acceleration time
longer or increase the
power supply
capacity.
(4) Servo amplifier is faulty.
Check the bus voltage
using MR Configurator.
The main circuit power Replace the servo
amplifier.
supply voltage is
160VAC, but the bus
voltage measured
using MR Configurator
is less than 200VDC.
10.2
Voltage drop in
the main circuit
power
Checkpoint
8- 5
Finding
Action
Disconnected or
poorly connected.
Connect properly.
No problem found.
Check (2).
Increase the voltage in
the control circuit
power.
8. TROUBLESHOOTING
Alarm No.11
Name: Switch setting error
Alarm description
Display
Name
Stop method: All axis stop
Rotary axis setting switch is incorrectly set.
DIP switch is incorrectly set.
Servo motor selection switch is incorrect set.
Cause
Checkpoint
Finding
Action
11.1
Rotary switch
setting error
(1) Rotary switch for axis
selection is set to "F".
Check the rotary switch
setting.
Setting is "F".
Set to the correct axis
No.
11.2
DIP switch
setting error
(1) Setting of manufacturer
setting DIP switch (SW22) is incorrect.
Check if manufacturer
setting DIP switch (SW22) is turned on.
DIP switch is on.
Turn off the
manufacturer setting
DIP switch (SW2-2).
11.3
Servo motor
selection switch
setting error
(1) Setting of servo motor
selection switch is
incorrect.
Check the DIP switch
(SW3) setting.
Rotary servo motor: off
Linear servo motor: on
Direct drive motor: on
DIP switch is
incorrectly set.
Correct the setting.
Setting is correct.
Check (2).
(2) Control mode is
incorrectly set by the
parameter.
Check the parameter No.
PA01 setting.
Rotary servo motor:
"
0 "
Linear servo motor:
"
4 "
Direct drive motor:
"
6 "
Parameter setting is
incorrect.
Correct the setting.
(1) Wrong encoder is
connected.
Check the servo motor/
linear encoder connection.
Rotary servo motor:
servo motor
Linear servo motor:
linear encoder
Direct drive motor: on
Wrong motor/encoder
is connected.
Correct the setting.
11.4
Servo motor
selection switch
setting error 2
(2) Setting of servo motor
selection switch is
incorrect.
Check the DIP switch
(SW3) setting.
Rotary servo motor: off
Linear servo motor: on
8- 6
Right motor/encoder is Check (2).
connected.
Set value is incorrect.
Correct the setting.
8. TROUBLESHOOTING
Alarm No.12
Name: Memory error 1 (RAM)
Alarm description
Display
12.1
12.2
Name
Cause
CPU built-in RAM (1) Part in the servo amplifier
error
is faulty.
CPU data RAM
error
Stop method: All axes stop
Interior part of the servo amplifier (CPU) is faulty.
Interior part of the servo amplifier (custom IC) is faulty.
Checkpoint
Finding
Action
Unplug all cables except
the control circuit power
supply cable, and check
the reproducibility of the
error.
Reproduced.
Replace the servo
amplifier.
Not reproduced.
Check (2).
(2) Fault is generated from
the surrounding
environment.
Check the power supply
for noise.
Check that the connector
is not shorted.
Problem found.
Take countermeasure
according to the
cause.
(1) Part in the servo amplifier
is faulty.
Examine checkpoints described in the alarm display "12.1".
(2) Fault is generated from
the surrounding
environment.
12.3
Custom IC RAM
error
(1) Part in the servo amplifier
is faulty.
(2) Fault is generated from
the surrounding
environment.
Alarm No.13
Name: Clock error
Alarm description
Display
13.1
Name
Clock error
Stop method: All axes stop
Fault is found in the printed board.
There is a clock error transmitted from the controller.
Cause
(1) Printed board is faulty.
(2) Parts are faulty.
Checkpoint
Finding
Unplug all cables except
Reproduced.
the power supply cable,
and check the
Not reproduced.
reproducibility of the error.
(3) Clock error transmitted
from the controller.
Error occurs when
connected with the
controller.
(4) Fault is generated from
the surrounding
environment.
Check the power supply
for noise.
Check that the connector
is not shorted.
Check for the fault of the
rear axis amplifier.
8- 7
Action
Replace the servo
amplifier.
Check (3).
Error occurs.
Replace the controller.
Error does not occur.
Check (4).
Problem found.
Take countermeasure
according to the
cause.
8. TROUBLESHOOTING
Alarm No.15
Name: Memory error 2 (EEP-ROM)
Alarm description
Display
15.1
Name
EEP-ROM error
at power on
Stop method: All axes stop
Interior part of the servo amplifier (EEP-ROM) is faulty.
Cause
(1) EEP-ROM operates
abnormally at power on
(2) Fault is generated from
the surrounding
environment.
Checkpoint
Unplug all cables except
Reproduced.
the power supply cable,
and check the
Not reproduced.
reproducibility of the error.
Check that the power
supply does not have
noise.
Check that the connector
is not shorted.
(3) The number of parameter Check if parameter
settings are changed
write times is more than
frequently.
100,000 times.
15.2
EEP-ROM error
during operation
Alarm No.16
16.1
Name
Encoder receive
data error 1
Cause
(1) Encoder cable is faulty.
(3) Servo amplifier is faulty.
Encoder receive
data error 2
Action
Replace the servo
amplifier.
Check (2).
Problem found.
Take countermeasure
according to the
cause.
No problem found.
Check (3).
Changed.
Change parameters
less frequently.
Error occurs.
Replace the servo
amplifier.
Stop method: Corresponding axis stops
Error occurs in the communication between the encoder and the servo amplifier.
(2) Fault is generated from
the surrounding
environment.
16.2
Check if the error occurs
when parameter is
changed during normal
operation.
Name: Encoder initial communication error 1
Alarm description
Display
(1) EEP-ROM operates
abnormally during normal
operation.
Finding
(1) Encoder cable is faulty.
(2) Fault is generated from
the surrounding
environment.
(3) Replace the servo
amplifier.
Checkpoint
Check the shield.
Finding
Action
Repair the cable.
Check (2).
Take countermeasure
Check for noise,
according to the
surrounding air
cause.
temperature, and other
factors.
No problem found.
Check (3).
Check the reproducibility Reproduced.
Replace the servo
of the error.
amplifier.
Not reproduced.
Examine checkpoints
described in the alarm
display "16.3".
Examine checkpoints described in the alarm display "16.1".
8- 8
Problem found.
No problem found.
Problem found.
8. TROUBLESHOOTING
Alarm No.16
Name: Encoder initial communication error 1
Alarm description
Display
16.3
Name
Encoder receive
data error 3
Cause
Checkpoint
(1) When using only one
axis, select the motorless operation for the axis
to which the servo motor
is not connected.
(2) The encoder cable is
unplugged.
Check if parameter No.
PC05 is set to motor-less
operation for the unused
axis.
Motor-less operation is Select motor-less
not set.
operation
Motor-less operation is Check (2).
set.
Check if the encoder
cable is connected
properly.
(3) Encoder cable is faulty.
Check for breakage and
short of the encoder
cable.
Check the shield.
Check the parameter No.
PC04 setting.
Two-wire type: "00
"
Four-wire type: "10
"
Connect to a properly
operating servo motor.
Not connected
properly.
Connected properly.
Problem found.
(4) Two-wire/four-wire type
parameter setting is
incorrect.
(5) Signal from the encoder
cannot be received.
(6) Servo amplifier is faulty.
16.5
(7) Fault is generated from
the surrounding
environment.
(1) Encoder cable is faulty.
Encoder
transmission data
error 1
(2) Fault is generated from
the surrounding
environment.
(3) Encoder is faulty.
16.6
16.7
Stop method: Corresponding axis stops
Error occurs in the communication between the encoder and the servo amplifier.
Encoder
(1) Encoder cable is faulty.
transmission data (2) Fault is generated from
error 2
the surrounding
environment.
(3) Encoder is faulty.
(1) Encoder cable is faulty.
Encoder
transmission data (2) Fault is generated from
error 3
the surrounding
environment.
(3) Encoder is faulty.
Finding
Check for noise, and
other factors.
Connect properly.
No problem found.
Check (3).
Repair or replace the
cable.
Check (4).
Setting is incorrect.
Correct the setting.
Normal.
Check (5).
Alarm does not occur.
Replace the servo
motor.
Check (6).
Replace the servo
amplifier.
Check (7).
Take countermeasure
according to the
cause.
Repair the cable.
Check (2).
Take countermeasure
according to the
cause.
Check (3).
Replace the servo
motor.
Alarm occurs.
Not reproduced.
Replace the servo
amplifier and check the
reproducibility of the error. Reproduced.
Check for noise, and
Problem found.
other factors.
Check the shield.
Action
Problem found.
No problem found.
Problem found.
No problem found.
Replace the servo motor Error is not
reproduced.
and check the
reproducibility of the error.
Examine checkpoints described in the alarm display "16.5".
Examine checkpoints described in the alarm display "16.5".
8- 9
8. TROUBLESHOOTING
Alarm No.17
Name: Board error
Alarm description
Display
17.1
17.2
Name
AD converter
error
Current feedback
data error
Stop method: All axes stop
Interior part of the servo amplifier is faulty.
Cause
Checkpoint
Finding
Action
(1) Current detection circuit
error
Check the reproducibility Reproduced.
of error at power on of the
servo.
Not reproduced.
(2) Fault is generated from
the surrounding
environment.
Check for noise,
surrounding air
temperature, and other
factors.
(1) Current detection circuit
error.
Examine checkpoints described in the alarm display "17.1".
Problem found.
Replace the servo
amplifier.
Check (2).
Take countermeasure
according to the
cause.
(2) Fault is generated from
the surrounding
environment.
17.3
Custom IC error
(1) Current detection circuit
error.
(2) Fault is generated from
the surrounding
environment.
Reproduced.
Replace the servo
amplifier.
17.4
Amplifier
detection signal
error
(1) Amplifier detection signal
cannot be read properly.
Unplug all cables except
the control circuit power
supply cable, and check
the reproducibility of the
error.
17.5
Rotary switch
error
(1) Rotary switch setting
cannot be read properly.
Examine checkpoints described in the alarm display "17.4".
17.6
DIP switch error
(1) DIP switch (SW2 and
SW3) setting cannot be
read properly.
Examine checkpoints described in the alarm display "17.4".
Alarm No.19
Name: Memory error 3 (Flash-ROM)
Alarm description
Stop method: All axes stop
Interior part of the servo amplifier (FLASH-ROM) is faulty.
Display
Name
19.1
Flash-ROM error
1
(1) Flash-ROM is faulty.
Cause
Unplug all cables except
the control circuit power
supply cable, and check
the reproducibility of the
error.
Checkpoint
19.2
Flash-ROM error
2
(1) Flash-ROM is faulty.
Examine checkpoints described in the alarm display "19.1".
8 - 10
Finding
Reproduced.
Action
Replace the servo
amplifier.
8. TROUBLESHOOTING
Alarm No.1A
Name: Motor combination error
Alarm description
Display
1A.1
Name
Cause
(3) A servo motor that needs
parameter No.Po04
setting is being used.
Alarm No.1E
Display
Name
Encoder failure
Alarm No.1F
Check the parameter
No.Po04 setting.
Name
Incompatible
encoder
Finding
Action
Combination is
incorrect.
Use in the right
combination.
Combination is
correct.
Check (2).
Rotary servo motor is
selected.
Check the
combination, then
check (3).
Linear servo motor is
selected.
Select a rotary servo
motor.
The setting is
incorrect.
Correct the setting.
Stop method: Corresponding axis stops
Encoder is faulty.
Cause
Checkpoint
Finding
(1) Encoder is faulty.
Replace the servo motor Reproduced.
and check the
reproducibility of the error. Not reproduced.
(2) Fault is generated from
the surrounding
environment.
Check for noise and
surrounding air
temperature.
Name: Encoder initial communication error 3
Alarm description
1F.1
Check the parameter No.
PA01 setting.
Rotary servo motor:
"
0 "
Linear servo motor:
"
4 "
Name: Encoder initial communication error 2
Alarm description
Display
Checkpoint
Check the model name of
Motor
(1) Servo amplifier is
connected to an incorrect the servo motor and its
combination error
servo motor or vice versa. combination with the
servo amplifier.
(2) Linear servo setting is
selected in the
parameter.
1E.1
Stop method: Corresponding axis stops
Combination of servo amplifier and servo motor is incorrect.
Problem found.
Action
Replace the servo
motor.
Check (2).
Take countermeasure
according to the
cause.
Stop method: Corresponding axis stops
Connected encoder is not compatible.
Cause
(1) Incompatible servo motor
(linear encoder) is
connected to the servo
amplifier.
Checkpoint
Finding
Action
Replace the servo
Check the model name of Incompatible servo
motor (linear encoder). motor (linear
the servo motor (linear
encoder).
encoder).
8 - 11
8. TROUBLESHOOTING
Alarm No.20
Name: Encoder normal communication error 1
Alarm description
Display
20.1
Name
Encoder receive
data error 1
Cause
(1) Encoder cable is faulty.
(2) Fault is generated from
the surrounding
environment.
(3) Servo amplifier is faulty.
20.2
Encoder receive
data error 2
20.3
Encoder receive
data error 3
(1) Encoder cable is faulty.
(2) Fault is generated from
the surrounding
environment.
(3) Servo amplifier is faulty.
(1) The encoder cable is
unplugged.
(2) Encoder cable is faulty.
Checkpoint
Problem found.
No problem found.
Problem found.
Check if the encoder
cable is connected
properly.
Not connected
properly.
Connected properly.
Problem found.
(1)
Encoder
transmission data
error 1
(2)
(3)
20.6
20.7
(1)
Encoder
transmission data
error 2
(2)
(3)
(1)
Encoder
transmission data
error 3
(2)
(3)
Action
Repair the cable.
Check (2).
Take countermeasure
Check for noise,
according to the
surrounding air
cause.
temperature, and other
factors.
No problem found.
Check (3).
Not reproduced.
Replace the servo
Replace the servo
amplifier.
amplifier and check the
reproducibility of the error. Reproduced.
Examine checkpoints
described in the alarm
display "20.3".
Examine checkpoints described in the alarm display "20.1".
Check for breakage and
short of the encoder
cable.
No problem found.
Problem found.
Connect properly.
Check (2).
Repair or replace the
cable.
Check (3).
Take measures
against noise.
Check (4).
Replace the servo
amplifier.
Check (5).
Take countermeasure
according to the
cause.
No problem found.
Not reproduced.
Replace the servo
amplifier and check the
reproducibility of the error. Reproduced.
Check for external noise, Problem found.
Fault is generated from
surrounding air
the surrounding
temperature, and other
environment.
factors.
Problem found.
Repair the cable.
Improper shield treatment Check the shield
of encoder cable.
treatment.
No problem found.
Check (2).
Check for noise, and
Problem found.
Take countermeasure
Fault is generated from
other factors.
according to the
the surrounding
cause.
environment.
No problem found.
Check (3).
Replace the servo
Encoder is faulty.
Replace the servo motor Error is not
reproduced.
motor.
and check the
reproducibility of the error.
Improper shield treatment Examine checkpoints described in the alarm display "20.5".
of encoder cable.
Fault is generated from
the surrounding
environment.
Encoder is faulty.
Improper shield treatment Examine checkpoints described in the alarm display "20.5".
of encoder cable.
Fault is generated from
the surrounding
environment.
Encoder is faulty.
(4) Servo amplifier is faulty.
(5)
Finding
Check the shield.
(3) Improper shield treatment Check the shield
treatment.
of encoder cable.
20.5
Stop method: Corresponding axis stops
Error is found in the communication between the encoder and the servo amplifier.
8 - 12
8. TROUBLESHOOTING
Alarm No.21
Name: Encoder normal communication error 2
Alarm description
Display
21.1
Name
Encoder data
error
Stop method: Corresponding axis stops
Error is found in the encoder data.
Cause
Checkpoint
Finding
Decrease the loop gain,
(1) High acceleration rate is
Not reproduced.
and check the
detected in the encoder
because of oscillation and reproducibility of the error. Reproduced.
other factors.
(2) Fault is generated from
the surrounding
environment.
Check for noise and other Problem found.
factors.
(3) Encoder is faulty.
Replace the servo motor Error is not
and check the
reproduced.
reproducibility of the error. Error is reproduced.
No problem found.
21.2
Encoder data
update error
Alarm No.24
24.1
24.2
Replace the servo motor Rotation motor.
and check the
reproducibility of the error.
Name: Main circuit error
Alarm description
Display
(1) Encoder is faulty.
Name
Ground fault
detected at
hardware
detection circuit
Action
Use the encoder with
low loop gain.
Check (2).
Take countermeasure
according to the
cause.
Check (3).
Replace the servo
motor.
Contact your local
sales office.
Replace the servo
motor.
Stop method: All axes stop
Ground fault occurs at servo motor power cable of the servo amplifier.
Ground fault occurs at servo motor.
Cause
(1) Servo amplifier is faulty.
Checkpoint
Finding
Check this alarm appears Appears.
even when power cable
(U, V and W) is
Does not appear.
disconnected.
(2) Short or ground fault
occurs at servo motor
power cable.
Check if only the power
cable is shorted (among
U, V, W and ).
(3) Ground fault occurs at
servo motor.
Disconnect power cables
on motor side, and check
insulation of the motor
(among U, V, W and ).
Check (2).
Shorted.
Replace the power
cable.
Not shorted.
Check (3).
Shorted.
Replace the servo
motor.
Not shorted.
Check (4).
(4) Power input cable and
servo motor power cable
are shorted.
Shut off the power, and
In contact.
check if power input cable
and servo motor power
Not in contact.
cable are in contact.
(5) Fault is generated from
the surrounding
environment.
Check for noise and other Problem found.
factors.
(1) Servo amplifier is faulty.
Ground fault
detected at
(2) Short or ground fault
software
occurs at servo motor
detection function
power cable.
Action
Replace the servo
amplifier.
Modify the wiring.
Check (5).
Take countermeasure
according to the
cause.
Examine checkpoints described in the alarm display "24.1".
(3) Ground fault occurs at
servo motor.
(4) Power input cable and
servo motor power cable
are shorted.
(5) Fault is generated from
the surrounding
environment.
8 - 13
8. TROUBLESHOOTING
Alarm No.25
Name: Absolute position erase
Alarm description
Display
Name
25.1
Absolute position
data erase
Cause
(1) Power is switched on for
the first time in the
absolute position
detection system.
Not performed.
Check (2).
Performed.
Check the battery is
installed and make
home position return.
Not performed.
Check (3).
Below 3.0VDC.
Contact your local
sales office.
3.0VDC or more.
Check (4).
Problem found.
Replace the battery
cable.
No problem found.
Check (5).
Problem found.
Repair or replace
encoder cable.
No problem found.
Check (6).
(6) Encoder is faulty.
30.1
Check the battery voltage
using a tester.
Check for poor contact
using a tester.
Check for poor contact
using a tester.
Check the voltage on the
motor side.
Check if the voltage drops Drops.
even when new battery is
connected.
Name: Regenerative error
Name
Regeneration
heat error
Action
Check if the action stated
(2) Battery is removed
in the left is performed.
(replaced) when the
control circuit power is off.
(5) Encoder cable is faulty.
Alarm description
Finding
Performed.
(4) The battery cable is
faulty.
Display
Checkpoint
Check if the action stated
in the left is performed.
(3) Battery voltage is low.
(Battery is consumed.)
Alarm No.30
Stop method: Corresponding axis stops
Error is found in absolute position data.
Power is switched on for the first time in the absolute position detection system.
Check the battery is
installed and make
home position return.
Replace the servo
motor.
Stop method: All axes stop
Permissible regenerative power of the built-in regenerative resistor or regenerative option is exceeded.
Regenerative transistor in the servo amplifier is faulty.
Cause
(1) Regenerative resistor
(regenerative option)
setting is incorrect.
(2) Regenerative resistor
(regenerative option) is
not connected.
(3) Power supply voltage is
high.
Checkpoint
Check the regenerative
resistor (regenerative
option) in use and PA02
setting.
Check if the regenerative
resistor (regenerative
option) is properly
connected.
Check the input power
supply voltage.
(4) Regenerative load ratio is
over 100 .
Check the regenerative
load ratio with MR
Configurator when alarm
occurs.
30.2
Regenerative
transistor error
(1) Regenerative transistor is
faulty.
Check if the regenerative
resistor (regenerative
option) is overheated
abnormally.
30.3
Regenerative
transistor
feedback data
error
(1) Detection circuit of the
servo amplifier is faulty.
Disconnect wires that are
connected to P and N,
and then drive the servo
amplifier.
8 - 14
Finding
The setting is
incorrect.
Correct the setting.
Not connected
properly.
Connected properly.
230VAC or more.
Below 230VAC.
Over 100 .
Overheated
abnormally.
Not overheated
abnormally.
Alarm occurs.
Action
Correct the setting.
Check (2).
Connect properly.
Check (3).
Lower the power
supply voltage.
Check (4).
Reduce the frequency
of positioning.
Increase the
deceleration time
constant.
Reduce the load.
Use a regenerative
option if not being
used.
Replace the servo
amplifier.
Contact your local
sales office.
Replace the servo
amplifier.
8. TROUBLESHOOTING
Alarm No.31
Name: Overspeed
Alarm description
Display
31.1
Name
Abnormal motor
speed
Stop method: Corresponding axis stops
Servo motor speed exceeds the instantaneous permissible speed.
Cause
(1) The command from the
controller is excessive.
Checkpoint
The command from the
controller is over the
permissible speed range.
Action
Permissible rotation
speed or larger.
Review the operation
pattern.
Within the permissible
rotation speed.
Check (2).
Operating at
maximum torque.
Set acceleration time
longer or reduce the
load.
Operating below
maximum torque.
Check (3).
Oscillation is
occurring.
Execute auto tuning to
adjust the servo
system, or reduce the
load.
Oscillation is not
occurring.
Set acceleration time
constant longer.
Acceleration time
constant is too short
causing overshoot.
Overshoot occurs.
Set acceleration time
constant longer.
Overshoot does not
occur.
Check (5).
Check if alarm occurs
when the actual speed is
lower than instantaneous
permissible speed.
Alarm occurs.
Replace the servo
motor.
Acceleration torque is
(2) Overshoot of speed
occurs as the motor starts clamped to the maximum
torque.
in the maximum torque.
(3) Servo system is instable
and causing oscillation.
Finding
Check for oscillation in
motor.
Check (4).
(4) Overshoot of velocity
waveform occurs.
(5) Encoder is faulty.
8 - 15
8. TROUBLESHOOTING
Alarm No.32
Name: Overcurrent
Alarm description
Display
32.1
32.2
Name
Overcurrent
detected at
hardware
detection circuit
(during
operation).
Stop method: All axes stop
Current that flew is the permissible current of the servo amplifier or higher.
Cause
(1) Servo amplifier is faulty.
Checkpoint
Check if this alarm
appears even when
power cable (UVW) is
disconnected.
Finding
Action
Appears.
Replace the servo
amplifier.
Does not appear.
Check (2).
Shorted.
Replace the power
cable.
(2) Short or ground fault
occurs at servo motor
power cable.
Check if only the power
cable is shorted.
Not shorted.
Check (3).
(3) Servo motor is faulty.
Disconnect power cables
on the servo motor side,
and check insulation of
the motor (among U, V,
W, FG).
Ground fault occurs at
the servo motor.
Replace the servo
motor.
Ground fault does not
occur at the servo
motor.
Check (4).
(4) Overcurrent is mistakenly
detected from the surge
noise in the dynamic
brake operation.
Check if the dynamic
brake is applied once in
10 minutes or more
frequently while the servo
motor is running.
Applied.
Apply the dynamic
brake less frequently
than once in 10
minutes.
Not applied.
Check (5).
(5) Fault is generated from
the surrounding
environment.
Check for noise and other Problem found.
factors.
Take countermeasure
according to the
cause.
Check for vibration.
Vibration is occurring.
Set speed loop gain
smaller.
Vibration is not
occurring.
Check (2).
(1) Servo gain is high.
Overcurrent
detected at
software
detection function
(during
(2) Servo amplifier is faulty.
operation).
(3) Short or ground fault
occurs at servo motor
power cable.
Examine checkpoints described in the alarm display "32.1".
(4) Servo motor is faulty.
(5) Fault is generated from
the surrounding
environment.
32.3
Overcurrent
detected at
hardware
detection circuit
(during a stop).
(1) Servo amplifier is faulty.
Examine checkpoints described in the alarm display "32.1".
(2) Short or ground fault
occurs at servo motor
power cable.
(3) Servo motor is faulty.
(4) Fault is generated from
the surrounding
environment.
32.4
(1) Servo gain is high.
Overcurrent
detected at
(2) Servo amplifier is faulty.
software
(3) Short or ground fault
detection function
occurs at servo motor
(during a stop).
power cable.
Examine checkpoints described in the alarm display "32.2".
(4) Servo motor is faulty.
(5) Fault is generated from
the surrounding
environment.
8 - 16
8. TROUBLESHOOTING
Alarm No.33
Name: Overvoltage
Alarm description
Display
33.1
Name
Main circuit
voltage error
Stop method: All axes stop
Bus voltage exceeds 400VDC.
Cause
Checkpoint
(1) Although the regenerative Check the parameter No.
option is used, the
PA02 setting.
parameter setting is
incorrect.
Finding
Action
Setting is incorrect.
Correct the setting.
Setting is correct.
Check (2).
(2) Lead of built-in
regenerative resistor or
regenerative option has
breakage or
disconnected.
Check the wiring and the
lead of regenerative
resistor (regenerative
option).
Has breakage or
disconnected.
Connect properly.
Normal.
Check (3).
(3) Check the status of
regenerative resistor
(regenerative option).
Check the resistance.
Regenerative resistor
(regenerative option)
is abnormal.
When using built-in
regenerative resistor,
replace the servo
amplifier.
When using a
regenerative option,
replace the
regenerative option.
Normal.
Check (4).
(4) Regeneration capacity
shortage.
Increase the deceleration
time constant, and check
the reproducibility of the
error.
Not reproduced.
Use a regenerative
option if not being
used.
Reproduced.
Check (5).
(5) Power supply voltage is
high.
Check the input power
supply voltage.
253VAC or more.
Make input voltage
smaller.
8 - 17
8. TROUBLESHOOTING
Alarm No.34
Name: SSCNET receive error 1
Alarm description
Display
Name
34.1
SSCNET receive
data error
SSCNET
Cause
Checkpoint
SSCNET
communication
connector
connection error
Finding
(1) SSCNET cable is
disconnected.
Check the SSCNET
cable connection.
(2) Tip of SSCNET
has dirt.
Wipe off the dirt from the Not reproduced.
cable tip, and check the
reproducibility of the error. Reproduced.
cable
Turn off the control
circuit power of servo
amplifier, and connect
the cable.
Connected.
Check (2).
Check the cable.
(4) Vinyl tape is stacked to
SSCNET cable, or
cable containing
migrating plasticizer is
adhered to the cable.
Check if the condition
stated in the left meets.
(5) Servo amplifier is faulty.
Replace the servo
Not reproduced.
amplifier and check the
reproducibility of the error. Reproduced.
Replace the servo
amplifier and front/rear
axes of the alarm
occurring axis, and check
the reproducibility of the
error.
Action
Disconnected.
(3) SSCNET cable is
broken or cut off.
(6) Servo amplifier in front or
rear axis of alarm
occurring axis is faulty.
34.2
Stop method: Corresponding axis stops
communication error (Continuous communication error for 3.5ms)
Take measure to keep
cable tip clean.
Check (3).
Problem found.
Replace the cable.
No problem found.
Check (4).
It meets.
Take countermeasure.
It does not meet.
Check (5).
Replace the servo
amplifier.
Check (6).
Reproduced in the
rear axis of the
corresponding axis.
Replace the servo
amplifier.
Not reproduced.
Check (7).
(7) Fault is generated from
the surrounding
environment.
Check for noise and other Problem found.
factors.
(1) SSCNET cable is
disconnected.
Examine checkpoints described in the alarm display "34.1".
(2) Tip of SSCNET
has dirt.
cable
(3) SSCNET cable is
broken or cut off.
(4) Vinyl tape is stacked to
SSCNET cable, or
cable containing
migrating plasticizer is
adhered to the cable.
(5) Servo amplifier is faulty.
(6) Servo amplifier in front or
rear axis of alarm
occurring axis is faulty.
(7) Fault is generated from
the surrounding
environment.
8 - 18
Take countermeasure
according to the
cause.
8. TROUBLESHOOTING
Alarm No.34
Name: SSCNET receive error 1
Alarm description
Display
Name
34.3
Communication
data error
34.4
Hardware error
signal detection
Alarm No.35
35.1
Stop method: Corresponding axis stops
communication error (Continuous communication error for 3.5ms)
Cause
(1) SSCNET cable is
disconnected.
(2) Tip of SSCNET cable
has dirt.
(3) SSCNET cable is
broken or cut off.
(4) Vinyl tape is stacked to
SSCNET cable, or
cable containing
migrating plasticizer is
adhered to the cable.
(5) Servo amplifier is faulty.
(6) Servo amplifier in front or
rear axis of alarm
occurring axis is faulty.
(7) Fault is generated from
the surrounding
environment.
(1) SSCNET cable is
disconnected.
(2) Tip of SSCNET cable
has dirt.
(3) SSCNET cable is
broken or cut off.
(4) Vinyl tape is stacked to
SSCNET cable, or
cable containing
migrating plasticizer is
adhered to the cable.
(5) Servo amplifier is faulty.
(6) Servo amplifier in front or
rear axis of alarm
occurring axis is faulty.
(7) Fault is generated from
the surrounding
environment.
Checkpoint
Name
Command
frequency error
Finding
Action
Examine checkpoints described in the alarm display "34.1".
Examine checkpoints described in the alarm display "34.1".
Name: Command frequency error
Alarm description
Display
SSCNET
Stop method: Corresponding axis stops
Input pulse frequency of command pulse is too high.
Cause
(1) Command given is the
maximum speed of the
servo motor or higher.
Checkpoint
Check the speed
command.
(2) Servo amplifier is faulty.
Finding
Speed command is
too high.
Speed command is
within the setting
range.
Not reproduced.
Replace the servo
amplifier, and check the
reproducibility of the error. Reproduced.
(3) Servo system controller is Replace the servo system Not reproduced.
faulty.
controller, and check the
reproducibility of the error. Reproduced.
Problem found.
Check for noise,
(4) Fault is generated from
surrounding air
the surrounding
temperature, and other
environment.
factors.
8 - 19
Action
Review the operation
pattern.
Check (2).
Replace the servo
amplifier.
Check (3).
Replace the servo
system controller.
Check (4).
Take countermeasure
according to the
cause.
8. TROUBLESHOOTING
Alarm No.36
Name: SSCNET receive error 2
Alarm description
Display
36.1
Name
Continuous
communication
data error
Alarm No.37
37.1
37.2
Stop method: Corresponding axis stops
communication error (Continuous communication error for about 70ms.)
Cause
Checkpoint
Name
Finding
Action
(1) SSCNET cable is
disconnected.
Check the cable
connection.
Disconnected.
Turn off the power of
servo amplifier, and
connect the cable.
Connected properly.
Check (2).
(2) Tip of SSCNET
has dirt.
Wipe off the dirt from the
cable tip, and check
reproducibility.
Not reproduced.
Take measure to keep
cable tip clean.
Reproduced.
Check (3).
cable
(3) SSCNET cable is
broken or cut off.
Check the cable.
(4) Vinyl tape is stacked to
SSCNET cable, or
cable containing
migrating plasticizer is
adhered to the cable.
Check if the condition
stated in the left meets.
(5) Servo amplifier is faulty.
Replace the servo
Not reproduced.
amplifier and check the
reproducibility of the error. Reproduced.
Problem found.
Replace the cable.
No problem found.
Check (4).
Meets.
Take countermeasure.
Does not meet.
Check (5).
Replace the servo
amplifier.
Check (6).
(6) Servo amplifier in front or
rear axis of alarm
occurring axis is faulty.
Replace front and rear
axes of alarm occurring
axis, and check the
reproducibility of the error.
Reproduced in the
rear axis of the
corresponding axis.
Replace the servo
amplifier.
Not reproduced.
Check (7).
(7) Fault is generated from
the surrounding
environment.
Check for noise, etc.
Problem found.
Take countermeasure
according to the
cause.
Name: Parameter error
Alarm description
Display
SSCNET
Stop method: Corresponding axis stops
Settings in the servo amplifier are incorrect.
Cause
Parameter setting (1) There is a parameter of
range error
which value is set outside
of the setting range.
Checkpoint
Check the parameter
number, and check the
setting of the controller.
Finding
Outside of the range.
Change parameter
value to within the
setting range.
Within the range.
Check (2).
Abnormal values are
written.
Replace the servo
amplifier.
Values are written
correctly.
Check (3).
(2) EEP-ROM fault caused
by parameter write times
over.
Write parameter values
within the setting range,
and check that values are
written correctly.
(3) Servo amplifier fault
caused the parameter
setting to be rewritten.
Not reproduced.
Replace the servo
amplifier and check the
reproducibility of the error.
Parameter
(1) One parameter setting
combination error
contradicts another.
Check parameter
numbers, and check the
setting values.
8 - 20
Action
Problem found in the
setting values.
Use the newly
replaced servo
amplifier.
Correct the setting
value.
8. TROUBLESHOOTING
Alarm No.45
Name: Main circuit device overheat
Alarm description
Display
45.1
Name
Main circuit
abnormal
temperature
Stop method: All axes stop
Inside of the servo amplifier overheats.
Cause
(1) Surrounding air
temperature is over 55 .
Checkpoint
Finding
Surrounding air
Check that surrounding
air temperature is 55 or temperature is over
55 .
less.
Surrounding air
temperature is 55
less.
(2) Specification of close
mounting is not met.
45.5
Action
Lower the surrounding
air temperature.
Check (2).
or
Check the specification of Specification not met.
close mounting.
Use according to the
specification.
Specification met.
Check (3).
Occurred many times.
Review the operation
method.
Did not occur.
Check (4).
(3) The power supply was
turned on and off
continuously by
overloaded status.
Check if overloaded
status occurred many
times.
(4) Foreign matter caught in
cooling fan or heat sink.
Clean the cooling fan and Not reproduced.
heat sink, and check the
reproducibility of the error. Reproduced.
Check (5).
(5) Servo amplifier is faulty.
Not reproduced.
Replace the servo
amplifier and check the
reproducibility of the error.
Use a properly
operating servo
amplifier.
Board
(1) Surrounding air
temperature error
temperature is over 55 .
Clean periodically.
Examine checkpoints described in the alarm display "45.1".
(2) Specification of close
mounting is not met.
(3) The power supply was
turned on and off
continuously by
overloaded status.
(4) Foreign matter caught in
cooling fan or heat sink.
(5) Servo amplifier is faulty.
Alarm No.46
Name: Servo motor overheat
Alarm description
Stop method: Corresponding axis stops
Servo motor overheats abnormally.
Display
Name
Cause
46.1
Encoder thermal
sensor error
(1) Surrounding air
temperature of the servo
motor is over 40 .
Checkpoint
Finding
Check the surrounding air Surrounding air
temperature of the servo temperature is over
40 .
motor.
Surrounding air
temperature is 40
less.
(2) Servo motor is
overloaded.
(3) Thermal sensor in
encoder is faulty.
Action
Check the effective load
ratio with MR
Configurator.
Check the motor
temperature at alarm
occurrence.
8 - 21
Lower the surrounding
air temperature of the
servo motor.
Check (2).
or
Effective load ratio is
large.
Reduce the load or
review the operation
method.
Effective load ratio is
small.
Check (3).
Motor temperature is
low.
Replace the servo
motor.
8. TROUBLESHOOTING
Alarm No.47
Name: Cooling fan error
Alarm description
Display
47.1
Name
Cooling fan stop
error
Stop method: All axes stop
Cooling fan speed of the servo amplifier is decreased.
Cooling fan speed drops to the alarm level or lower.
Cause
(1) Foreign matter is caught
in the cooling fan.
Checkpoint
Check for foreign matter
caught in the cooling fan.
Remove the foreign
matter.
Foreign matter is not
caught.
Check (2).
Fan is stopped.
Replace the servo
amplifier.
Foreign matter is
caught.
Remove the foreign
matter.
Foreign matter is not
caught.
Check (2).
(2) Cooling fan life expiration. Check the cumulative
power supply time of the
servo amplifier.
Life is expired.
Replace the servo
amplifier.
Name: Overload 1
Stop method: Corresponding axis stops
Decreased
(1) Foreign matter is caught
cooling fan speed
in the cooling fan.
error
Alarm No.50
Alarm description
Display
50.1
Name
Action
Foreign matter is
caught.
(2) Cooling fan life expiration. Check if the fan is
stopped.
47.2
Finding
Check for foreign matter
caught in the cooling fan.
Load exceeds overload protection characteristic of servo amplifier.
Cause
Checkpoint
Finding
Action
Thermal overload (1) Electromagnetic brake is
activated.
error 1 during
operation
Check if the
electromagnetic brake is
activated.
Activated.
Review the wiring.
Not activated.
Check (2).
(2) Servo amplifier is used in
excess of its continuous
output current.
Check the effective load
ratio with MR
Configurator.
Effective load ratio is
large.
Reduce load.
Check operation
pattern.
Use servo motor that
provides larger output.
Effective load ratio is
small.
Check (3).
Oscillation is
occurring.
Adjust the gain.
Oscillation is not
occurring.
Check (4).
Not reset.
Reset the alarm after
sufficient cool-off time.
Reset.
Check (5).
(3) Servo system is instable
and causing oscillation.
Check for oscillation in
motor.
(4) After the overload alarm
has been output, the
operation is restarted
without having cool-off
time.
Check if the alarm is
reset after waiting 30
minutes or longer
subsequent to the output
of the alarm.
(5) Servo amplifier is faulty.
Not reproduced.
Replace the servo
amplifier, and check the
reproducibility of the error.
8 - 22
Replace the servo
amplifier.
8. TROUBLESHOOTING
Alarm No.50
Name: Overload 1
Alarm description
Display
50.2
Name
Stop method: Corresponding axis stops
Load exceeds overload protection characteristic of servo amplifier.
Cause
Thermal overload (1) Machine struck
error 2 during
something.
operation
(2) Power cable is cut.
Checkpoint
Finding
Action
Check if the machine
struck something.
Machine struck.
Review the operation
pattern.
Check the power cable.
Problem found.
Modify the wiring.
No problem found.
Check (3).
Problem found.
Perform wiring
correctly.
No problem found.
Check (4).
Machine did not strike. Check (2).
(3) Incorrect connections
to/from the servo motor.
Check the wiring of U, V
and W phases.
(4) Electromagnetic brake is
activated.
Examine checkpoints described in the alarm display "50.1".
(5) Servo amplifier is used in
excess of its continuous
output current.
(6) Servo system is instable
and causing oscillation.
(7) Servo amplifier is faulty.
(8) Encoder is faulty.
50.3
Thermal overload (1) Machine struck
error 4 during
something.
operation
(2) Power cable is cut.
Replace the servo motor, Not reproduced.
and check the
reproducibility of the error.
Replace the servo
motor.
Examine checkpoints described in the alarm display "50.2".
(3) Incorrect connections
to/from the servo motor
(4) Electromagnetic brake is
activated.
(5) Servo amplifier is used in
excess of its continuous
output current.
(6) Servo system is instable
and causing oscillation.
(7) Servo amplifier is faulty.
(8) Encoder is faulty.
8 - 23
8. TROUBLESHOOTING
Alarm No.50
Name: Overload 1
Alarm description
Display
50.4
50.5
Name
Stop method: Corresponding axis stops
Load exceeds overload protection characteristic of servo amplifier.
Cause
Checkpoint
Finding
Action
Thermal overload (1) Electromagnetic brake is
activated.
error 1 during a
stop
Check if the
electromagnetic brake is
activated during
operation.
Activated.
Review the wiring
Not activated.
Check (2).
(2) Servo amplifier is used in
excess of its continuous
output current.
Check the effective load
ratio with MR
Configurator.
Effective load ratio is
large.
Reduce load.
Check operation
pattern.
Use servo motor that
provides larger output.
Effective load ratio is
small.
Check (3).
Hunting occurs.
Adjust the gain.
Hunting does not
occur.
Check (4).
Not reset.
Reset the alarm after
sufficient cool-off time.
Reset.
Check (5).
(3) Hunting occurs during
servo lock.
Check for hunting.
(4) After the overload alarm
has been output, the
operation is restarted
without having cool-off
time.
Check if the alarm is
reset after waiting 30
minutes or longer
subsequent to the output
of the alarm.
(5) Servo amplifier is faulty.
Not reproduced.
Replace the servo
amplifier, and check the
reproducibility of the error.
Replace the servo
amplifier.
Check if the machine
struck something.
Machine struck.
Review the operation
pattern.
(2) Power cable is cut.
Check the power cable.
Problem found.
No problem found.
Check (3).
(3) Incorrect connections
to/from the servo motor.
Check the wiring of U, V
and W phases.
Problem found.
Perform wiring
correctly.
No problem found.
Check (4).
(4) Electromagnetic brake is
activated.
Examine checkpoints described in the alarm display "50.4".
Thermal overload (1) Machine struck
something.
error 2 during a
stop
Machine did not strike. Check (2).
Modify the wiring.
(5) Servo amplifier is used in
excess of its continuous
output current.
(6) Hunting occurs during a
stop.
(7) Servo amplifier is faulty.
(8) Encoder is faulty.
Replace the servo motor, Not reproduced.
and check the
reproducibility of the error.
8 - 24
Replace the servo
motor.
8. TROUBLESHOOTING
Alarm No.50
Name: Overload 1
Alarm description
Display Name
50.6
Stop method: Corresponding axis stops
Load exceeds overload protection characteristic of servo amplifier.
Cause
Checkpoint
Thermal overload (1) Machine struck
error 4 during a
something.
stop
(2) Power cable is cut.
Finding
Action
Examine checkpoints described in the alarm display "50.5".
(3) Incorrect connections
to/from the servo motor.
(4) Electromagnetic brake is
activated.
(5) Servo amplifier is used in
excess of its continuous
output current.
(6) Hunting occurs during a
stop.
(7) Servo amplifier is faulty.
(8) Encoder is faulty.
Alarm No.51
Name: Overload 2
Alarm description
Display
51.1
Name
Stop method: Corresponding axis stops
Machine collision or the like caused maximum output current to flow for several seconds continuously.
Cause
Thermal overload (1) Power cable is cut.
error 3 during
operation
(2) Incorrect connections
to/from the servo motor.
Checkpoint
Check the power cable.
Finding
Action
Misconnection found.
Modify the wiring.
Normal.
Check (2).
Problem found.
Modify the wiring.
No problem found.
Check (3).
(3) Misconnection of encoder Check the encoder cable
cable.
connection.
Problem found.
Check the cable
connection.
No problem found.
Check (4).
(4) Machine struck
something.
Check if the machine
struck something.
Machine struck.
Review the operation
pattern.
(5) Torque is saturated.
Check the torque during
the operation.
Torque is saturated.
Review the operation
pattern.
Torque is not
saturated.
Check (6).
Check the wiring of U, V
and W phases.
Machine did not strike. Check (5).
51.2
(6) Servo amplifier is faulty.
Replace the servo
Not reproduced.
amplifier, and check the
reproducibility of the error. Reproduced.
(7) Encoder is faulty.
Replace the servo motor, Not reproduced.
and check the
reproducibility of the error.
Thermal overload (1) Power cable is cut.
error 3 during a
(2) Incorrect connections
stop
to/from the servo motor.
Replace the servo
amplifier.
Check (7).
Replace the servo
motor.
Examine checkpoints described in the alarm display "51.1".
(3) Misconnection of encoder
cable.
(4) Machine struck
something.
(5) Torque is saturated.
(6) Servo amplifier is faulty.
(7) Encoder is faulty.
8 - 25
8. TROUBLESHOOTING
Alarm No.52
Name: Error excessive
Alarm description
Display
52.3
Name
Excess droop
pulse
Stop method: Corresponding axis stops
The droop pulses existing between the model position and the actual servo motor position exceeds the
alarm level.
Cause
Checkpoint
Check the power cable.
No connection (open
phase).
No problem found.
Check (2).
(2) Misconnection of the
servo motor.
Check the connection of
U, V and W phases.
Misconnection found.
Modify the wiring.
Misconnection not
found.
Check (3).
Modify the wiring.
(3) Misconnection of encoder Check the axis where
cable.
encoder cable is
connected.
Misconnection found.
Modify the wiring.
Misconnection not
found.
Check (4).
(4) Torque limit value is too
small.
Torque limit value is
small.
Increase the torque
limit value.
Within the setting
range.
Check (5).
Struck.
Review the operation
pattern.
Did not strike.
Check (6).
Torque is saturated.
Reduce load.
Check operation
pattern.
Use servo motor that
provides larger output.
Torque is not
saturated.
Check (7).
Bus voltage is low.
Review the power
supply voltage.
Bus voltage is high.
Check (8).
(6) Torque shortage.
Check the torque limit
value.
Check if the machine
struck something.
Check if the torque is
saturated.
(7) Equipment cannot be
Check the bus voltage
started because of torque using MR Configurator .
shortage caused by the
power supply voltage
drop.
Maximum
deviation at 0
torque limit
Action
(1) Power cable is cut.
(5) Machine struck
something.
52.4
Finding
(8) Acceleration/deceleration
time constant is too
small.
Set acceleration/
Not reproduced.
deceleration time longer,
and check the
Reproduced.
reproducibility of the error.
(9) Position loop gain is too
small.
Change the position loop Not reproduced.
gain, and check the
reproducibility of the error. Reproduced.
Review the position
loop gain.
(10) Servo motor shaft is
rotated by external force.
Measure the actual servo
motor position in the
servo lock status.
Motor moves.
Check the machine.
Does not move.
Check (11).
(11) Encoder is faulty.
Replace the servo motor Alarm does not occur.
and check the
reproducibility of the error.
Replace the servo
motor.
(1) Torque limit is set to 0.
Check the torque limit
value.
Increase the torque
limit value.
8 - 26
Torque limit is 0.
Review the operation
pattern.
Check (9).
Check (10).
8. TROUBLESHOOTING
Alarm No. 8A
Name: USB communication time-out error
Alarm description
Display
8A.1
Name
USB
communication
time-out error
Stop method: All axes stop
Communication between the servo amplifier and a communication device (PC, etc.) stops for the
specified time or longer.
Cause
(1) Communication
commands are not sent.
Checkpoint
Check if commands are
sent from the personal
computer.
Finding
Not sent.
Sent.
Alarm No. 8E
Display
8E.1
Not reproduced.
Replace the servo
amplifier, and check the
reproducibility of the error.
Name: USB communication error
Alarm description
Name
USB
communication
receive error
Send commands from
the personal
computer.
Check (2).
(2) USB cable has breakage. Replace the USB cable
Not reproduced.
and check the
reproducibility of the error. Reproduced.
(3) Servo amplifier is faulty.
Action
Replace the USB
cable.
Check (2).
Replace the servo
amplifier.
Stop method: All axes stop
USB communication error occurs between the servo amplifier and a communication device (PC, etc.)
Cause
Checkpoint
Finding
(1) USB cable is faulty.
Replace the USB cable
Not reproduced.
and check the
reproducibility of the error. Reproduced.
(2) Setting of communication
device (personal
computer, etc.) is
improper.
Check the
communication setting of
the communication
device.
(3) Servo amplifier is faulty.
Not reproduced.
Replace the servo
amplifier, and check the
reproducibility of the error.
Action
Replace the USB
cable.
Check (2).
Incorrect setting
found.
Review the setting.
Setting is correct.
Check (3).
Incorrect setting
found.
8E.2
USB
communication
checksum error
(1) Setting of communication
device (personal
computer, etc.) is
improper.
Check the
communication setting of
the communication
device.
8E.3
USB
communication
character error
(1) Character not in the
specification is
transmitted.
Check the character code Character not in the
at transmission.
specification is
transmitted.
Replace the servo
amplifier.
Review the setting.
Modify the send
command.
Only character in the
specification is
transmitted.
Check (2).
Modify transmission
data according to the
communication
protocol.
(2) Communication protocol
is faulty.
Check if transmission
data conforms the
communication protocol.
Does not conform.
Conforms.
Check (3).
(3) Setting of communication
device (personal
computer, etc.) is
improper.
Check the
communication setting of
the communication
device.
Incorrect setting
found.
Review the setting.
8 - 27
8. TROUBLESHOOTING
Alarm No. 8E
Name: USB communication error
Alarm description
Display
8E.4
Name
USB
communication
command error
Stop method: All axes stop
USB communication error occurs between the servo amplifier and a communication device (PC, etc.)
Cause
(1) Command not in the
specification is
transmitted.
Checkpoint
Check the command
code at transmission.
Finding
Command not in the
specification is
transmitted.
Action
Modify the send
command.
Only commands in the Check (2).
specification is
transmitted.
(2) Communication protocol
is faulty.
8E.5
USB
communication
data No. error
Check if transmission
data conforms the
communication protocol.
Does not conform.
Modify transmission
data according to the
communication
protocol.
Conforms.
Check (3).
(3) Setting of communication
device (personal
computer, etc.) is
improper.
Check the
communication setting of
the communication
device.
Incorrect setting
found.
Review the setting.
(1) Data No. not in the
specification is
transmitted.
Check the data No. at
transmission.
Data No. not in the
specification is
transmitted.
Modify the send
command.
Only data No. in the
specification is
transmitted.
Check (2).
Modify transmission
data according to the
communication
protocol.
(2) Communication protocol
is faulty.
Check that transmission
data conforms the
communication protocol.
Does not conform.
Conforms.
Check (3).
(3) Setting of communication
device (personal
computer, etc.) is
improper.
Check the
communication setting of
the communication
device.
Incorrect setting
found.
Review the setting.
8 - 28
8. TROUBLESHOOTING
8.4 Remedies for warnings
CAUTION
If an absolute position counter warning (E3. ) occurred, always make home position
setting again. Not doing so may cause unexpected operation.
POINT
When any of the following alarms has occurred, do not resume operation by
switching power of the servo amplifier OFF/ON repeatedly. The servo amplifier and
servo motor may become faulty. If the power of the servo amplifier is switched
OFF/ON during the alarms, allow more than 30 minutes for cooling before
resuming operation.
Main circuit device overheat warning (91. )
Excessive regenerative warning (E0. )
Overload warning 1 (E1. )
When a warning whose stop method is all axis stop in the following table occurs, the servo amplifier goes into
the servo-off status and the servo motor stops at the warning occurrence.
If any other warning occurs, operation can be continued but an alarm may take place or proper operation may
not be performed.
Remove the cause of warning according to this section. Use the MR Configurator to refer to a factor of warning
occurrence.
Warning No. 91
Warning description
Display
91.1
Name
Main circuit
device overheat
warning
Name: Main circuit device overheat warning
Stop method: Axes can operate (warning
detected at both axes)
The temperature inside of the servo amplifier exceeds the warning level.
Cause
Checkpoint
Finding
(1) The temperature inside of Check the surrounding air Surrounding
temperature of the servo temperature is high.
the servo amplifier is
(over 55 )
amplifier.
high.
Surrounding
temperature is low.
(2) Specification of close
mounting is not met.
91.2
Board
temperature
warning
Check the specification of Specification not met.
close mounting.
Action
Lower the surrounding
air temperature.
Check (2).
Use according to the
specification.
(1) The temperature inside of Examine checkpoints described in the alarm display "91.1".
the servo amplifier is
high.
(2) Specification of close
mounting is not met.
8 - 29
8. TROUBLESHOOTING
Warning No. 92
Warning description
Display
92.1
Name
Encoder battery
disconnection
warning signal
detection
Warning No. 96
Warning description
Display
96.1
96.2
Name
In-position error
at home
positioning
Command input
error at home
positioning
Name: Battery cable disconnection warning
Stop method: Axes can operate (detected at
the corresponding axis).
Battery voltage of absolute position detection system is low.
Cause
Checkpoint
Finding
Action
(1) Battery cable has
breakage.
Check the battery cable.
Problem found.
Replace the battery.
Repair the cable.
No problem found.
Check (2).
(2) Battery voltage is
decreasing (detected by
encoder).
Measure the battery
voltage.
Below 3.0VDC.
Replace the battery.
3.0VDC or more.
Check (3).
(3) Encoder cable has
breakage.
Check for breakage of the Problem found.
encoder cable.
Replace of repair the
encoder cable.
Stop method: Axes can operate (detected by
the corresponding axis).
Name: Home position setting warning
Home positioning cannot be made.
Cause
(1) In-position (INP-A/INP-B)
did not turn on within the
specified time during
home positioning.
Checkpoint
Measure the number of
droop pulses during
home positioning.
Finding
Action
In-position set value or Adjust the gain to
larger.
make the number
within In-position
setting range.
Remove the cause of
droop pulse
occurrence.
Below INP set value.
Contact your local
sales office.
Command is input.
Input command after
home positioning is
completed.
(1) Command is input during
home positioning.
Check if the command is
input during home
positioning.
(2) Creep speed is high.
Reduce the creep speed, Not reproduced.
and check the
reproducibility of the error.
Command is not input. Check (2).
Warning No. 9F
Warning description
Display
9F.1
Name
Low battery
Reduce the creep
speed.
Stop method: Axes can operate (warning
detected at both axes).
Name: Battery warning
Battery voltage of absolute position detection system is low.
Cause
(1) Battery voltage is low.
Checkpoint
Measure the battery
voltage.
8 - 30
Finding
Below 3.2VDC.
Action
Replace the battery.
8. TROUBLESHOOTING
Warning No. E0
Warning description
Display
E0.1
Name
Excessive
regeneration
warning
Warning No. E1
Warning description
Display
Name
Stop method: Axes can operate (warning
detected at both axes)
Name: Excessive regeneration warning
There is a possibility that regenerative power may exceed permissible regenerative power of built-in
regenerative resistor or regenerative option.
Cause
(1) Permissible regenerative
power of the built-in
regenerative resistor or
regenerative option is
over 85 .
Checkpoint
Check the regenerative
load ratio with MR
Configurator.
Finding
85
or more.
Action
Reduce the frequency
of positioning.
Increase the
deceleration time
constant.
Reduce the load.
Use a regenerative
option if not being
used.
Stop method: Axes can operate (detected at
the corresponding axis)
Name: Overload warning 1
There is a possibility that overload alarm (50.1, 51. ) may occur.
Cause
Checkpoint
Finding
E1.1
Thermal overload (1) Load is 85 or larger of
warning 1 during
the overload alarm (50.1)
operation
alarm level.
Examine checkpoints described in the alarm display "50.1".
E1.2
Thermal overload (1) Load is 85 or larger of
warning 2 during
the overload alarm (50.2)
operation
alarm level.
Examine checkpoints described in the alarm display "50.2".
E1.3
Thermal overload (1) Load is 85 or larger of
warning 3 during
the overload alarm (51.1)
operation
alarm level
Examine checkpoints described in the alarm display "51.1".
E1.4
Thermal overload (1) Load is 85 or larger of
warning 4 during
the overload alarm (50.3)
operation
alarm level.
Examine checkpoints described in the alarm display "50.3".
E1.5
Thermal overload (1) Load is 85 or larger of
warning 1 during
the overload alarm (50.4)
a stop
alarm level.
Examine checkpoints described in the alarm display "50.4".
E1.6
Thermal overload (1) Load is 85 or larger of
warning 2 during
the overload alarm (50.5)
a stop
alarm level.
Examine checkpoints described in the alarm display "50.5".
E1.7
Thermal overload (1) Load is 85 or larger of
warning 3 during
the overload alarm (51.2)
a stop
alarm level.
Examine checkpoints described in the alarm display "52.1".
E1.8
Thermal overload (1) Load is 85 or larger of
warning 4 during
the overload alarm (50.6)
a stop
alarm level.
Examine checkpoints described in the alarm display "50.6".
8 - 31
Action
8. TROUBLESHOOTING
Warning No. E3
Warning description
Display
Name
Name: Absolute position counter warning
Stop method: Axes can operate (detected at
the corresponding axis)
The multi-revolution counter value of the absolute position encoder exceeds the maximum revolution
range.
Absolute position encoder pulses are faulty.
Cause
Checkpoint
Finding
Action
E3.1
Absolute
positioning
counter travel
distance excess
warning
(1) The travel distance from
the home position is
32768 rotation or more in
the absolute position
system.
Check the multi-revolution 32768 rotation or
more.
counter with MR
Configurator.
Review the operation
range.
Make home position
return.
E3.2
Absolute
positioning
counter warning
(1) Fault is generated from
the surrounding
environment.
Check for noise and other Problem found.
factors.
Take countermeasure
according to the
cause.
(2) Encoder is faulty.
Replace the servo motor Error is not
reproduced.
and check the
reproducibility of the error.
Replace the servo
motor.
(1) Fault is generated from
the surrounding
environment.
Check for noise and other Problem found.
factors.
Take countermeasure
according to the
cause.
(2) Encoder is faulty.
Replace the servo motor Error is not
reproduced.
and check the
reproducibility of the error.
No problem found.
E3.5
Absolute
positioning
counter in
encoder warning
Warning No. E4
Warning description
Display
E4.1
Name
Warning description
E6.1
Name
Check (2).
Replace the servo
motor.
Stop method: Axes can operate (detected at
the corresponding axis)
Name: Parameter warning
At parameter write, write to parameter outside of the setting range is attempted.
Cause
Checkpoint
Parameter setting (1) Parameter value set from Check the parameter set
from the servo system
the servo system
range error
controller is outside of the controller.
warning
setting range.
Warning No. E6
Display
No problem found.
Check (2).
Name: Servo forced stop warning
Finding
Outside of the setting
range.
Action
Set a parameter within
the range.
Stop method: All axes stop
Forced stop signal is turned off.
Cause
Servo forced stop (1) Forced stop (EM1) is
warning
turned off.
Checkpoint
Check the forced stop
(EM1).
Finding
Ensure safety and
deactivate (turn on).
forced stop (EM1).
ON
Check (2).
Not input.
Input 24VDC.
Input.
Check (3).
(2) 24VDC of external power
supply is not input.
Check if 24VDC of
external power supply is
input.
(3) Servo amplifier is faulty.
Not reproduced.
Replace the servo
amplifier, and check the
reproducibility of the error.
8 - 32
Action
OFF
Use the newly
replaced servo
amplifier.
8. TROUBLESHOOTING
Warning No. E7
Warning description
Display
Name
E7.1
Controller forced
stop warning
Warning No. E8
Warning description
Display
E8.1
Name
Name: Controller forced stop warning
Stop method: All axes stop
Forced stop signal is input from the servo system controller.
Cause
(1) Forced stop signal was
input from the servo
system controller.
Checkpoint
Check if the servo system In forced stop status.
controller is in forced stop
status.
Name: Cooling fan speed reduction warning
Cause
Display
Name
E9.1
Servo-on signal
on at main circuit
off
Ensure safety and
deactivate forced stop
signal of the controller.
Stop method: Axes can operate (warning
detected at both axes)
Checkpoint
Check for foreign matter
adhesion.
(2) Cooling fan life expiration. Check the cumulative
power supply time of the
servo amplifier.
Warning description
Action
The speed of cooling fan drops to or below the warning level.
Decreased
(1) Foreign matter is caught
in the fan causing
cooling fan speed
decreased speed.
warning
Warning No. E9
Finding
Finding
Adhered.
Action
Remove the foreign
matter.
Not adhered.
Check (2).
Life is expired.
Replace the servo
amplifier, or repair
(replace) the cooling
fan.
Stop method: All axes stop (warning detected
at both axes).
Name: Main circuit off warning
Servo-on command is input when the main circuit power is off.
Bus voltage drops when servo motor is running below 50r/min.
Cause
(1) Main circuit power is off.
Checkpoint
Check the main circuit
power input.
Finding
Action
Not input.
Turn on the main
circuit power.
Input.
Check (2).
Disconnected.
Connect properly.
No problem found.
Check (3).
(2) Connector for the main
circuit power is
disconnected.
Check the connector of
the main circuit power.
(3) Bus voltage is below
215VDC.
Check the bus voltage
value with MR
Configurator.
Below 215VDC.
Review the wiring.
Review the power
supply capacity.
Below 200VDC.
Review the power
supply capacity.
Set acceleration time
longer.
E9.2
Bus voltage drop
during low speed
operation
(1) Bus voltage drops when
motor is running below
50[r/min].
Check the bus voltage
value at the monitor.
E9.3
Ready-on signal
on at main circuit
off
(1) Main circuit power is off.
Examine checkpoints described in the alarm display "E9.1".
(2) Connector for the main
circuit power is
disconnected.
(3) Bus voltage is below
215VDC.
8 - 33
8. TROUBLESHOOTING
Warning No. EB
Warning description
Display
EB.1
Name
The other axis
fault warning
Warning No. EC
Warning description
Display
EC.1
Name
In the other axis, alarm demanding all axes stop (11. , 15. , 17. , 24.
Cause
and 32. ) is output.
Finding
Warning description
Name
Output watt
excess
Action
Check that Alarm No.
11. is output in the
other axis.
Alarm is output.
Remove the cause of
Alarm No. 11. in
other the axis.
(2) Alarm No. 15. is output
in the other axis.
Check that Alarm No.
15. is output in the
other axis.
Alarm is output.
Remove the cause of
Alarm No. 15. in
other the axis.
(3) Alarm No. 17. is output
in the other axis.
Check that Alarm No.
17. is output in the
other axis.
Alarm is output.
Remove the cause of
Alarm No. 17. in
other the axis.
(4) Alarm No. 24. is output
in the other axis.
Check that Alarm No.
24. is output in the
other axis.
Alarm is output.
Remove the cause of
Alarm No. 24. in
other the axis.
(5) Alarm No. 32. is output
in the other axis.
Check that Alarm No.
32. is output in the
other axis.
Alarm is output.
Remove the cause of
Alarm No. 32. in
other the axis.
Stop method: Axes can operate (detected at
the corresponding axis).
Name: Overload warning 2
The operation, in which current exceeding the rating flows intensively in any of U, V and W phases of the
servo motor, is repeated.
Cause
Checkpoint
Finding
Change the stop position Not reproduced.
Overload warning (1) During a stop, current
2
flows intensively in any of and check the
U, V and W phases of the reproducibility of the error.
servo motor repeatedly.
Warning No. ED
ED.1
Checkpoint
(1) Alarm No. 11. is output
in the other axis.
(2) Load is too large or the
capacity is not enough.
Display
Stop method: All axes stop (warning detected
at both axes).
Name: The other axis fault warning
Check the effective load
ratio with MR
Configurator.
Action
Reduce the
positioning frequency
at the specific
positioning address.
Reproduced.
Check (2).
Effective load ratio is
large.
Reduce the load.
Use servo amplifier
and servo motor with
larger capacities.
Stop method: Axes can operate (detected at
the corresponding axis).
Name: Output watt excess warning
The status, in which the output wattage (speed x torque) of the servo motor exceed the rated output,
continues steadily.
Cause
(1) Output wattage of the
servo motor exceeds
150 of the rated output.
Checkpoint
Measure motor speed
and torque with MR
Configurator.
8 - 34
Finding
Output wattage
exceeds 150 of the
rated output.
Action
Reduce the servo
motor speed.
Reduce the load.
9. OUTLINE DRAWINGS
9. OUTLINE DRAWINGS
9.1 Servo amplifier
(1) MR-J3W-22B/MR-J3W-44B
[Unit: mm]
2- 6 mounting hole
6
60
Approx. 80
195
CNP1
CNP2
(Note)
Cooling fan
air intake
CNP3A
CNP3B
PE
6
6
48
SW3
6
Note. Cooling fan is equipped only with MR-J3W-44B. It is not necessary to drill air holes on the control box surface for the cooling
fan.
Mass: 1.4 [kg] (3.09 [lb])
Terminal signal layout
CNP1
L1
1
L2
2
L3
3
Approx. 60
CNP2
P
C
L11
1
L21
2
D
A
3
B
4-M5 screw
CNP3A
W
A
U
1
V
2
Approx. 6
Approx. 6
48
B
0.3
CNP3B
W
A
PE( )
U
1
V
2
Mounting hole process drawing
B
Screw size: M4
Tightening torque:
1.2 [N m] (10.6 [lb in])
9- 1
Mounting screw
Screw size: M5
Tightening torque: 3.24 [N m] (28.7 [lb in])
9. OUTLINE DRAWINGS
(2) MR-J3W-77B/MR-J3W-1010B
[Unit: mm]
2- 6 mounting hole
Approx. 80
100
6
195
CNP1
CNP2
CNP3A
CNP3B
PE
6
6
88
Cooling fan
air intake
6
SW3
Mass: 2.3 [kg] (5.07 [lb])
Terminal signal layout
CNP1
L1
1
L2
2
L3
3
Approx. 100
CNP2
P
C
L11
1
L21
2
D
A
3
B
4-M5 screw
CNP3A
W
A
U
1
V
2
Approx. 6
88
0.3
Approx. 6
B
CNP3B
W
A
PE( )
U
1
V
2
Mounting hole process drawing
B
Screw size: M4
Tightening torque:
1.2 [N m] (10.6 [lb in])
9- 2
Mounting screw
Screw size: M5
Tightening torque: 3.24 [N m] (28.7 [lb in])
9. OUTLINE DRAWINGS
9.2 Connector
(1) CN1A CN1B connector
[Unit: mm]
F0-PF2D103
F0-PF2D103-S
4.8
13.4
13.4
4.8
1.7
15
15
1.7
2.3
17.6
0.2
20.9
0.2
6.7
9.3
9.3
6.7
2.3
8
17.6
0.2
20.9
0.2
8
(2) Miniature delta ribbon (MDR) system (3M)
(a) One-touch lock type
[Unit: mm]
D
E
A
C
39.0
23.8
Logo etc, are indicated here.
B
12.7
Connector
Shell kit
10126-3000PE
10326-52F0-008
9- 3
Each type of dimension
A
B
C
D
E
25.8
37.2
14.0
10.0
12.0
9. OUTLINE DRAWINGS
(b) Jack screw M2.6 type
This is not available as option.
[Unit: mm]
D
E
A
C
F
5.2
39.0
23.8
Logo etc, are indicated here.
B
12.7
Each type of dimension
Connector
Shell kit
10126-3000PE
10326-52A0-008
A
B
C
D
E
F
25.8
37.2
14.0
10.0
12.0
31.3
(3) SCR connector system (3M)
Receptacle: 36210-0100PL
Shell kit : 36310-3200-008
39.5
22.4
11.0
34.8
9- 4
10. CHARACTERISTICS
10. CHARACTERISTICS
10.1 Overload protection characteristics
An electronic thermal relay is built in the servo amplifier to protect the servo motor, the servo amplifier and the
servo motor power lines from overloads. Overload 1 alarm (50. ) occurs if overload operation performed is
above the electronic thermal relay protection curve shown in any of Figs 10.1. Overload 2 alarm (51. ) occurs if
the maximum current flew continuously for several seconds due to machine collision, etc. Use the equipment on
the left-hand side area of the continuous or broken line in the graph.
In a machine like the one for vertical lift application where unbalanced torque will be produced, it is
recommended to use the machine so that the unbalanced torque is 70 or less of the rated torque.
When closely mounting MR-J3W-44B, operate the servo amplifier at 90 or smaller effective load ratio.
Servo amplifier MR-J3W series has solid-state servo motor overload protection. (The motor full load current is
115 rated current.)
1000
1000
In operation
In servo lock
10
1
0.1
In operation
100
Operation time [s]
Operation time [s]
100
In servo lock
10
1
0
50
100
150
200
250
300
0.1
0
50
100
150
200
250
300
(Note 1) Load ratio [ ]
(Note 1, 2) Load ratio [ ]
HF-MP053/13
HF-MP23/43/73
HF-KP053/13
HF-KP23/43/73
350
400
HF-SP51/81/52/102
HC-UP72
HC-LP52/102
HF-JP53/73/103
Note 1. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor
stop status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may fail even when the
electronic thermal relay protection is not activated.
2. The operation time at the load ratio of 300 to 400 applies when the maximum torque of HF-JP servo motor is increased to 400.
Fig. 10.1 Electronic thermal relay protection characteristics
10 - 1
10. CHARACTERISTICS
10.2 Power supply equipment capacity and generated loss
(1) Amount of heat generated by the servo amplifier
Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For
thermal design of an enclosure, use the values in Table 10.1 in consideration for the worst operating
conditions. The actual amount of generated heat will be intermediate between values at rated torque and
servo off according to the duty used during operation. When the servo motor is run at less than the
maximum speed, the power supply capacity will be smaller than the value in the table, but the servo
amplifier's generated heat will not change.
Values shown in the table are the values when same servo motors are used for the A-axis and the B-axis.
When using different servo motors for the A-axis and the B-axis, calculate the mean of the two servo motor
values, and use the mean value as a reference.
Table 10.1 Power supply capacity and generated heat per servo amplifier at rated output
(Note 1)
Power supply
capacity [kVA]
At rated torque
With servo off
[m2]
HF-KP053
0.6
35
15
0.7
HF-KP13
0.6
35
15
0.7
HF-KP23
1
35
15
0.7
HF-KP43
1.8
55
15
1.1
HF-KP73
2.6
85
15
1.7
HF-MP053
0.6
35
15
0.7
HF-MP13
0.6
35
15
0.7
HF-MP23
1
35
15
0.7
HF-MP43
1.8
55
15
1.1
HF-MP73
2.6
85
15
1.7
HF-SP51
2.0
55
15
1.1
HF-SP81
3.0
90
15
1.8
HF-SP52
2.0
55
15
1.1
HF-SP102
3.4
90
15
1.8
HC-LP52
2.0
55
15
1.1
HC-LP102
3.4
90
15
1.8
HC-UP72
2.6
85
15
1.7
HF-JP53
2.0
55
15
1.1
HF-JP73
2.6
85
15
1.7
HF-JP103
3.4
90
15
1.8
Servo motor 2
(Note 2)
Servo amplifier-generated heat [W]
Area required for
heat dissipation
Note 1. Note that the power supply capacity will vary according to the power supply impedance. This value is
applicable when the Power factor improving AC reactor is not used.
2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat
generated by the regenerative option, refer to section 11.2.
10 - 2
10. CHARACTERISTICS
(2) Heat dissipation area for enclosed servo amplifier
The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be
designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 . (With a 5
(41 ) safety margin, the system should operate within a maximum 55 (131 ) limit.) The necessary
enclosure heat dissipation area can be calculated by Equation 10.1.
A
P
K
T
where, A
P
T
K
..................................................................................................................................................(10.1)
2
: Heat dissipation area [m ]
: Loss generated in the control box [W]
: Difference between internal and ambient temperatures [ ]
: Heat dissipation coefficient [5 to 6]
When calculating the heat dissipation area with Equation 10.1, assume that P is the sum of all losses
generated in the enclosure. Refer to Table 10.1 for heat generated by the servo amplifier. "A" indicates the
effective area for heat dissipation, but if the enclosure is directly installed on an insulated wall, that extra
amount must be added to the enclosure's surface area.
The required heat dissipation area will vary wit the conditions in the enclosure. If convection in the enclosure
is poor and heat builds up, effective heat dissipation will not be possible. Therefore, arrangement of the
equipment in the enclosure and the use of a cooling fan should be considered.
Table 10.1 lists the enclosure dissipation area for each servo amplifier when the servo amplifier is operated
at the ambient temperature of 40 (104 ) under rated load.
(Outside)
(Inside)
Air flow
Fig. 10.2 Temperature distribution in enclosure
When air flows along the outer wall of the enclosure, effective heat exchange will be possible, because the
temperature slope inside and outside the enclosure will be steeper.
10 - 3
10. CHARACTERISTICS
10.3 Dynamic brake characteristics
POINT
Dynamic brake operates at occurrence of alarm, servo forced stop warning (E6.1),
and controller forced stop warning (E7.1), and when power is turned off. Do not use
dynamic brake to stop in a normal operation as it is the function to stop in
emergency.
For a machine operating at the recommended load to motor inertia ratio or less, the
estimated number of usage times of the dynamic brake is 1000 times while the
machine decelerates from the rated speed to a stop once in 10 minutes.
Be sure to make forced stop (EM1) valid after servo motor stops when using forced
stop (EM1) frequently in other than emergency.
10.3.1 Dynamic brake operation
(1) Calculation of coasting distance
Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated.
Use Equation 10.2 to calculate an approximate coasting distance to a stop. The dynamic brake time
constant varies with the servo motor and machine operation speeds. (Refer to (2) of this section.)
Forced stop (EM1)
ON
OFF
Dynamic brake
time constant
V0
Machine speed
te
Time
Fig. 10.3 Dynamic brake operation diagram
Lmax
Lmax
Vo
JM
JL
te
V0
60
te
1
JL
JM
......................................................................................................................(10.2)
: Maximum coasting distance .................................................................................................... [mm][in]
: Machine rapid feed rate ..............................................................................................[mm/min][in/min]
-4
2
: Servo motor inertial moment..............................................................................[×10 kg m ][oz in2]
-4
2
: Load inertia moment converted into equivalent value on servo motor shaft ....[×10 kg m ][oz in2]
: Dynamic brake time constant ............................................................................................................[s]
: Delay time of control section............................................................................................................. [s]
There is internal relay delay time of about 10ms.
10 - 4
10. CHARACTERISTICS
(2) Dynamic brake time constant
The following shows necessary dynamic brake time constant for the equations (10.2).
25
Time constant [ms]
Time constant [ms]
25
20
15
73
23
10
43
5
13 053
1000 2000 3000 4000 5000 6000
0
0
10
5
0
0
HF-MP series
Time constant [ms]
Time constant [ms]
053
43
1000 2000 3000 4000 5000 6000
Speed [r/min]
120
50
40
51
30
20
10
0
0
500
1000
1500
Speed [r/min]
100
60
40
20
0
0
2000
[ms]
200
72
0
500
1000 1500
Speed [r/min]
260
2000
180
140
20
0
0
52
120
80
40
500
1000
1500
Speed [r/min]
HC-LP series
53
220
60
160
0
0
HC-UP series
100
500 1000 1500 2000 2500 3000
Speed [r/min]
HF-SP2000r/min series
Time constant
100
90
80
70
60
50
40
30
20
10
0
52
80
HF-SP1000r/min series
[ms]
13
HF-KP series
60
Time constant
23
15
Speed [r/min]
Time constant [ms]
73
20
103
73
1000 2000 3000 4000 5000 6000
Speed [r/min]
HF-JP3000r/min series
10 - 5
2000
10. CHARACTERISTICS
10.3.2 The dynamic brake at the load inertia moment
Use the dynamic brake under the load inertia moment ratio indicated in the following table. If the load inertia
moment is higher than this value, the dynamic brake may burn. If there is a possibility that the load inertia
moment may exceed the value, contact your local sales office.
The values of the load inertia moment ratio in the table are the values at the maximum rotation speed of the
servo motor.
Servo motor
series
Load inertia moment ratio
[times]
HF-KP
HF-MP
HF-SP
30
HC-UP
HC-LP
HF-JP
10.4 Cable bending life
The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed
values, provide a little allowance for these values.
1 108
5 107
a
1 107
a : Long bending life encoder cable
Long bending life motor power cable
Long bending life motor brake cable
SSCNET cable using long distance cable
5 106
b : Standard encoder cable
Standard motor power cable
Standard motor brake cable
SSCNET cable using inside panel standard cord
SSCNET cable using outside panel standard cable
1 106
5 10
Bending life [times]
5
1 105
5 104
1 104
b
5 103
1 103
4
7
10
20
40
70 100
Bending radius [mm]
10 - 6
200
10. CHARACTERISTICS
10.5 Inrush currents at power-on of main circuit and control circuit
The following table indicates the inrush currents (reference data) that will flow when the maximum permissible
voltage (253VAC) is applied at the power supply capacity of 2500kVA and the wiring length of 1m. Even when
you use a 1-phase 200VAC power supply with MR-J3W-22B and MR-J3W-44B, the inrush currents of the main
circuit power supply is the same.
Servo amplifier
MR-J3W-22B
MR-J3W-44B
MR-J3W-77B
MR-J3W-1010B
Inrush currents (A0-p)
Main circuit power supply (L1, L2, L3)
120A (Attenuated to approx. 2A in 10ms)
120A (Attenuated to approx. 12A in 20ms)
Control circuit power supply (L11, L21)
20 to 30A
(Attenuated to approx. 0A in 1 to 2ms)
Since large inrush currents flow in the power supplies, always use no-fuse breakers and magnetic contactors.
(Refer to section 11.6.)
When circuit protectors are used, it is recommended to use the inertia delay type that will not be tripped by an
inrush current.
10 - 7
10. CHARACTERISTICS
MEMO
10 - 8
11. OPTIONS AND AUXILIARY EQUIPMENT
11. OPTIONS AND AUXILIARY EQUIPMENT
WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more until
the charge lamp turns off. Otherwise, an electric shock may occur. In addition,
always confirm from the front of the servo amplifier, whether the charge lamp is off
or not.
CAUTION
Use the specified auxiliary equipment and options. Unspecified ones may lead to a
fault or fire.
11.1 Cable/connector sets
POINT
The IP rating indicated is the cable's or connector's protection against ingress of
dust and water when the cable or connector is connected to a servo amplifier or
servo motor. If the IP rating of the cable, connector, servo amplifier and servo
motor vary, the overall IP rating depends on the lowest IP rating of all components.
As the cables and connectors used with this servo, purchase the options indicated in this section.
11.1.1 Combinations of cable/connector sets
Personal
computer
Servo system
controller
6)
CN5
1)2)3)
46)
Servo amplifier
45)
Servo amplifier
CN5
7)47)
CN3
CN3
CN1A
CN1A
1)2)3)
CN1B
CN1B
5)
CN4
CN4
4)
CN1C
Cap
(Servo amplifier
attachment)
Battery unit
MR-BTCASE
MR-BAT 8
11 - 1
11. OPTIONS AND AUXILIARY EQUIPMENT
Servo amplifier
CNP1
Direct connection (cable length 10m or less, IP65)
20)21)22)23)
CNP2
Junction type (cable length more than10m, IP20)
CNP3A
(Note)
26)27)
24)25)
CNP3B
48)19)50)51)
52)53)54)55)
CN2A
CN2B
(Note)
28)
Junction type (cable length more than10m, IP65)
31)32)
29)30)
33)
To 24VDC power
supply for
electromagnetic
brake
18)19)
14)15)16)17)
12)13)
A-axis
Servo motor
HF-MP
HF-KP
8)9)10)11)
Power supply
connector
Encoder
Brake
connector connector
33)37)41)42)
31)32)39)40)
36)
Servo motor
HC-LP72
HC-UP52
Power supply
connector
Encoder
connector
33)37)41)42)
31)32)39)40)
34)38)43)44)
35)
Servo motor
HF-SP51 52
Power supply
connector
Note. B-axis options are the same as the A-axis options.
11 - 2
Brake
connector
Encoder
connector
11. OPTIONS AND AUXILIARY EQUIPMENT
(Note 1)
No.
Product
Model
Description
Connector: PF-2D103
(Japan Aviation Electronics
Industry, Ltd.)
Application
Connector: PF-2D103
(Japan Aviation Electronics
Industry, Ltd.)
Inside panel
standard cord
1)
SSCNET
cable
MR-J3BUS M
Cable length: 0.15 to 3m
(Refer to section 11.1.5.)
2)
SSCNET
cable
MR-J3BUS M-A
Cable length: 5 to 20m
(Refer to section 11.1.5.)
3)
SSCNET
cable
MR-J3BUS M-B
Cable length: 30 to 50m
(Refer to section 11.1.5.)
Connector: CF-2D103-S
(Japan Aviation Electronics
Industry, Ltd.)
Connector: CF-2D103-S
(Japan Aviation Electronics
Industry, Ltd.)
Long distance
cable
4)
Battery
cable
MR-J3BT1CBL M
Cable length: 0.3, 1m
Socket: DF3-2S-2C
Socket contact: DF3-2428SC(F)C
(Hirose Denki)
Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(3M or similar product)
For
connection
with the
battery unit
5)
Junction
MR-J3BT2CBL M
battery cable Cable length: 0.3, 1m
Socket: DF3-2S-2C
Socket contact: DF3-2428SC(F)C
(Hirose Denki)
Junction plug: DF3-2EP-2C
Plug contact: DF3-EP2428PC(F)A
(Hirose Denki)
As a junction
for the battery
Outside panel
standard
cable
Socket: DF3-2S-2C
Socket contact: DF3-2428SC(F)C
(Hirose Denki)
6)
USB cable
MR-J3USBCBL3M
Cable length: 3m
7)
Connector
set
MR-J2CMP2
8)
Motor power MR-PWS1CBL M-A1-L
supply cable Cable length: 2 5 10m
For CN5 connector
mini-B connector (5 pins)
For personal computer connector
A connector
For
connection
with PC-AT
compatible
personal
computer
Connector: 10126-3000PE
Shell kit: 10326-52F0-008
(3M or similar product)
Quantity: 1
Power supply connector
9)
Motor power MR-PWS1CBL M-A1-H
supply cable Cable length: 2 5 10m
HF-MP series
HF-KP series
Refer to section 11.1.3 for details.
11 - 3
IP65
Load side
lead
EN compliant
IP65
Load side
lead
Long bending
life
EN compliant
11. OPTIONS AND AUXILIARY EQUIPMENT
(Note 1)
No.
10)
Product
Model
Description
Application
Motor power MR-PWS1CBL M-A2-L
supply cable Cable length: 2 5 10m
Power supply connector
11)
Motor power MR-PWS1CBL M-A2-H
supply cable Cable length: 2 5 10m
HF-MP series
HF-KP series
Refer to section 11.1.3 for details.
12)
Motor power MR-PWS2CBL03M-A1-L
supply cable Cable length: 0.3m
Power supply connector
HF-MP series
HF-KP series
IP65
Opposite-toload side lead
EN compliant
IP65
Opposite-toload side lead
Long bending
life
EN compliant
IP55
Load side
lead
EN compliant
Refer to section 11.1.3 for details.
13)
Motor power MR-PWS2CBL03M-A2-L
supply cable Cable length: 0.3m
Power supply connector
HF-MP series
HF-KP series
IP55
Opposite-toload side lead
EN compliant
Refer to section 11.1.3 for details.
14)
Motor brake
cable
MR-BKS1CBL M-A1-L
Cable length: 2 5 10m
15)
Motor brake
cable
MR-BKS1CBL M-A1-H
Cable length: 2 5 10m
Brake connector
HF-MP series
HF-KP series
Refer to section 11.1.4 for details.
16)
17)
Motor brake
cable
MR-BKS1CBL M-A2-L
Cable length: 2 5 10m
Motor brake
cable
MR-BKS1CBL M-A2-H
Cable length: 2 5 10m
Brake connector
HF-MP series
HF-KP series
Refer to section 11.1.4 for details.
18)
Motor brake
cable
MR-BKS2CBL03M-A1-L
Cable length: 0.3m
Brake connector
HF-MP series
HF-KP series
IP65
Load side
lead
IP65
Load side
lead
Long bending
life
IP65
Opposite-toload side lead
IP65
Opposite-toload side lead
Long bending
life
IP55
Load side
lead
Refer to section 11.1.4 for details.
19)
Motor brake
cable
MR-BKS2CBL03M-A2-L
Cable length: 0.3m
Brake connector
HF-MP series
HF-KP series
Refer to section 11.1.4 for details.
11 - 4
IP55
Opposite-toload side lead
11. OPTIONS AND AUXILIARY EQUIPMENT
(Note 1)
No.
Product
Model
20)
Encoder
cable
MR-J3ENCBL M-A1-L
Cable length: 2 5 10m
21)
Encoder
cable
MR-J3ENCBL M-A1-H
Cable length: 2 5 10m
Description
Application
Encoder connector
HF-MP series
HF-KP series
Refer to section 11.1.2 (1) for details.
22)
Encoder
cable
MR-J3ENCBL M-A2-L
Cable length: 2 5 10m
23)
Encoder
cable
MR-J3ENCBL M-A2-H
Cable length: 2 5 10m
Encoder connector
HF-MP series
HF-KP series
Refer to section 11.1.2 (1) for details.
24)
Encoder
cable
MR-J3JCBL03M-A1-L
Cable length: 0.3m
Encoder connector
IP65
Load side
lead
IP65
Load side lead
Long bending
life
IP65
Opposite-toload side lead
IP65
Opposite-toload side lead
Long bending
life
IP20
Load side
lead
HF-MP series
HF-KP series
Refer to section 11.1.2 (3) for details.
25)
Encoder
cable
MR-J3JCBL03M-A2-L
Cable length: 0.3m
Encoder connector
IP20
Opposite-toload side lead
HF-MP series
HF-KP series
Refer to section 11.1.2 (3) for details.
26)
Encoder
cable
MR-EKCBL M-L
Cable length: 20 30m
27)
Encoder
cable
MR-EKCBL M-H
Cable length:
20 30 40 50m
Encoder
connector
set
MR-ECNM
28)
IP20
IP20
Long bending
life
For HF-MP HF-KP series
Refer to section 11.1.2 (2) for details.
IP20
For HF-MP HF-KP series
Refer to section 11.1.2 (2) for details.
29)
Encoder
cable
MR-J3JSCBL03M-A1-L
Cable length: 0.3m
Encoder connector
HF-MP series
HF-KP series
IP65
Load side
lead
Refer to section 11.1.2 (4) for details.
30)
Encoder
cable
MR-J3JSCBL03M-A2-L
Cable length: 0.3m
Encoder connector
HF-MP series
HF-KP series
Refer to section 11.1.2 (4) for details.
11 - 5
IP65
Opposite-toload side lead
11. OPTIONS AND AUXILIARY EQUIPMENT
(Note 1)
No.
Product
Model
31)
Encoder
cable
MR-J3ENSCBL M-L
Cable length:
2 5 10 20 30m
32)
Encoder
cable
MR-J3ENSCBL M-H
Cable length:
2 5 10 20 30 40
50m
33)
Encoder
connector
set
MR-J3SCNS
Description
Application
IP67
Standard flex
life
Refer to section 11.1.2 (5) for details.
IP67
Long bending
life
IP67
Refer to section 11.1.2 (5) for details.
34)
Brake
connector
set
MR-BKCNS1
Straight plug: CMV1-SP2S-L
Socket contact: CMV1-#22BSC-S2-100
(DDK)
IP67
For HF-SP series
For HF-JP series
35)
36)
37)
Power
supply
connector
set
MR-PWCNS4
Power
supply
connector
set
MR-PWCNS1
Encoder
connector
set
MR-J3SCNSA
Plug: CE05-6A18-10SD-D-BSS
Cable clamp: CE3057-10A-1-D
(DDK)
Example of applicable cable
Applicable wire size: 2 to 3.5mm2
(AWG1 to AWG12)
Cable finish D: 10.5 to 14.1mm
Plug: CE05-6A22-23SD-D-BSS
Cable clamp: CE3057-12A-2-D (DDK)
Example of applicable cable
Applicable wire size: 2 to 3.5mm2
(AWG14 to AWG12)
Cable finish: 9.5 to 13mm
IP67
EN compliant
For HF-SP series
For HF-JP series
IP65
EN compliant
For HC-UP72
For HC-LP52
IP67
For HF-SP HC-UP HC-LP series
Refer to section 11.1.2 (5) for details.
38)
Brake
connector
set
MR-BKCNS1A
Angle plug: CMV1-AP2S-L
Socket contact: CMV1-#22BSC-S2-100
(DDK)
IP67
For HF-SP series
For HF-JP series
39)
Encoder
cable
MR-J3ENSCBL M-LS06
Cable length:
2 5 10 20 30m
40)
Encoder
cable
MR-J3ENSCBL M-HS06
Cable length:
2 5 10 20 30 40
50m
IP67
(Note 2)
For HF-SP/HC-UP/HC-LP/HF-JP series
Refer to section 11.1.2 (5) for details.
11 - 6
IP67
Long bending
life
(Note 2)
11. OPTIONS AND AUXILIARY EQUIPMENT
(Note 1)
No.
41)
Product
Encoder
connector
set
Model
Description
Application
MR-J3SCNS-S06
IP67
(Note 2)
For HF-SP/HC-UP/HC-LP/HF-JP series
Refer to section 11.1.2 (5) for details.
42)
Encoder
connector
set
MR-J3SCNSA-S06
IP67
(Note 2)
For HF-SP/HC-UP/HC-LP/HF-JP series
Refer to section 11.1.2 (5) for details.
43)
Brake
connector
set
MR-BKCNS1-S06
Straight plug: CM10-SP2S-VP-L
Socket contact: CM10-#22SC (S2) (D8)-100
(DDK)
44)
Brake
connector
set
MR-BKCNS1A-S06
Angle plug: CM10-AP2S-VP-L
Socket contact: CM10-#22SC (S2) (D8)-100
(DDK)
45)
Junction
terminal
block cable
MR-TBNATBL M
Cable length: 0.5 1m
(Refer to section 11.12.)
Connector for the junction terminal
block
Connector: 10126-6000EL
Shell kit: 10326-3210-000
(3M or similar product)
46)
Junction
terminal
block
MR-TB26A
Refer to section 11.12
47)
Connector
set
MR-ECN1
48)
Connector
set
MR-J3WCNP12-DM
IP67
(Note 2)
For HF-SP series
IP67
(Note 2)
For HF-SP series
49)
Connector
set
MR-J3WCNP12-DM-10P
Connector for the servo amplifier
Connector: 10126-6000EL
Shell kit: 10326-3210-000
(3M or similar product)
For junction
terminal block
connection
Connector: 10126-3000PE
Shell kit: 10326-52F0-008
(3M or similar product)
Quantity: 20
Quantity:
1 each
For CNP1
Receptacle housing:
J43FSS-03V-KX
Receptacle contact:
BJ4F-71GF-M3.0
(Japan Solderless Terminals)
For CNP2
Receptacle housing:
F32FMS-06V-KXY
Receptacle contact:
BF3F-71GF-P2.0
(Japan Solderless Terminals)
Compatible cable example
Cable size: 1.25 to 2.0mm2
(AWG16 to AWG14)
Insulator OD: 2.0 to 3.8mm
Crimping tool (YRF-1130) is
required.
Compatible cable example
Cable size: 1.25 to 2.0mm2
(AWG16 to AWG14)
Insulator OD: 2.4 to 3.4mm
Crimping tool (YRF-1070) is
required.
11 - 7
Quantity:
10 each
11. OPTIONS AND AUXILIARY EQUIPMENT
(Note 1)
No.
50)
51)
Product
Connector
set
Connector
set
Model
MR-J3WCNP3-DL
MR-J3WCNP3-DL-20P
Description
Application
Use this connector set to directly connect to the servo amplifier using
MR-PWS1CBL M- .
Quantity: 1
For thin wire
For CNP3A/CNP3B
Receptacle housing: F35FDC-04V-K
Receptacle contact: LF3F-41GF-P2.0
(Japan Solderless Terminals)
Quantity: 20
For thin wire
Compatible cable example
Cable size: 0.75 to 1.25mm2 (AWG19 to AWG16)
Insulator OD: 1.8 to 2.8mm
Crimping tool (YRF-880) is required.
52)
53)
Connector
set
Connector
set
MR-J3WCNP3-D2L
MR-J3WCNP3-D2L-20P
Use this connector set when the MR-PWS1CBL M-
is not used.
For CNP3A/CNP3B
Receptacle housing: F35FDC-04V-K
Receptacle contact: BF3F-71GF-P2.0
(Japan Solderless Terminals)
Quantity: 1
For thick wire
Quantity: 20
For thick wire
Compatible cable example
Cable size: 1.25 to 2.0mm2 (AWG16 to AWG14)
Insulator OD: 2.4 to 3.4mm
Crimping tool (YRF-1070) is required.
54)
Connector
set
MR-J3WCNP123-SP
CNP1 connector
Quantity: 1
Connector: 03JFAT-SAXGFK-43
(Japan Solderless Terminals)
Applicable wire size: AWG16 to
AWG14
55)
Connector
set
For 1 servo
amplifier
Items for 1 servo amplifier
CNP2 connector
Quantity: 1
Model: 06JFAT-SAXYGG-F-KK
(Japan Solderless Terminals)
Applicable wire size: AWG16 to
AWG14
For 10 servo
amplifier
MR-J3WCNP123-SP-10P
CNP3A/CNP3B connector
Quantity: 2
Model: 04JFAT-SAGG-G-KK
(Japan Solderless Terminals)
Applicable wire size: AWG19 to
AWG14
Open tool
Quantity: 1
Model: J-FAT-OT-EXL
(Japan Solderless Terminals)
Note 1. 1) to 3), 6) and 8) to 44) are the same as servo amplifier options.
2. Use this option when the connector is expected to receive large vibration and shock.
11 - 8
11. OPTIONS AND AUXILIARY EQUIPMENT
11.1.2 Encoder cable/connector 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 are available.
Cable model
Cable length
IP rating Bending life
2m
5m
10m
MR-J3ENCBL M-A1-L
2
5
10
IP65
Standard
MR-J3ENCBL M-A1-H
2
5
10
IP65
Long
bending life
MR-J3ENCBL M-A2-L
2
5
10
IP65
Standard
MR-J3ENCBL M-A2-H
2
5
10
IP65
Long
bending life
Application
For HF-MP HF-KP servo
motor
Load side lead
For HF-MP HF-KP servo
motor
Opposite-to-load side lead
(a) Connection of servo amplifier and servo motor
Servo amplifier
MR-J3ENCBL
MR-J3ENCBL
1)
M-A1-L
M-A1-H
2)
Servo motor
HF-MP
HF-KP
or
MR-J3ENCBL
MR-J3ENCBL
CN2A
or
CN2B
M-A2-L
M-A2-H
2)
Servo motor
HF-MP
HF-KP
1)
Cable model
1) For CN2 connector
MR-J3ENCBL M-A1- Receptacle: 36210-0100PL
L
Shell kit: 36310-3200-008
(3M)
MR-J3ENCBL M-A1H
(Note) Signal layout
2
LG
4
6
8
1
P5
3
5
7
(Note) Signal layout
10
MRR
MR-J3ENCBL M-A2L
9
BAT
MR
View seen from wiring side.
2) For encoder connector
Connector set: 54599-1019 (Molex)
2
or
4
6
8
10
5
7
9
LG MRR
1
3
P5
MR
BAT
View seen from wiring side.
MR-J3ENCBL M-A2Note. Keep open the pins shown with
. Especially, pin 10 is provided for
H
manufacturer adjustment. If it is connected with any other pin, the servo
amplifier cannot operate normally.
11 - 9
Connector: 2174053-1
Crimping tool for ground clip:
1596970-1
Crimping tool for receptacle
contact: 1596847-1
(TE Connectivity)
(Note) Signal layout
9 SHD
7
5 MR
3 P5
1
8
6 LG
4 MRR
2 BAT
View seen from wiring side.
Note. Keep open the pin shown
with an
.
11. OPTIONS AND AUXILIARY EQUIPMENT
(b) Cable internal wiring diagram
MR-J3ENCBL2M-A1-L/H
MR-J3ENCBL5M-A1-L/H
MR-J3ENCBL10M-A1-L/H
MR-J3ENCBL2M-A2-L/H
MR-J3ENCBL5M-A2-L/H
MR-J3ENCBL10M-A2-L/H
Encoder side
Servo amplifier
connector
side connector
3
6
5
4
2
9
P5
1
LG
2
MR
3
MRR
4
BAT
9
Plate
SD
P5
LG
MR
MRR
BAT
SHD
(2) MR-EKCBL M-L/H
POINT
The following encoder cables are of four-wire type. When using any of these
encoder cables, set parameter No.PC04 to "1
" to select the four-wire type.
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
The servo amplifier and servo motor cannot be connected with these cables only. The servo motor side
encoder cable (MR-J3JCBL03M-A1-L or MR-J3JCBL03M-A2-L) is required.
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 available.
Cable model
Cable length
40m
30m
MR-EKCBL M-L
20
(Note)
30
IP20
MR-EKCBL M-H
20
(Note) (Note) (Note)
30
40
50
IP20
Note. Four-wire type cable.
11 - 10
50m
IP rating Bending life
20m
Application
For HF-MP HF-KP servo
motor
Use in combination with
Long
MR-J3JCBL03M-A1-L or
bending life MR-J3JCBL03M-A2-L.
Standard
11. OPTIONS AND AUXILIARY EQUIPMENT
(a) Connection of servo amplifier and servo motor
Servo amplifier
MR-EKCBL
MR-EKCBL
CN2A
or
CN2B
M-L
M-H
MR-J3JCBL03M-A2-L
Cable length: 0.3m
Servo motor
HF-MP
HF-KP
1)
Cable model
MR-EKCBL M-L
2)
1) For CN2 connector
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
(Note) Signal layout
2
LG
4
6
MR-EKCBL M-H
P5
3
MR
5
7
(Note) Signal layout
10
MDR
MRR
1
8
9
BAT
MD
View seen from wiring side.
2) For encoder connector
Connector set: 54599-1019 (Molex)
2
or
4
6
LG MRR
1
3
P5
MR
8
10
Signal layout
MDR
5
7
9
MD
BAT
View seen from wiring side.
Note. Keep open the pins shown with
. Especially, pin 10 is provided for
manufacturer adjustment. If it is connected with any other pin, the servo
amplifier cannot operate normally.
11 - 11
Housing: 1-172161-9
Crimping pin: 170359-1
(TE Connectivity or equivalent)
Cable clamp: MTI-0002
(Toa Electric Industry)
1
2
3
MR MRR BAT
4
5
6
MD MDR CONT
7
8
9
P5 LG SHD
View seen from wiring side.
Note. Keep open the pin shown
with an
.
11. OPTIONS AND AUXILIARY EQUIPMENT
(b) Internal wiring diagram
MR-EKCBL20M-L
Servo amplifier side
P5
LG
MR
MRR
BAT
SD
MR-EKCBL30M-L
Encoder side
Servo amplifier side
1
2
7
8
P5
LG
P5
LG
1
2
7
8
P5
LG
3
4
9
Plate
1
2
3
9
MR
MRR
BAT
SHD
MR
MRR
MD
MDR
BAT
3
4
7
8
9
1
2
4
5
3
6
9
MR
MRR
MD
MDR
BAT
CONT
SHD
(Note)
SD
Plate
MR-EKCBL20M-H
Servo amplifier side
P5
LG
Encoder side
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
Encoder side
1
2
7
8
1
2
3
9
MR
3
MRR
4
9
BAT
SD
Plate
(Note)
Servo amplifier side
P5
LG
MR
MRR
BAT
SHD
(Note)
Encoder side
P5
LG
1
2
7
8
P5
LG
MR
MRR
MD
MDR
BAT
3
4
7
8
9
1
2
4
5
3
6
9
MR
MRR
MD
MDR
BAT
CONT
SHD
SD
Plate
(Note)
Note. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental
system.
When fabricating the cable, use the wiring diagram corresponding to the length indicated below.
Applicable wiring diagram
Cable bending life
Less than 30m
30m to 50m
Standard
MR-EKCBL20M-L
MR-EKCBL30M-L
Long bending life
MR-EKCBL20M-H
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
11 - 12
11. OPTIONS AND AUXILIARY EQUIPMENT
(c) When fabricating the encoder cable
When fabricating the cable, prepare the following parts and tool, and fabricate it according to the wiring
diagram in (b). Refer to section 11.5 for the specifications of the used cable.
Parts/tool
Connector set
Description
MR-ECNM
Encoder side connector
Housing: 1-172161-9
Connector pin: 170359-1
(Tyco Electronics or equivalent)
Cable clamp: MTI-0002
(Toa Electric Industry)
Servo amplifier side connector
Receptacle: 36210-0100PL
Shell kit: 536310-3200-008
(3M)
Or
Connector set: 54599-1019(Molex)
(3) MR-J3JCBL03M-A1-L MR-J3JCBL03M-A2-L
The servo amplifier and servo motor cannot be connected with these cables only. The servo motor side
encoder cable (MR-EKCBL M-L/H) is required.
Cable model
Cable length
IP rating
Bending life
MR-J3JCBL03M-A1-L
MR-J3JCBL03M-A2-L
0.3m
11 - 13
IP20
Standard
Application
For HF-MP HF-KP servo motor
Load side lead
Use in combination with MR-EKCBL
M-L/H.
For HF-MP HF-KP servo motor
Opposite-to-load side lead
Use in combination with MR-EKCBL
M-L/H.
11. OPTIONS AND AUXILIARY EQUIPMENT
(a) Connection of servo amplifier and servo motor
Servo amplifier
MR-J3JCBL03M-A1-L
2)
Servo motor
HF-MP
HF-KP
1)
MR-EKCBL
M-L/-H
or
CN2A
or
CN2B
MR-J3JCBL03M-A2-L
2)
Servo motor
HF-MP
HF-KP
1)
Cable model
MR-J3JCBL03M-A1-L
1) Junction connector
2) For encoder connector
Connector: 2174053-1
Crimping tool for ground clip: 1596970-1
Crimping tool for receptacle contact: 1596847-1
(TE Connectivity)
Housing: 1-172169-9
Contact: 1473226-1
Cable clamp: 316454-1
Crimping tool: 91529-1
(TE Connectivity)
Signal layout
MR-J3JCBL03M-A2-L
Signal layout
9 SHD
3
2
1
BAT MRR MR
6
5
4
CONT MDR MD
9
8
7
SHD LG P5
7 MDR 8 MD
5 MR
6 LG
3 P5
4 MRR
1 CONT 2 BAT
View seen from wiring
View seen from wiring side.
(b) Internal wiring diagram
MR-J3JCBL03M-A1-L
MR-J3JCBL03M-A2-L
Junction
Encoder side
connector
connector
P5
LG
MR
MRR
MD
MDR
BAT
CONT
7
8
1
2
4
5
3
6
3
6
5
4
8
7
2
1
P5
LG
MR
MRR
MD
MDR
BAT
CONT
SHD
9
9
SHD
11 - 14
11. OPTIONS AND AUXILIARY EQUIPMENT
(4) MR-J3JSCBL03M-A1-L MR-J3JSCBL03M-A2-L
A servo amplifier and a servo motor cannot be connected by these cables alone. The servo motor side
encoder cable (MR-J3ENSCBL M-L/H) is required.
Cable model
Cable length
IP rating
Bending life
MR-J3JSCBL03M-A1-L
0.3m
IP65
Standard
MR-J3JSCBL03M-A2-L
Application
For HF-MP HF-KP servo motor
Load side lead
Use in combination with MRJ3ENSCBL M-L/H.
For HF-MP
HF-KP servo motor
Opposite-to-load side lead
Use in combination with MRJ3ENSCBL M-L/H.
(a) Connection of servo amplifier and servo motor
Servo amplifier
MR-J3JSCBL03M-A1-L
2)
Servo motor
HF-MP series
HF-KP series
1)
MR-J3ENSCBL
M-L/-H
or
CN2A
or
CN2B
MR-J3JSCBL03M-A2-L
2)
Servo motor
HF-MP series
HF-KP series
1)
Cable model
MR-J3JSCBL03M-A1-L
1) For CN2 connector
2) For encoder connector
Connector: 2174053-1
Crimping tool for ground clip: 1596970-1
Crimping tool for receptacle contact: 1596847-1
(TE Connectivity)
Receptacle: CM10-CR10P-M
(DDK)
Complied cable AWG20 or less
(Note) Signal layout
(Note) Signal layout
3
2
MRR
CONT
MR-J3JSCBL03M-A2-L
7
6
10
SHD
1
MR
5
LG
9
9 SHD
7
5 MR
3 P5
1 CONT
4
BAT
8
P5
8
6 LG
4 MRR
2 BAT
View seen from wiring side.
View seen from wiring side
Note. Keep open the pin shown with an
Note. Keep open the pin shown with an
.
11 - 15
.
11. OPTIONS AND AUXILIARY EQUIPMENT
(b) Internal wiring diagram
MR-J3JSCBL03M-A1-L
MR-J3JSCBL03M-A2-L
Junction
Encoder side
connector
connector
P5
LG
MR
MRR
3
6
5
4
8
7
2
1
P5
LG
MR
MRR
BAT
CONT
8
5
1
2
6
7
4
3
SHD
10
9
SHD
BAT
CONT
(5) MR-J3ENSCBL M-L(-S06) MR-J3ENSCBL M-H(-S06)
These cables are detector cables for HF-SP HC-UP HC-LP HF-JP 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 are prepared.
Cable model
Cable length
2m
5m
10m
20m
30m
MR-J3ENSCBL
M-L
2
5
10
20
30
MR- J3ENSCBL
M-H
2
5
10
20
30
MR-J3ENSCBL
S06
M-L-
2
5
10
20
30
MR-J3ENSCBL
S06
M-H-
2
5
10
20
30
40m
50m
IP rating
IP67
40
40
50
50
IP67
Bending life
Application
For HF-SP HC-UP
Standard
HC-LP HF-JP servo
Long
bending life motor
IP67
Standard
IP67
Long
bending life
For HF-SP HC-UP
HC-LP HF-JP servo
motor (Note)
Note. Use this option when the connector is expected to receive large vibration and shock. The connector at the servo motor side can be
removed up to 5 times. Use the dedicated tool 357J-52780T (DDK) or a spanner with jaw size of 21mm.
(a) Connection of servo amplifier and servo motor
Servo amplifier
CN2A
or
CN2B
1)
11 - 16
MR-J3ENSCBL
MR-J3ENSCBL
M-L(-S06)
M-H(-S06)
2)
Servo motor
HF-SP
HC-UP
HC-LP
HF-JP
11. OPTIONS AND AUXILIARY EQUIPMENT
Cable model
1) For CNP2A/CNP2B connector
MR-J3ENSCBL M- Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
L
(3M)
Cable
length
(Note) Signal layout
2
LG
4
6
8
2) For encoder connector
10
10m or
shorter
MRR
1
P5
3
5
7
9
BAT
MR
20m or
longer
Plug (DDK)
Bending life
Straight plug
Socket contact
Long
bending life
Standard
CMV1-SP10S-M1
Long
bending life
Standard
CMV1-SP10S-M2
CMV1-#22ASC-C1-100
Applicable wire size: AWG24 to
20
Crimping tool:357J-53162T
CMV1-#22ASC-C2-100
Applicable wire size: AWG28 to
24
Crimping tool:357J-53163T
View seen from wiring side.
MR-J3ENSCBL MH
or
3
Connector set: 54599-1019 (Molex)
7
(Note) Signal layout
2
1
MR
MRR
6
10
5
LG
9
8
P5
SHD
MR-J3ENSCBL ML-S06
2
4
LG
MRR
1
3
P5
MR
6
8
5
7
4
BAT
10
9
View seen from wiring side. (Note)
BAT
View seen from wiring side.
Note. Keep open the pins shown with
. Especially, pin 10 is
provided for manufacturer
adjustment. If it is connected with
any other pin, the servo amplifier
cannot operate normally.
Note. Keep open the pins shown with
Cable
length
10m or
shorter
20m or
longer
.
Plug (DDK)
Bending life
Straight plug
Socket contact
Long
bending life
Standard
Long
bending life
CM10-SP10S-VP-M
Standard
MR-J3ENSCBL MH-S06
3
7
2
10
5
LG
9
SHD
CM10-#22SC(C2)(D8)-100
Applicable wire size: AWG28 to
23
Crimping tool:357J-50447
1
MR
MRR
6
CM10-#22SC(C1)(D8)-100
Applicable wire size: AWG22 to
20
Crimping tool:357J-50446
4
BAT
8
P5
View seen from wiring side. (Note)
Note. Keep open the pins shown with
11 - 17
.
11. OPTIONS AND AUXILIARY EQUIPMENT
(b) Internal wiring diagram
MR-J3ENSCBL2M-L (-S06) /H (-S06)
MR-J3ENSCBL5M-L (-S06) /H (-S06)
MR-J3ENSCBL10M-L (-S06) /H (-S06)
Servo amplifier
side connector
Encoder side
connector
P5
1
LG
2
MR
3
MRR
4
9
BAT
Plate
SD
8
5
1
2
4
10
(Note)
P5
LG
MR
MRR
BAT
SHD
MR-J3ENSCBL20M-H (-S06)
MR-J3ENSCBL30M-H (-S06)
MR-J3ENSCBL40M-H (-S06)
MR-J3ENSCBL50M-H (-S06)
MR-J3ENSCBL20M-L (-S06)
MR-J3ENSCBL30M-L (-S06)
Servo amplifier
side connector
P5
LG
Encoder side
connector
1
2
MR
3
MRR
4
9
BAT
Plate
SD
(Note)
8
5
P5
LG
1
2
4
10
MR
MRR
BAT
SHD
Servo amplifier
side connector
P5
LG
Encoder side
connector
1
2
MR
3
MRR
4
BAT
9
Plate
SD
8
5
P5
LG
1
2
4
10
MR
MRR
BAT
SHD
(Note)
Note. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system.
11 - 18
11. OPTIONS AND AUXILIARY EQUIPMENT
(c) When fabricating the encoder cable
When fabricating the cable, prepare the following parts and tool, and fabricate it according to the wiring
diagram in (b). Refer to section 11.5 for the specifications of the used cable.
Parts/Tool
(Connector set)
Description
MR-J3SCNS
(Note 2)
MR-J3SCNS-S06
(Note 1)
Servo amplifier side connector
Receptacle: 36210-0100PL
Shell kit: 536310-3200-008
(3M)
Or
Connector set: 54599-1019
(Molex)
Encoder side connector
Straight plug: CMV1-SP10S-M2
Socket contact: CMV1-#22ASC-S1-100
Applicable wire size: AWG20 or less
(DDK)
Encoder side connector
Straight plug: CM10-SP10S-VP-M
Socket contact: CM10-#22SC (S1) (D8)-100
Applicable wire size: AWG20 or less
(DDK)
MR-J3SCNSA
(Note 2)
Encoder side connector
Straight plug: CMV1-AP10S-M2
Socket contact: CMV1-#22ASC-S1-100
Applicable wire size: AWG20 or less
(DDK)
MR-J3SCNSA-S06
(Note 1)
Encoder side connector
Straight plug: CM10-AP10S-VP-M
Socket contact: CM10-#22SC (S1) (D8)-100
Applicable wire size: AWG20 or less
(DDK)
Note 1. Use this option when the connector is expected to receive large vibration and shock. The connector at the
servo motor side can be removed up to 5 times. Use the dedicated tool 357J-52780T (DDK) or a spanner with
jaw size of 21mm.
2. Cable clamp and bushing for 5.5 mm to 7.5 mm and 7.0 mm to 9.0 mm of cable outer diameter are included.
11 - 19
11. OPTIONS AND AUXILIARY EQUIPMENT
11.1.3 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 available.
Refer to section 3.10 when wiring.
Cable model
0.3m
Cable length
2m
5m
10m
IP rating Bending life
MR-PWS1CBL M-A1-L
2
5
10
IP65
MR-PWS1CBL M-A2-L
2
5
10
IP65
MR-PWS1CBL M-A1-H
2
5
10
IP65
MR-PWS1CBL M-A2-H
2
5
10
IP65
MR-PWS2CBL03M-A1-L
03
IP55
MR-PWS2CBL03M-A2-L
03
IP55
Application
For HF-MP HF-KP servo motor
Load side lead
For HF-MP HF-KP servo motor
Standard
Opposite-to-load side lead
For HF-MP HF-KP servo motor
Long
bending life Load side lead
For HF-MP HF-KP servo motor
Long
bending life Opposite-to-load side lead
For HF-MP HF-KP servo motor
Standard
Load side lead
For HF-MP HF-KP servo motor
Standard
Opposite-to-load side lead
Standard
(1) Connection of servo amplifier and servo motor
MR-PWS1CBL M-A1-L
MR-PWS1CBL M-A1-H
MR-PWS2CBL03M-A1-L
1)
Servo amplifier
or
MR-PWS1CBL M-A2-L
MR-PWS1CBL M-A2-H
MR-PWS2CBL03M-A2-L
CNP3A
or
CNP3B
Connector for CNP3A/CNP3B
(Refer to section 3.3.3)
Cable model
MR-PWS1CBL M-A1-L
MR-PWS1CBL M-A2-L
MR-PWS1CBL M-A1-H
MR-PWS1CBL M-A2-H
MR-PWS2CBL03M-A1-L
MR-PWS2CBL03M-A2-L
Servo motor
HF-MP
HF-KP
1)
Servo motor
HF-MP
HF-KP
1) For motor power supply connector
Connector: KN4FT04SJ1-R
Signal layout
Hood, socket insulator
Bushing, ground nut
Contact: ST-TMH-S-C1B-100-(A534G)
1
Crimping tool: CT160-3-TMH5B
2 U
(Japan Aviation Electronics Industry)
3 V
Connector: KN4FT04SJ2-R
4 W
Hood, socket insulator
Bushing, ground nut
Contact: ST-TMH-S-C1B-100-(A534G)
View seen from wiring side.
Crimping tool: CT160-3-TMH5B
(Japan Aviation Electronics Industry)
(2) Internal wiring diagram
MR-PWS1CBL M-A1-L
MR-PWS1CBL M-A2-L
MR-PWS1CBL M-A1-H MR-PWS1CBL M-A2-H
MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L
AWG 19 (Red) (Note)
U
AWG 19 (White)
V
AWG 19 (Black)
W
AWG 19 (Green/yellow)
Note. These are not shielded cables.
11 - 20
11. OPTIONS AND AUXILIARY EQUIPMENT
11.1.4 Motor brake cables
These cables are motor brake 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 available.
Refer to section 3.11 when wiring.
Cable model
0.3m
Cable length
2m
5m
10m
IP rating Bending life
MR-PWS1CBL M-A1-L
2
5
10
IP65
MR-PWS1CBL M-A2-L
2
5
10
IP65
MR-PWS1CBL M-A1-H
2
5
10
IP65
MR-PWS1CBL M-A2-H
2
5
10
IP65
MR-PWS2CBL03M-A1-L
03
IP55
MR-PWS2CBL03M-A2-L
03
IP55
Application
For HF-MP HF-KP servo motor
Load side lead
For HF-MP HF-KP servo motor
Standard
Opposite-to-load side lead
Long
For HF-MP HF-KP servo motor
bending life Load side lead
Long
For HF-MP HF-KP servo motor
bending life Opposite-to-load side lead
For HF-MP HF-KP servo motor
Standard
Load side lead
For HF-MP HF-KP servo motor
Standard
Opposite-to-load side lead
Standard
(1) Connection of power supply for electromagnetic brake and servo motor
MR-BKS1CBL M-A1-L
MR-BKS1CBL M-A1-H
MR-BKS2CBL03M-A1-L
24VDC power
supply for
electromagnetic
brake
1)
Servo motor
HF-MP
HF-KP
or
MR-BKS1CBL M-A2-L
MR-BKS1CBL M-A2-H
MR-BKS2CBL03M-A2-L
1)
Servo motor
HF-MP
HF-KP
Cable model
MR-BKS1CBL M-A1-L
MR-BKS1CBL M-A2-L
MR-BKS1CBL M-A1-H
MR-BKS1CBL M-A2-H
MR-BKS2CBL03M-A1-L
MR-BKS2CBL03M-A2-L
1) For motor brake connector
Connector: JN4FT02SJ1-R
Signal layout
Hood, socket insulator
Bushing, ground nut
Contact: ST-TMH-S-C1B-100-(A534G)
1 B1
Crimping tool: CT160-3-TMH5B
2 B2
(Japan Aviation Electronics Industry)
Connector: JN4FT02SJ2-R
View seen from wiring side.
Hood, socket insulator
Bushing, ground nut
Contact: ST-TMH-S-C1B-100-(A534G)
Crimping tool: CT160-3-TMH5B
(Japan Aviation Electronics Industry)
(2) Internal wiring diagram
MR-BKS1CBL M-A1-L
MR-BKS1CBL M-A1-H
MR-BKS2CBL03M-A1-L
AWG 20
MR-BKS1CBL M-A2-L
MR-BKS1CBL M-A2-H
MR-BKS2CBL03M-A2-L
(Note)
B1
AWG 20
Note. These are not shielded cables.
11 - 21
B2
11. OPTIONS AND AUXILIARY EQUIPMENT
11.1.5 SSCNET
cable
POINT
Do not see directly the light generated from CN1A CN1B connector of servo
amplifier or the end of SSCNET cable. When the light gets into eye, you may feel
something is wrong for eye.
(1) Model explanations
Numeral in the column of cable length on the table is a symbol put in the
which symbol exists are available.
Cable model
part of cable model. Cables of
Cable length
0.15m
0.3m
0.5m
1m
3m
015
03
05
1
3
MR-J3BUS M
5m
10m
20m
30m
40m
50m
Bending
life
Application
remark
Using inside
Standard panel standard
cord
MR-J3BUS M-A
5
10
(Note)
MR-J3BUS M-B
Using outside
Standard panel standard
cable
20
30
40
50
Long
bending
life
Using long
distance cable
Note. For cable of 30m or less, contact our company.
(2) Specifications
Description
SSCNET
cable length
Optical
Minimum bend radius
cable
(cord)
Tension strength
MR-J3BUS M
0.15m
0.3 to 3m
25mm
70N
5 to 20m
30 to 50m
420N
(Enforced covering cord)
140N
40 to 85
980N
(Enforced covering cord)
20 to 70
Indoors (no direct sunlight)
No solvent or oil
2.2 0.07
External appearance
[mm]
MR-J3BUS M-B
Enforced covering cord: 50mm Enforced covering cord: 50mm
Cord: 25mm
Cord: 30mm
Temperature range for
use (Note)
Ambient
MR-J3BUS M-A
2.2 0.07
4.4 0.1
4.4 0.4
2.2 0.2
cable model
2.2 0.07
SSCNET
4.4 0.1
6.0 0.2
7.6 0.5
Note. This temperature range for use is the value for optical cable (cord) only. Temperature condition for the connector is the same as that
for servo amplifier.
11 - 22
11. OPTIONS AND AUXILIARY EQUIPMENT
(3) Outline drawings
(a) MR-J3BUS015M
[Unit: mm]
(6.7)
(15)
(13.4)
Protective tube
150
(20.9)
50
0
(1.7)
0
(2.3)
8
(37.65)
(b) MR-J3BUS03M to MR-J3BUS3M
Refer to the table shown in (1) of this section for cable length (L).
[Unit: mm]
Protective tube
(Note)
(100)
(100)
L
Note. Dimension of connector part is the same as that of MR-J3BUS015M.
(c) MR-J3BUS5M-A to MR-J3BUS20M-A MR-J3BUS30M-B to MR-J3BUS50M-B
Refer to the table shown in (1) of this section for cable length (L).
SSCNET
Distortion dimension [mm]
cable
A
B
MR-J3BUS5M-A to MR-J3BUS20M-A
100
30
MR-J3BUS30M-B to MR-J3BUS50M-B
150
50
[Unit: mm]
Protective tube
(Note)
(A)
(B)
(B)
L
Note. Dimension of connector part is the same as that of MR-J3BUS015M.
11 - 23
(A)
11. OPTIONS AND AUXILIARY EQUIPMENT
11.1.6 Battery cable
(1) Model explanations
The numbers in the Cable length column in the table go into
lengths of the numbers are available.
Cable model
of the cable model names. Cables with the
Cable length
0.3m
Fiex life
1m
Application / Remark
MR-J3BT1CBL M
03
1
Standard
For connection of MR-BTCASE
MR-J3BT2CBL M
03
1
Standard
For junction
(2) MR-J3BT1CBL M
(a) Appearance
2)
3)
1)
Parts
Description
1) Cable
VSVC 7/0.18 2C
2) Connector
Socket: DF3-2S-2C
Socket contact: DF3-2428SC(F)C (Hirose Denki)
3) Connector
Connector: 10120-3000PE
Shell kit: 10320-52F0-008 (3M or similar product)
(b) Internal wiring diagram
2)
BT
LG
1)
3)
White
Black
1
2
9
1
Plate
BT
LG
SD
(3) MR-J3BT2CBL M
(a) Appearance
4)
2)
Parts
5)
3)
Description
1) Cable
VSVC 7/0.18 2C
2) Cable
Socket: DF3-2S-2C
Socket contact: DF3-2428SCFC (Hirose Denki)
3) Connector
1)
4) Connector
Socket: DF3-2EP-2C
Socket contact: DF3-EP2428PCFA (Hirose Denki)
5) Connector
(b) Internal wiring diagram
4)
BT
LG
1
2
1)
3)
White
Black
White
Black
2)
11 - 24
1
2
BT
LG
1
2
5)
BT
LG
11. OPTIONS AND AUXILIARY EQUIPMENT
11.2 Regenerative options
CAUTION
The specified combinations of regenerative options and servo amplifiers may only be
used. Otherwise, a fire may occur.
(1) Combination and regenerative power
The power values in the table are resistor-generated powers and not rated powers.
Regenerative power [W]
Servo amplifier
MR-J3W-22B
MR-J3W-44B
MR-J3W-77B
Built-in regenerative
resistor
MR-RB14 [26 ]
10
100
100
MR-RB34 [26 ]
MR-RB3B [20 ]
300
MR-J3W-1010B
300
11 - 25
11. OPTIONS AND AUXILIARY EQUIPMENT
(2) Selection of the regenerative option
Use the following method when regeneration occurs continuously in vertical motion applications or when it is
desired to make an in-depth selection of the regenerative option.
(a) Regenerative energy calculation
Use the following table to calculate the regenerative energy.
M
Friction
torque
TF
TU
Unbalance torque
A-axis
Rotary servo motor
Linear servo motor
secondary side (Magnet)
V
M1
M2
Load
Linear servo motor
primary side (Coil)
B-axis
Linear servo motor
2)
Linear servo motor feeding speed/Servo motor speed
1)
3)
4)
5)
6)
7)
8)
9) 10)
tf (1 cycle)
Up/
Positive
direction
N0./V
Time
Down/
Negative
direction
t1
t2
Tpsa1
t3
Tpsd1
Up/
Positive
direction
t4
Tpsa2
Tpsd2
Up/
Positive
direction
N0./V
Down/
Negative
direction
t1
t2
t3
Tpsa1
Tpsd1
Tpsa2
t4
Tpsd2 Tpsa1
Formulas for calculating torque and energy in rotary servo motor operation
Regenerative power
Torque applied to servo motor [N m]
(JL JM) N0
9.55 104
1), 8)-B-axis
T1
2), 9)-B-axis
T2 TU TF
(JL JM) N0
T3
9.55 104
3), 10)-B-axis
4), 5)-A-axis,
9), 10)-A-axis
Tpsa1
TU
TF
T5
6)-B-axis, 7)-A-axis
T6
T7
Energy E [J]
E1
0.1047
2
N0 T1 Tpsa1
E2 0.1047 N0 T2 t1
1
TU
Tpsd1
TF
T4 TU
5)-B-axis, 6)-A-axis
7)-B-axis, 8)-A-axis
1
E3
0.1047
2
N0 T3 Tpsd1
E4 0 (No regeneration)
(JL JM) N0
4
9.55 10
TU TF
(JL JM) N0
9.55 104
1
Tpsa2
TU
TF
E5
0.1047
2
N0 T5 Tpsa2
E6 0.1047 N0 T6 t3
1
Tpsd2
TU
TF
E7
0.1047
2
N0 T7 Tpsd2
Formulas for calculating thrust and energy in linear servo motor operation
Regenerative power
Servo motor thrust [N]
1), 8)-B-axis
F1 (M1 M2) V/Tpsa1 Ft
Energy E [J]
E1 V/2 F1 Tpsa1
2), 9)-B-axis
F2 Ft
3), 10)-B-axis
F3
E2 V F2 t1
4), 5)-A-axis,
9), 10)-A-axis
F4 0
E4 0 (No regeneration)
5)-B-axis, 6)-A-axis
F5 (M1 M2) V/Tpsa2 Ft
E5 V/2 F5 Tpsa2
6)-B-axis, 7)-A-axis
F6 Ft
7)-B-axis, 8)-A-axis
F7
(M1 M2) V/Tpsd1 Ft
E3 V/2 F3 Tpsd1
E6 V F6 t3
(M1 M2) V/Tpsd2 Ft
E7 V/2 F7 Tpsd2
From the calculation results in 1) to 10), find the absolute value (Es) of the sum total of negative
energies.
11 - 26
Time
Tpsd1
11. OPTIONS AND AUXILIARY EQUIPMENT
(b) Losses of servo motor and servo amplifier in regenerative mode
The following table lists the efficiencies and other data of the servo motor and servo amplifier in the
regenerative mode.
Inverse efficiency [ ]
Capacitor charging [J]
MR-J3W-22B
Servo amplifier
70
17
MR-J3W-44B
85
22
MR-J3W-77B
MR-J3W-1010B
80
46
Inverse efficiency ( )
: Efficiency including some efficiencies of the servo motor and servo amplifier
when rated (regenerative) torque is generated at rated speed. Since the
efficiency varies with the speed and generated torque, allow for about 10 .
Capacitor charging (Ec) : Energy charged into the electrolytic capacitor in the servo amplifier.
Next, calculate the energy at different timings in one cycle of the operation. Energy is a positive value in
driving and a negative value in regenerative driving. Write down the energy during driving/regenerative
driving with signs in the calculation table as shown below. Negative values go into the shaded cells.
<Example>
1)
2)
3)
4)
5)
6)
7)
8)
9)
A-axis
Timing
E1
E2
E3
E4
E4
E5
E6
E7
E4
E4
B-axis
E1
E2
E3
E4
E5
E6
E7
E5
E6
E3
Sum
E 1)
E 2)
E 3)
E 4)
E 5)
E 6)
E 7)
E 8) (Note)
E 9)
Regenerative Es
10)
E 10)
ES 3)
ES 7)
ES 10)
ER [J]
ER
ER
ER
PR [W]
ER/tf
Note. Energy is not a negative value after summing regenerative driving driving
Calculate the sum of energy in each timing. For the timings (timing 3), 7) and 10) in the example) with
negative sum totals, calculate the next formula.
Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by
the inverse efficiency to calculate the energy consumed by the regenerative option.
ER [J]
Es Ec
If the subtraction results are negative at all timings, the regenerative option is not needed. From the total
of ER's whose subtraction results are positive and a 1-cycle period, the power consumption of the
regenerative option can be calculated with the following expression. Regenerative option is not required
when the energy consumption is equal to or less than the built-in regenerative energy.
Power consumption PR [W] (total of positive ER's)/1-cycle operation period (tf)
11 - 27
11. OPTIONS AND AUXILIARY EQUIPMENT
(3) Parameter setting
Set parameter No.PA02 according to the option to be used.
Parameter No.PA02
0 0
Selection of regenerative option
00: Regenerative option is not used (built-in regenerative resistor is used)
0D: MR-RB14
0E: MR-RB34
10: MR-RB3B
(4) Connection of the regenerative option
POINT
For the sizes of wires used for wiring, refer to section 11.5.
The regenerative option will cause a temperature rise of 100 relative to the ambient temperature. Fully
examine heat dissipation, installation position, used cables, etc. before installing the option. For wiring, use
flame-resistant wires and keep them clear of the regenerative option body. Always use twisted cables of
max. 5m length for connection with the servo amplifier.
Fit the regenerative option across P -C. The G3 and G4 terminals act as a thermal sensor. G3-G4 is
disconnected when the regenerative option overheats abnormally.
Always remove the lead from across P
Servo amplifier
-D.
Regenerative option
P
P
C
C
G3
D
(Note 2)
5m or less
G4
(Note 1)
Cooling fan
Note 1. When the ambient temperature is more than 55 and the regenerative load ratio is
more than 60 in MR-RB34 and MR-RB3B, forcefully cool the air with a cooling fan
(1.0m3/min or more, 92mm 92mm). A cooling fan is not required if the ambient
temperature is 35 or less.
A cooling fan is required
Lord ratio [ ]
100
60
A cooling fan is
not required
0
35
0
Ambient temperature [
55
]
A cooling fan is not required for MR-RB14.
2. Make up a sequence which will switch off the magnetic contactor when abnormal
heating occurs.
G3-G4 contact specifications
Maximum voltage: 120V AC/DC
Maximum current: 0.5A/4.8VDC
Maximum capacity: 2.4VA
11 - 28
11. OPTIONS AND AUXILIARY EQUIPMENT
(5) Outline drawing
(a) MR-RB14
[Unit: mm]
40
36
TE1
Terminal block
G3
G4
P
C
6 mounting hole
15
Applicable wire size: 2 to 2.5mm2
(AWG24 to AWG12)
Tightening torque: 0.5 to 0.6 [N m]
(4 to 5 [lb in])
Mounting screw
Screw size: M5
Tightening torque: 3.24 [N m] (28.7 [lb in])
5
TE1
Mass: 1.1 [kg] (2.4 [lb])
6
2
149
Approx. 20
169
(b) MR-RB34/MR-RB3B
[Unit: mm]
Cooling fan mounting
screw (2-M4 screw)
7
10
101.5
90
100
17
TE1
Terminal block
P
C
G3
G4
Terminal screw: M4
Tightening torque: 1.2 [N m] (10.62 [lb in])
Mounting screw
Screw size: M6
Tightening torque: 5.4 [N m] (47.79 [lb in])
82.5
318
335
Air intake
Mass: 2.9 [kg] (6.4 [lb])
11 - 29
11. OPTIONS AND AUXILIARY EQUIPMENT
11.3 MR-BTCASE battery case and MR-BAT battery
POINT
Refer to appendix 5 and 6 for battery transportation and the new EU Battery
Directive.
Always install eight MR-BAT batteries to an MR-BTCASE battery case.
These are used to configure an absolute position detection system. An MR-BTCASE battery case is a case that
stores eight MR-BAT batteries by connector connections. An MR-BTCASE battery case can be used by four
MR-J3W-B servo amplifiers (eight axes) at maximum. To connect an MR-BTCASE battery case to a servo
amplifier, the MR-J3BT1CBL M battery cable is required. To connect multiple servo amplifiers to an MRBTCASE battery case, use the MR-J3BT2CBL M junction battery cable. When using an MR-J3W-B servo
amplifier in the incremental system, MR-BTCASE and MR-BAT are not required.
Battery backup time (battery life without charging) is 30,000 hours for one servo amplifier (two axes) and 10,000
hours for four servo amplifiers (eight axes). Refer to section 12.3 for the usage.
[Unit: mm]
25
Approx. 70
130
4.6
5
2- 5mounting hole
(Note)
Note. Leave this open.
Mass: 0.3 [kg]
Outline dimension drawing of MR-BTCASE
Appearance of
MR-BAT
The next table shows model names of battery cables. The numbers in the Cable length column in the table go
into
of the cable model names.
Cable model
Cable length
Fiex life
0.3m
1m
MR-J3BT1CBL M
03
1
Standard
MR-J3BT2CBL M
03
1
Standard
11 - 30
Application / Remark
For junction
11. OPTIONS AND AUXILIARY EQUIPMENT
11.4 MR Configurator
The MR Configurator uses the communication function of the servo amplifier to perform parameter setting
changes, graph display, test operation, etc. on a personal computer.
(1) Specifications
Item
Description
MR Configurator
Compatibility with a
servo amplifier
Servo motor
Rotary servo motor
Linear servo motor
Direct drive motor
Monitor
Alarm
MRZJW3-SETUP221
software version
C1 or later
C3 or later
Display, high speed monitor, Multiple axis graph trend graph
Minimum resolution changes with the processing speed of the personal computer.
Display, history, amplifier data
Diagnostic
Digital I/O, no motor rotation, total power-on time, amplifier software version info, motor
information, tuning data, absolute encoder data, Axis name setting.
Parameters
Parameter list, turning, change list, detailed information
Test operation
Advanced function
(Note)
Jog operation, positioning operation, Do forced output, program operation.
Machine analyzer, gain search, machine simulation, robust disturbance compensation,
Advanced gain search
File operation
Data read, save, delete, print
Others
Automatic demo, help display
Note. The advanced gain search is supported by MR Configurator with software version C2 or later.
11 - 31
11. OPTIONS AND AUXILIARY EQUIPMENT
(2) System configuration
(a) Components
To use this software, the following components are required in addition to the servo amplifier and servo
motor.
Equipment
(Note 1) Description
Microsoft Windows 7 Ultimate [Service Pack none/1]
Microsoft Windows 7 Enterprise [Service Pack none/1]
Microsoft Windows 7 Professional [Service Pack none/1]
Microsoft Windows 7 Home Premium [Service Pack none/1]
Microsoft Windows 7 Starter [Service Pack none/1]
Microsoft Windows Vista Home Basic [Service Pack none/1/2]
Microsoft Windows Vista Home Premium [Service Pack none/1/2]
Microsoft Windows Vista Business [Service Pack none/1/2]
Microsoft Windows Vista Ultimate [Service Pack none/1/2]
Microsoft Windows Vista Enterprise [Service Pack none/1/2]
Microsoft Windows XP Professional [Service Pack 2/3]
Microsoft Windows XP Home Edition [Service Pack 2/3]
Microsoft Windows 2000 Professional [Service Pack 4]
Desktop PC: Intel Celeron processor 2.8GHz or more.
Laptop PC: Intel Pentium M processor 1.7GHz or more.
OS
(Note 2, 3, 4, 5)
Personal computer
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
CPU
R
R
R
Memory
512 MB or more (for 32-bit OS) and 1 GB or more (for 64-bit OS)
Hard Disk
1GB or more of free space
Communication
interface
USB port
Browser
Windows
Display
One whose resolution is 1024 768 or more and that can provide a high color (16 bit) display.
Connectable with the above personal computer.
R
Internet Explorer
R
4.0 or more (Note 1)
Keyboard
Connectable with the above personal computer.
Mouse
Connectable with the above personal computer.
Printer
Connectable with the above personal computer.
USB cable
MR-J3USBCBL3M
Note 1. Microsoft, Windows, Internet Explorer and Windows Vista are registered trademarks of Microsoft Corporation in the United States
and other countries.
Celeron and Pentium are the registered trademarks of Intel Corporation.
2. On some personal computers, MR Configurator2 may not run properly.
3. When Microsoft Windows 7, Microsoft Windows Vista , or Microsoft Windows XP is used, the following functions
cannot be used.
Windows Program Compatibility mode
Fast User Switching
Remote Desktop
Large Fonts Mode (Display property)
DPI settings other than 96DPI (Display property)
For 64-bit operating system, this software is compatible with Windows 7.
4. When Windows 7 is used, the following functions cannot be used.
Windows XP Mode
Windows touch
5. When using this software with Windows Vista and Windows 7, log in as a user having USER authority or higher.
R
R
R
R
R
R
R
R
R
11 - 32
R
11. OPTIONS AND AUXILIARY EQUIPMENT
(b) Connection with servo amplifier
Personal computer
Servo amplifier
CN5
USB Cable
MR-J3USBCBL3M
(Option)
11 - 33
To USB
connector
11. OPTIONS AND AUXILIARY EQUIPMENT
(3) MR Configurator
MR Configurator MRZJW3-SETUP221E supports MR-J3W-B. The following table shows notes for using
MR-J3W-B with MR Configurator.
(a) Specification and setting
Item
Mode
System setting
Station No. selection
USB communication
Via EzSocket
Specification/setting
Select "MR-J3-B."
A-axis
Servo amplifier: Set parameter No.PC15 to "0 (initial setting)".
MR Configurator: Select the station number "0".
With the software whose version is C3 or later, this setting is not required.
B-axis
Servo amplifier: Set parameter No.PC15 to "1".
MR Configurator: Select the station number "1".
With the software whose version is C3 or later, this setting is not required.
All monitor
Same display as MR-J3-B
graph
Three channels for each of two axes can be measured. (Set measuring axes
using parameters.)
Test operation
One axis only (cannot use two axes simultaneously.)
Machine analyzer
To vibrate one axis (cannot use two axes simultaneously.)
I/O interface
Only the information on the communicating axis. Pin numbers of MR-J3-B are
the pin numbers.
Tuning
Vibration suppression control tuning and machine resonance filter tuning are not
available.
Multiple axis monitor
Not supported
Multiple axis graph
Three channels for each of two axes can be measured. (Set measuring axes
using parameters.)
(b) Selecting an axis to communicate
Follow the following procedure to switch the communicating axis.
Step 1: Display the System Settings.
Step 2: Press down "Ctrl" "Alt" "Shift" "F5" simultaneously to activate the station selection.
11 - 34
11. OPTIONS AND AUXILIARY EQUIPMENT
Step 3: Select the station "00" for the A-axis setting and the station "01" for the B-axis setting in the
Station Selection.
(c) I/O interface
Pin numbers of the I/O interface are the pin numbers of the MR-J3-B. When using the pin numbers for
MR-J3W-B, read the pin numbers as shown below.
Item
Input device
MR-J3-B
MR-J3W-B
A-axis
B-axis
CN3-2
CN3-7
CN3-20
CN3-12
CN3-8
CN3-21
CN3-19
CN3-9
CN3-20
Output device
Encoder pulse output
CN3-13
CN3-12
CN3-15
CN3-11
CN3-24
CN3-6/16
CN3-3/16
CN3-5/18
CN3-7/17
CN3-4/17
CN3-6/19
CN3-8/18
Analog monitor output
CN3-22
CN3-10
CN3-25
Invalid (No function)
CN3-4
CN3-2
CN3-14
CN3-15
11 - 35
11. OPTIONS AND AUXILIARY EQUIPMENT
The next display shows the case when the A-axis (station 0) is set as the axis to communicate.
CN3-7
CN3-8
CN3-9
CN3-10
CN3-12
CN3-11
CN3-3/16
CN3-4/17
CN3-2
CN3-15
11.5 Selection example of wires
POINT
Refer to section 11.1.5 for SSCNET cable.
Wires indicated in this section are separated wires.
To comply with the UL/CSA Standard, use the wires shown in appendix 4 for
wiring.
To comply with other standards, use a wire that is complied with each standard.
Selection condition of wire size is as follows.
Construction condition: One wire is constructed in the air
Wire length: 30m or less
11 - 36
11. OPTIONS AND AUXILIARY EQUIPMENT
(1) Wires for power supply wiring
The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
1) Main circuit power supply lead
3) Motor power supply lead
Servo amplifier
Power supply
Servo motor
L1
U
U
L2
V
V
L3
W
W
Motor
2) Control circuit power supply lead
L11
L21
6) Electromagnetic
brake lead
B1
B2
5)
Encoder cable
D
Regenerative option
Electrmagnetic
brake
C
Encoder
P
4) Regenerative option lead
THM1
G1
THM2
G2
7) Thermistor lead
The following table shows selection examples of cable sizes. These sizes are common for the 600V
Polyvinyl chloride insulated wire (IV wire) and for the 600V Grade heat-resistant polyvinyl chloride insulated
wire (HIV wire).
Table 11.1 Wire size selection example 1 (IV/HIV wire)
Wires [mm2] (Note 1)
Servo amplifier
1) L1 L2 L3
(Note 3)
2) L11 L21
3) U V W
(Note 2, 3)
4) P
C
5) P
D
6) B1 B2
(Note 2)
7)
THM1 THM2
1.25 (AWG16)
0.2 (AWG24)
MR-J3W-22B
MR-J3W-44B
MR-J3W-77B
2 (AWG14)
MR-J3W-1010B
Note 1. Wires are selected based on the highest rated current among combining servo motors.
2. This wire size indicates the size of cable extension which is used when the wiring length exceeds 10m.
3. Use the crimping terminal specified as below for the PE terminal of the servo amplifier.
Crimping terminal : FVD2-4
: YNT-1614
Tool (body)
: JST
Manufacturer
Tightening torque : 1.2 N m
11 - 37
11. OPTIONS AND AUXILIARY EQUIPMENT
(2) Wires for cables
When fabricating a cable, use the wire models given in the following table or equivalent.
Table 11.2 Wires for option cables
Characteristics of one core
Type
Model
Core size
[mm2]
Number
of Cores
2 to 10
AWG22
6
(3 pairs)
2 to 10
AWG22
0.3
Length
[m]
[Wires/mm]
Wire model
7/0.26
1.18
7.1
(Note 3)
VSVP 7/0.26 (AWG#22 or
equivalent)-3P
KB-1655-2 (Bando Densen)
6
(3 pairs)
70/0.08
56 or
less
1.17
7.1
(Note 3)
TPE SVP 70/0.08 (AWG#22 or
equivalent)-3P
KB-2237-2 (Bando Densen)
AWG26
8
(4 pairs)
30/0.08
233 or
less
1.2
7.1 0.3
T/2464-1061/IIA-SB 4P×26AWG
(Taiyo Cabletec)
AWG28
4
(2 pairs)
7/0.127
232 or
less
1.18
2
17/0.16
28.7 or
less
7.0
AWG22
1.50
(Note 3)
20276 composite 6-core shielded
cable
Ban-gi-shi-16395-1 (Bando
Densen)
20 30
AWG23
12
(6 pairs)
12/0.18
63.6 or
less
1.2
8.2 0.3
2 to 10
0.2 mm2
12
(6 pairs)
40/0.08
105 or
less
0.88
7.2
(Note 3) A14B2339 6P
(Junkosha)
AWG24
12
(6 pairs)
40/0.08
105 or
less
7.2
(Note 3)
TPE SVP 40/0.08 (AWG#24 or
equivalent)-6P
KB-1928-2 (Bando Densen)
30 to 50
AWG24
14
(7 pairs)
40/0.08
105 or
less
0.88
8.0
(Note 3)
TPE SVP 40/0.08 (AWG#24 or
equivalent)-7P
KB-1929-2 (Bando Densen)
0.3
AWG26
8
(4 pairs)
7/0.16
146 or
less
1.0
7.1 0.3
2 to 10
AWG22
6
(3 pairs)
7/0.26
53 or
less
1.18
7.1
(Note 3)
VSVP 7/0.26 (AWG#22 or
equivalent)-3P
KB-1655-2 (Bando Densen)
20/30
AWG23
12
(6 pairs)
12/0.18
63.3 or
less
1.2
8.2 0.3
(Note 3)
20276 VSVPAWG#23×6P
KB-0492 (Bando Densen)
AWG22
6
(3 pairs)
70/0.08
56 or
less
AWG24
12
(6 pairs)
40/0.08
105 or
less
MR-J3ENCBL_M-A2-L
MR-J3ENCBL_M-A1-H
MR-J3ENCBL_M-A2-H
MR-J3JCBL03M-A2-L
2 to 10
MR-EKCBL_M-L
20
Encoder
cable
Insulation (Note 2)
coating Finishing
resistance
OD d [mm] OD [mm]
[ /mm]
(Note 1)
Conductor
53 or
less
MR-J3ENCBL_M-A1-L
MR-J3JCBL03M-A1-L
Structure
MR-EKCBL_M-H
0.88
MR-J3JSCBL03M-A1-L
MR-J3JSCBL03M-A2-L
MR-J3ENSCBL_M-L
2 to 10
1.17
11 - 38
0.88
(Note 3)
VSVP 7/0.16 (AWG#26 or
equivalent)-4P
Ban-gi-shi-16822 (Bando Densen)
7.1
(Note 3)
TPE SVP 70/0.08 (AWG#22 or
equivalent)-3P
KB-2237-2 (Bando Densen)
7.2
(Note 3)
TPE SVP 40/0.08 (AWG#24 or
equivalent)-6P
KB-1928-2 (Bando Densen)
MR-J3ENSCBL_M-H
20 to 50
(Note 3)
20276 VSVPAWG#23×6P
KB-0492 (Bando Densen)
11. OPTIONS AND AUXILIARY EQUIPMENT
Characteristics of one core
Type
Model
MR-PWS1CBL_M-A1-L
Motor power
supply cable
Motor brake
cable
Length
[m]
2 to 10
MR-PWS1CBL_M-A2-L
2 to 10
MR-PWS1CBL_M-A1-H
2 to 10
MR-PWS1CBL_M-A2-H
Number
of Cores
AWG18
4
34/0.18
21.8
or less
1.71
6.2 0.3
(Note 4)
HRZFEV-A (CL3) AWG18 4 cores
(Dyden)
4
150/0.08
29.1
or less
1.63
5.7 0.5
(Note 4)
RMFES-A (CL3X) AWG19 4 cores
(Dyden)
AWG19
4
30/0.18
25.8
or less
1.64
-
AWG20
2
21/0.18
34.6
or less
1.35
4.7 0.1
(Note 4)
HRZFEV-A (CL3) AWG20 2 cores
(Dyden)
AWG20
2
110/0.08
39.0
or less
1.37
4.5 0.3
(Note 4)
RMFES-A (CL3X) AWG20 2 cores
(Dyden)
AWG20
2
19/0.203
32.0
or less
1.42
-
AWG19
2
2 to 10 (0.75 mm )
MR-PWS2CBL03M-A1-L
0.3
MR-PWS2CBL03M-A2-L
0.3
MR-BKS1CBL_M-A1-L
2 to 10
MR-BKS1CBL_M-A2-L
2 to 10
MR-BKS1CBL_M-A1-H
2 to 10
MR-BKS1CBL_M-A2-H
2 to 10
MR-BKS2CBL03M-A1-L
0.3
MR-BKS2CBL03M-A2-L
0.3
Structure
[Wires/mm]
Note 1. The following shows the detail of d.
d
Conductor
Insulation (Note 2)
coating Finishing
resistance
OD d [mm] OD [mm]
[ /mm]
(Note 1)
Core size
[mm2]
Insulator
2. Standard OD. Max. OD is about 10 greater.
3. Purchase from Toa Electric Industry Co. Ltd., Nagoya Branch
4. Purchase from Taisei Co., Ltd.
5. These models consist with solid wires. Specify the color, separately.
11 - 39
Conductor
Wire model
(Note 3, 5)
J11B2330 UL10125
(Junkosha)
(Note 3, 5)
J11B2331 UL10125
(Junkosha)
11. OPTIONS AND AUXILIARY EQUIPMENT
11.6 No-fuse breakers, fuses, magnetic contactors
Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier. When using a
fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section.
When using two different types of motors in combination from a rotary servo motor, a linear servo motor or a
direct drive motor, select a molded-case circuit breaker, a fuse or a magnetic contactor temporarily assuming
that the same type of the motors are used for both axes. After selecting for the two types, use the larger moldedcase circuit breaker, fuse or magnetic contactor.
Molded-case circuit breaker
Total output of
rotary servo
motor
Total
continuous
thrust of linear
servo motor
Total output of
direct drive
motor
300W or less
Fuse
Current
Not using
power factor
improving AC
reactor
Voltage (Note 1) Current Voltage
Using power
Class
[A]
AC [V]
factor improving AC [V]
AC reactor
30A frame 5A
30A frame 5A
15
20
From over
120N or less
300W to 600W
100W or less
30A frame 10A
30A frame 10A
From over
600W to 1kW
From over
120N to 240N
From over
30A frame 15A
100W to 250W
30A frame 10A
From over
1kW to 2.0kW
From over
240N to 480N
From over
30A frame 20A
250W to 838W
30A frame 15A
240
K5
20
30
(Note 2)
Magnetic
contactor
S-N10
300
S-N18
Note 1. Refer to appendix 4(8) to use the servo amplifier as a UL/CSA compliant product.
2. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is the time interval
between current being applied to the coil until closure of contacts.
11 - 40
11. OPTIONS AND AUXILIARY EQUIPMENT
11.7 Power factor improving AC reactors
The power factor improving AC reactors improve the phase factor 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 . For use with a 1-phase power supply, it may be slightly
lower than 90 .
When using power factor improving reactors for two servo amplifiers or more, be sure to connect a power factor
improving reactor to each servo amplifier.
If using only one power factor improving reactor, enough improvement effect of phase factor cannot be obtained
unless all servo amplifiers are operated.
When using two different types of motors in combination from a rotary servo motor, a linear servo motor or a
direct drive motor, select a power factor improving AC reactor temporarily assuming that the same type of the
motors are used for both axes. After selecting for the two types, use the larger power factor improving AC
reactor.
[Unit : mm]
Servo amplifier
FR-BAL
MC R
X
MCCB
H 5
3-phase
200 to 230VAC
S
Y
T
Z
L1
L2
L3
Servo amplifier
W
D1
C
S
Y
T
Z
D 5
RXSY T Z
MCCB
(Note)
1-phase
200 to 230VAC
Installation screw
FR-BAL
MC R
X
L1
L2
L3
W1
Note. For the 1-phase 200V to 230V power supply, Connect the
power supply to L1, L2 and leave L3 open.
Total output of
rotary servo
motor
Total
continuous
thrust of linear
servo motor
Total output of
direct drive
motor
300W or less
Power factor
improving AC
reactor
Dimensions [mm]
Mounting
screw size
Terminal
Mass
screw
[kg (lb)]
size
W
W1
H
D
D1
C
FR-BAL-0.4K
135
120
115
59
45
7.5
M4
M3.5
2.0
(4.41)
FR-BAL-0.75K
135
120
115
69
57
7.5
M4
M3.5
2.8
(6.17)
From over
100N or less
300W to 450W
100W or less
From over
From over
450W to 600W 100N to 120N
From over
FR-BAL-1.5K
100W to 150W
160
145
140
71
55
7.5
M4
M3.5
3.7
(8.16)
From over
600W to 1kW
From over
120N to 240N
From over
FR-BAL-2.2K
150W to 250W
160
145
140
91
75
7.5
M4
M3.5
5.6
(12.35)
From over
1kW to 2.0kW
From over
240N to 480N
From over
FR-BAL-3.7K
250W to 838W
220
200
192
90
70 0 2.5
10
M5
M4
8.5
(18.74)
11 - 41
11. OPTIONS AND AUXILIARY EQUIPMENT
11.8 Relays (recommended)
The following relays should be used with the interfaces
Interface
Selection example
Relay used for digital input command signals (interface DI-1)
To prevent defective contacts , use a relay for small signal (twin
contacts).
(Ex.) Omron : type G2A , MY
Relay used for digital output signals (interface DO-1)
Small relay with 12VDC or 24VDC of rated current 40mA or
less
(Ex.) Omron : type MY
11.9 Noise reduction techniques
Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those
radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an
electronic device which handles small signals, the following general noise reduction techniques are required.
Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If
peripheral devices malfunction due to noises produced by the servo amplifier, noise suppression measures
must be taken. The measures will vary slightly with the routes of noise transmission.
(1) Noise reduction techniques
(a) General reduction techniques
Avoid laying power lines (input and output cables) and signal cables side by side or do not bundle
them together. Separate power lines from signal cables.
Use shielded, twisted pair cables for connection with the encoder and for control signal transmission,
and connect the shield to the SD terminal.
Ground the servo amplifier, servo motor, etc. together at one point (refer to section 3.12).
(b) Reduction techniques for external noises that cause the servo amplifier to malfunction
If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays
which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction,
the following countermeasures are required.
Provide surge absorbers on the noise sources to suppress noises.
Attach data line filters to the signal cables.
Ground the shields of the encoder connecting cable and the control signal cables with cable clamp
fittings.
Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other
equipment against large exogenous noise and lightning surge, attaching a varistor to the power input
section of the equipment is recommended.
11 - 42
11. OPTIONS AND AUXILIARY EQUIPMENT
(c) Techniques for noises radiated by the servo amplifier 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 output circuits), those induced electromagnetically or
statically by the signal cables of the peripheral devices located near the main circuit cables, and those
transmitted through the power supply cables.
Noises produced
by servo amplifier
Noises transmitted
in the air
Noise radiated directly
from servo amplifier
Route 1)
Noise radiated from the
power supply cable
Route 2)
Noise radiated from
servo motor cable
Route 3)
Magnetic induction
noise
Routes 4) and 5)
Static induction
noise
Route 6)
Noises transmitted
through electric
channels
11 - 43
Noise transmitted through
power supply cable
Route 7)
Noise sneaking from
grounding cable due to
leakage current
Route 8)
11. OPTIONS AND AUXILIARY EQUIPMENT
5)
7)
7)
1)
Instrument
7)
2)
Receiver
Servo
amplifier
2)
Sensor
power
supply
3)
8)
6)
Sensor
4)
Servo motor
M
3)
Noise transmission route
Suppression techniques
1) 2) 3)
When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due
to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near
the servo amplifier, such devices may malfunction due to noises transmitted through the air. The following
techniques are required.
1. Provide maximum clearance between easily affected devices and the servo amplifier.
2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
3. Avoid laying the power lines (Input cables of the servo amplifier) and signal cables side by side or
bundling them together.
4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.
5. Use shielded wires for signal and power cables or put cables in separate metal conduits.
4) 5) 6)
When the power lines and the signal cables are laid side by side or bundled together, magnetic induction
noise and static induction noise will be transmitted through the signal cables and malfunction may occur.
The following techniques are required.
1. Provide maximum clearance between easily affected devices and the servo amplifier.
2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo
amplifier.
3. Avoid laying the power lines (I/O cables of the servo amplifier) and signal cables side by side or bundling
them together.
4. Use shielded wires for signal and power cables or put the cables in separate metal conduits.
7)
When the power supply of peripheral devices is connected to the power supply of the servo amplifier
system, noises produced by the servo amplifier may be transmitted back through the power supply cable
and the devices may malfunction. The following techniques are required.
1. Insert the radio noise filter (FR-BIF) on the power cables (Input cables) of the servo amplifier.
2. Insert the line noise filter (FR-BSF01) on the power cables of the servo amplifier.
8)
When the cables of peripheral devices are connected to the servo amplifier to make a closed loop circuit,
leakage current may flow to malfunction the peripheral devices. If so, malfunction may be prevented by
disconnecting the grounding cable of the peripheral device.
11 - 44
11. OPTIONS AND AUXILIARY EQUIPMENT
(2) Noise reduction products
(a) Data line filter (Recommended)
Noise can be prevented by installing a data line filter onto the encoder cable, etc. For example, the
ZCAT3035-1330 of TDK and the ESD-SR-250 of NEC TOKIN make are available as data line filters. As
a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated below.
This impedances are reference values and not guaranteed values.
Impedance[ ]
[Unit: mm]
100 to 500MHz
80
150
39 1
Loop for fixing the
cable band
30 1
34 1
13 1
10 to 100MHz
TDK
Product name
Lot number
Outline drawing (ZCAT3035-1330)
(b) Surge killer
The recommended surge killer for installation to an AC relay, AC valve or the like near the servo
amplifier is shown below. Use this product or equivalent.
ON
OFF
MC
MC
SK
Surge killer
Relay
Surge killer
20cm or less
(Ex.) CR-50500 (OKAYA Electric industries Co., Ltd.)
250
0.5
R
30 ]
50
(1/2W)
Test voltage AC[V]
Between terminals:
625VAC, 50/60Hz 60s
Between terminal and case:
2000VAC
50/60Hz 60s
Outline drawing [Unit: mm]
Soldering the end of the wire
15 1
Mounting band
AWG18 twisted wire
CR-50500
6 1
300 or more
48 1.5
6 1
300 or more
Note that a diode should be installed to a DC relay, DC valve or the like.
Maximum voltage: Not less than 4 times the drive voltage of the relay or
the like
Maximum current: Not less than twice the drive current of the relay or
the like
11 - 45
(18.5 2) 1
Rated
C
voltage
[ F 20 ] [
AC[V]
3.6
16 1
(18.5 5)max.
RA
Diode
11. OPTIONS AND AUXILIARY EQUIPMENT
(c) Cable clamp fitting AERSBAN- SET
Generally, the earth of the shielded cable may only be connected to the connector's SD terminal.
However, the effect can be increased by directly connecting the cable to an earth plate as shown below.
Install the earth plate near the servo amplifier for the encoder cable. Peel part of the cable sheath to
expose the external conductor, and press that part against the earth plate with the cable clamp. If the
cable is thin, clamp several cables in a bunch.
The clamp comes as a set with the earth plate.
[Unit: mm]
Cable
Cable clamp
(A,B)
Strip the cable sheath of
the clamped area.
40
cutter
Earth plate
cable
External conductor
Clamp section diagram
Outline drawing
[Unit: mm]
Earth plate
Clamp section diagram
2- 5 hole
installation hole
30
17.5
0.3
0
35
A
10
7
24
24
3
0
0.2
6
C
B 0.3
L or less
22
6
(Note)M4 screw
11
35
Note. Screw hole for grounding. Connect it to the earth plate of the control box.
Type
A
B
C
Accessory fittings
Clamp fitting
L
AERSBAN-DSET
100
86
30
clamp A: 2pcs.
A
70
AERSBAN-ESET
70
56
clamp B: 1pc.
B
45
11 - 46
11. OPTIONS AND AUXILIARY EQUIPMENT
(d) Line noise filter (FR-BSF01)
This filter is effective in suppressing noises radiated from the power supply side and output side of the
servo amplifier and also in suppressing high-frequency leakage current (zero-phase current) especially
within 0.5MHz to 5MHz band.
Connection diagram
Outline drawing [Unit: mm]
MCCB MC
Power
supply
Line noise
filter
Servo amplifier
L1
L2
L3
(Number of turns: 4)
Example 2
MCCB MC
Servo amplifier
Power
supply
Line noise
filter
Approx.110
95 0.5
2- 5
Approx.65
L1
L2
L3
Two filters are used
(Total number of turns: 4)
11 - 47
Approx.65
33
4.5
Example 1
FR-BSF01 (for wire size 3.5mm2 (AWG12) or less))
Approx.22.5
Use the line noise filters for wires of the main power supply (L1 L2
L3) and of the motor power supply (U V W). Pass each of the
wires through the line noise filter an equal number of times in the
same direction. For the main power supply, the effect of the filter
rises as the number of passes increases, but generally four passes
would be appropriate. For the motor power supply, passes must be
four times or less. Do not pass the grounding (earth) wire through
the filter, or the effect of the filter will drop. Wind the wires by
passing through the filter to satisfy the required number of passes
as shown in Example 1. If the wires are too thick to wind, use two or
more filters to have the required number of passes as shown in
Example 2. Place the line noise filters as close to the servo
amplifier as possible for their best performance.
11. OPTIONS AND AUXILIARY EQUIPMENT
(e) Radio noise filter (FR-BIF)
This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier
especially in 10MHz and lower radio frequency bands. The FR-BIF is designed for the input only.
Connection diagram
Outline drawing (Unit: mm)
Terminal
block Servo amplifier
MCCB MC
Leakage current: 4mA
Red White Blue
29
L1
Power
supply
Green
About 300
Make the connection cables as short as possible.
Grounding is always required. When using the FR-BIF with a singlephase power supply, always insulate the wires that are not used for
wiring.
5
hole
42
L2
4
L3
29
58
7
44
Radio noise
filter
(f) Varistors for input power supply (Recommended)
Varistors are effective to prevent exogenous noise and lightning surge from entering the servo amplifier.
When using a varistor, connect it between each phase of the input power supply of the equipment. For
varistors, the TND20V-431K and TND20V-471K manufactured by NIPPON CHEMI-CON, are
recommended. For detailed specification and usage of the varistors, refer to the manufacturer catalog.
Maximum rating
Power
supply
voltage
Varistor
Permissible circuit
voltage
Surge current
immunity
Energy
immunity
Rated
pulse
power
[W]
AC[Vrms]
DC[V]
8/20 s[A]
2ms[J]
100V class TND20V-431K
275
350
10000/1 time
195
200V class TND20V-471K
300
385
7000/2 time
215
1.0
Static
Maximum limit capacity
voltage
(referenc
e value)
[A]
100
Varistor voltage
rating (range)
V1mA
[V]
[pF]
[V]
710
1300
430(387 to 473)
775
1200
470(423 to 517)
[Unit: mm]
D
T
Model
H
TND20V-431K
TND20V-471K
D
Max.
H
Max.
21.5
24.5
T
Max.
E
1.0
6.4
3.3
6.6
3.5
(Note)L
min.
20
W
E
L
Note. For special purpose items for lead length (L), contact the manufacturer.
d
11 - 48
d
0.05
0.8
W
1.0
10.0
11. OPTIONS AND AUXILIARY EQUIPMENT
11.10 Earth-leakage current breaker
(1) Selection method
High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage
currents containing harmonic contents are larger than those of the motor which is run with a commercial
power supply.
Select an earth-leakage current breaker according to the following formula, and ground the servo amplifier,
servo motor, etc. securely.
Make the input and output cables as short as possible, and also make the grounding cable as long as
possible (about 30cm) to minimize leakage currents.
Rated sensitivity current
10 {Ig1 Ign Iga K (Ig2 (A-axis) Igm (A-axis) Ig2 (B-axis) Igm (B-axis))} [mA]· · (11.1)
Cable
MCCB Noise filter
Servo
amplifier
Cable
M A-axis
Iga
Mitsubishi
products
Type
Ig2
Igm
Cable
Ig1 Ign
Earth-leakage current breaker
Ig2
M
B-axis
Igm
K
Models provided with
harmonic and surge
reduction techniques
NV-SP
NV-SW
NV-CP
NV-CW
NV-L
1
General models
BV-C1
NFB
NV-L
3
Ig1 : Leakage current on the electric channel from the earth-leakage current breaker to the input terminals
of the servo amplifier (Found from Fig. 11.1.)
Ig2 : Leakage current on the electric channel from the output terminals of the servo amplifier to the servo
motor (Found from Fig. 11.1.)
Ign : Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF)
Iga : Leakage current of the servo amplifier (Found from Table 11.4.)
Igm : Leakage current of the servo motor (Found from Table 11.3.)
[mA]
120
Leakage current
Leakage current
120
100
80
60
40
[mA]
80
60
40
20
20
0
100
2 3.5
8 1422 38 80 150
5.5
30 60 100
Cable size [mm2]
a. 200V class
0
2
5.5 14 38 100
3.5 8 22 60 150
30 80
Cable size [mm2]
b. 400V class
Fig. 11.1 Leakage current example (lg1, lg2) for CV cable run in metal conduit
11 - 49
11. OPTIONS AND AUXILIARY EQUIPMENT
Table 11.3 Servo motor's leakage current example (Igm)
Table 11.4 Servo amplifier's leakage current example (Iga)
Servo motor power
[kW]
Leakage current
[mA]
Servo amplifier
0.05 to 1
0.1
MR-J3W-22B
MR-J3W-44B
MR-J3W-77B
MR-J3W-1010B
Table 11.5 Leakage circuit breaker selection example
Servo amplifier
Rated sensitivity current of
leakage circuit breaker [mA]
MR-J3W-22B
MR-J3W-44B
MR-J3W-77B
MR-J3W-1010B
15
11 - 50
Leakage current
[mA]
0.1
0.15
11. OPTIONS AND AUXILIARY EQUIPMENT
(2) Selection example
Indicated below is an example of selecting an earth-leakage current breaker under the following conditions.
2mm2 5m
2mm2 5m
Cable
MCCB
Servo amplifier
MR-J3W-44B
Ig2
Cable
Ig1
Iga
Ig2
M
A-aixs servo motor
HF-KP43
Igm
M
B-aixs servo motor
HF-KP43
Igm
Use an earth-leakage current breaker generally available.
Find the terms of Equation (11.1) from the diagram.
Ig1
20
5
1000
0.1 [mA]
Ig2
20
5
1000
0.1 [mA]
Ign 0 (not used)
Iga 0.1 [mA]
Igm 0.1 [mA]
Insert these values in Equation (11.1).
Ig 10 {0.1 0 0.1 1 (0.1 0.1 0.1 0.1)}
6.0 [mA]
According to the result of calculation, use an earth-leakage current breaker having the rated sensitivity
current (Ig) of 6.0 [mA] or more. An earth-leakage current breaker having Ig of 15 [mA] is used with the NVSP/SW/CP/CW/HW series.
11 - 51
11. OPTIONS AND AUXILIARY EQUIPMENT
11.11 EMC filter (recommended)
For compliance with the EMC directive of the EN, it is recommended to use the following filter. Some EMC filters
are large in leakage current.
(1) Combination with the servo amplifier
Recommended filter (Soshin Electric)
Servo amplifier
Model
Rated current
[A]
MR-J3W-22B
MR-J3W-44B
(Note)
HF3010A-UN
10
MR-J3W-77B
MR-J3W-1010B
(Note)
HF3030A-UN
30
Rated voltage
[VAC]
Leakage current
[mA]
250
5
Mass
[kg]([lb])
3.5 (7.72)
5.5 (12.13)
Note. A surge protector is separately required to use any of these EMC filters.
(2) Connection example
EMC filter
MCCB
(Note 1)
Power supply
Servo amplifier
MC
L1
1
4
2
5
L2
3
6
L3
E
L11
L21
1
2
3
1
2
(Note 2)
Surge protector 1
(RAV-781BYZ-2)
(OKAYA Electric Industries Co., Ltd.)
(Note 2)
3 Surge protector 2
(RAV-781BXZ-4)
(OKAYA Electric Industries Co., Ltd.)
Note 1. For 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2 and
leave L3 open. Refer to section 1.3 for the power supply specification.
2. The example is when a surge protector is connected.
11 - 52
11. OPTIONS AND AUXILIARY EQUIPMENT
(3) Outline drawing
(a) EMC filter
HF3010A-UN
[Unit: mm]
4-5.5 7
3-M4
M4
2
4
85
110
32
2
3-M4
IN
Approx.41
258
4
273
2
288
4
300
5
65
4
HF3030A-UN
[Unit: mm]
6-K
3-L
G
F
E
D
1
2
1
2
3-L
C 1
M
J 2
C 1
H 2
B 2
A 5
Model
HF3030A-UN
Dimensions [mm]
A
260
B
210
C
85
D
155
E
140
11 - 53
F
125
G
44
H
140
J
K
L
M
70
R3.25,
length
8
M5
M4
11. OPTIONS AND AUXILIARY EQUIPMENT
11.12 Junction terminal block MR-TB26A
(1) Usage
When using a junction terminal block (MR-TB26A), always use it with a junction terminal block cable (MRTBNATBL M). To use a junction terminal block, mount it to the DIN rail.
Cable length
05: 0.5m
1 : 1m
Terminal numbers on a junction terminal block correspond with the pin numbers on the CN3 connector of a
servo amplifier. The terminal symbol S is for the shield.
Servo amplifier
Junction terminal
block
MR-TB26A
CN3
Junction terminal block cable
(MR-TBNATBL M)
Ground the junction terminal block cable using the S terminal of the junction terminal block.
(2) Specifications
Junction terminal block
MR-TB26A
Item
Rating
AC/DC32V 0.5A
Twisted wire
Usable cables
0.08 to 1.5mm2 (AWG28 to AWG14)
Solid wire
0.32 to 1.2mm
Wire sheath outer diameter Wire with 3.4mm or less
Tool
210-619 (WAGO Company of Japan, LTD.) or equivalent
210-119SB (WAGO Company of Japan, LTD.) or equivalent
Stripped length
5 to 6mm
11 - 54
11. OPTIONS AND AUXILIARY EQUIPMENT
(3) Outline drawing
[Unit: mm]
1
14
1
14
57
Note. Values in parenthesis are the sizes when installed with a 35mm DIN rail.
11.13 Surge absorbers (recommended)
A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent.
When using the surge absorber, perform insulation beforehand to prevent short-circuit.
Maximum rating
Permissible circuit
voltage
AC [Vma]
140
Surge
immunity
Energy
immunity
Rated
power
DC [V]
[A]
[J]
[W]
180
(Note)
500/time
5
0.4
Maximum
limit voltage
[A]
25
[V]
360
Static
capacity
(reference
value)
Varistor voltage
rating (range) V1mA
[pF]
[V]
300
220
(198 to 242)
Note. 1 time 8 20 s
[Unit: mm]
4.7 1.0
(Example) ERZV10D221 (Panasonic)
TNR-10V221K (Nippon chemi-con)
Outline drawing [mm] (ERZ-C10DK221)
30.0 or more
0.8
3.0 or less
16.5
13.5
11 - 55
11. OPTIONS AND AUXILIARY EQUIPMENT
MEMO
11 - 56
12. ABSOLUTE POSITION DETECTION SYSTEM
12. ABSOLUTE POSITION DETECTION SYSTEM
CAUTION
If an absolute position erase alarm (25.1) or absolute position counter warning
(E3. ) has occurred, always perform home position setting again. Not doing so can
cause runaway. Not doing so may cause unexpected operation.
POINT
If the encoder cable is disconnected, absolute position data will be lost in the
following servo motor series. HF-MP, HF-KP, HF-SP, HC-UP, HC-LP and HF-JP.
After disconnecting the encoder cable, always execute home position setting and
then positioning operation.
12.1 Features
For normal operation, as shown below, the encoder consists of a detector designed to detect a position within
one revolution and a cumulative revolution counter designed to detect the number of revolutions.
The absolute position detection system always detects the absolute position of the machine and keeps it batterybacked, independently of whether the servo system controller power is on or off.
Therefore, once home position return is made at the time of machine installation, home position return is not
needed when power is switched on thereafter.
If a power failure or a fault occurs, restoration is easy.
Position data
Current position
LS
Detecting the
number of
revolutions
Home position data
LS0
CYC0
CYC
Detecting the
position within
one revolution
MR-BTCASE
Servo motor
MR-BAT 8
1 pulse/rev accumulative revolution
counter
Within one-revolution counter
12 - 1
High speed
serial
communication
Position control
Servo amplifier
Speed control
Servo system controller
12. ABSOLUTE POSITION DETECTION SYSTEM
12.2 Specifications
WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more until
the charge lamp turns off. Otherwise, an electric shock may occur. In addition,
always confirm from the front of the servo amplifier, whether the charge lamp is off
or not.
CAUTION
Do not have new and old batteries installed together.
When replacing batteries, replace all batteries by new batteries.
POINT
The internal circuits of the servo amplifier may be damaged by static electricity.
Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical parts,
directly by hand.
Before starting battery changing procedure, make sure that the main circuit power
is switched OFF with the control circuit power ON. When battery is changed with
the control circuit power OFF, the absolute position data is lost.
(1) Specification list
Item
Description
System
Electronic battery backup system
Battery unit
MR-BAT: Lithium battery (primary battery, nominal 3.6V) 8
MR-BTCASE: Battery case
Maximum revolution range
Home position
(Note 1) Maximum speed at power failure
3000r/min
32767 rev.
(Note 2) Battery backup time
Approx. 10,000 hours (battery life with power off)
(Note 3) Battery life
5 years from date of manufacture
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like.
2. Time to hold data by a battery with power off. Replace battery within 3 years since the operation start whether power is kept
on/off. If the battery is used out of specification, the absolute position lost (25) may occur.
3. Quality of battery degrades by the storage condition. It is recommended to connect and use battery in the servo amplifier
within 2 years from the production date. The life of battery is 5 years from the production date regardless of the connection.
12 - 2
12. ABSOLUTE POSITION DETECTION SYSTEM
(2) Configuration
(a) When using one servo amplifier
Servo amplifier
SSCNET
cable
CN1A
Controller
CN1B
CN4
Cap
MR-BTCASE
CN1C
MR-J3BT1CBL
M
(b) When using two to four servo amplifiers
Servo amplifier
(First)
SSCNET
Controller
cable
Servo amplifier
(Second)
Servo amplifier
(Last)
SSCNET
cable
CN1A
SSCNET
cable
CN1A
CN1A
CN1B
CN4
CN1B
CN4
CN1B
CN4
MR-BTCASE
CN1C
MR-J3BT2CBL
MR-J3BT1CBL
12 - 3
M
M
MR-J3BT2CBL
M
Cap
12. ABSOLUTE POSITION DETECTION SYSTEM
(c) When using five or more servo amplifiers
Servo amplifier
(First)
SSCNET
Controller
cable
Servo amplifier
(Fourth)
Servo amplifier
(Third)
Servo amplifier
(Second)
SSCNET
cable
CN1A
SSCNET
cable
CN1A
SSCNET
cable
CN1A
CN1A
CN1B
CN4
CN1B
CN4
CN1B
CN4
CN1B
CN4
MR-BTCASE
CN1C
MR-J3BT2CBL
MR-J3BT1CBL
M
M
Servo amplifier
(Sixth)
cable
Servo amplifier
(Last)
SSCNET
cable
CN1A
SSCNET
cable
CN1A
CN1A
CN1B
CN4
CN1B
CN4
CN1B
CN4
MR-BTCASE
CN1C
MR-J3BT2CBL
MR-J3BT1CBL
MR-J3BT2CBL
M
SSCNET
Servo amplifier
(Fifth)
MR-J3BT2CBL
M
MR-J3BT2CBL
Cap
M
M
(3) Parameter setting
Set "
1" in parameter No.PA03 to make the absolute position detection system valid.
Parameter No.PA03
1
Absolute position detection system selection
0: Used in incremental system
1: Used in absolute position detection system
12 - 4
M
12. ABSOLUTE POSITION DETECTION SYSTEM
12.3 Assembling a battery unit
CAUTION
Do not have new and old batteries installed together.
When replacing batteries, replace all batteries by new batteries.
POINT
Always install eight MR-BAT batteries to an MR-BTCASE battery case.
12.3.1 Required items
Product
Battery case
Battery
Model
Use
Remarks
MR-BTCASE
1
MR-BTCASE is a case that holds eight MR-BAT
batteries and connect them to the connector.
MR-BAT
8
Lithium battery (primary battery, nominal 3.6V)
12.3.2 Disassembly and assembly of the battery case MR-BTCASE
(1) Disassembly of the case
MR-BTCASE is shipped assembled. To install MR-BATs, the case needs to be disassembled.
Remove the two screws using a
Phillips screwdriver.
Screw
Parts name
CON1
CON2
Holder 1
Holder 2
Holder 3
Holder 4
Holder 5
Holder 6
Holder 7
Holder 8
CON3
CON4
Cover
CON5
Remove the cover.
CON6
CON7
CON8
12 - 5
12. ABSOLUTE POSITION DETECTION SYSTEM
(2) Installation of MR-BAT
Securely insert MR-BAT to the battery holder 1.
Battery holder 1
Push the MR-BAT connector into CON1.
CON1
Confirm the click sound at this point.
The connector has to be connected in the right direction.
If the connector is pushed forcefully in the wrong direction,
the connector will break.
Duct
Place the MR-BAT lead wire to the duct designed to store
lead wires.
Install other seven MR-BATs in the same manner.
Bring out the lead wire from the space between the ribs, and bend it as
shown above to store it in the duct. Connect the lead wire to the
connector. Be careful not to get the lead wire caught in the case or
other parts.
12 - 6
12. ABSOLUTE POSITION DETECTION SYSTEM
(3) Assembly of the case
After all MR-BATs are installed, fit the cover and insert screws into the two holes and tighten them.
POINT
When assembling the case, be careful not to get the lead wires caught in the fitting
parts or the screwing parts.
Screw
12.3.3 Battery transportation
Refer to appendix 5 and 6 for battery transportation and the new EU Battery Directive.
12 - 7
12. ABSOLUTE POSITION DETECTION SYSTEM
12.4 Confirmation of absolute position detection data
You can confirm the absolute position data with MR Configurator.
Choose "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen.
(1) Choosing "Diagnostics" in the menu opens the sub-menu as shown below:
(2) By choosing "Absolute Encoder Data" in the sub-menu, the absolute encoder data display window appears.
(3) Press the "Close" button to close the absolute encoder data display window.
12 - 8
13. USING A LINEAR SERVO MOTOR
13. USING A LINEAR SERVO MOTOR
WARNING
When using the linear servo motor, read the following descriptions in the SSCNET
Interface Linear Servo MR-J3- B-RJ004 INSTRUCTION MANUAL
(SH(NA)030054).
Safety Instructions
Handling of Linear Servo Motor
2. LINEAR SERVO MOTOR
9. CHARACTERISTICS
13.1 Functions and configuration
13.1.1 Summary
In fields of semiconductor and liquid crystal related equipment, installed machine, etc. with strong demands for
high accuracy, high-speed and high efficiency, the system using the linear servo motor for drive shaft is
increasing. Since the linear servo system can obtain the characteristics of the high-speed and the high
acceleration/deceleration greater than the ball screw drive system, and does not have a ball screw wear which is
a weak point in the ball screw drive system, it can extend the life of the equipments. In addition, a response error
does not occur and so the high accuracy system can be established.
The following shows the differences between the linear servo motor and the rotating servo motor.
Classification
Item
Differences
Linear servo motor
Rotating servo motor
Remarks
External I/O signal
Stroke limit input signal
(FLS, RLS)
Required (when
magnetic pole is
detected)
Not required
Automatically turns ON in the
parameter setting.
Motor pole
adjustment
Magnetic pole detection
operation
Required
Not required (adjusted
at shipment)
Automatically executed at the first
servo-on after turning the power on.
For the absolute position linear
encoder, the magnetic polarity
detection can be made invalid in
the setting of parameter No.PS01.
(Refer to section 13.5.2 (2)(a).)
Home position
return
Home position reference
position
1048576 pluses unit
(factory setting)
Servo motor 1 rotation The home position pitch can be
unit
changed in the parameter settings.
(Refer to section 13.5.2.)
Absolute position
detection system
Battery for absolute position
encoder
(MR-J3BAT)
Not required
Required
13 - 1
The following alarm/warning is not
detected.
Absolute position erase (25.1)
Battery cable disconnection
warning (92.1)
Battery warning (9F.1)
Absolute position counter
warning (E3. )
13. USING A LINEAR SERVO MOTOR
Classification
Item
Differences
Linear servo motor
Alarm/warning
Addition
Alarm/warning designed
exclusively for the linear servo
motor
Auto tuning
Load inertia moment ratio (J)
Load to motor mass
ratio
Load inertia moment
ratio
MR Configurator
MRZJW3SETUP221E
(Ver. C0 or later)
Motor speed
(data display, setting)
Unit: mm/s
Unit: r/min
Test
Positioning
operation operation
function
Motor-less
operation
Available
Available
Available
Not Available
Not available
Available
JOG operation
Remarks
Rotating servo motor
Alarm/warning which is added or
the contents is changed
Encoder error1 (16. )
Encoder error2 (20. )
Initial magnetic pole detection
error (27. )
Linear encoder error2 (28. )
Linear encoder error1 (2A. )
Linear servo control error (42. )
Linear servo motor overheat
(46. )
Overload1 (50. )
Overload2 (51. )
Linear servo motor overheat
warning (E2.1)
Program operation Available
Available
13.1.2 Combinations of Servo Amplifiers and Linear Servo Motors
(1) LM-H2 series
Linear servo motor
Primary side(coil)
Secondary side(magnet)
Servo amplifier
MR-J3W-44B
A-axis
B-axis
MR-J3W-77B
A-axis
B-axis
MR-J3W-1010B
A-axis
B-axis
LM-H2P1A-06M-4SS0
LM-H2S10-288-4SS0
LM-H2S10-384-4SS0
LM-H2S10-480-4SS0
LM-H2S10-768-4SS0
(Note)
(Note)
LM-H2P2A-12M-1SS0
LM-H2S20-288-1SS0
LM-H2S20-384-1SS0
(Note)
(Note)
LM-H2P2B-24M-1SS0
LM-H2S20-480-1SS0
LM-H2S20-768-1SS0
LM-H2P3A-24M-1SS0
LM-H2S30-288-1SS0
LM-H2S30-384-1SS0
LM-H2S30-480-1SS0
LM-H2S30-768-1SS0
Note. With the servo amplifier whose software version is B2 or earlier, this linear servo motor can be used by setting parameter No.Po04 to
"
1 ". With the servo amplifier whose software version is B3 or later, no parameter setting is required.
13 - 2
13. USING A LINEAR SERVO MOTOR
(2) LM-U2 series
Linear servo motor
Primary side(coil)
Secondary(magnet)
Servo amplifier
MR-J3W-22B
A-axis
B-axis
MR-J3W-44B
A-axis
B-axis
MR-J3W-77B
A-axis
B-axis
MR-J3W-1010B
A-axis
B-axis
LM-U2PAB-05M-0SS0
LM-U2SA0-240-0SS0
LM-U2PAD-10M-0SS0
LM-U2SA0-300-0SS0
(Note)
(Note)
LM-U2PAF-15M-0SS0
LM-U2SA0-420-0SS0
(Note)
(Note)
LM-U2PBB-07M-1SS0
LM-U2SB0-240-1SS0
LM-U2PBD-15M-1SS0
LM-U2SB0-300-1SS0
LM-U2PBF-22M-1SS0
LM-U2SB0-420-1SS0
Note. With the servo amplifier whose software version is B2 or earlier, this linear servo motor can be used by setting parameter No.Po04 to
"
1 ". With the servo amplifier whose software version is B3 or later, no parameter setting is required.
(3) LM-K2 series
Linear servo motor
Primary side(coil)
Secondary side(magnet)
LM-K2P1A-01M-2SS1
LM-K2S10-288-2SS1
LM-K2S10-384-2SS1
LM-K2S10-480-2SS1
LM-K2S10-768-2SS1
LM-K2P2A-02M-1SS1
LM-K2S20-288-1SS1
LM-K2S20-384-1SS1
LM-K2S20-480-1SS1
LM-K2S20-768-1SS1
Servo amplifier
MR-J3W-44B
A-axis
B-axis
(Note 2)
MR-J3W-77B
A-axis
B-axis
MR-J3W-1010B
A-axis
B-axis
(Note 1, 2)
(Note 1, 2)
(Note 2)
(Note 2)
Note 1. With the servo amplifier whose software version is B2 or earlier, this linear servo motor can be used by setting parameter No.Po04
to "
1 ". With the servo amplifier whose software version is B3 or later, no parameter setting is required.
2. This linear servo motor can be used with the servo amplifier whose software version is B2 or later.
13 - 3
13. USING A LINEAR SERVO MOTOR
13.1.3 Configuration including auxiliary equipment
CAUTION
Connecting a linear servo motor for different axis to the CNP3A or CNP3B connector
may cause a malfunction.
POINT
Equipment other than the servo amplifier and the servo motor are optional or
recommended products.
To use a linear servo motor, turn SW3 on.
(Note 1)
Power supply
RST
Servo amplifier
Personal
computer
MR Configurator
CN5
Molded-case
circuit breaker
(MCCB) or fuse
L1
L2
Magnetic
contactor
(MC)
Power factor
improving AC
reactor
(FR-BAL)
CNP1
L3
CN3
Regenerative
option
V
U
W
Line noise
filter
(FR-BSF01)
I/O signal
P
C
CNP2
(Note 2) D
CNP3A
CN1A
CN1B
W
Servo system
controller or front axis
servo amplifier CN1B
Rear axis servo amplifier
CN1A or Cap
CNP3B
V
U
CN2A
CN2B
1
A-axis
2
L21
L11
Front side
SW3
ON
B-axis
Thermistor
Thermistor
A-axis linear servo motor
B-axis linear servo motor
Encoder
cable
Linear encoder
Encoder
cable
Linear encoder
Note 1. For 1-phase 200V to 230VAC, connect the power supply to L1 L2 and leave L3 open. Refer to section 1.3 for the power supply
specification.
2. Make sure to connect the P terminal to the D terminal. When using the regenerative option, refer to section 11.2.
13 - 4
13. USING A LINEAR SERVO MOTOR
13.2 Connection of servo amplifier and linear servo motor
Connect the servo amplifier power output (U, V, and W) to the linear servo motor
power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.
Otherwise, it may cause a malfunction.
Linear servo
motor
Servo amplifier
CAUTION
U
U
V
V
U
M
W
W
Linear servo
motor
Servo amplifier
V
W
U
V
M
W
13.2.1 Connection instructions
WARNING
To avoid an electric shock, insulate the connections of the power supply terminals.
CAUTION
Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and
linear servo motor. Otherwise, the linear servo motor does not operate properly.
Do not connect AC power supply directly to the linear servo motor. Otherwise, a fault
may occur.
For grounding, connect the earth cable of the linear servo motor to the protective earth (PE) terminal of the
servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the
control box. Do not connect them directly to the protective earth of the control panel.
Control box
Servo amplifier
Linear servo motor
PE
terminal
13 - 5
13. USING A LINEAR SERVO MOTOR
13.2.2 Power supply cable wiring diagrams
Use the wires and connectors shown in the following figure. For the wires used for wiring, refer to section 11.5.
30m or less
Servo amplifier Branch cable (Note 3)
CN2A/CN2B
5
6
CNP3A/
CNP3B
(Note 1)
Lead supplied with
linear servo motor
G1 (Black)
G2 (Black)
THM1
THM2
U (Black)
V (Black)
W (Black)
E (Green/yellow)
U
V
W
Round crimping terminal
Note 1. The signal name (U, V, W, E, G1, G2) is attached on leads.
The following shows the lead length.
LM-H2: 0.4m
LM-U2: 0.4m
LM-K2: 0.5m
2. No polarity for the thermistors (G1 and G2)
3. Make the branch cable using the MR-J3THMCN2 connector set.
13 - 6
Linear servo motor
(Note 2)
Primary
side
(coil)
13. USING A LINEAR SERVO MOTOR
13.3 Linear encoder
POINT
Always use the encoder cable introduced in this section. If the other products are
used, a faulty may occur.
For details of the linear encoder specifications, performance and assurance,
contact each linear encoder manufacturer.
13.3.1 Compatible linear encoder list
Scale type
Manufacturer
Model
Resolution
Rated speed
Magnescale
Co., Ltd.
(Note 5)
SR77
0.05 m/
0.01 m
3.3m/s
SR87
AT343A
AT543A-SC
Absolute
type
Mitutoyo
Corporation
AT545A-SC
ST741A
ST742A
ST743A
ST744A
Heidenhain
Corporation
Mitsubishi
serial
interface
compatibility
Incremental
type
Renishaw Inc.
Heidenhain
Corporation
A/B/Z-phase
differential
output
Incremental
Not specified
type
20 m/4096
(Approximately
0.005 m)
2.0m/s
3000mm
2.5m/s
2200mm
2.5m/s
2200mm
2 wire type
4.0m/s
LC 193M
(Note 3)
0.05 m
SL710
PL101-R/RH
MJ830 or
MJ831
(Note 2)
0.01 m
2040mm
0.01 m
0.05 m
0.01 m
0.05 m
4 wire type
4240mm
2040mm
3.3m/s
3040mm
0.01 m
2 wire type
0.2 m
(Note 1)
6.4m/s
4.0m/s
RGH26P
5 m
1 m
3.2m/s
RGH26R
0.5 m
1.6m/s
LIDA 487
EIB 392M
(Note 4)
6000mm
3.0m/s
RGH26Q
LIDA 485
EIB 392M
(Note 4)
2 wire type
3040mm
0.1 m
0.05 m
SR85
2040mm
0.5 m
LC 493M
(Note 3)
SR75
Magnescale
Co., Ltd.
(Note 5)
0.05 m
Effective
Absolute
measurement Communication position
length
system
detection
(Maximum)
system
100000mm
70000mm
2 wire type
30040mm
20 m/16384
(Approximately
1.22 m)
4.0m/s
Rermissible
resolution
range
Encoder
dependent
4 wire type
6040mm
Encoder
dependent
Differential 3
pair type
Note 1. Varies depending on the setting of the interpolator (MJ830/MJ831: Manufactured by Magnescale Co., Ltd.).
2. Production of the SH13 has been discontinued. For details, please contact Magnescale Co., Ltd.
3. Changed from LC 491M and LC 192M, respectively. For details, please contact Heidenhain Corporation.
4. Changed from APE391M. For details, please contact Heidenhain Corporation.
5. Former company name: Sony Manufacturing Systems Corporation (The company name was changed at the end of March 2010.)
13 - 7
13. USING A LINEAR SERVO MOTOR
13.3.2 Linear encoder and branch cable
The CN2A/CN2B connector has the thermistor signal pins for the linear servo motor. To output the thermistor
signal, create a branch cable.
(1) Configuration diagram
The following shows the configuration diagram of the servo amplifier and the linear encoder. The
configuration of the encoder cable differs according to the linear encoder. For the encoder cable, refer to
section 3.1 in the MR-J3- B-RJ004 Instruction Manual.
Servo amplifier
Encoder cable
(Refer to section 3.1 in the MR-J3Instruction Manual.)
B-RJ004
Linear encoder
Branch cable
CN2A
CN2B
(Note2)
Linear servo motor thermistor
(2) Production of branch cable
Produce the branch cable using the MR-J3THMCN2 connector set as shown below. Keep the branch cable
length 0.5m or shorter. Use the AWG22 cable for the wiring.
0.5m or less
2
LG
4
6
1
P5
3
MR
8
THM2
MRR
10
MDR
5
THM1
7
MD
9
SD
P5
LG
(Note 1)
Servo amplifier side
Plate
(Note 2)
Encoder cable side
Plate SD
1
P5
2
LG
1
2
View seen from wiring side.
4
6
8
10
MRR THM2 MDR
1
3
P5 MR
5
THM1
8
6
MDR
or
2
LG
10
7
MD
9
MR
MR
MRR
3
4
MD
MDR
THM1
THM2
7
8
5
6
(Note 3)
(Note 3)
3
4
MR
MRR
7
8
MD
MDR
9
(Note 2)
Thermistor side
5
6
9
G1
G2
2
LG
MRR
5
1
3 P5
MR
View seen from wiring side.
10
View seen from wiring side.
7
MD
4
8
6
G2
4
7
5
G1
3
2
1
View seen from wiring side.
Note 1. Receptacle: 36210-0100PL, Shell kit: 36310-3200-008 (3M), or Connector set: 54599-1019 (Molex)
2. Plug: 36110-3000FD, Shell kit: 36310-F200-008 (3M)
3. If the linear encoder is the two-wire type, the wiring is not required for MD and MDR.
13 - 8
13. USING A LINEAR SERVO MOTOR
13.4 Signals and wiring
WARNING
Any person who is involved in wiring should be fully competent to do the work.
Before wiring or inspection, turn off the power and wait for 15 minutes or more until
the charge lamp turns off. Otherwise, an electric shock may occur. In addition,
always confirm from the front of the servo amplifier, whether the charge lamp is off
or not.
Ground the servo amplifier and the linear servo motor securely.
Do not attempt to wire the servo amplifier and linear servo motor until they have
been installed. Otherwise, you may get an electric shock.
The cables should not be damaged, stressed excessively, loaded heavily, or
pinched. Otherwise, you may get an electric shock.
Wire the equipment correctly and securely. Otherwise, the linear servo motor may
operate unexpectedly, resulting in injury.
Connect cables to correct terminals to prevent a burst, fault, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay for control output should be
fitted in the specified direction. Otherwise, the emergency stop and other protective
circuits may not operate.
Servo amplifier
24VDC
DOCOM
Control output
signal
DICOM
24VDC
DOCOM
Control output
signal
DICOM
RA
For sink output interface
CAUTION
Servo amplifier
RA
For source output interface
Use a noise filter, etc. to minimize the influence of electromagnetic interference,
which may be given to electronic equipment used near the servo amplifier.
Do not install a power capacitor, surge killer or radio noise filter (FR-BIF option) with
the power line of the linear servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Connect the servo amplifier power output (U, V, and W) to the linear servo motor
power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.
Otherwise, it may cause a malfunction.
Linear servo
motor
Servo amplifier
U
V
W
U
V
W
13 - 9
U
M
Linear servo
motor
Servo amplifier
V
W
U
V
W
M
13. USING A LINEAR SERVO MOTOR
CAUTION
Do not modify the equipment.
The cables such as power cables deriving from the primary side (coil) cannot stand
the long-term bending action. Avoid the bending action by fixing to the movable part,
etc. Also, use the cable that stands the long-term bending action for the wiring to the
servo amplifier.
13.4.1 Precautions on this chapter
The following items are not described in this chapter. For details of these items, refer to the below item.
Item
Reference
Explanation of Power Supply System
Section 3.3
Signal (device) explanations
Section 3.5
Alarm occurrence timing chart
Section 3.6
Interfaces
Section 3.7 (excluding the internal connection diagram)
Processing of cable shield external
conductor
Section 3.8
SSCNET
cable connection
Section 3.9
Grounding
Section 3.12
Control axis selection
Section 3.13
13.4.2 Power supply system circuit connection example
CAUTION
Always connect a magnetic contactor between the power supply and the main circuit
power supply (L1, L2, and L3) of the servo amplifier, in order to configure a circuit
that shuts down the power supply on the side of the servo amplifier’s power supply. If
a magnetic contactor is not connected, continuous flow of a large current may cause
a fire when the servo amplifier malfunctions.
Shut off the main circuit power supply when alarms are occurring in both of the Aaxis and the B-axis. Otherwise, a regenerative transistor fault or the like may
overheat the regenerative resistor, causing a fire.
Check the servo amplifier model, and then input proper voltage to the servo amplifier
power supply. If input voltage exceeds the upper limit, the servo amplifier will break
down.
Connecting a linear servo motor for different axis to the CNP3A or CNP3B connector
may cause a malfunction.
POINT
Even if alarm has occurred, do not switch off the control circuit power supply.
When the control circuit power supply has been switched off, optical module does
not operate, and optical transmission of SSCNET communication is interrupted.
Therefore, the servo amplifier on the rear axis displays "AA" at the indicator and
turns into base circuit shut-off. The linear servo motor stops with starting dynamic
brake.
For details of each signal, refer to section 3.3.
Wire the power supply/main circuit as shown below so that power is shut off and the servo-on command turned
off as soon as an alarm occurs, a servo forced stop is made valid, or a controller forced stop is made valid. A
molded-case circuit breaker (MCCB) must be used with the input cables of the main circuit power supply.
13 - 10
13. USING A LINEAR SERVO MOTOR
(Note 3)
Controller
Malfunction
forced stop
RA1(A-axis)
RA3
OFF
ON
RA2(B-axis)
Forced stop
(Note 8)
MCCB
(Note 9)
MC
(Note 10)
Power
supply
MC
MC
Servo amplifier
CNP1
CNP3A
L1
U
SK
A-axis linear servo motor
(Note 5)
U
L2
V
V
L3
W
W
E
CNP2
P
(Note 1)
Primary side
(coil)
G1
C
G2
(Note 6)
D
L11
L21
A-axis linear encoder
CN2A
(Note 2)
Head
Encoder
cable
B-axis linear servo motor
CNP3B
U
(Note 5)
U
V
V
W
W
Primary side
(coil)
E
G1
G2
(Note 6)
B-axis linear encoder
CN2B
(Note 2)
Head
Encoder
cable
CN3
CN3
EM1
DOCOM
DOCOM
DICOM
SW3(Note 7)
ON
1
2
Front side
(Note 4)
(Note 8)
Forced stop
A-axis
B-axis
13 - 11
24VDC
ALM-A
RA1
ALM-B
RA2
A-axis malfunction
(Note 3)
B-axis malfunction
(Note 3)
(Note 4)
13. USING A LINEAR SERVO MOTOR
Note 1. Always connect P and D. When using the regenerative option, refer to section 11.2.
2. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable.
3. If deactivating output of malfunction (ALM-A/ALM-B) with parameter change, configure up the power supply circuit which switches
off the magnetic contactor after detection of alarm occurrence on the controller side. In this connection example, the operation
continues in the other axis when an alarm occurs in the A-axis or the B-axis. To stop both axes in an alarm occurrence, connect
RA1 and RA2 in series.
4. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.
5. Refer to section 3.10.
6. There may not be a thermistor output.
7. This connection example is a connection using linear servo motors. Turn SW3 on. (Refer to section 3.14.)
8. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of forced stop (EM1) using the
external sequence.
9. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is the time interval
between current being applied to the coil until closure of contacts.
10. For 1-phase 200V to 230VAC, connect the power supply to L1 L2 and leave L3 open. Refer to section 1.3 for the power supply
specification.
13 - 12
13. USING A LINEAR SERVO MOTOR
13.4.3 Internal connection diagram
Servo amplifier
CN3
24VDC
(Note 2)
(Note 1)
DICOM
23
DOCOM
26
EM1
10
DI1-A
CN3
11
ALM-A
12
MBR-A
7
24
ALM-B
DI2-A
8
25 MBR-B
DI3-A
9
Approx
5.6k
DI1-B 20
DI2-B 21
DI3-B 22
CN3
3
16
4
17
5
18
6
19
14
Approx
5.6k
<Isolated>
CN5
1
2
D
3
D
GND 5
VBUS
USB
CN2A
THM1 5
THM2 6
LA-B
LAR-B
LB-B
LG
Analog monitor
MO1
15
MO2
1
LG
10VDC
10VDC
Linear encoder head
MD
MDR
MR
MRR
LG
Linear servo motor
primary side (coil)
E
P5
CNP3B
2A
Differential line
driver output
(35mA or less)
LBR-B
2
CN2B
7
8
3
4
2
RA
LB-A
LBR-A
CNP3A
2A
CN2B
5
THM2 6
(Note 3)
(Note 2)
LA-A
P5
THM1
(Note 3)
LAR-A
CN3
CN2A
7
8
3
4
2
RA
Linear encoder head
MD
MDR
MR
MRR
LG
Linear servo motor
primary side (coil)
E
Note 1. Signal can be assigned for these pins with the controller setting.
For contents of signals, refer to the instruction manual of the controller.
2. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.
3. When using a linear servo motor, use MBR (Electromagnetic brake interlock) for an external brake mechanism.
13 - 13
13. USING A LINEAR SERVO MOTOR
13.5 Operation and functions
13.5.1 Startup
SW3
ON
1
2
Front side
POINT
To use a linear servo motor, turn SW3 on.
A-axis
B-axis
(1) Startup procedure
Start up the linear servo referring to the following procedure.
Setting of the servo motor selection switch (SW3) (Refer to section 3.14.)
Execution of installation and wiring
Set the linear servo motor series and linear servo motor type.
(Refer to (2) of this section.)
(Note) Settings of the linear encoder direction and the linear servo motor
direction (Refer to (3) in this section.)
What is the type
of linear encoder?
Incremental linear encoder
Absolute position linear encoder
(Note) Setting of the linear encoder resolution (Refer to (4) in this section.)
(Note) Execution of the magnetic pole detection (Refer to section
13.5.2 (3).)
Change to the setting not requiring the magnetic
pole detection (Refer to section 13.5.2 (3).)
(Note) Positioning operation check (Refer to section 13.5.4.)
Positioning operation check using the controller (Refer to section 13.5.5.)
Home position return (Refer to section 13.5.3.)
Positioning operation
Note. MR Configurator is used.
13 - 14
13. USING A LINEAR SERVO MOTOR
(2) Set the linear servo motor series and linear servo motor type.
To use the linear servo motor, set the linear servo motor series and linear servo motor type with parameter
No. PA17 (Linear servo motor series setting) and No. PA18 (Linear servo motor type setting). (Refer to
section 13.6.2.)
(3) Settings of the linear encoder direction and the linear servo motor direction
Set the positive direction of linear servo motor to match with the increase direction of linear encoder
feedback using the first digit (Encoder pulse count polarity selection) of the parameter No.PC27.
Parameter No.PC27
Encoder pulse count polarity selection
0: Linear servo motor positive direction and linear encoder increase direction
1: Linear servo motor positive direction and linear encoder decrease direction
(a) Parameter setting method
1) Confirm the positive direction of linear servo motor the relationship of the moving direction of linear
servo motor to commands is determined by the setting of the parameter No.PA14 as follows.
Parameter No.PA14
setting value
Address increase command
Moving direction of linear servo motor
Address decrease command
0
Positive direction
Negative direction
1
Negative direction
Positive direction
The positive/negative directions of the linear servo motor are as shown below.
Negative direction
Negative direction
Secondary side
Positive direction
Secondary side
Positive direction
Table
Primary side
Primary side
Secondary side
Positive direction
Negative direction
LM-H2 series
LM-U2 series
Primary side
LM-K2 series
2) Confirm the increase direction of linear encoder.
3) If the positive direction of the linear servo motor matches with the increase direction of linear encoder,
set the parameter No.PC27 to "
0". If not, set the parameter to "
1".
(b) Confirmation method
Confirm the positive direction of linear servo motor and the increase direction of linear encoder using the
following procedure.
1) Move the linear servo motor manually to the positive direction in the servo off status.
2) Confirm the motor speed (positive and negative) at that time using MR Configurator.
13 - 15
13. USING A LINEAR SERVO MOTOR
3) If the parameter No.PC27 is set to "
0" and the positive direction of linear servo motor matches
with the increase direction of linear encoder, the motor speed will be a positive value by making the
linear servo motor work to the positive direction. If the positive direction of linear servo motor does
not match with the increase direction of linear encoder, the motor speed will be a negative value. If
the parameter No.PC27 is set to "
1" and the positive direction of linear servo motor matches
with the increase direction of linear encoder, the motor speed will be a negative value by making the
linear servo motor work to the positive direction.
(4) Setting of the linear encoder resolution
Set the ratio to the linear encoder resolution using the parameter No.PS02 (Linear encoder resolution
setting numerator) and parameter No.PS03 (Linear encoder resolution setting denominator).
POINT
When using this parameter, turn the power off once after setting the parameter
No.PA19 to "
D", and then turn it on again.
Turn off the power and then on again after setting the parameter to validate the
parameter value.
(a) Parameter setting
Set the value as the following equation.
Parameter No.PS02 (Linear encoder resolution setting numerator)
Parameter No.PS03 (Linear encoder resolution setting denominator)
Linear encoder resolution [ m]
(b) Parameter setting example
When the linear encoder resolution is 0.5 m
Parameter No.PS02
Parameter No.PS03
Linear encoder resolution
1
2
0.5 m
The following shows the simplified chart for the setting value of parameter Nos.PS02 and PS03.
Linear encoder resolution ( m)
Setting
value
0.01
0.02
0.05
0.1
0.2
0.5
1.0
2.0
Parameter No.PS02
1
1
1
1
1
1
1
2
Parameter No PS03
100
50
20
10
5
2
1
1
POINT
When setting the wrong value to the parameter Nos. PS02 and PS03, they may not
operate properly.
Servo alarm (27. and 42. ) may occur at positioning operation or magnetic pole
detection.
13 - 16
13. USING A LINEAR SERVO MOTOR
13.5.2 Magnetic pole detection
Make sure to perform the magnetic pole detection before starting the positioning operation in order to match the
positional relationship between the linear servo motor and the linear encoder.
(1) Preparation for the magnetic pole detection
POINT
When the test operation mode is selected by using the test operation select switch
(SW2-1), the SSCNET communication for the servo amplifier in the test
operation mode and the following servo amplifiers is blocked.
For the magnetic pole detection, the test operation mode (positioning operation) of MR Configurator is used.
Turn the power of servo amplifier off and set the test operation select switch (SW2-1) as shown below. By
turning the power on, it switches to the test operation mode.
SW2
F012
SW1
TEST
SW2
Set SW2-1 to "UP"
B CD
345
789A
E
6
UP
DOWN
ON 4E
1
2
1
2
(2) Magnetic pole detection
WARNING
Note that the magnetic pole detection is automatically started simultaneously with
turning ON the servo-on command.
CAUTION
If the magnetic pole detection is not executed properly, the linear servo motor may
run unexpectedly.
13 - 17
13. USING A LINEAR SERVO MOTOR
POINT
Establish the machine configuration using the stroke limits (FLS and RLS). If the
stroke limits (FLS and RLS) do not exist, it may cause the machine damage by a
collision.
At the magnetic pole detection, it is not predictable whether it moves to the positive
direction or the negative direction.
Setting the parameter No.PS09 (Magnetic pole detection voltage level) may cause
the occurrence of overload, overcurrent, magnetic pole detection alarm, etc.
When performing the positioning operation from the positioning controller, set the
sequence which confirms the normal completion of magnetic pole detection and
the servo-on status, then outputs the positioning command. If outputting the
positioning command before the Ready (RD-A/RD-B) turns ON, the command may
not be accepted or the servo alarm may occur.
After the magnetic pole detection, check the accuracy of position with the test
operation (positioning operation) of MR Configurator.
If a gap is generated to the positional relationship between the linear encoder and
the linear servo motor when using the absolute position linear encoder, carry out
the magnetic pole detection again.
The accuracy of magnetic pole detection will be improved by being operated in the
no-load condition.
The servo alarm may occur when the linear encoder is not mounted properly or
when the setting (parameter Nos. PS02 and PS03) of linear encoder resolution or
the setting value of parameter No.PS09 (magnetic detection voltage level) is not
correct.
On the machine of which friction becomes 30 or more than the rated thrust, it
may not operate properly after the magnetic pole detection.
On the machine of which imbalance thrust becomes 20 or more than the rated
thrust at the horizontal axis, it may not operate properly after the magnetic pole
detection.
For the following cases, the magnetic pole detection is required.
1) When using the incremental linear encoder (Refer to (2) (a) in this section)
2) When using the absolute position linear encoder and matching with the cases indicated below (Refer
to (2) (b) in this section)
At the system setup (at the first startup of equipment)
When the servo amplifier is replaced
When the linear servo motor (primary side (coil) or secondary side (magnet)) is replaced
When the linear encoder (scale or head) is replaced or its installation is changed
13 - 18
13. USING A LINEAR SERVO MOTOR
(a) For the incremental linear encoder
For the incremental linear encoder, the magnetic pole detection is required every time the power is
turned on. By turning ON the servo-on command from the controller after the power-on, the magnetic
pole detection is automatically carried out. Therefore, there is no need to set the parameter (first digit of
parameter No.PS01) for executing the magnetic pole detection.
1) Timing chart
Servo-on command
ON
OF
Base circuit
ON
OF
Ready (RD)
ON
OF
95ms
15s or less
Magnetic pole detection time (Note)
Note. The magnetic pole detection time indicates the operation time when the stroke limits
(FLS and RLS) is ON.
2) Linear servo motor movement (when FLS and RLS are ON)
Servo-on position
(Magnetic pole detection start position)
FLS
(Note 1)
RLS
(Note 2)
(Note 2)
Magnetic pole detection complete position
Note 1. When the stroke limit (FLS or RLS) turns OFF during the magnetic pole detection, the
operation of magnetic pole detection is carried on to the opposite direction. When
both FLS and RLS are OFF, the magnetic pole detection error (27. ) occurs.
2. The following shows the pitch against magnetic pole.
Linear servo motor series
Pitch against magnetic pole
[mm]
13 - 19
LM-H2
LM-U2
(Medium
thrust)
LM-K2
48
30
48
13. USING A LINEAR SERVO MOTOR
3) Linear servo motor operation (when FLS or RLS is OFF)
When the FLS or RLS is OFF at the servo-on, the magnetic pole detection is carried out as
follows.
Moves to any magnetic pole detection
start position at the same time as the servo-on
Magnetic pole
detection start position
Servo-on position
RLS
FLS
(Note)
Magnetic pole detection complete position
Returns to the magnetic pole detection start position after several reciprocating operation,
and changes to the servo lock status after the completion of magnetic pole detection.
At this time, there may be a gap, approximately a quarter of the pitch against magnetic pole, from the start position.
Note. For the pitch against magnetic pole, refer to (2) (a) 2) Note 2 in this section.
(b) For the absolute position linear encoder
POINT
If a gap is generated to the positional relationship between the linear encoder and
the linear servo motor when using the absolute position linear encoder, carry out
the magnetic pole detection again.
Carry out the magnetic pole detection referring the following procedure.
1) Set the parameter No.PS01 (Linear function selection 1) to "
always valid)".
1 (Magnetic pole detection
Parameter No.PS01
1
Magnetic pole detection always valid (factory setting)
2) Execute the magnetic pole detection. (Refer to (2) (a) 1) and 2) in this section)
3) Change the parameter No.PS01 to "
completion of magnetic pole detection.
0 (Magnetic pole detection not valid)" after the normal
Parameter No.PS01
0
Magnetic pole detection invalid
By making the magnetic pole detection function invalid with the parameter No.PS01 after the magnetic
pole detection, the magnetic pole detection for each power-on will be unnecessary.
13 - 20
13. USING A LINEAR SERVO MOTOR
(3) Setting of the magnetic pole detection voltage level
For the positioning detection method, set the magnetic pole detection voltage level with the parameter
No.PS09 (magnetic pole detection voltage level). Voltage level setting is not required when detecting
magnetic poles by the minute position detection method.
(a) Guideline of parameter settings
Set the parameters referring to the following table.
Parameter No.PS09 setting value
(Guide value)
Servo status
Thrust at operation
Overload, overcurrent alarm
Magnetic pole detection alarm
Magnetic pole detection accuracy
Small
Medium
Large
(Less than 10 (factory setting) More than 50)
Small
Large
Not frequently occurred
Frequently occurred
Frequently occurred
Not frequently occurred
Low
High
(b) Setting procedure
1) By carrying out the magnetic pole operation, make the setting of parameter No.PS09 (magnetic pole
detection voltage level) larger until the overload 1 (50. ), overload 2 (51. ), overvoltage (33.1),
overload warning 1 (E1. ) and overload warning 2 (EC.1) occur. To get a rough idea, make it lager
in "5". When these alarms and warnings occur during the magnetic pole detection by MR
Configurator, the test operation of MR Configurator is automatically completed and servo off status
established.
2) Set the final setting value to approximately 70 of the value which is set at the occurrence of the
overload 1 (50. ), overload 2 (51. ), overvoltage (33.1), overload warning 1 (E1. ) and overload
warning 2 (EC.1). However, in the case where the initial magnetic pole detection error (27. ) occurs
with this setting value, set the final setting value to the value intermediate between the setting value
at the occurrence of the overload 1 (50. ), overload 2 (51. ), overvoltage (33.1), overload warning
1 (E1. ), overload warning 2 (EC.1) and the setting value at the occurrence of the magnetic pole
detection alarm.
3) Carry out the magnetic pole detection again with the final setting value.
(c) Setting example
Linear encoder
magnetic pole detection
Parameter No.PS09 setting value
30
35
40
45
65
70
Existence or nonexistence
Overload and overcurrent alarm
Carry out the magnetic pole detection repeatedly while making
the setting value of the parameter No.PS09 larger.
An alarm has occurred
when the setting value
of the parameter
No.PS09 is set to 70.
Here, the final setting value of the parameter No.PS09 is set to 49 (the setting value at the occurrence of
the overload and overcurrent alarm 70 0.7).
13 - 21
13. USING A LINEAR SERVO MOTOR
(4) Magnetic pole detection method using MR Configurator
The following shows the procedure of the magnetic pole detection using MR Configurator.
(a) Magnetic pole detection of the positioning detection method.
Magnetic pole detection
1) After confirming that the stroke limits (FLS and RLS) and the forced stop (EM1) are ON, turn the
power of servo amplifier off once and then turn it on again.
2) After switching the test operation select switch (SW2-1) of the servo amplifier to "Up" turn the power
of servo amplifier off once and then turn it on again.
3) Set parameter No.PS08 (Linear function selection 3) to "
method to "position detection method".
0", and the magnetic pole detection
4) Change to "Magnetic pole detection always valid" by setting the paramete No.PS01 (Linear function
selection 1) to "
1". (Note)
5) Turn the power of servo amplifier off once and then turn it on again.
6) Set the parameter No.PS09 (Magnetic detection voltage level) to "10" (guide value) as a guide.
7) Execute the "positive direction travel" or "negative direction travel" with the "positioning operation" of
the MR Configrator test operation mode. Set the travel distance to "0" at this time.
The magnetic pole detection operation is carried out.
YES
Is the parameter No.PS09
(Magnetic pole detection voltage
level) the final value?
NO
8) Has the magnetic pole
detection alarm (27. ) occurred?
Reset the alarm or turn the
YES power of servo amplifier off
once, and then turn the power
on again.
NO
9) Have the overload alarms
(50. and 51. ), overcurrent alarm
(32. ) and overload warning
(E1. ) occurred?
YES
NO Turn the power of servo
amplifier off once and then turn it
on again.
Reset the alarm or turn the
power of servo amplifier off, and
then turn the power on again.
Raise the value of parameter
No.PS09 in five.
Set 70 of the parameter
No.PS09 as the final setting vale.
In the case where the magnetic
pole detection error (27. )
occurs with this setting value, set
the final setting value to the
value intermediate between the
setting value at the occurrence of
the overcurrent alarm (32. )
and the setting value at the
occurrence of the magnetic pole
detection alarm (27. ).
10) Change to "Magnetic pole detection invalid" by setting the parameter No.PS01 (Linear function
selection 1) to "
0". (Note)
End
Note. When using an incremental type linear scale, the parameter No.PS01 setting is not required.
13 - 22
13. USING A LINEAR SERVO MOTOR
(b) pole detection by the minimal position detection method
Magnetic pole detection
1) After confirming that the stroke limits (FLS and RLS) and the forced stop (EM1) are ON, turn the
power of servo amplifier off once and then turn it on again.
2) After switching the test operation select switch (SW2-1) of the servo amplifier to "Up" turn the power
of servo amplifier off once and then turn it on again.
3) Set parameter No.PS08 (Linear function selection 3) to "
method to “minute position detection method”.
4", and the magnetic pole detection
4) Change to "Magnetic pole detection always valid" by setting the paramete No.PS01 (Linear function
selection 1) to "
1". (Note 1)
5) Turn the power of servo amplifier off once and then turn it on again.
6) By using parameter No.PS17 (Minute position detection method function selection), set the load to
mass of the linear servo motor primary side (coil) ratio. (Note 2)
7) Execute the "Positive direction movement" or "Negative direction movement" with the "positioning
operation" of the MR Configrator test operation mode. Set the travel distance to "0" at this time.
The magnetic pole detection is carried out.
YES
Is the response of the minute
position detection method, which is set by parameter
No.PS17 (Minute position detection method
function selection), finalized?
NO
Do abnormal sounds and
vibration occur during the magnetic
pole detection?
YES
Lower the response of the minute position
detection method by two in parameter
No.PS17 (Minute position detection
method function selection)
NO
Does the travel distance
during the magnetic pole detection
has a problem? (Note 3)
Problem
exists.
Raise the response of the minute position
detection method by one in parameter
No.PS17 (Minute position detection
method function selection).
Problem does not exist.
8) Change to "Magnetic pole detection invalid" by setting the parameter No.PS01 (Linear function
selection 1) to "
0". (Note 1)
End
Note 1. When using the incremental system, parameter No.PS01 setting is not required.
2. When the load to mass of the linear servo motor primary side (coil) ratio is unknown, detect magnetic poles with the position
detection method, perform auto tuning, and set an estimated value.
3. When detecting magnetic poles with the minute position detection method, the maximum travel distance of 0.5mm or less during
the magnetic pole detection is acceptable. To shorten the travel distance, increase the response of the minute position detection
method in parameter No.PS17 (Minute position detection method function selection).
13 - 23
13. USING A LINEAR SERVO MOTOR
(5) Magnetic pole detection at the replacement of servo amplifier
When replacing the servo amplifier, carry out the magnetic pole detection again. If the magnetic pole
detection cannot be performed unavoidably, write the magnetic pole information from the servo amplifier
before the replacement to the one after the replacement using MR Configurator.
(a) Procedures
1) Read the magnetic pole information of the servo amplifier before the replacement.
2) Write the read magnetic pole information to the servo amplifier after the replacement.
3) Perform the test operation with the torque limit for ensuring the safety, and confirm that there is no
trouble.
(b) Transplant method of the magnetic pole information
1) How to read the magnetic pole information from the servo amplifier before the replacement
a) Select "MR-J3-B Linear" from the system setting of MR Configurator.
b) Confirm that the personal computer is connected to the servo amplifier, and select "Diagnostic"
and then "Linear diagnostic".
c) Click the "Magnetic pole information" button ( 1) in Figure) to open the magnetic pole information
window.
d) Click "Read All" of the magnetic pole information window. ( 2) in Figure)
e) Confirm the data 1 and data 2 ( 3) in Figure) of the magnetic pole information window and take
notes.
2) How to write the magnetic pole information to the servo amplifier after the replacement
a) Select "MR-J3-B Linear" from the system setting of MR Configurator.
b) Confirm that the personal computer is connected to the servo amplifier, and select "Diagnostic"
and then "Linear diagnostic".
c) Click the "Magnetic pole information" button ( 1) in Figure) to open the magnetic pole information
window.
d) Input the value of the magnetic pole information taken notes to the data 1 and data 2 ( 3) in
Figure) of the magnetic pole information window.
e) Click "Write All" ( 4) in Figure) of the magnetic pole information window.
f) Turn the power of servo amplifier off once, and then turn it on again.
13 - 24
13. USING A LINEAR SERVO MOTOR
2)
3) 4)
1)
13 - 25
13. USING A LINEAR SERVO MOTOR
13.5.3 Home position return
POINT
The incremental linear encoder and the absolute position linear encoder have
different home position reference positions at the home position return.
(1) Incremental linear encoder
CAUTION
If the resolution or stop interval (the third digit of the parameter No.PS01) of the
linear encoder is too large, it is very dangerous since it may crash into the stroke
end.
(a) When the linear encoder home position (reference mark) exists in the home position return direction
The home position on the incremental linear encoder is a position per 1048576 pulses (changeable with
the third digit of the parameter No.PS01), which is based on the linear encoder home position (reference
mark) passed primarily after the start of home position return. Change the setting value of the parameter
No.PS01 according to the linear encoder resolution.
Parameter No.PS01
Stop interval setting
at the home position return
Setting
value
Stop interval
[pulse]
0
1
2
3
4
5
6
8192
131072
262144
1048576
4194304
16777216
67108864
For the proximity dog type home position return, the nearest home position reference position after
turning the proximity dog signal off will be the home position.
The linear encoder home position must be set to only one during the whole stroke and to the position to
be surely passed after the start of home position return. The encoder Z-phase pulse (LZ) cannot be
used.
13 - 26
13. USING A LINEAR SERVO MOTOR
Home position return direction
Home position return speed
Creep speed
Servo motor
speed
0 r/min
Proximity dog
signal
ON
OFF
Home position
reference position
(Note)
1048576pulse
1048576 pulses
Linear servo motor
position
n times
Home position
Linear encoder home position
Note. Can be changed with the parameter No.PS01.
(b) When the linear encoder home position does not exist in the home position return direction
If the home position return is performed from the position where the linear encoder does not exist in the
home position return direction, the controller will be a home position return error. Error contents differ
depending on types of controller. In this chase, move it once with the JOG operation from the controller,
etc. to the stroke end on the opposite side of the home position return direction, and then perform the
home position return.
Home position return direction
Home position return speed
Servo motor
speed
Creep speed
0 r/min
JOG operation
ON
OFF
Proximity dog
signal
Linear servo motor
position
Stroke end
Linear encoder home position
Home position returnable area
Home position
Home position nonreturnable area
POINT
For surely carrying out the home position return, make sure to execute the home
position return after moving it to the stroke end on the opposite side with the JOG
operation from the controller, etc.
Change the setting value for the third digit of parameter No.PS01 according to the
linear encoder resolution.
13 - 27
13. USING A LINEAR SERVO MOTOR
(2) Absolute position linear encoder
The home position reference position on the absolute position linear encoder is a position per 1048576
pulses (changeable with the third digit of the parameter No.PS01), which is based on the linear encoder
home position (absolute position data 0).
For the proximity dog type home position return, the nearest home position reference position after turning
the proximity dog signal off will be the home position. There is no restriction on the setting position for the
home position of linear encoder. The encoder Z-phase pulse (LZ) cannot be used.
Home position return direction
Home position return speed
Servo motor
speed
Creep speed
0 r/min
Proximity dog
signal
Home position
reference position
Linear servo motor
position
ON
OFF
(Note)
1048576pulse
1048576 pulses
n times
Linear encoder home position
Note. Can be changed with the parameter No.PS01.
POINT
The data set type home position return can be also carried out.
13 - 28
Home position
13. USING A LINEAR SERVO MOTOR
13.5.4 Test operation mode in MR Configurator
CAUTION
The test operation mode is designed for servo operation confirmation and not for
machine operation confirmation. Do not use this mode with the machine. Always use
the linear servo motor alone.
If an operation fault occurred, use the forced stop (EM1) to make a stop.
POINT
The content described in this section indicates the environment that servo amplifier
and personal computer are directly connected.
When using MR-J3W- B, both of the A-axis and the B-axis go into the test
operation mode, but only one of them can be operated.
When the test operation mode is selected by using the test operation select switch
(SW2-1), the SSCNET communication for the servo amplifier in the test operation
mode and the following servo amplifiers is blocked.
By using a personal computer and the MR Configurator, you can execute, positioning operation, DO forced
output program operation without connecting the servo system controller.
(1) Test operation mode
(a) Positioning operation
Positioning operation can be performed without using the servo system controller. Use this operation
with the forced stop reset. This operation may be used independently of whether the servo is on or off
and whether the servo system controller is connected or not.
Exercise control on the positioning operation screen of the MR Configurator.
1) Operation pattern
Item
Initial value
Travel distance [pulse]
Setting range
1048576
0 to 99999999
Speed [r/min]
200
0 to max. speed
Acceleration/deceleration time constant [ms]
1000
Repeat pattern
Positive dir.
Dwell time
Number of repeat
0 to 50000
Negative dir.
Positive dir.
Positive dir.
Negative dir.
Negative dir.
Negative dir.
Positive dir.
Positive dir.
Negative dir.
2.0
0.5 to 50.0
1
1 to 9999
2) Operation method
Operation
Screen control
Forward rotation start
Click the "Positive direction movement" button.
Reverse rotation start
Click the "Negative direction movement" button.
Pause
Click the "Pause" button.
(b) Output signal (DO) forced output
Output signals can be switched on/off forcibly independently of the servo status. Use this function for
output signal wiring check, etc.
Exercise control on the DO forced output screen of the MR Configurator.
13 - 29
13. USING A LINEAR SERVO MOTOR
(c) Program operation
Positioning operation can be performed in two or more operation patterns combined, without using the
servo system controller. Use this operation with the forced stop reset. This operation may be used
independently of whether the servo is on or off and whether the servo system controller is connected or
not.
Exercise control on the program operation screen of the MR Configurator. For full information, refer to
the MR Configurator Installation Guide.
Operation
Screen control
Start
Click the "Start" button.
Stop
Click the "Reset" button.
(2) Operation procedure
1) Switch power off.
2) Set SW2-1 to "UP".
SW2
Set SW2-1 to "UP"
UP
DOWN
1
2
Changing the SW2-1 setting to the "UP" position during power-on will not start the test operation
mode.
3) Switch servo amplifier power on.
When initialization is over, the display shows the following screen.
After 2s
Flickering
After 2s
Flickering
4) Perform operation with the personal computer.
13.5.5 Operation from the controller
When establishing the absolute position detection system, the absolute position linear encoder is required.
An MR-BTCASE battery case and eight MR-BAT batteries are not required.
The linear servo motor can be used in combination with the following controllers.
Servo system controller
Model
Motion controller
Q17 DCPU/Q17 HCPU/Q170MCPU
Positioning module
QD75MH /QD74MH /LD77MH
(1) Operation method
For the system using the incremental linear encoder, however, the magnetic pole detection is automatically
performed at the first servo-on after turning the power on. For this reason, when performing the positioning
operation, configure the sequence which surely confirms the servo-on status as the inter lock condition of
the positioning command.
Also, some parameter settings and home position return method varies depending on types of controllers.
13 - 30
13. USING A LINEAR SERVO MOTOR
(2) Servo system controller setting
(a) Setting instructions
The following servo parameters will be valid by turning the power of servo amplifier off once and then
turning it on again after writing to the servo amplifier from the controller.
Setting description
(Note 3) Positioning
Motion controller
QD74MH /QD75MH /
Q17 DCPU/
Q17 HCPU/Q170MCPU
LD77MH
Setting item
Command resolution
Linear encoder resolution unit
Amplifier setting
Motor setting
No.
(Note 1)
Symbol
PA01
PC01
PC03
PC26
PC27
PS01
PS02
**STY
ERZ
*ENRS
**COP8
**COP9
**LIT1
**LIM
MR-J3-B Linear
Automatic setting
MR-J3-B Linear
Factory
setting
Name
Control mode (Note 2)
Error excessive alarm level
Encoder output pulse selection
Function selection C-8
Function selection C-9
Linear function selection 1
Linear encoder resolution setting
Numerator
PS03 **LID Linear encoder resolution setting
Denominator
PS04 *LIT2 Linear function selection 2
Servo
PS05 LB1 Linear servo motor control position deviation
parameters
error detection level
PS06 LB2 Linear servo motor control speed deviation
error detection level
PS07 LB3 Linear servo motor control thrust deviation
error detection level
PS08 *LIT3 Linear function selection 3
PS09 LPWM Magnetic pole detection voltage level
PS10 LFH At magnetic pole detection current detection
method Identification signal frequency
PS11 LIDH At magnetic pole detection current detection
method Identification signal amplitude
PS12
This parameter is not used. (Note 2)
PS17 LTSTS Minute position detection method function
selection Each
PS18 IDLV Minute position detection method
identification signal amplitude
Parameter Unit setting
for
Number of pulses (AP)
positioning
Travel distance (AL)
control
0000h
100
0010h
0100h
0000h
0301h
1000
0004h
0004h
1000
0003h
0
0
Set as necessary.
Set as necessary.
mm
mm
100
0010h
30
5
100
500
0000h
0000h
Refer to (2) (b) in this section.
Note 1. The parameter whose symbol preceded by * can be validated with the following conditions.
* : Turn off the power and then on again, or reset the controller after setting the parameter.
**: Turn off the power and then on again after setting the parameter.
2. For the QD75 MH , make sure to set the factory setting.
3. GX Configurator-QP(SW2D5C-QD75P) of Ver.2.29F or later supports the MR-J3- B linear.
4. Note that the following.
When a servo amplifier parameter (servo parameter) is changed, the controller automatically reads the servo parameter and
stores the new servo parameter in the buffer memory of the QD74MH , QD75MH or LD77MH. However, the new servo
parameter is not reflected in the flash memory.
Right after the servo parameter is changed, if the QD74MH , QD75MH or LD77MH is turned off or reset, or if the control circuit
power supply of the servo amplifier is turned off, the new servo parameter may not be reflected in the buffer memory. In this case,
change the servo parameter again.
13 - 31
13. USING A LINEAR SERVO MOTOR
(b) Setting for the number of pulses (AP) and travel distance (AL)
User
Controller
Command [mm]
AP
AL
Servo amplifier
Linear servo motor
AL
AP
Position feedback [mm]
Linear encoder
Speed feedback [mm/s]
Derivation
The number of pulses (AP) and travel distance (AL) of the linear encoder are calculated in the following
condition.
When the linear encoder resolution is 0.05 m
Number of pulses (AP) [pulse]
Travel distance (AL) [ m]
1
0.05
20
1
13 - 32
13. USING A LINEAR SERVO MOTOR
13.5.6 Functions
(1) Linear servo control error detection function
POINT
For the linear servo control error detection function, the position and speed
deviation error detections are enabled as factory-set. (Parameter No.PS04:
3)
If the linear servo control gets unstable for some reasons, the linear servo motor may not operate properly.
The protective function for detecting this before happens and stopping the operation is the linear servo
control error detection function.
As the linear servo control error detection function, there are three types of detection methods: position
deviation, speed deviation and thrust deviation. An error is detected when each error detection function is
enabled with the setting of the parameter No.PS04 (Linear function selection 2). The detection level can be
changed with the parameter Nos. PS05, PS06 and PS07.
Servo amplifier
Servo amplifier internal value
1) Model feedback position [mm]
3) Model feedback speed [mm/s]
5) Command thrust [%]
Linear servo motor
Linear encoder
Linear encoder
2) Feedback position [mm]
4) Feedback speed [mm/s]
6) Feedback thrust [%]
Figure 13.1 Summary of linear servo control error detection function
(a) Position deviation error detection
Set the parameter No.PS04 to "
1" to make the position deviation error detection enabled.
Parameter No.PS04
1
Position deviation
error detection valid
If there is a deviation larger than the setting value (1 to 1000mm) of the parameter No.PS05 (Linear
servo control position deviation error detection level) after comparing the model feedback position 1)
and the feedback position 2) in Figure 13.1, the alarm (Linear servo control error 42. ) occurs, and the
linear servo motor stops. The factory setting of parameter No.PS05 is 50mm. Change the setting value
as necessary.
13 - 33
13. USING A LINEAR SERVO MOTOR
(b) Speed deviation error detection
Set the parameter No.PS04 to "
2" to make the speed deviation error detection enabled.
Parameter No.PS04
2
Speed deviation
error detection valid
If there is a deviation larger than the setting value (1 to 5000mm/s) of the parameter No.PS06 (Linear
servo control speed deviation error detection level) after comparing the model feedback speed 3) and
the feedback speed 4) in Figure 13.1, the alarm (Linear servo control error 42. ) occurs, and the linear
servo motor stops. The factory setting of parameter No.PS06 is 1,000mm/s. Change the setting value
as necessary.
(c) Thrust deviation error detection
Set the parameter No.PS04 to "
4" to make the thrust deviation error detection enabled.
Parameter No.PS04
4
Thrust deviation
error detection valid
If there is a deviation larger than the setting value (1 to 1,000 ) of the parameter No.PS07 (Linear
servo control thrust deviation error detection level) after comparing the command thrust 5) and the
feedback thrust 6) in Figure 13.1, the alarm (Linear servo control error 42. ) occurs, and the linear
servo motor stops. The factory setting of parameter No.PS05 is 100 . Change the setting value as
necessary.
(d) Detecting multiple deviation errors
Setting the parameter No.PS04 as shown below allows the linear servo motor to detect multiple
deviation errors. For the error detection methods, refer to (1) (a), (b) and (c) in this section.
Parameter No.PS04
Setting
value
Position deviation
error detection
3
5
6
7
13 - 34
Speed deviation
error detection
Thrust deviation
error detection
13. USING A LINEAR SERVO MOTOR
(2) Auto tuning function
The auto tuning function during the linear servo operation is the same as that of normal servo, but the
calculation method of load to motor mass ratio (J ratio) is different. The load to motor mass ratio (J ratio) on
the linear servo is a mass ratio calculated dividing the load mass by the load to mass of the linear servo
motor primary side (coil) ratio.
Example) Linear servo motor primary side (coil) mass
Load mass (excluding the motor primary side (coil) mass)
Mass ratio
2kg
4kg
4/2 Twice
Refer to chapter 6, other parameters set with the auto tuning function.
POINT
If not meeting with the following conditions, the auto tuning mode 1 may not operate
properly.
The acceleration/deceleration time constant which takes less than 5s to reach to
2,000mm/s
The linear servo motor speed is 150mm/s or faster.
The load to mass of the linear servo motor primary side (coil) ratio is 100 times
or smaller.
The acceleration/deceleration thrust is 10 or less of the rated thrust.
(3) Machine analyzer function
POINT
Make sure to carry out the machine analyzer function after the magnetic pole
detection. If the magnetic pole detection is not executed, the function may not
operate properly.
The stop position at the completion of machine analyzer can be any position.
13.5.7 Absolute position detection system
When using the linear servo motor for the absolute position detection system, the absolute position linear
encoder is required. The backup of absolute position data is performed by the linear encoder. For this reason,
there is no need to mount an MR-BTCASE battery case and MR-BAT battery for encoder on the servo amplifier.
Also, the alarm (25.1) and warnings (92.1, 9F.1 and E3. ) related to the absolute position are not detected.
13 - 35
13. USING A LINEAR SERVO MOTOR
13.6 Parameters
CAUTION
Never adjust or change the parameter values extremely as it will make operation
instable.
When the fixed values are indicated for any digits of a parameter, never change the
values of the digits.
In this servo amplifier, the parameters are classified into the following groups on a function basis.
Parameter group
Main description
Basic setting parameters
(No.PA
)
When using this servo amplifier in the position control mode.
Gain/filter parameters
(No.PB
)
Use these parameters when making gain adjustment manually.
Extension setting parameters
(No.PC
)
When changing settings such as analog monitor output signal, use these parameters.
I/O setting parameters
(No.PD
)
Use these parameters when changing the I/O signals of the servo amplifier.
Special setting parameters
(No.PS
)
Use these parameters when setting specially for the linear servo motor.
Option setting parameter
(No.Po
)
These parameters are dedicated to MR-J3W.
13 - 36
13. USING A LINEAR SERVO MOTOR
13.6.1 Parameter write inhibit (Parameter No.PA19)
POINT
Turn off the power and then on again, or reset the controller after setting the
parameter to validate the parameter value.
In the factory setting, this servo amplifier allows changes to the all parameters, settings. With the setting of
parameter No.PA19, write can be disabled to prevent accidental changes.
The next table indicates the parameters which are enabled for reference and write by the setting of parameter
No.PA19. Operation can be performed for the parameters marked .
Parameter
No.PA19
setting
0000h
Setting
operation
Basic setting
parameters
No.PA
Gain/filter
parameters
No.PB
Extension setting
parameters
No.PC
Reference
Write
000Bh
Reference
(factory setting)
Write
000Ch
000Dh
000Eh
Reference
Write
Reference
Write
Reference
Write
Reference
100Bh
Write
Parameter
No.PA19 only
Reference
100Ch
Write
Parameter
No.PA19 only
Reference
100Dh
Write
Parameter
No.PA19 only
Reference
100Eh
Write
Parameter
No.PA19 only
13 - 37
I/O setting
parameters
No.PD
Special setting
parameters
No.PS
Option setting
parameter
No.Po
13. USING A LINEAR SERVO MOTOR
13.6.2 Basic setting parameters (No.PA
)
(1) Parameter list
POINT
The parameter whose symbol preceded by * can be validated with the following
conditions.
* : Turn off the power and then on again, or reset the controller after setting the
parameter.
**: Turn off the power and then on again after setting the parameter.
No.
Symbol
PA01
**STY
Control mode
PA02
**REG
Regenerative option
PA03
*ABS
Absolute position detection system
PA04
*AOP1
PA05
Setting
(Note 1)
Name
Each
axis
Unit
Reference
0000h
This
section
(2)
Common 0000h
Section
5.1.4
Each
axis
Function selection A-1
Factory
setting
(Note 2)
0000h
This
section
(2)
Common 0000h
Section
5.1.6
This parameter is not used. Do not change the value.
0
PA06
1
PA07
1
PA08
ATU
Auto tuning mode
Each
axis
0001h
PA09
RSP
Auto tuning response
Each
axis
12
PA10
INP
In-position range
Each
axis
100
PA11
This parameter is not used. Do not change the value.
Section
5.1.7
pulse
This
section
(2)
1000.0
PA12
1000.0
PA13
0000h
PA14
*POL
Moving direction selection
Each
axis
0
PA15
*ENR
Encoder output pulses
Each
axis
4000
PA16
*ENR2
Encoder output pulses 2
Each
axis
0
PA17
**MSR
Linear servo motor series setting Linear servo motor type setting
Each
axis
0000h
PA18
**MTY
Each
axis
0000h
PA19
*BLK
Each
axis
000Bh
Parameter write inhibit
This
section
(2)
Note 1. Each axis: Set a value for each of the A-axis and the B-axis.
Common: Common parameters for the A-axis and the B-axis. Set same values for the A-axis and the B-axis. If different values are
set, the last set value becomes valid.
2. Valid for the A-axis and the B-axis.
13 - 38
13. USING A LINEAR SERVO MOTOR
(2) List of details
No.
Symbol
PA01
**STY
Name
Setting
Control mode
This parameter is set as "
0 " (rotary servo motor) in the initial setting.
To use a linear servo motor, set to "
4 ".
Factory
setting
Unit
Each
axis
0000h
Refer to
name
and
function
column.
Each
axis
0000h
Refer to
name
and
function
column.
Each
axis
100
Parameter No.PA01
0 0
Setting
range
0
Control mode selection
0: Rotary servo motor
4: Linear servo motor
6: Direct drive motor
PA03
*ABS
Absolute position detection system
Set this parameter when using the absolute position detection system in the
position control mode.
0 0 0
Selection of absolute position detection system (refer to chapter
12)
0: Used in incremental system
1: Used in absolute position detection system
If the absolute position detection system is enabled when the
linear encoder of the incremental type is being used,
parameter error (37.2) occurs.
POINT
This parameter cannot be used in the speed control
mode.
PA10
INP
In-position range
Set the range, where in-position (INP-A/INP-B) is output, in the command pulse
unit.
Servo motor droop pulses
Command pulse
Command pulse
In-position range [pulse]
Droop pulses
In-position
(INP-A/INP-B)
ON
OFF
POINT
This parameter cannot be used in the speed control
mode.
13 - 39
pulse
0
to
65535
13. USING A LINEAR SERVO MOTOR
No.
Symbol
PA14
*POL
Name
Setting
Moving direction selection
Select linear servo motor moving direction relative.
Factory
setting
Unit
Setting
range
Each
axis
0
0 1
Each
axis
4000
1
to
65535
Linear servo motor moving direction
Setting
When positioning address
increases
When positioning address
decreases
0
Positive direction
Negative direction
1
Negative direction
Positive direction
The positive/negative directions of the linear servo motor are as shown below.
Negative direction
Negative direction
Secondary side
Positive direction
Secondary side
Positive direction
Table
Primary side
Primary side
Secondary side
Positive direction
LM-H2series
PA15
*ENR
Negative direction
LM-U2 series
Primary side
LM-K2 series
Encoder output pulses
This parameter is made valid when parameter No.PC03 is set to "
1
value)".
Set the encoder pulses (A/B-phase) output by the servo amplifier.
Set the encoder pulses output by the servo amplifier by division ratio.
Travel distance [pulse] of the linear encoder is divided by the set value.
Travel distance of linear encoder
[pulse]
Output pulse
Set value
(initial
The number of A/B-phase pulses actually output is 1/4 times greater than the
preset number of pulses. Also, the maximum output frequency is 4.6Mpps (after
multiplication by 4). Use this parameter within the range.
13 - 40
13. USING A LINEAR SERVO MOTOR
No.
Symbol
PA16
*ENR2
Name
Setting
Encoder output pulse 2
This parameter is made valid when parameter No.PC03 is set to "
3 ".
Set the encoder pulses (A/B-phase) output by the servo amplifier.
Set the encoder pulses output by the servo amplifier by parameter No.PA15 and
parameter No.PA16.
Travel distance [pulse] of the linear encoder is multiplied by the set value.
Output pulse
Travel distance of linear encoder
Factory
setting
Unit
Setting
range
Each
axis
0
1
to
65535
Refer to
name
and
function
column.
Set value of parameter No.PA15
[pulse]
Set value of parameter No.PA16
The number of A/B-phase pulses actually output is 1/4 times greater than the
preset number of pulses. Also, the maximum output frequency is 4.6Mpps (after
multiplication by 4). Use this parameter within the range.
When the set value is "0 (initial value)", it is internally treated as "1".
PA17
**MSR
Linear servo motor series setting Linear servo motor type setting
Each
axis
0000h
PA18
**MTY
Select the linear servo motor to be used. Set both of parameter No.PA17 and
PA18. Setting them incorrectly causes the motor combination error (1A.1).
Each
axis
0000h
Each
axis
000Bh
Linear servo
motor series
LM-H2
LM-U2
LM-K2
PA19
*BLK
Primary side (coil)
model name
Parameter setting
No.PA17 No.PA18
LM-H2P1A-06M-4SS0
00B3h
1101h
LM-H2P2A-12M-1SS0
00B3h
2101h
LM-H2P2B-24M-1SS0
00B3h
2201h
LM-H2P3A-24M-1SS0
00B3h
3101h
LM-U2PAB-05M-0SS0
00B4h
A201h
B201h
LM-U2PBB-07M-1SS0
00B4h
LM-U2PAD-10M-0SS0
00B4h
A401h
LM-U2PAF-15M-0SS0
00B4h
A601h
LM-U2PBD-15M-1SS0
00B4h
B401h
LM-U2PBF-22M-1SS0
00B4h
2601h
LM-K2P1A-01M-2SS1
00B8h
1101h
LM-K2P2A-02M-1SS1
00B8h
2101h
Parameter write inhibit
Setting
value
0000h
000Bh
000Ch
000Dh
000Eh
100Bh
100Ch
100Dh
100Eh
Operation
Parameters that can be controlled
No.PA
No.PB
No.PC
No.PD
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
Reference
Write
PA19 only
Reference
Write
PA19 only
Reference
Write
PA19 only
Reference
Write
PA19 only
13 - 41
No.PS
No.Po
Refer to
name
and
function
column.
13. USING A LINEAR SERVO MOTOR
13.6.3 Gain/Filter parameters (No.PB
)
(1) Parameter list
POINT
The parameter whose symbol preceded by * can be validated with the following
conditions.
* : Turn off the power and then on again, or reset the controller after setting the
parameter.
**: Turn off the power and then on again after setting the parameter.
Setting
(Note 1)
Symbol
PB01
FILT
Adaptive tuning mode (Adaptive filter )
Each
axis
0000h
PB02
VRFT
Vibration suppression control tuning mode (advanced vibration suppression
control)
Each
axis
0000h
PB03
PB04
Name
Factory
setting
(Note 2)
No.
This parameter is not used. Do not change the value.
Unit
Reference
Section
5.2.2
0
FFC
Feed forward gain
PB06
GD2
Load to mass of the linear servo motor primary side (coil) ratio
Each
axis
7.0
Multiplier
( 1)
This
section
(2)
PB07
PG1
Model loop gain
Each
axis
24
rad/s
Section
5.2.2
PB08
PG2
Position loop gain
Each
axis
37
rad/s
PB09
VG2
Speed loop gain
Each
axis
823
rad/s
PB10
VIC
Speed integral compensation
Each
axis
33.7
ms
PB11
VDC
Speed differential compensation
Each
axis
980
Machine resonance suppression filter 1
Each
axis
4500
Notch shape selection 1
Each
axis
0000h
Machine resonance suppression filter 2
Each
axis
4500
Notch shape selection 2
Each
axis
0000h
Low-pass filter
Each
axis
3141
rad/s
PB05
Each
axis
This parameter is not used. Do not change the value.
PB12
NH1
PB14
NHQ1
PB15
NH2
PB16
NHQ2
PB17
Section
5.2.2
500
This parameter is not used. Do not change the value.
PB13
0
0
Hz
Hz
Automatic setting parameter
PB18
LPF
PB19
VRF1
Vibration suppression control vibration frequency setting
Each
axis
100.0
Hz
PB20
VRF2
Vibration suppression control resonance frequency setting
Each
axis
100.0
Hz
13 - 42
Section
5.2.2
13. USING A LINEAR SERVO MOTOR
No.
Symbol
PB21
Setting
(Note 1)
Name
This parameter is not used. Do not change the value.
Factory
setting
(Note 2)
Unit
Reference
0.00
PB22
0.00
PB23
VFBF
Low-pass filter selection
Each
axis
0000h
PB24
*MVS
Slight vibration suppression control selection
Each
axis
0000h
PB25
This parameter is not used. Do not change the value.
Section
5.2.2
0000h
PB26
*CDP
Gain changing selection
Each
axis
0000h
PB27
CDL
Gain changing condition
Each
axis
10
PB28
CDT
Gain changing time constant
Each
axis
1
ms
PB29
GD2B
Gain changing - load to mass of the linear servo motor primary side (coil) ratio
Each
axis
7.0
Multiplier
( 1)
This
section
(2)
PB30
PG2B
Gain changing position loop gain
Each
axis
37
rad/s
Section
5.2.2
PB31
VG2B
Gain changing speed loop gain
Each
axis
823
rad/s
PB32
VICB
Gain changing speed integral compensation
Each
axis
33.7
ms
Section
5.2.2
PB33
VRF1B Gain changing vibration suppression control vibration frequency setting
Each
axis
100.0
Hz
PB34
VRF2B Gain changing vibration suppression control resonance frequency setting
Each
axis
100.0
Hz
PB35
This parameter is not used. Do not change the value.
0.00
PB36
0.00
PB37
100
PB38
0.0
PB39
0.0
PB40
0.0
PB41
1125
PB42
1125
PB43
0004h
PB44
0.0
PB45
0000h
Note 1. Each axis: Set a value for each of the A-axis and the B-axis.
Common: Common parameters for the A-axis and the B-axis. Set same values for the A-axis and the B-axis. If different values are
set, the last set value becomes valid.
2. Valid for the A-axis and the B-axis.
13 - 43
13. USING A LINEAR SERVO MOTOR
(2) List of details
No.
Symbol
Name and function
PB06
GD2
Load to mass of the linear servo motor primary side (coil) ratio
Used to set the load to mass of the linear servo motor primary side (coil) ratio.
When auto tuning mode 1 and interpolation mode are selected, the result of
auto tuning is automatically used. In this case, it varies between 0.0 and 100.0.
When parameter No.PA08 is set to "
2" or "
3", this parameter can
be set manually.
Each
axis
PB29
GD2B
Gain changing - load to mass of the linear servo motor primary side (coil) ratio
Used to set the load to mass of the linear servo motor primary side (coil) ratio
when gain changing is valid.
This parameter is made valid when the auto tuning is invalid (parameter
No.PA08:
3).
Each
axis
13 - 44
Setting
Unit
Setting
range
7.0
Multiplier
( 1)
0.0
to
300.0
7.0
Multiplier
( 1)
0.0
to
300.0
Factory
setting
13. USING A LINEAR SERVO MOTOR
13.6.4 Extension setting parameters (No.PC
)
(1) Parameter list
POINT
The parameter whose symbol preceded by * can be validated with the following
conditions.
* : Turn off the power and then on again, or reset the controller after setting the
parameter.
**: Turn off the power and then on again after setting the parameter.
Factory
setting
(Note 2)
Unit
Reference
Each
axis
0
mm
This
section
(2)
Each
axis
0
ms
Section
5.3.2
Each
axis
0010h
PC04 **COP1 Function selection C-1
Each
axis
0000h
PC05 **COP2 Function selection C-2
Each
axis
0000h
PC06
Each
axis
0000h
Each
axis
50
No.
Symbol
PC01
ERZ
Error excessive alarm level
PC02
MBR
Electromagnetic brake sequence output
PC03
PC07
Setting
(Note 1)
Name
*ENRS Encoder output pulses selection
*COP3 Function selection C-3
ZSP
PC08
Zero speed
This parameter is not used. Do not change the value.
This
section
(2)
Section
5.3.2
mm/s
0
PC09
MOD1
Analog monitor 1 output
Common 0000h
PC10
MOD2
Analog monitor 2 output
Common 0001h
PC11
MO1
Analog monitor 1 offset
Common
0
mV
PC12
MO2
Analog monitor 2 offset
Common
0
mV
PC13
Do not use it in a linear servo.
0
PC14
PC15
0
SNO
PC16
Station number selection
Common
0
Each
axis
0000h
This parameter is not used. Do not change the value.
PC17 **COP4 Function selection C-4
PC18
This parameter is not used. Do not change the value.
Section
5.3.2
0000h
0000h
PC20
PC22
Section
5.3.2
0000h
PC19
PC21
This
section
(2), (3)
0000h
*BPS
Alarm history clear
Each
axis
This parameter is not used. Do not change the value.
0000h
0000h
PC23
0000h
PC24
0000h
PC25
0000h
PC26
0000h
13 - 45
Section
5.3.2
13. USING A LINEAR SERVO MOTOR
No.
Symbol
Setting
(Note 1)
Name
PC27 **COP9 Function selection C-9
PC28
Each
axis
This parameter is not used. Do not change the value.
Factory
setting
(Note 2)
Unit
0000h
Reference
This
section
(2)
0000h
PC29
0000h
PC30
0000h
PC31
0000h
PC32
0000h
Note 1. Each axis: Set a value for each of the A-axis and the B-axis.
Common: Common parameters for the A-axis and the B-axis. Set same values for the A-axis and the B-axis. If different values are
set, the last set value becomes valid.
2. Valid for the A-axis and the B-axis.
(2) List of details
No.
Symbol
PC01
ERZ
Name
Setting
Error excessive alarm level
This parameter cannot be used in the speed control mode.
Used to set the error excessive alarm level in mm unit.
When "0" is set in this parameter, the alarm level is 3mm. When a value other
than "0" is set, the alarm level is the amount of the set value. However, the alarm
level stays at 200mm even if a value exceeding "200" is set.
Factory
setting
Unit
Setting
range
Each
axis
0
mm Refer to
(Note) name
and
function
column.
Each
axis
0010h
Refer to
name
and
function
column.
Each
axis
0000h
Refer to
name
and
function
column.
Note. Setting can be changed in parameter No.PC06.
PC03
*ENRS Encoder output pulse selection
Use to select the, encoder output pulse direction and encoder pulse output
setting.
0 0
Encoder output pulse phase changing
Changes the phases of A/B-phase encoder output pulses.
Set value
0
1
Linear Servo motor moving direction
Positve direction
Negotive direction
A-phase
A-phase
B-phase
B-phase
A-phase
A-phase
B-phase
B-phase
Encoder output pulse setting selection
0: Not used for the linear servo motor.
When this value is set, the parameter error (37.2) occurs.
3: A/B-phase pulse electronic gear setting
(Set with the electronic gear parameter No.PA15 and PA16.)
PC04 **COP1 Function selection C-1
Select the encoder cable communication system selection.
0 0 0
Encoder cable communication system selection
0: Two-wire type
1: Four-wire type
Incorrect setting will result in an encoder alarm 1 (16.3).
13 - 46
13. USING A LINEAR SERVO MOTOR
No.
PC06
Symbol
Name
Setting
*COP3 Function selection C-3
Select the error excessive alarm level setting for parameter No.PC01.
Factory
setting
Each
axis
0000h
Each
axis
50
Unit
Refer to
name
and
function
column.
0 0 0
Error excessive alarm level setting selection
0: 1
[mm]unit
1: 0.1 [mm]unit
2: 0.01 [mm]unit
3: 0.001[mm]unit
PC07
ZSP
PC09
MOD1
Zero speed
Used to set the output range of the zero speed (ZSP-A/ZSP-B).
Zero speed (ZSP-A/ZSP-B) has hysteresis width of 20mm/s.
Analog monitor 1 output
Used to selection the signal provided to the analog monitor 1 (MO1) output.
mm/s
0
to
10000
Common 0000h
Refer to
name
and
function
column.
Common 0001h
Refer to
name
and
function
column.
0 0
Analog monitor 1 (MO1) output selection
Setting
0
1
2
3
4
5
6
7
8
9
D
Setting
range
Item
Linear servo motor speed ( 8V/max. speed)
Thrust ( 8V/max. thrust)
Linear servo motor speed ( 8V/max. speed)
Thrust ( 8V/max. thrust)
Current command ( 8V/max. current command)
Speed command ( 8V/max. speed)
Droop pulses ( 10V/100 pulses)
Droop pulses ( 10V/1000 pulses)
Droop pulses ( 10V/10000 pulses)
Droop pulses ( 10V/100000 pulses)
Bus voltage ( 8V/400V)
Analog monitor 1 (MO1) output axis selection
0: A-axis
1: B-axis
PC10
MOD2
Analog monitor 2 output
Used to selection the signal provided to the analog monitor 2 (MO2) output.
0 0
Analog monitor 2 (MO2) output selection
The setting details are the same as analog monitor 1 output.
For the setting details, refer to parameter No.PC09.
Analog monitor 2 (MO2) output axis selection
The setting details are the same as analog monitor 1 output.
For the setting details, refer to parameter No.PC09.
PC26
This parameter is not used. Do not change the value.
Set the communication method of the encoder cable (two-wire type/four-wire type)
with parameter No.PC04.
13 - 47
0000h
13. USING A LINEAR SERVO MOTOR
No.
Symbol
Name
Setting
PC27 **COP9 Function selection C-9
The polarity setting of the encoder connected to the CN2A and CN2B connector
and the Z-phase connection judgement of the A/B/Z-phase input interface
encoder.
Each
axis
Factory
setting
0000h
0 0 0
Unit
Setting
range
Refer to
name
and
function
column.
Encoder pulse count polarity selection
0: Linear servo motor positive direction and linear encoder
pulse increase direction
1: Linear servo motor positive direction and linear encoder
pulse decrease direction
(3) Analog monitor
POINT
A voltage of analog monitor output may be irregular at power-on.
The servo status can be output to two channels in terms of voltage.
(a) Setting
Change the following digits of parameter No.PC09, PC10.
Parameter No.PC09
0 0
Analog monitor (MO1) output selection
(Signal output to across MO1-LG)
Analog monitor 1 (MO1) output axis selection
0: A-axis
1: B-axis
Parameter No.PC10
0 0
Analog monitor (MO2) output selection
(Signal output to across MO2-LG)
Analog monitor 2 (MO2) output axis selection
0: A-axis
1: B-axis
Parameters No.PC11 and PC12 can be used to set the offset voltages to the analog output voltages.
The setting range is between 999 and 999mV.
Parameter No.
Description
PC11
Used to set the offset voltage for the analog monitor 1 (MO1).
PC12
Used to set the offset voltage for the analog monitor 2 (MO2).
13 - 48
Setting range [mV]
999 to 999
13. USING A LINEAR SERVO MOTOR
(b) Set content
The servo amplifier is factory-set to output the linear servo motor speed to analog monitor 1 (MO1) and
the torque to analog monitor (MO2). The setting can be changed as listed below by changing the
parameter No.PC09 and PC10 value.
Refer to (3)(c) for the measurement point.
Setting
0
Output item
Description
Linear servo motor
speed
Setting
CCW direction
8[V]
1
Output item
8[V]
Max. speed
CW direction 8[V]
Max. speed
4
0
Max. speed
-8[V]
CW direction
Linear servo motor
speed
Current command
3
Thrust
Max. speed
Driving in CW 8[V] Driving in CCW
direction
Max. thrust
5
CCW direction
0
Speed command
(Note 2)
Max. current command
(Max. thrust command)
8[V]
10[V]
-8[V]
CCW direction
7
Droop pulses
(Note 1, 2, 3)
( 10V/1000 pulses)
100[pulse]
CCW direction
10[V]
CCW direction
9
Droop pulses
(Note 1, 2, 3)
( 10V/100000 pulses)
10[V]
1000[pulse]
-10[V]
CW direction
10000[pulse]
CCW direction
100000[pulse]
0
CW direction
D
-8[V]
0
100[pulse]
-10[V]
CW direction
Droop pulses
(Note 1, 2, 3)
( 10V/10000 pulses)
10[V]
Max. speed
1000[pulse]
0
8
CCW direction
0
CW direction
Droop pulses
(Note 1, 2, 3)
( 10V/100 pulses)
Max. thrust
Max. speed
0
Max. current command
(Max. thrust command)
CW direction
Max. thrust
-8[V]
Driving in CW
direction
CCW direction
0
8[V]
6
Driving in CCW
direction
Max. thrust
0
2
Description
Thrust
0 100000[pulse]
10000[pulse]
-10[V]
Bus voltage
-10[V]
CW direction
E
8[V]
Speed command
(Note 2, 4)
8[V]
CCW direction
Max. speed
0
0
Max. speed
400[V]
CW direction
13 - 49
-8[V]
13. USING A LINEAR SERVO MOTOR
Note 1. Encoder pulse unit.
2. Cannot be used in the torque loop mode.
3. Cannot be used in the speed loop mode.
4. This setting can be used with the servo amplifier whose software version is B3 or later and with MR Configurator whose software
version is C5 or later.
(c) Analog monitor block diagram
Speed
command
Position
command
received
from a
controller
Differential
Droop pulses
Current
command
Speed
command 2
Speed
Position command
control
Speed
control
Bus voltage
Current
control
Current
encoder
PWM
Current feedback
Differential
Position feedback
Linear servo
motor speed
13 - 50
Thrust
Linear
servo motor
Linear encoder
13. USING A LINEAR SERVO MOTOR
13.6.5 I/O setting parameters (No.PD
)
(1) Parameter list
POINT
The parameter whose symbol preceded by * can be validated with the following
conditions.
* : Turn off the power and then on again, or reset the controller after setting the
parameter.
No.
Symbol
PD01
PD02
*DIA2
Setting
(Note 1)
Name
This parameter is not used. Do not change the value.
Input signal automatic ON selection
PD03
PD04
PD05
PD06
PD07
*D01
Output signal device selection 1 (CN3-12 for A-axis and CN3-25 for B-axis)
PD08
PD09
*D03
This parameter is not used. Do not change the value.
Output signal device selection 3 (CN3-11 for A-axis and CN3-24 for B-axis)
PD10
PD11
PD12
PD13
PD14
PD15
PD16
PD17
PD18
PD19
PD20
PD21
PD22
PD23
PD24
PD25
PD26
PD27
PD28
PD29
PD30
PD31
PD32
Each
axis
This parameter is not used. Do not change the value.
Each
axis
Each
axis
This parameter is not used. Do not change the value.
*DOP3 Function selection D-3
Each
axis
This parameter is not used. Do not change the value.
Factory
setting
(Note 2)
0000h
0000h
0020h
0021h
0022h
0000h
0005h
0004h
0003h
0000h
0004h
0000h
0000h
0000h
Unit
Reference
This
section
(2)
Section
5.4.2
Section
5.4.2
Section
5.4.2
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
0000h
Note 1. Each axis: Set a value for each of the A-axis and the B-axis.
Common: Common parameters for the A-axis and the B-axis. Set same values for the A-axis and the B-axis. If different values are
set, the last set value becomes valid.
2. Valid for the A-axis and the B-axis.
13 - 51
13. USING A LINEAR SERVO MOTOR
(2) List of details
No.
Symbol
PD02
*DIA2
Name
Setting
Each
axis
Input signal automatic ON selection
Select the input devices to be automatically turned ON.
Factory
setting
Unit
0000h
Refer to
name
and
function
column.
0 0 0
Signal name
Factory setting
BIN
HEX
Upper stroke limit
(FLS)
Lower stroke limit
(RLS)
Setting
range
0
0
0
0
0
BIN 0: Used as external input signal
BIN 1: Automatic ON
For example, to turn ON RLS, the setting is "
2".
When the upper stroke limit (FLS) or the lower stroke limit (RLS) is used on the
controller side, do not set to automatically ON since the magnetic pole detection
signal is shared with the input signal.
13.6.6 Special setting parameters (No.PS
)
(1) Parameter list
POINT
The parameter whose symbol preceded by * can be validated with the following
conditions.
* : Turn off the power and then on again, or reset the controller after setting the
parameter.
**: Turn off the power and then on again after setting the parameter.
Setting
(Note 1)
Name
Factory
setting
(Note 2)
Unit
No.
Symbol
PS01
**LIT1
Linear function selection 1
Each
axis
0301h
PS02
**LIM
Linear encoder resolution setting Numerator
Each
axis
1000
PS03
**LID
Linear encoder resolution setting Denominator
Each
axis
1000
PS04
*LIT2
Linear function selection 2
Each
axis
0003h
PS05
LB1
Linear servo motor control position deviation error detection level
Each
axis
0
mm
PS06
LB2
Linear servo motor control speed deviation error detection level
Each
axis
0
mm/s
PS07
LB3
Linear servo motor control thrust deviation error detection level
Each
axis
100
13 - 52
Reference
This
section
(2)
13. USING A LINEAR SERVO MOTOR
No.
Symbol
PS08
*LIT3
PS09
LPWM
PS10
Setting
(Note 1)
Name
Factory
setting
(Note 2)
Linear function selection 3
Each
axis
0010h
Magnetic pole detection voltage level
Each
axis
30
This parameter is not used. Do not change the value.
500
PS13
0000h
PS14
0
PS15
0000h
PS16
PS19
This
section
(2)
100
PS12
PS18
Reference
5
PS11
PS17
Unit
0000h
LTSTS Minute position detection method function selection
IDLV
Minute position detection method identification signal amplitude
This parameter is not used. Do not change the value.
Each
axis
0000h
Each
axis
0000h
This
section
(2)
0000h
PS20
0000h
PS21
0000h
PS22
0000h
PS23
0000h
PS24
0000h
PS25
0000h
PS26
0000h
PS27
0000h
PS28
0000h
PS29
0000h
PS30
0000h
PS31
0000h
PS32
0000h
Note 1. Each axis: Set a value for each of the A-axis and the B-axis.
Common: Common parameters for the A-axis and the B-axis. Set same values for the A-axis and the B-axis. If different values are
set, the last set value becomes valid.
2. Valid for the A-axis and the B-axis.
13 - 53
13. USING A LINEAR SERVO MOTOR
(2) List of details
No.
Symbol
PS01
**LIT1
Name
Setting
Linear function selection 1
The magnetic pole detection setting, the stop interval setting at home position
return, the valid/invalid setting of the linear servo motor thermistor can be
selected. (Refer to section 13.5.2.)
Factory
setting
Unit
Setting
range
Each
axis
0301h
Refer to
name
and
function
column.
0
Linear servo motor magnetic pole detection setting
0: Magnetic pole detection invalid (This setting is valid only
with absolute position Iinear encoder.)
1: Magnetic pole always valid
Stop interval setting at home position return
The stop interval for the dog method home position return is
set.
Setting
value
0
1
2
3
4
5
6
Stop interval
[pulse]
8192
131072
262144
1048576
4194304
16777216
67108864
Linear servo motor thermistor valid/invalid setting
0: Valid
1: Invalid
When the linear servo motor without thermistor is used, this
setting is invalid.
PS02
**LIM
Linear encoder resolution setting Numerator
Set the linear encoder resolution in 1 m unit. (Refer to section 13.5.1 (4).)
Set the numerator for parameter No.PS02.
Linear encoder resolution ( m) LIM/LID
When "0" is set in this parameter, the factory setting is applied in the servo
amplifier.
Each
axis
1000
0
to
65535
PS03
**LID
Linear encoder resolution setting Denominator
Set the denominator for parameter No.PS03.
When "0" is set in this parameter, the factory setting is applied in the servo
amplifier.
Each
axis
1000
0
to
65535
13 - 54
13. USING A LINEAR SERVO MOTOR
No.
Symbol
PS04
*LIT2
Name
Setting
Linear function selection 2
Linear servo motor control error detection function and linear servo motor control
error reset can be selected.
Factory
setting
Each
axis
0003h
Unit
Setting
range
Refer to
name
and
function
column.
0 0
Linear servo motor control error detection function selection
(Refer to section 13.5.6 (1).)
0: Invalid
1: Position deviation error detection valid
2: Speed deviation error detection valid
3: Position/speed detection deviation error detection valid
4: Thrust deviation error detection valid
5: Position/thrust deviation error detection valid
6: Speed/thrust deviation error detection valid
7: Position/speed/thrust deviation error detection valid
Linear servo motor control error detection reset selection
Set the controller reset condition of the linear servo motor
control error (42. ).
0: Reset impossible (Reset by switching OFF is possible.)
1: Reset possible
PS05
LB1
Linear servo motor control position deviation error detection level
Used to set the position deviation error detection level of the linear servo motor
control error detection. When the difference between the model feedback position
and the feedback position is bigger than this setting value, the linear servo motor
control error (42.1). (Refer to section 13.5.6 (1).)
When "0" is set in this parameter, 50mm is set for detection level.
Each
axis
0
mm
0
to
1000
PS06
LB2
Linear servo motor control speed deviation error detection level
Used to set the speed deviation error detection level of the linear servo motor
control error detection. When the difference between the model feedback speed
and the feedback speed is bigger than this setting value, the linear servo motor
control error is detected (42.2). (Refer to section 13.5.6 (1).)
When "0" is set in this parameter, 1000mm/s is set for detection level.
Each
axis
0
mm/s
0
to
5000
PS07
LB3
Linear servo motor control thrust deviation error detection level
Used to set the thrust deviation error detection level of the linear servo motor
control error detection. When the difference between the command thrust and the
feedback thrust is bigger than this setting value, the linear servo motor control
error is detected (42.3). (Refer to section 13.5.6 (1).)
When "0" is set in this parameter, the factory setting is applied in the servo
amplifier.
Each
axis
100
0
to
1000
PS08
*LIT3
Linear function selection 3
The magnetic pole detection method can be selected. (Refer to section 13.5.2
(6).)
Each
axis
0010h
Refer to
name
and
function
column.
Each
axis
30
0
to
100
0 0 1
Selection of magnetic pole
0: Detection method
4: Minute position detection method
PS09
LPWM
Magnetic pole detection voltage level
Used to set the direct current exciting voltage level during the magnetic pole
detection. When the overload alarm (50. and 51. ) or overcurrent alarm (32. )
occurs, set the smaller value. When the initial magnetic pole detection error
occurs during the magnetic pole detection, set the bigger value. (Refer to section
13.5.2 (3).)
13 - 55
13. USING A LINEAR SERVO MOTOR
No.
Symbol
PS10
Name
Setting
This parameter is not used. Do not change the value.
Factory
setting
Setting
range
5
PS11
100
PS12
500
PS13
0000h
PS14
0
PS15
0000h
PS16
PS17
Unit
0000h
LTSTS Minute position detection method function selection
Used to set the response and the load to motor mass ratio of the minute position
detection method.
To make the parameter valid, set parameter No.PS08 (Linear function selection 3)
to "
4" (minute position detection method). (Refer to (4)(b) in section 13.5.2.)
Each
axis
0000h
Refer to
name
and
function
column.
Each
axis
0000h
0000h
to
006Fh
0 0
Response of the minute position detection method
Setting
Response
Setting
Response
Low response
0
8
Medium response
1
9
2
A
3
B
4
C
5
D
6
E
High response
7
Medium response
F
Selecting the load to mass of the linear servo motor
primary side (coil) ratio, which decides the response of
the minute position detection method
PS18
PS19
IDLV
Setting
Load to motor
mass ratio
Setting
Load to motor
mass ratio
0
1
2
3
4
5
6
7
Less than 10 times
10 times
20 times
30 times
40 times
50 times
60 times
70 times
8
9
A
B
C
D
E
F
80 times
90 times
100 times
110 times
120 times
130 times
140 times
150 times or more
Minute position detection method identification signal amplitude
Used to set the identification signal amplitude for the minute position detection
method. To make the parameter valid, set parameter No.PS08 (Linear function
selection 3) to "
4". Identification signal is "100 " when "0" is set. (Refer to
(4)(b) in section 13.5.2.)
This parameter is not used. Do not change the value.
0000h
PS20
0000h
PS21
0000h
PS22
0000h
PS23
0000h
PS24
0000h
PS25
0000h
PS26
0000h
13 - 56
13. USING A LINEAR SERVO MOTOR
No.
Symbol
PS27
Name
Setting
This parameter is not used. Do not change the value.
Factory
setting
Unit
Setting
range
0000h
PS28
0000h
PS29
0000h
PS30
0000h
PS31
0000h
PS32
0000h
13.6.7 Option setting parameter
POINT
The parameter whose symbol preceded by * can be validated with the following
conditions.
* : Turn off the power and then on again, or reset the controller after setting the
parameter.
**: Turn off the power and then on again after setting the parameter.
No.
Symbol
Setting
(Note 1)
Name
Factory
setting
(Note 2)
Po01
*OOP1 Function selection O-1
Common 0000h
Po02
SGRA
Axis selection for graphing analog data (MR Configurator)
Common 0000h
Po03
SGRD
Axis selection for graphing digtal data (MR Configurator)
Po04 **OOP2 Function selection O-2
Po05
Unit
Reference
Section
5.5.2
Common 0000h
Common 0000h
This parameter is not used. Do not change the value.
0000h
Po06
0000h
Po07
0000h
Po08
0000h
Po09
0000h
Po10
0000h
Po11
0000h
Po12
0000h
Po13
0000h
Po14
0000h
Po15
0000h
Po16
0000h
Note 1. Each axis: Set a value for each of the A-axis and the B-axis.
Common: Common parameters for the A-axis and the B-axis. Set same values for the A-axis and the B-axis. If different values are
set, the last set value becomes valid.
2. Valid for the A-axis and the B-axis.
13 - 57
13. USING A LINEAR SERVO MOTOR
13.7 Troubleshooting
POINT
When an alarm with "Each axis" indicated in the "Stop method" column occurs, the
servo motor in the non-alarm-occurring axis can continue running.
If an alarm/warning has occurred, refer to this chapter and remove its cause.
13.7.1 Alarms and warning list
When an error occurs during operation, the corresponding alarm or warning is displayed.
If any alarm has occurred, refer to section 13.7.2 and section 8.3; if any warning has occurred, refer to section
13.7.3 and section 8.4, and take the appropriate action. When an alarm occurs, ALM-A/ALM-B turns OFF.
After its cause has been removed, the alarm can be deactivated in any of the methods marked
in the alarm
deactivation column.
Alarm deactivation
Alarms
Display
Name
Power
OFF ON
Error reset
CPU reset
Detection
method
(Note 3)
Stop
method
(Note 4)
10
Undervoltage
Common
All axis
11
Switch setting error
Common
All axis
12
Memory error 1 (RAM)
Common
All axis
13
Clock error
Common
All axis
15
Memory error 2 (EEP-ROM)
Common
All axis
16
Encoder initial communication error 1
Each axis
Each axis
17
Board error
Common
All axis
19
Memory error 3 (Flash-ROM)
Common
All axis
1A
Motor combination error
Each axis
Each axis
1E
Encoder initial communication error 2
Each axis
Each axis
1F
Encoder initial communication error 3
Each axis
Each axis
20
Encoder normal communication error 1
Each axis
Each axis
21
Encoder normal communication error 2
Each axis
Each axis
24
Main circuit error
Each axis
All axis
27
Initial magnetic pole detection error
Each axis
Each axis
28
Linear encoder error 2
Each axis
Each axis
2A
Linear encoder error 1
Each axis
Each axis
30
Regenerative error
31
(Note 1)
(Note 1)
(Note 1)
Common
All axis
Overspeed
Each axis
Each axis
32
Overcurrent
Each axis
All axis
33
Overvoltage
Common
All axis
34
SSCNET receive error 1
Each axis
Each axis
35
Command frequency error
Each axis
Each axis
36
SSCNET receive error 2
Each axis
Each axis
37
Parameter error
Each axis
Each axis
42
Linear servo control error
Each axis
Each axis
45
Main circuit device overheat
46
Linear servo motor overheat
47
Cooling fan error
50
(Note 2)
(Note 5)
(Note 5)
(Note 1)
(Note 1)
(Note 1)
Common
All axis
(Note 1)
(Note 1)
(Note 1)
Each axis
Each axis
Common
All axis
Overload 1
(Note 1)
(Note 1)
(Note 1)
Each axis
Each axis
51
Overload 2
(Note 1)
(Note 1)
(Note 1)
Each axis
Each axis
52
Error excessive
Each axis
Each axis
8A
USB communication time-out error
Common
All axis
8E
USB communication error
Common
All axis
888
Watchdog
Common
All axis
13 - 58
13. USING A LINEAR SERVO MOTOR
Alarm deactivation
Wamings
Display
Name
Power
OFF ON
Error reset
CPU reset
Detection
method
(Note 3)
91
Main circuit device overheat warning
Common
96
Home position setting warning
Each axis
Stop
method
(Note 4)
E0
Excessive regeneration warning
Common
E1
Overload warning 1
Each axis
E2
Linear servo motor overheat warning
Each axis
E4
Parameter warning
Each axis
E6
Servo forced stop warning
Common
All axis
All axis
E7
Controller forced stop warning
Common
E8
Cooling fan speed reduction warning
Common
E9
Main circuit off warning
Common
All axis
EB
The other axis fault warning
Each axis
All axis
EC
Overload warning 2
Each axis
ED
Output watt excess warning
Each axis
Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
2. In some controller communication status, the alarm factor may not be removed.
3. Alarms and warnings are detected in the following axes.
Each axis: Alarms and warnings are detected in the A-axis and the B-axis separately.
Common: Alarms and warnings are detected in the A-axis and the B-axis together.
4. When an alarm or a warning occurs, the axes stop as below.
Each axis: Only the axis that detected the alarm or warning stops.
All axis: All axes stop.
5. The alarm can be deactivated by setting parameter No.PS04 to "1
."
13 - 59
13. USING A LINEAR SERVO MOTOR
13.7.2 Remedies for alarms
CAUTION
When any alarm has occurred, eliminate its cause, ensure safety, then reset the
alarm, and restart operation. Otherwise, injury may occur.
Shut off the main circuit power supply when alarms are occurring in both of the Aaxis and the B-axis. Otherwise, a regenerative transistor fault or the like may
overheat the regenerative resistor, causing a fire.
POINT
When any of the following alarms has occurred, do not deactivate the alarm and
resume operation repeatedly. To do so will cause the servo amplifier/servo motor
to fail. Remove the cause of occurrence, and leave a cooling time of more than 30
minutes before resuming operation. To protect the main circuit elements, any of
these servo alarms cannot be deactivated from the servo system controller until the
specified time elapses after its occurrence. Judging the load changing condition
until the alarm occurs, the servo amplifier calculates this specified time
automatically.
Regenerative error (30. )
Main circuit device overheat (45. )
Linear servo motor overheat (46. )
Overload 1 (50. )
Overload 2 (51. )
The alarm can be deactivated by switching power off, then on or by the error reset
command CPU reset from the servo system controller. For details, refer to section
13.7.1.
When an alarm occurs, the malfunction (ALM-A/ALM-B) switches off and the dynamic brake is operated to stop
the servo motor. At this time, the display indicates the alarm No.
The servo motor comes to a stop. Remove the cause of the alarm in accordance with this section. Use the MR
Configurator to refer to a factor of alarm occurrence.
Alarm No.10
Name: Undervoltage
Alarm description
Display
Name
10.1
Voltage drop in
the control circuit
power
10.2
Voltage drop in
the main circuit
power
Stop method: All axes stop
Voltage of the control circuit power has dropped.
Voltage of the main circuit power has dropped.
Cause
Checkpoint
Same as for the rotary servo motor.
Refer to section 8.3.
13 - 60
Finding
Action
13. USING A LINEAR SERVO MOTOR
Alarm No.11
Name: Switch setting error
Alarm description
Display
Name
11.1
Rotary switch
setting error
11.2
DIP switch
setting error
11.3
Servo motor
selection switch
setting error
11.4
Servo motor
selection switch
setting error 2
Cause
Name
DIP switch is
incorrectly set.
Correct the setting.
Setting is correct.
Check (2).
(2) Control mode is
incorrectly set by the
parameter.
Check the parameter No.
PA01 setting.
Rotary servo motor:
"
0 "
Linear servo motor:
"
4 "
Direct drive motor:
"
6 "
Parameter setting is
incorrect.
Correct the setting.
(1) Wrong encoder is
connected.
Check the linear encoder.
Rotary servo motor:
servo motor
Linear servo motor:
linear encoder
Wrong linear encoder
is connected.
Correct the setting.
Check the DIP switch
(SW3) setting.
Rotary servo motor: off
Linear servo motor: on
Direct drive motor: on
Cause
Checkpoint
CPU data RAM
error
12.3
Custom IC RAM
error
Name: Clock error
13.1
Name
Clock error
Set value is incorrect.
Correct the setting.
Stop method: All axes stop
12.2
Display
Right linear encoder is Check (2).
connected.
Interior part of the servo amplifier (CPU) is faulty.
Interior part of the servo amplifier (custom IC) is faulty.
CPU built-in RAM Same as for the rotary servo motor.
error
Refer to section 8.3.
Alarm description
Action
Check the DIP switch
(SW3) setting.
Rotary servo motor: off
Linear servo motor: on
12.1
Alarm No.13
Finding
(1) Setting of servo motor
selection switch is
incorrect.
Name: Memory error (RAM)
Alarm description
Display
Checkpoint
Same as for the rotary servo motor.
Refer to section 8.3.
(2) Setting of servo motor
selection switch is
incorrect.
Alarm No.12
Stop method: All axis stop
Rotary axis setting switch is incorrectly set.
DIP switch is incorrectly set.
Servo motor selection switch is incorrect set.
Finding
Action
Stop method: All axes stop
Fault is found in the printed board.
There is a clock error transmitted from the controller.
Cause
Checkpoint
Same as for the rotary servo motor.
Refer to section 8.3.
13 - 61
Finding
Action
13. USING A LINEAR SERVO MOTOR
Alarm No.15
Name: Memory error 2 (EEP-ROM)
Alarm description
Display
Name
15.1
EEP-ROM error
at power on
15.2
EEP-ROM error
during operation
Alarm No.16
16.1
Cause
Name
Encoder receive
data error 1
Cause
(1) Encoder cable is faulty.
(3) Servo amplifier is faulty.
Encoder receive
data error 2
Finding
Action
Stop method: Corresponding axis stops
Error occurs in the communication between the linear encoder and the servo amplifier.
(2) Fault is generated from
the surrounding
environment.
16.2
Checkpoint
Same as for the rotary servo motor.
Refer to section 8.3.
Name: Encoder initial communication error 1
Alarm description
Display
Stop method: All axes stop
Interior part of the servo amplifier (EEP-ROM) is faulty.
(1) Encoder cable is faulty.
Checkpoint
Check the shield.
Finding
Problem found.
Action
Repair the cable.
No problem found.
Check (2).
Check for noise,
surrounding air
temperature, and other
factors.
Problem found.
Take countermeasure
according to the
cause.
No problem found.
Check (3).
Check the reproducibility
of the error.
Reproduced.
Replace the servo
amplifier.
Not reproduced.
Examine checkpoints
described in the alarm
display "16.3".
Examine checkpoints described in the alarm display "16.1".
(2) Fault is generated from
the surrounding
environment.
(3) Replace the servo
amplifier.
16.3
Encoder receive
data error 3
(1) When using only one
axis, select the motorless operation for the axis
to which the servo motor
is not connected.
Check if parameter No.
PC05 is set to motor-less
operation for the unused
axis.
(2) The encoder cable is
unplugged.
Check if the encoder
cable is connected
properly.
Not connected
properly.
Connect properly.
Connected properly.
Check (3).
(3) Encoder cable is faulty.
Check for breakage and
short of the encoder
cable.
Check the shield.
Problem found.
Repair or replace the
cable.
No problem found.
Check (4).
(4) Two-wire/four-wire type
parameter setting is
incorrect.
Check the parameter No.
PC04 setting.
Two-wire type: "00
"
Four-wire type: "10
"
Setting is incorrect.
Correct the setting.
Normal.
Check (5).
(5) Signal from the linear
encoder cannot be
received.
Connect to a properly
operating linear encoder.
Alarm does not occur.
Replace the linear
encoder.
(6) Servo amplifier is faulty.
Replace the servo
Not reproduced.
amplifier and check the
reproducibility of the error. Reproduced.
(7) Fault is generated from
the surrounding
environment.
Check for noise, and
other factors.
Motor-less operation is Select motor-less
not set.
operation
Motor-less operation is Check (2).
set.
Alarm occurs.
13 - 62
Problem found.
Check (6).
Replace the servo
amplifier.
Check (7).
Take countermeasure
according to the
cause.
13. USING A LINEAR SERVO MOTOR
Alarm No.16
Name: Encoder initial communication error 1
Alarm description
Display
16.5
Name
Stop method: Corresponding axis stops
Error occurs in the communication between the linear encoder and the servo amplifier.
Cause
(1) Encoder cable is faulty.
Encoder
transmission data
error 1
(2) Fault is generated from
the surrounding
environment.
(3) Encoder is faulty.
16.6
(1) Encoder cable is faulty.
Encoder
transmission data (2) Fault is generated from
error 2
the surrounding
environment.
16.7
(1) Encoder cable is faulty.
Encoder
transmission data (2) Fault is generated from
error 3
the surrounding
environment.
Checkpoint
Finding
Action
Check the shield.
Problem found.
No problem found.
Check (2).
Check for noise, and
other factors.
Problem found.
Take countermeasure
according to the
cause.
No problem found.
Check (3).
Replace the servo motor Error is not
reproduced.
and check the
reproducibility of the error.
Repair the cable.
Replace the servo
motor.
Examine checkpoints described in the alarm display "16.5".
(3) Encoder is faulty.
Examine checkpoints described in the alarm display "16.5".
(3) Encoder is faulty.
Alarm No.17
Name: Board error
Alarm description
Display
Name
17.1
AD converter
error
17.2
Current feedback
data error
17.3
Custom IC error
17.4
Amplifier
detection signal
error
17.5
Rotary switch
error
17.6
DIP switch error
Alarm No.19
Stop method: All axes stop
Interior part of the servo amplifier is faulty.
Cause
Checkpoint
Name: Memory error 3 (Flash-ROM)
Alarm description
Display
Name
19.1
Flash-ROM error
1
19.2
Flash-ROM error
2
Finding
Action
Same as for the rotary servo motor.
Refer to section 8.3.
Stop method: All axes stop
Interior part of the servo amplifier (FLASH-ROM) is faulty.
Cause
Checkpoint
Same as for the rotary servo motor.
Refer to section 8.3.
13 - 63
Finding
Action
13. USING A LINEAR SERVO MOTOR
Alarm No.1A
Name: Motor combination error
Alarm description
Display
1A.1
Name
Cause
Motor
(1) Servo amplifier is
combination error
connected to an incorrect
linear servo motor or vice
versa.
(2) Linear servo setting is
selected in the
parameter.
(3) The linear servo motor,
which requires the
parameter No.Po04
setting, is being used.
Alarm No.1E
1E.1
Name
Encoder failure
Alarm No.1F
1F.1
Name
Incompatible
encoder
Alarm No.20
20.1
Check the parameter No.
Po04 setting.
Name
Encoder receive
data error 1
Finding
Action
Combination is
incorrect.
Use in the right
combination.
Combination is
correct.
Check (2).
Linear servo motor is
selected.
Check the
combination, then
check (3).
Rotary servo motor is
selected.
Select the linear servo
motor.
Set value is incorrect.
Correct the setting.
Stop method: Corresponding axis stops
Encoder is faulty.
Cause
Checkpoint
Finding
Action
Same as for the rotary servo motor.
Refer to section 8.3.
Stop method: Corresponding axis stops
Connected linear encoder is not compatible.
Cause
Checkpoint
Finding
(1) Incompatible linear
encoder is connected to
the servo amplifier.
Check the model name of Incompatible linear
the linear encoder.
encoder.
(2) Information in the linear
encoder is incorrect.
Check the linear encoder
ID from the system
information display of MR
Configurator.
Name: Encoder normal communication error 1
Alarm description
Display
Check the parameter No.
PA01 setting.
Rotary servo motor:
"
0 "
Linear servo motor:
"
4 "
Direct drive motor:
"
6 "
Name: Encoder initial communication error 3
Alarm description
Display
Checkpoint
Check the model name of
the linear servo motor
and its combination with
the servo amplifier.
Name: Encoder initial communication error 2
Alarm description
Display
Stop method: Corresponding axis stops
Combination of servo amplifier and servo motor is incorrect.
Action
Replace the linear
encoder.
Compatible linear
encoder.
Check (2).
ID is incorrect.
Replace the linear
encoder.
Stop method: Corresponding axis stops
Error is found in the communication between the linear encoder and the servo amplifier.
Cause
(1) Encoder cable is faulty.
Checkpoint
Check the shield.
Finding
Problem found.
Repair the cable.
No problem found.
Check (2).
Problem found.
Take countermeasure
according to the
cause.
No problem found.
Check (3).
(2) Fault is generated from
the surrounding
environment.
Check for noise,
surrounding air
temperature, and other
factors.
(3) Servo amplifier is faulty.
Replace the servo
Not reproduced.
amplifier and check the
reproducibility of the error. Reproduced.
13 - 64
Action
Replace the servo
amplifier.
Examine checkpoints
described in the alarm
display "20.3".
13. USING A LINEAR SERVO MOTOR
Alarm No.20
Name: Encoder normal communication error 1
Alarm description
Display
20.2
Name
Stop method: Corresponding axis stops
Error is found in the communication between the linear encoder and the servo amplifier.
Cause
Checkpoint
Encoder receive
data error 2
(1) Encoder cable is faulty.
Encoder receive
data error 3
(1) The encoder cable is
unplugged.
Check if the encoder
cable is connected
properly.
(2) Encoder cable is faulty.
Check for breakage and
short of the encoder
cable.
Finding
Action
Examine checkpoints described in the alarm display "20.1".
(2) Fault is generated from
the surrounding
environment.
(3) Servo amplifier is faulty.
20.3
(3) Improper shield treatment Check the shield
of encoder cable.
treatment.
20.5
Not connected
properly.
Connect properly.
Connected properly.
Check (2).
Problem found.
Repair or replace the
cable.
No problem found.
Check (3).
Problem found.
Take measures
against noise.
No problem found.
Check (4).
(4) Servo amplifier is faulty.
Replace the servo
Not reproduced.
amplifier and check the
reproducibility of the error. Reproduced.
(5) Fault is generated from
the surrounding
environment.
Check for external noise,
surrounding air
temperature, and other
factors.
(1) Improper shield treatment
Encoder
of encoder cable.
transmission data
error 1
(2) Fault is generated from
the surrounding
environment.
(3) Linear encoder is faulty.
Check the shield
treatment.
Check for noise, and
other factors.
Problem found.
Replace the servo
amplifier.
Check (5).
Take countermeasure
according to the
cause.
Problem found.
Repair the cable.
No problem found.
Check (2).
Problem found.
Take countermeasure
according to the
cause.
No problem found.
Check (3).
Error is not
Replace the linear
reproduced.
encoder and check the
reproducibility of the error.
Replace the linear
encoder.
20.6
Encoder
(1) Improper shield treatment Examine checkpoints described in the alarm display "20.5".
transmission data
of encoder cable.
error 2
(2) Fault is generated from
the surrounding
environment.
20.7
Encoder
(1) Improper shield treatment Examine checkpoints described in the alarm display "20.5".
transmission data
of encoder cable.
error 3
(2) Fault is generated from
the surrounding
environment.
(3) Linear encoder is faulty.
(3) Linear encoder is faulty.
13 - 65
13. USING A LINEAR SERVO MOTOR
Alarm No.21
Name: Encoder normal communication error 2
Alarm description
Display
21.1
Name
Encoder data
error
Alarm No.24
Display
Name
24.1
Ground fault
detected at
hardware
detection circuit
24.2
Ground fault
detected at
software
detection function
Alarm No.27
27.1
27.2
Checkpoint
Name
magnetic pole
detection
abnormal
termination
Finding
Error is not
Replace the linear
reproduced.
encoder and check the
reproducibility of the error. Reproduced.
(2) Fault is generated from
the surrounding
environment.
Check for noise and other Problem found.
factors.
Action
Replace the linear
encoder.
Check (2).
Take countermeasure
according to the
cause.
Stop method: All axes stop
Ground fault occurs at servo motor power cable of the servo amplifier.
Ground fault occurs at servo motor.
Cause
Checkpoint
Finding
Action
Same as for the rotary servo motor.
Refer to section 8.3.
Name: Initial magnetic pole detection error
Alarm description
Display
Cause
(1) Linear encoder is faulty.
Name: Main circuit error
Alarm description
Stop method: Corresponding axis stops
Error is found in the linear encoder data.
Stop method: Corresponding axis stops
Initial magnetic pole detection cannot be performed properly.
Cause
Checkpoint
Finding
Machine struck
something.
Action
(1) Machine struck
something.
Check if the machine
struck something.
Move the start position
of the magnetic pole
detection.
(2) Wiring fault of the power
cable.
Check the power cable.
(3) Resolution of the linear
encoder and the
resolution setting of the
parameter are different.
Review the parameter
No.PS02 and PS03
settings.
(4) Polarity of the linear
encoder is incorrect.
(Installation direction is
incorrect.)
Check polarities of the
linear encoder and the
linear servo motor.
(5) Accuracy of the initial
magnetic pole detection
is not satisfactory.
Travel distance during the Travel distance is
short.
magnetic pole detection
is short.
Review the parameter
No.PS09 setting.
Check the status of the
limit switch.
Remove the cause.
Change the location of
the magnetic pole
detection.
Machine did not strike. Check (2).
(1) Only one of the magnetic
magnetic pole
pole detection limit
detection time out
switches is ON.
error
Problem found.
Modify the wiring.
Normal.
Check (3).
Setting is incorrect.
Correct the setting.
Setting is correct.
Check (4).
The polarity is
incorrect.
Correct the setting.
Normal.
Check (5).
Problem found.
Normal.
(2) Excitation level during the Travel distance during the Travel distance is
short.
magnetic pole detection
initial magnetic pole
is short.
detection is small.
13 - 66
Check (2).
Review the parameter
No.PS09 setting.
13. USING A LINEAR SERVO MOTOR
Alarm No.27
Name: Initial magnetic pole detection error
Alarm description
Display
Name
Stop method: Corresponding axis stops
Initial magnetic pole detection cannot be performed properly.
Cause
Checkpoint
Finding
magnetic pole
detection limit
switch error
(1) Both of the magnetic pole Check that the limit
switches are ON.
detection limit switches
are OFF.
27.4
magnetic pole
detection
estimated error
(1) The estimated value
obtained from the
magnetic pole detection
is faulty.
Examine checkpoints described in the alarm display "27.1".
27.5
(1) Position deviation
magnetic pole
increases during the
detection position
magnetic pole detection.
deviation error
Examine checkpoints described in the alarm display "27.1".
27.6
magnetic pole
detection speed
deviation error
(1) Speed deviation
increases during the
magnetic pole detection.
Examine checkpoints described in the alarm display "27.1".
27.7
magnetic pole
detection current
error
(1) The current reaches the
alarm level during the
magnetic pole detection.
Examine checkpoints described in the alarm display "27.1".
Alarm No.28
Name: Linear encoder error 2
Alarm description
Display
28.1
Name
Cause
(2) Signal level from the
linear encoder drops.
Display
2A.1
Stop method: Corresponding axis stops
Checkpoint
Check the temperature of
the linear encoder.
Check the installation of
the linear encoder.
Name: Linear encoder error 1
Alarm description
Name
Linear encoder
side error 1
Turn the limit switches
ON.
Fault is found in the surrounding environment of the linear encoder.
Linear encoder
(1) Temperature of the linear
environment error
encoder is high.
Alarm No.2A
Limit switches are
OFF.
Action
27.3
Finding
Action
Temperature is high.
Consult the linear
encoder manufacturer.
Temperature is low.
Check (2).
Problem found.
Modify the installation
of the linear encoder.
Stop method: Corresponding axis stops
Error signal from the linear encoder is received.
Cause
Checkpoint
Finding
(1) Installation positions of
the linear encoder and
the head are faulty.
Adjust the positions of the Not reproduced.
linear encoder and the
head, and check the
Reproduced.
reproducibility of the error.
(2) Fault is generated from
the surrounding
environment.
Check for noise and other Problem found.
factors.
(3) Alarm of the linear
encoder.
Check the details of
section 13.7.4.
13 - 67
Action
Use in the adjusted
positions.
Check (2).
Take countermeasure
according to the
cause.
No problem found.
Check (3).
Improve the detail
information No.1 of
the linear encoder
manufacturer.
Consult the linear
encoder
manufacturer.
13. USING A LINEAR SERVO MOTOR
Alarm No.2A
Name: Linear encoder error 1
Alarm description
Display
2A.2
2A.3
2A.4
2A.5
Name
Linear encoder
side error 2
Linear encoder
side error 3
Linear encoder
side error 4
Linear encoder
side error 5
Stop method: Corresponding axis stops
Error signal from the linear encoder is received.
Cause
Checkpoint
Finding
(1) Installation positions of
the linear encoder and
the head are faulty.
Adjust the positions of the Not reproduced.
linear encoder and the
head, and check the
Reproduced.
reproducibility of the error.
(2) Fault is generated from
the surrounding
environment.
Check for noise and other Problem found.
factors.
(3) Alarm of the linear
encoder.
Check the details of
section 13.7.4.
(1) Installation positions of
the linear encoder and
the head are faulty.
Adjust the positions of the Not reproduced.
linear encoder and the
head, and check the
Reproduced.
reproducibility of the error.
(2) Fault is generated from
the surrounding
environment.
Check for noise and other Problem found.
factors.
Check (2).
Take countermeasure
according to the
cause.
No problem found.
Check (3).
Improve the detail
information No.2 of
the linear encoder
manufacturer.
Consult the linear
encoder
manufacturer.
Use in the adjusted
positions.
Check (2).
Take countermeasure
according to the
cause.
No problem found.
Check (3).
Improve the detail
information No.3 of
the linear encoder
manufacturer.
Consult the linear
encoder
manufacturer.
(3) Alarm of the linear
encoder.
Check the details of
section 13.7.4.
(1) Installation positions of
the linear encoder and
the head are faulty.
Adjust the positions of the Not reproduced.
linear encoder and the
head, and check the
Reproduced.
reproducibility of the error.
(2) Fault is generated from
the surrounding
environment.
Check for noise and other Problem found.
factors.
(3) Alarm of the linear
encoder.
Check the details of
section 13.7.4.
(1) Installation positions of
the linear encoder and
the head are faulty.
Adjust the positions of the Not reproduced.
linear encoder and the
head, and check the
Reproduced.
reproducibility of the error.
(2) Fault is generated from
the surrounding
environment.
Check for noise and other Problem found.
factors.
(3) Alarm of the linear
encoder.
Check the details of
section 13.7.4.
13 - 68
Action
Use in the adjusted
positions.
Use in the adjusted
positions.
Check (2).
Take countermeasure
according to the
cause.
No problem found.
Check (3).
Improve the detail
information No.4 of
the linear encoder
manufacturer.
Consult the linear
encoder
manufacturer.
Use in the adjusted
positions.
Check (2).
Take countermeasure
according to the
cause.
No problem found.
Check (3).
Improve the detail
information No.5 of
the linear encoder
manufacturer.
Consult the linear
encoder
manufacturer.
13. USING A LINEAR SERVO MOTOR
Alarm No.2A
Name: Linear encoder error 1
Alarm description
Display
2A.6
2A.7
2A.8
Name
Linear encoder
side error 6
Linear encoder
side error 7
Linear encoder
side error 8
Stop method: Corresponding axis stops
Error signal from the linear encoder is received.
Cause
Checkpoint
Finding
(1) Installation positions of
the linear encoder and
the head are faulty.
Adjust the positions of the Not reproduced.
linear encoder and the
head, and check the
Reproduced.
reproducibility of the error.
(2) Fault is generated from
the surrounding
environment.
Check for noise and other Problem found.
factors.
(3) Alarm of the linear
encoder.
Check the details of
section 13.7.4.
(1) Installation positions of
the linear encoder and
the head are faulty.
Adjust the positions of the Not reproduced.
linear encoder and the
head, and check the
Reproduced.
reproducibility of the error.
(2) Fault is generated from
the surrounding
environment.
Check for noise and other Problem found.
factors.
Check (2).
Take countermeasure
according to the
cause.
No problem found.
Check (3).
Improve the detail
information No.6 of
the linear encoder
manufacturer.
Consult the linear
encoder
manufacturer.
Use in the adjusted
positions.
Check (2).
Take countermeasure
according to the
cause.
No problem found.
Check (3).
Improve the detail
information No.7 of
the linear encoder
manufacturer.
Consult the linear
encoder
manufacturer.
(3) Alarm of the linear
encoder.
Check the details of
section 13.7.4.
(1) Installation positions of
the linear encoder and
the head are faulty.
Adjust the positions of the Not reproduced.
linear encoder and the
head, and check the
Reproduced.
reproducibility of the error.
(2) Fault is generated from
the surrounding
environment.
Check for noise and other Problem found.
factors.
(3) Alarm of the linear
encoder.
Check the details of
section 13.7.4.
13 - 69
Action
Use in the adjusted
positions.
Use in the adjusted
positions.
Check (2).
Take countermeasure
according to the
cause.
No problem found.
Check (3).
Improve the detail
information No.8 of
the linear encoder
manufacturer.
Consult the linear
encoder
manufacturer.
13. USING A LINEAR SERVO MOTOR
Alarm No.30
Name: Regenerative error
Alarm description
Display
Name
30.1
Regeneration
heat error
30.2
Regenerative
transistor error
30.3
Regenerative
transistor
feedback data
error
Alarm No.31
31.1
Name
Abnormal motor
speed
Alarm No.32
Name
32.1
Overcurrent
detected at
hardware
detection circuit
(during
operation).
32.2
Overcurrent
detected at
software
detection function
(during
operation).
32.3
Overcurrent
detected at
hardware
detection circuit
(during a stop).
32.4
Overcurrent
detected at
software
detection function
(during a stop).
Alarm No.33
33.1
Name
Main circuit
voltage error
Finding
Action
Stop method: Corresponding axis stops
Linear servo motor speed exceeds the instantaneous permissible speed.
Cause
Checkpoint
Finding
Action
Same as for the rotary servo motor.
Refer to section 8.3.
Stop method: All axes stop
Current that flew is the permissible current of the servo amplifier or higher.
Cause
Checkpoint
Finding
Action
Same as for the rotary servo motor.
Refer to section 8.3.
Name: Overvoltage
Alarm description
Display
Checkpoint
Name: Overcurrent
Alarm description
Display
Cause
Same as for the rotary servo motor.
Refer to section 8.3.
Name: Overspeed
Alarm description
Display
Stop method: All axes stop
Permissible regenerative power of the built-in regenerative resistor or regenerative option is exceeded.
Regenerative transistor in the servo amplifier is faulty.
Stop method: All axes stop
Bus voltage exceeds 400VDC.
Cause
Checkpoint
Same as for the rotary servo motor.
Refer to section 8.3.
13 - 70
Finding
Action
13. USING A LINEAR SERVO MOTOR
Alarm No.34
Name: SSCNET receive error 1
Alarm description
Display
Name
34.1
SSCNET receive
data error
34.2
SSCNET
communication
connector
connection error
34.3
Communication
data error
34.4
Hardware error
signal detection
Alarm No.35
35.1
Alarm No.36
Name
Continuous
communication
data error
Alarm No.37
Name
Finding
Action
Stop method: Corresponding axis stops
Input pulse frequency of command pulse is too high.
Cause
Checkpoint
Finding
Action
Same as for the rotary servo motor.
Refer to section 8.3.
SSCNET
Stop method: Corresponding axis stops
communication error (Continuous communication error for about 70ms.)
Cause
Checkpoint
Finding
Action
Same as for the rotary servo motor.
Refer to section 8.3.
Name: Parameter error
Alarm description
Display
Checkpoint
Name: SSCNET receive error 2
Alarm description
36.1
Cause
Same as for the rotary servo motor.
Refer to section 8.3.
Name
Command
frequency error
Display
Stop method: Corresponding axis stops
communication error (Continuous communication error for 3.5ms)
Name: Command frequency error
Alarm description
Display
SSCNET
Stop method: Corresponding axis stops
Settings in the servo amplifier are incorrect.
Cause
Checkpoint
37.1
Parameter setting Same as for the rotary servo motor.
range error
Refer to section 8.3.
37.2
Parameter
combination error
13 - 71
Finding
Action
13. USING A LINEAR SERVO MOTOR
Alarm No.42
Name: Linear servo control error
Alarm description
Display
42.1
42.2
Name
Linear servo
control error on
the positioning
detection
Linear servo
control error on
the speed
detection
Stop method: Corresponding axis stops
Linear servo control error occurs.
Cause
Checkpoint
(1) Resolution of the linear
encoder and the
resolution setting of the
parameter are different.
Review the parameter
No.PS02 and PS03
settings.
(2) Polarity of the linear
encoder is incorrect.
(Installation direction is
incorrect.)
Finding
Action
Setting is incorrect.
Correct the setting.
Setting is correct.
Check (2).
Check polarities of the
linear encoder and the
linear servo motor.
The polarity is
incorrect.
Correct the setting.
Normal.
Check (3).
(3) Connection of the linear
servo motor is incorrect.
Check the wiring.
Problem found.
Perform wiring
correctly.
(4) Initial magnetic pole
detection is not
performed.
Perform the magnetic
pole detection again, and
check the reproducibility
of the error.
(5) Position deviation
reaches the detection
level.
Normal.
Check (4).
Not reproduced.
Perform the magnetic
pole detection.
Reproduced.
Check (5).
Check the operation
status.
(Check the number of
droop pulses.)
Deviation is large.
Review the operation
status.
Review the parameter
No.PS05 (Linear
servo motor control
position deviation error
detection level) setting
as required.
(1) Resolution of the linear
encoder and the
resolution setting of the
parameter are different.
Review the parameter
No.PS02 and PS03
settings.
Setting is incorrect.
Correct the setting.
Setting is correct.
Check (2).
(2) Polarity of the linear
encoder is incorrect.
(Installation direction is
incorrect.)
Check polarities of the
linear encoder and the
linear servo motor.
The polarity is
incorrect.
Correct the setting.
Normal.
Check (3).
(3) Connection of the linear
servo motor is incorrect.
Check the wiring.
Problem found.
Perform wiring
correctly.
(4) Initial magnetic pole
detection is not
performed.
Perform the magnetic
pole detection again, and
check the reproducibility
of the error.
(5) Speed deviation reaches
the detection level.
Check the operation
status.
(Calculate the deviation
between the speed
command and the linear
servo motor speed.)
13 - 72
Normal.
Check (4).
Not reproduced.
Perform the magnetic
pole detection.
Reproduced.
Check (5).
Deviation is large.
Review the operation
status.
Review the parameter
No.PS06 (Linear
servo motor control
speed deviation error
detection level) setting
as required.
13. USING A LINEAR SERVO MOTOR
Alarm No.42
Name: Linear servo control error
Alarm description
Display
42.3
Name
Linear servo
control error on
the thrust
detection
Alarm No.45
Cause
Checkpoint
(1) Resolution of the linear
encoder and the
resolution setting of the
parameter are different.
Review the parameter
No.PS02 and PS03
settings.
(2) Polarity of the linear
encoder is incorrect.
(Installation direction is
incorrect.)
Name
45.1
Main circuit
abnormal
temperature
45.5
Board
temperature error
Finding
Action
Setting is incorrect.
Correct the setting.
Setting is correct.
Check (2).
Check polarities of the
linear encoder and the
linear servo motor.
The polarity is
incorrect.
Correct the setting.
Normal.
Check (3).
(3) Connection of the linear
servo motor is incorrect.
Check the wiring.
Problem found.
Perform wiring
correctly.
(4) Initial magnetic pole
detection is not
performed.
Perform the magnetic
pole detection again, and
check the reproducibility
of the error.
(5) Thrust deviation reaches
the detection level.
Deviation is large.
Check the operation
status.
(Calculate the deviation
between the current
command and the torque.)
Name: Main circuit device overheat
Alarm description
Display
Stop method: Corresponding axis stops
Linear servo control error occurs.
Normal.
Check (4).
Not reproduced.
Perform the magnetic
pole detection.
Reproduced.
Check (5).
Review the operation
status.
Review the parameter
No.PS07 (Linear
servo motor control
thrust deviation error
detection level) setting
as required.
Stop method: All axes stop
Inside of the servo amplifier overheats.
Cause
Checkpoint
Same as for the rotary servo motor.
Refer to section 8.3.
13 - 73
Finding
Action
13. USING A LINEAR SERVO MOTOR
Alarm No.46
Name: Servo motor overheat
Alarm description
Display
46.2
Name
Linear servo
motor thermal
sensor error
Stop method: Corresponding axis stops
Linear servo motor overheats abnormally.
Cause
(1) The ambient temperature
of the linear servo motor
is over 40 .
Checkpoint
Check the ambient
temperature of the linear
servo motor.
Finding
The ambient
temperature is 40
less.
(2) The linear servo motor is
overloaded.
Check the effective load
ratio with MR
Configurator.
Action
Reduce the ambient
temperature of the
servo motor.
The ambient
temperature is over
40 .
Check 2).
or
The effective load ratio Reduce the load or
is large.
check the operation
pattern.
The effective load ratio Check 3).
is small.
46.3
Thermistor cable
disconnection
error
Alarm No.47
Check the linear servo
motor temperature at
alarm occurrence.
The linear servo motor Replace the linear
temperature is low.
servo motor.
(1) The thermistor cable is
disconnected.
Check if the thermistor
cable is connected
Not connected.
Connect the cable.
Connected.
Check 2).
(2) The thermistor cable is
disconnected.
Check the thermistor
cable.
Disconnected.
Repair the lead.
Is not disconnected.
Replace the linear
servo motor.
Name: Cooling fan error
Alarm description
Display
(3) Thermal sensor fault in
the linear servo motor
Name
47.1
Cooling fan stop
error
47.2
Decreased
cooling fan speed
error
Stop method: All axes stop
Cooling fan speed of the servo amplifier is decreased.
Cooling fan speed drops to the alarm level or lower.
Cause
Checkpoint
Same as for the rotary servo motor.
Refer to section 8.3.
13 - 74
Finding
Action
13. USING A LINEAR SERVO MOTOR
Alarm No.50
Name: Overload 1
Alarm description
Display
50.1
Name
Cause
Thermal overload (1) Servo amplifier is used in
excess of its continuous
error 1 during
output current.
operation
(2) Servo system is instable
and causing oscillation.
50.2
Stop method: Corresponding axis stops
Load exceeds overload protection characteristic of servo amplifier.
Checkpoint
Check the effective load
ratio.
Check for oscillation in
motor.
Finding
Reduce load.
Check operation
pattern.
Use servo motor that
provides larger output.
Effective load ratio is
small.
Check (2).
Oscillation is
occurring.
Adjust the gain.
Oscillation is not
occurring.
Check (3).
Not reset.
Reset the alarm after
sufficient cool-off time.
Reset.
Check (4).
(3) After the overload alarm
has been output, the
operation is restarted
without having cool-off
time.
Check if the alarm is
reset after waiting 15
minutes or longer
subsequent to the output
of the alarm.
(4) Servo amplifier is faulty.
Not reproduced.
Replace the servo
amplifier, and check the
reproducibility of the error.
Thermal overload (1) Machine struck something. Check if the machine
error 2 during
struck something.
operation
(2) Power cable is cut.
Check the power cable.
Action
Effective load ratio is
large.
Machine struck.
Replace the servo
amplifier.
Review the operation
pattern.
Machine did not strike. Check (2).
Problem found.
Modify the wiring.
No problem found.
Check (3).
Problem found.
Perform wiring
correctly.
No problem found.
Check (4).
Setting is incorrect.
Correct the setting.
Setting is correct.
Check (5).
(3) Incorrect connections
to/from the linear servo
motor.
Check the wiring of U, V
and W phases.
(4) Resolution of the linear
encoder and the
resolution setting of the
parameter are different.
Review the parameter
No.PS02 and PS03
settings.
(5) Polarity of the linear
encoder is incorrect.
(Installation direction is
incorrect.)
Check polarities of the
linear encoder and the
linear servo motor.
The polarity is
incorrect.
Correct the setting.
Normal.
Check (6).
(6) Initial magnetic pole
detection is not
performed.
Perform the magnetic
pole detection again, and
check the reproducibility
of the error.
Not reproduced.
Perform the magnetic
pole detection.
Reproduced.
Check (7).
(7) Linear encoder is faulty.
Replace the servo motor, Not reproduced.
and check the
reproducibility of the error. Reproduced.
(8) Servo amplifier is used in
excess of its continuous
output current.
Replace the servo
motor.
Check (8).
Examine checkpoints described in the alarm display "50.1".
(9) Servo system is instable
and causing oscillation.
(10) Servo amplifier is faulty.
13 - 75
13. USING A LINEAR SERVO MOTOR
Alarm No.50
Name: Overload 1
Alarm description
Display
50.3
Name
Stop method: Corresponding axis stops
Load exceeds overload protection characteristic of servo amplifier.
Cause
Checkpoint
Finding
Action
Thermal overload (1) Machine struck something. Examine checkpoints described in the alarm display "50.2".
error 4 during
(2) Power cable is cut.
operation
(3) Incorrect connections
to/from the linear servo
motor.
(4) Resolution of the linear
encoder and the
resolution setting of the
parameter are different.
(5) Polarity of the linear
encoder is incorrect.
(Installation direction is
incorrect.)
(6) Initial magnetic pole
detection is not
performed.
(7) Linear encoder is faulty.
(8) Servo amplifier is used in
excess of its continuous
output current.
(9) Servo system is instable
and causing oscillation.
(10) Servo amplifier is faulty.
50.4
Thermal overload (1) Servo amplifier is used in
excess of its continuous
error 1 during a
output current.
stop
Check the effective load
ratio with MR
Configurator.
Effective load ratio is
large.
Reduce load.
Check operation
pattern.
Use servo motor that
provides larger output.
Effective load ratio is
small.
Check (2).
(2) Hunting occurs during
servo lock.
Check for hunting.
(3) After the overload alarm
has been output, the
operation is restarted
without having cool-off
time.
Check if the alarm is
reset after waiting 15
minutes or longer
subsequent to the output
of the alarm.
(4) Servo amplifier is faulty.
Not reproduced.
Replace the servo
amplifier, and check the
reproducibility of the error.
13 - 76
Hunting occurs.
Adjust the gain.
Hunting does not
occur.
Check (3).
Not reset.
Reset the alarm after
sufficient cool-off time.
Reset.
Check (4).
Replace the servo
amplifier.
13. USING A LINEAR SERVO MOTOR
Alarm No.50
Name: Overload 1
Alarm description
Display
50.5
Name
Stop method: Corresponding axis stops
Load exceeds overload protection characteristic of servo amplifier.
Cause
Checkpoint
Thermal overload (1) Machine struck something. Check if the machine
struck something.
error 2 during a
stop
(2) Power cable is cut.
Check the power cable.
Finding
Machine struck.
Action
Review the operation
pattern.
Machine did not strike. Check (2).
Problem found.
Modify the wiring.
No problem found.
Check (3).
Problem found.
Perform wiring
correctly.
No problem found.
Check (4).
Setting is incorrect.
Correct the setting.
Setting is correct.
Check (5).
(3) Incorrect connections
to/from the linear servo
motor.
Check the wiring of U, V
and W phases.
(4) Resolution of the linear
encoder and the
resolution setting of the
parameter are different.
Review the parameter
No.PS02 and PS03
settings.
(5) Polarity of the linear
encoder is incorrect.
(Installation direction is
incorrect.)
Check polarities of the
linear encoder and the
linear servo motor.
The polarity is
incorrect.
Correct the setting.
Normal.
Check (6).
(6) Initial magnetic pole
detection is not
performed.
Perform the magnetic
pole detection again, and
check the reproducibility
of the error.
Not reproduced.
Perform the magnetic
pole detection.
Reproduced.
Check (7).
(7) Linear encoder is faulty.
Replace the servo motor, Not reproduced.
and check the
reproducibility of the error. Reproduced.
(8) Servo amplifier is used in
excess of its continuous
output current.
Examine checkpoints described in the alarm display "50.4".
Replace the servo
motor.
Check (8).
(9) Servo system is instable
and causing oscillation.
(10) Servo amplifier is faulty.
50.6
Thermal overload (1) Machine struck something. Examine checkpoints described in the alarm display "50.5".
error 4 during
(2) Power cable is cut.
operation
(3) Incorrect connections
to/from the servo motor.
(4) Resolution of the linear
encoder and the
resolution setting of the
parameter are different.
(5) Polarity of the linear
encoder is incorrect.
(Installation direction is
incorrect.)
(6) Initial magnetic pole
detection is not
performed.
(7) Linear encoder is faulty.
(8) Servo amplifier is used in
excess of its continuous
output current.
(9) Servo system is instable
and causing oscillation.
(10) Servo amplifier is faulty.
13 - 77
13. USING A LINEAR SERVO MOTOR
Alarm No.51
Name: Overload 2
Alarm description
Display
51.1
Name
Stop method: Corresponding axis stops
Machine collision or the like caused maximum output current to flow for several seconds continuously.
Cause
Thermal overload (1) Power cable is cut.
error 3 during
operation
(2) Incorrect connections
to/from the linear servo
motor.
Checkpoint
Check the power cable.
Check the wiring of U, V
and W phases.
(3) Misconnection of encoder Check the encoder cable
cable.
connection.
(4) Resolution of the linear
encoder and the
resolution setting of the
parameter are different.
Review the parameter
No.PS02 and PS03
settings.
(5) Polarity of the linear
encoder is incorrect.
(Installation direction is
incorrect.)
Check polarities of the
linear encoder and the
linear servo motor.
Perform the magnetic
(6) Initial magnetic pole
detection is not performed. pole detection again, and
check the reproducibility
of the error.
Finding
Problem found.
Action
Modify the wiring.
No problem found.
Check (2).
Misconnection found.
Modify the wiring.
Normal.
Check (3).
Problem found.
Check the cable
connection.
No problem found.
Check (4).
Setting is incorrect.
Correct the setting.
Setting is correct.
Check (5).
The polarity is
incorrect.
Correct the setting.
Normal.
Check (6).
Not reproduced.
Perform the magnetic
pole detection.
Reproduced.
Check (7).
(7) Linear encoder is faulty.
Replace the servo motor, Not reproduced.
and check the
reproducibility of the error. Reproduced.
Replace the servo
motor.
(8) Machine struck
something.
Check if the machine
struck something.
Machine struck.
Review the operation
pattern.
(9) Torque is saturated.
Check the torque during
the operation.
Torque is saturated.
Review the operation
pattern.
Torque is not
saturated.
Check (10).
Check (8).
Machine did not strike. Check (9).
(10) Servo amplifier is faulty.
Not reproduced.
Replace the servo
amplifier, and check the
reproducibility of the error.
13 - 78
Replace the servo
amplifier.
13. USING A LINEAR SERVO MOTOR
Alarm No.51
Name: Overload 2
Alarm description
Display
51.2
Name
Stop method: Corresponding axis stops
Machine collision or the like caused maximum output current to flow for several seconds continuously.
Cause
Thermal overload (1) Power cable is cut.
error 3 during a
(2) Incorrect connections
stop
to/from the linear servo
motor.
Checkpoint
Finding
Action
Examine checkpoints described in the alarm display "51.1".
(3) Misconnection of encoder
cable.
(4) Resolution of the linear
encoder and the
resolution setting of the
parameter are different.
(5) Polarity of the linear
encoder is incorrect.
(Installation direction is
incorrect.)
(6) Initial magnetic pole
detection is not performed.
(7) Linear encoder is faulty.
(8) Machine struck
something.
(9) Torque is saturated.
(10) Servo amplifier is faulty.
Alarm No.52
Name: Error excessive
Alarm description
Display
Name
52.3
Excess droop
pulse existing
between the
model position
and the actual
servo motor
position
52.4
Maximum
deviation at 0
torque limit
Alarm No.8A
8A.1
Cause
Checkpoint
Name
USB
communication
time-out for the
specified time or
longer
Finding
Action
Same as for the rotary servo motor.
Refer to section 8.3.
Name: USB communication time-out error
Alarm description
Display
Stop method: Corresponding axis stops
The droop pulses existing between the model position and the actual servo motor position exceeds the
alarm level.
Stop method: All axes stop
Communication between the servo amplifier and a communication device (PC, etc.) stops for the
specified time or longer.
Cause
Checkpoint
Same as for the rotary servo motor.
Refer to section 8.3.
13 - 79
Finding
Action
13. USING A LINEAR SERVO MOTOR
Alarm No.8E
Name: USB communication error
Alarm description
Display
Name
8E.1
USB
communication
receive error
8E.2
USB
communication
checksum error
8E.3
USB
communication
character error
8E.4
USB
communication
command error
8E.5
USB
communication
data No. error
Stop method: All axes stop
USB communication error occurs between the servo amplifier and a communication device (PC, etc.)
Cause
Checkpoint
Finding
Action
Same as for the rotary servo motor.
Refer to section 8.3.
13.7.3 Remedies for warnings
POINT
When any of the following alarms has occurred, do not resume operation by
switching power of the servo amplifier OFF/ON repeatedly. The servo amplifier and
servo motor may become faulty. If the power of the servo amplifier is switched
OFF/ON during the alarms, allow more than 30 minutes for cooling before
resuming operation.
Main circuit device overheat warning (91. )
Excessive regenerative warning (E0. )
Overload warning 1 (E1. )
When a warning whose stop method is all axis stop in the following table occurs, the servo amplifier goes into
the servo-off status and the servo motor stops at the warning occurrence. If any other warning occurs, operation
can be continued but an alarm may take place or proper operation may not be performed.
Remove the cause of warning according to this section. Use the MR Configurator to refer to a factor of warning
occurrence.
Alarm No.91
Name: Main circuit device overheat warning
Alarm description
Display
Name
91.1
Main circuit
device overheat
warning
91.2
Board
temperature
warning
Stop method: Axes can operate (warning
detected at both axes).
The temperature inside of the servo amplifier exceeds the warning level.
Cause
Checkpoint
Same as for the rotary servo motor.
Refer to section 8.4.
13 - 80
Finding
Action
13. USING A LINEAR SERVO MOTOR
Alarm No.96
Alarm description
Display
Name
96.1
INP error at
home positioning
96.2
Command input
error at home
positioning
Alarm No.E0
E0.1
Name
Excessive
regeneration
warning
Alarm No.E1
Cause
Checkpoint
Name
Finding
Action
Same as for the rotary servo motor.
Refer to section 8.4.
Stop method: Axes can operate (warning
detected at both axes)
There is a possibility that regenerative power may exceed permissible regenerative power of built-in
regenerative resistor or regenerative option.
Cause
Checkpoint
Finding
Action
Same as for the rotary servo motor.
Refer to section 8.4.
Stop method: Axes can operate (detected at
the corresponding axis)
Name: Overload warning 1
Alarm description
Display
Home positioning cannot be made.
Name: Excessive regeneration warning
Warning description
Display
Stop method: Axes can operate (detected by
the corresponding axis).
Name: Home position setting warning
There is a possibility that overload alarm (50. , 51. ) may occur.
Cause
Checkpoint
E1.1
Thermal overload Same as for the rotary servo motor.
warning 1 during Refer to section 8.4.
operation
E1.2
Thermal overload
warning 2 during
operation
E1.3
Thermal overload
warning 3 during
operation
E1.4
Thermal overload
warning 4 during
operation
E1.5
Thermal overload
warning 1 during
a stop
E1.6
Thermal overload
warning 2 during
a stop
E1.7
Thermal overload
warning 3 during
a stop
E1.8
Thermal overload
warning 4 during
a stop
13 - 81
Finding
Action
13. USING A LINEAR SERVO MOTOR
Alarm No.E2
Name: Linear servo motor overheat warning
Alarm description
Display
E2.1
Name
Linear servo
motor overheat
warning
Alarm No.E4
E4.1
Name
Checkpoint
Finding
Action
Examine checkpoints described in the alarm display "46.2".
Stop method: Axes can operate (detected at
the corresponding axis)
At parameter write, write to parameter outside of the setting range is attempted.
Cause
Checkpoint
Name: Servo forced stop warning
Alarm description
Display
Name
Forced stop
warning
Alarm No.E7
Finding
Action
Display
Name
E7.1
Controller forced
stop warning
Alarm No.E8
Cause
Checkpoint
Name
Finding
Action
Same as for the rotary servo motor.
Refer to section 8.4.
Stop method: All axes stop
Forced stop signal is input from the servo system controller.
Cause
Checkpoint
Finding
Action
Same as for the rotary servo motor.
Refer to section 8.4.
Name: Cooling fan speed reduction warning
Alarm description
Display
Stop method: All axes stop
Forced stop signal is turned off.
Name: Controller forced stop warning
Alarm description
E8.1
Cause
(1) The linear servo motor
temperature reaches 85
of the alarm level of the
linear servo motor
overheat (46.2).
Parameter setting Same as for the rotary servo motor.
Refer to section 8.4.
range error
warning
Alarm No.E6
E6.1
The linear servo motor overheat (46) may occur.
Name: Parameter warning
Alarm description
Display
Stop method: Axes can operate (detected at
the corresponding axis)
Stop method: Axes can operate (warning
detected at both axes)
The speed of cooling fan drops to or below the warning level.
Cause
Checkpoint
Finding
Action
Same as for the rotary servo motor.
Decreased
cooling fan speed Refer to section 8.4.
warning
Alarm No.E9
Stop method: All axes stop (warning detected
at both axes)
Name: Main circuit off warning
Alarm description
Display
Name
E9.1
Servo-on signal
on at main circuit
off
E9.2
Bus voltage drop
during low speed
operation
E9.3
Ready-on signal
on at main circuit
off
Servo-on command is input when the main circuit power is off.
Bus voltage drops when linear servo motor is running below 50m/s.
Cause
Checkpoint
Same as for the rotary servo motor.
Refer to section 8.4.
13 - 82
Finding
Action
13. USING A LINEAR SERVO MOTOR
Alarm No.EB
Alarm description
Display
EB.1
Name
The other axis
fault warning
Alarm No.EC
EC.1
Name
Checkpoint
Finding
and 32. ) is output.
Action
Same as for the rotary servo motor.
Refer to section 8.4.
Stop method: Axes can operate (detected at
the corresponding axis)
The operation, in which current exceeding the rating flows intensively in any of U, V and W phases of the
servo motor, is repeated.
Cause
Checkpoint
Finding
Action
Stop method: Axes can operate (detected at
the corresponding axis)
Name: Output watt excess warning
Alarm description
ED.1
Cause
Overload warning Same as for the rotary servo motor.
2
Refer to section 8.4.
Alarm No.ED
Display
In the other axis, alarm demanding all axes stop (11. , 15. , 17. , 24.
Name: Overload warning 2
Alarm description
Display
Stop method: All axes stop (warning detected
at both axes)
Name: The other axis fault warning
Name
Output watt
excess
The status, in which the output wattage (speed x torque) of the servo motor exceed the rated output,
continues steadily.
Cause
Checkpoint
Same as for the rotary servo motor.
Refer to section 8.4.
13 - 83
Finding
Action
13. USING A LINEAR SERVO MOTOR
13.7.4 Detailed explanation of linear encoder error 1 (2A. )
If the cause of Linear encoder error 1 (2A. ) occurrence is not identified, confirm the details shown on the
following table according to the alarm detailed information for the alarm history display of MR Configurator, and
then contact with the linear encoder manufacturer.
Table 13.1 Detailed explanation of linear encoder error 1 (2A. ) for each manufacturer
Linear encoder error 1 (2A. ) details
Detail
information
No.
AT343A/AT543A
7
Optical overspeed
Servo alarm
6
ROM RAM error
Signal strength
alarm
2A.6
5
EEPROM error
Signal strength error
2A.5
4
CPU error
Transducer error
CPU error
2A.4
3
Capacitive error
ABS detection error
ABS data error
2A.3
2
Photoelectric error
Hardware error
INC data error
2A.2
1
Photoelectric
capacitive data
mismatch
Initialization error
Scale level error
INC/ABS data
mismatch error
2A.1
0
Initialization error
Overspeed error
Display
2A.8
2A.7
Mitutoyo Corporation
ST741/ST743
Magnescale Co., Ltd.
Heidenhain
Corporation
Renishaw Inc.
Overspeed error
Overspeed
Encoder alarm
Encoder warning
EEPROM error
Level error
Initialization error
As an example, the following describes the detailed information when Linear encoder error 1(2A. ) occurs in
the linear encoder AT343A manufactured by Mitutoyo Corporation.
The value is displayed in
hexadecimal. Convert it
to decimal to read.
3
In this case, the alarm detail of the linear encoder error (2A. ) is "3".
An alarm detail is displayed in hexadecimal (h) in MR Configurator, but it is displayed in decimal in MR-J3W-B.
In this example, confirm items with number "3" in the Detail column. The occurrence of the Photoelectric error is
identified.
13 - 84
14. USING A DIRECT DRIVE MOTOR
14. USING A DIRECT DRIVE MOTOR
CAUTION
The drive motor is available for servo amplifiers of which software version is B3 or
above.
When using the direct drive motor, read the following items of SSCNET interface
Direct Drive Servo MR-J3- B-RJ080W Instruction Manual (SH(NA)030079).
Safety Instructions
2. DIRECT DRIVE MOTOR
8. CHARACTERISTICS (except Overload protection characteristics and Dynamic
brake characteristics)
14.1 Functions and configuration
14.1.1 Summary
The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for high
accuracy and high efficiency. Therefore, the number of systems using a direct drive motor for a drive axis has
been increasing. The direct drive servo system includes the following features.
(1) Performance
(a) The direct drive servo system ensures the high-rigidity and the high-torque. A high-resolution encoder
enables the high-accuracy control.
(b) The high-resolution encoder contributes to the high-accuracy indexing.
(c) Since transmission mechanism is no longer required, no backlash occurs. In addition, the settling time is
reduced, and the high-frequency operation is enabled.
(d) Since transmission mechanism is no longer required, the direct drive motor does not deteriorate with
time.
14 - 1
14. USING A DIRECT DRIVE MOTOR
(2) Mechanism
(a) The motor's low profile design contributes to compact moving part of the machine and a low center of
gravity for enhanced equipment stability.
(b) The motor has an inner rotor with hollow shaft which enables cables and pipes to be passed through.
(c) Lubrication and the maintenance due to abrasion are not required.
The following shows the differences between the direct drive motor and the rotary servo motor.
Category
Differences
Item
Direct drive motor
Remarks
Rotary servo motor
External I/O signal
Stroke limit input
signal (FLS, RLS)
Required (for
magnetic pole
detection)
Not required
Automatically turns on in the parameter
setting.
Motor pole
adjustment
Magnetic pole
detection
Required
Not required
(default setting)
Automatically executed at the first servo-on
after the power is turned on.
For the absolute position detection system,
you can disable the magnetic pole detection
with parameter No.PS01. (Refer to (2) (b) of
14.4.2.)
Absolute position
detection system
Absolute position
Required
encoder battery unit
(MR-BTCASE + MRBAT 8)
Absolute position
storage unit
(MR-BTAS01)
Alarm/Warning
Required
Required
Not required
Alarms and warnings Added
only for direct drive
servo
Added or changed alarms and warnings
Encoder error 3 (21. )
Absolute position erased (25. )
Initial magnetic pole detection error (27. )
Encoder counter error (2B. )
Servo control error (42. )
Direct drive motor overheat (46. )
Battery cable disconnection warning (92.1)
Battery warning (9F. )
Direct drive motor overheat warning (E2.1)
14.1.2 Combinations of servo amplifier and direct drive motor
The following shows the combinations of servo amplifier and direct drive motor. The drive motor is available for
servo amplifiers of which software version is B3 or above.
Servo amplifier
Direct drive motor
MR-J3W-22B
A-axis
B-axis
MR-J3W-44B
A-axis
B-axis
TM-RFM002C20
TM-RFM004C20
TM-RFM006C20
TM-RFM006E20
TM-RFM012E20
TM-RFM018E20
TM-RFM012G20
TM-RFM040J10
14 - 2
MR-J3W-77B
A-axis
B-axis
MR-J3W-1010B
A-axis
B-axis
14. USING A DIRECT DRIVE MOTOR
14.1.3 Configuration including peripheral equipment
Connecting a direct drive motor for different axis to the CNP3A or CNP3B connector
may cause a malfunction.
CAUTION
POINT
Equipment other than the servo amplifier and direct drive motor are optional or
recommended products.
When using the direct drive motor, turn on SW3.
(Note 2)
RST
Power supply
Servo amplifier
MR Configurator
Personal
computer
CN5
Molded-case
circuit breaker
(MCCB) or
fuse
L1
L2
CNP1
L3
CN3
Magnetic
contactor
(MC)
(Note 2)
Power factor
improving AC
reactor
Regenerative
option
P
C
(Note 4) D
CNP2
CN1A
Servo system
controller or Front axis
servo amplifier CN1B
CNP3A
CN1B
Rear axis servo amplifier
CN1A or Cap
V
U
W
Line noise
filter
(FR-BSF01)
I/O signal
W
CNP3B
V
U
CN2A
CN2B
CN4
L21
L11
B-axis direct drive motor
(Note 1)
(Note 3)
Battery
Absolute
unit
position
storage unit
MR-BTAS01
(Note 3)
Absolute
position
storage unit
MR-BTAS01
A-axis direct
drive motor
SW3
2
Front side
NO
1
A-axis
B-axis
Note 1. The battery unit consists of a battery case (MR-BTCASE) and 8 batteries (MR-BAT). The unit is used for the absolute position
detection system in the position control mode. (Refer to section 12.3.)
2. For 1-phase 200VAC to 230VAC, connect the power supply to L1 and L2. Leave L3 open. Refer to section 1.3 for the power supply
specification.
3. The absolute position storage unit is used for the absolute position detection system.
4. Always connect between P and D terminals. When using the regenerative option, refer to section 11.2.
14 - 3
14. USING A DIRECT DRIVE MOTOR
14.2 Connection of servo amplifier and direct drive motor
Connect the servo amplifier power output (U, V, and W) to the direct drive motor
power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.
Otherwise, it may cause a malfunction.
Direct drive motor
U
Servo amplifier
CAUTION
U
V
V
M
W
W
Servo amplifier
U
V
W
Direct drive motor
U
V
M
W
(1) Connection instructions
WARNING
To avoid an electric shock, insulate the connections of the power supply terminals.
CAUTION
Connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier
and direct drive motor. Otherwise, the direct drive motor operates normally.
Do not connect AC power supply directly to the direct drive motor. Otherwise, it may
cause a malfunction.
POINT
Refer to section 14.8 for the specifications of the encoder cable to use.
This section explains the connection of the direct drive motor power (U, V, and W). Use of the optional
connector set is recommended for connection between the servo amplifier and direct drive motor. Refer to
section 14.8 for details of the options.
For grounding, connect the grounding lead wire from the servo motor to the protective earth (PE) terminal of
the servo amplifier, and then connect the wire from the servo amplifier to the ground via the protective earth
of the cabinet. Do not connect the wire directly to the protective earth of the cabinet.
Cabinet
Direct drive motor
Servo
amplifier
PE terminal
14 - 4
14. USING A DIRECT DRIVE MOTOR
(2) Power supply cable wiring diagrams
Fabricate a cable as shown below.
Refer to section 14.3.2 (1) for the wires used for the cable.
30m or less
Servo amplifier
U
V
W
Direct drive motor
U
V
W
M
14.3 Signals and wiring
WARNING
Any person who is involved in wiring should be fully competent to do the work.
Before wiring, turn off the power and wait for 15 minutes or more until the charge
lamp turns off. Then, confirm that the voltage between P and N is safe with a
voltage tester and others. Otherwise, an electric shock may occur. In addition, when
confirming whether the charge lamp is off or not, always confirm it from the front of
the servo amplifier.
Ground the servo amplifier and the direct drive motor securely.
Do not attempt to wire the servo amplifier and direct drive motor until they have been
installed. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may
cause an electric shock.
Wire the equipment correctly and securely. Otherwise, the direct drive motor may
operate unexpectedly, resulting in injury.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity ( / ) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay for control output should be fitted
in the specified direction. Otherwise, the emergency stop (EM1) and other protective
circuits may not operate.
Servo amplifier
DOCOM
24VDC
Servo amplifier
24VDC
DOCOM
CAUTION
Control output
signal
DICOM
For sink output interface
RA
Control output
signal
DICOM
RA
For source output interface
Electromagnetic interference may be given to the electronic equipment used near the
servo amplifier. Use a noise filter, etc. to minimize the influence of electromagnetic
interference.
Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF option) on
the power wire of the direct drive motor.
14 - 5
14. USING A DIRECT DRIVE MOTOR
CAUTION
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
Connect the servo amplifier power output (U, V, and W) to the direct drive motor
power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.
Otherwise, it may cause a malfunction.
Servo amplifier
U
V
W
Direct drive motor
U
V
Servo amplifier
U
V
V
M
W
Direct drive motor
U
M
W
W
14.3.1 Notes of this chapter
This chapter does not include the following items. For the items, refer to the corresponding sections below.
Item
Reference
Explanation of power supply system
Section 3.3
Signal (device) explanations
Section 3.5
Alarm occurrence timing chart
Section 3.6
Interface
Section 3.7 (except internal connection
diagrams)
Treatment of cable shield external
conductor
Section 3.8
SSCNET
cable connection
Section 3.9
Grounding
Section 3.12
Control axis selection
Section 3.13
14 - 6
14. USING A DIRECT DRIVE MOTOR
14.3.2 Input power supply circuit
CAUTION
Always connect a magnetic contactor between the power supply and the main circuit
power supply (L1, L2, and L3) of the servo amplifier, in order to configure a circuit
that shuts down the power supply on the side of the servo amplifier’s power supply. If
a magnetic contactor is not connected, continuous flow of a large current may cause
a fire when the servo amplifier malfunctions.
When alarms are occurring in both axes of A and B, shut off the main circuit power
supply. Not doing so may cause a fire when a regenerative transistor malfunctions or
the like may overheat the regenerative resistor.
Check the servo amplifier model, and then input proper voltage to the servo amplifier
power supply. If input voltage exceeds the upper limit, the servo amplifier will break
down.
Connecting a direct drive motor for different axis to the CNP3A or CNP3B connector
may cause a malfunction.
POINT
Even if alarm has occurred, do not switch off the control circuit power supply. When
the control circuit power supply has been switched off, optical module does not
operate, and optical transmission of SSCNET communication is interrupted.
Therefore, the next axis servo amplifier displays "AA" at the indicator and turns into
base circuit shut-off. The direct drive motor stops with starting dynamic brake.
For details of the signals, refer to section 3.3.
Connect the servo amplifier power output (U, V, and W) to the direct drive motor
power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.
Otherwise, it may cause a malfunction.
Servo amplifier
U
V
W
Direct drive motor
U
V
W
M
Servo amplifier
U
V
W
Direct drive motor
U
V
M
W
Wire the power supply/main circuit so that the main circuit power supply is shut off and the servo-on command
turned off as soon as an alarm occurring, an enabled servo forced stop, or an enabled controller forced stop. A
molded-case circuit breaker (MCCB) must be used with the input cables of the main circuit power supply.
14 - 7
14. USING A DIRECT DRIVE MOTOR
(1) Selection example of wires
POINT
Wires indicated in this section are separated wires.
Selection condition of wire size is as follows.
Construction condition: One wire is constructed in the air.
Wire length: 30m or less
Use the 600V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire). The following table shows
the wire size selection example.
Table 14.1 Wire size selection example (HIV wire)
Wire [mm2] (Note 1)
Servo amplifier
1) L1/L2/L3/
(Note 3)
2) L11/L21
3) U/V/W/
(Note 2, 3)
MR-J3W-22B
MR-J3W-44B
2 (AWG14)
MR-J3W-77B
MR-J3W-1010B
Note 1. Wires are selected based on the highest rated current among combining servo motors.
2. The wire size is for extension cables used when the wiring length is longer than 10m.
3. Use the crimp terminal specified as below for the PE terminal of the servo amplifier.
Crimp terminal: FVD2-4
Tool: YNT-1614
Manufacturer: Japan Solderless Terminals
Tightening torque: 1.2N m
14 - 8
4) P /C
5) P /D
14. USING A DIRECT DRIVE MOTOR
(2) Connection example
(Note 3)
Malfunction
RA1(A-axis)
RA2(B-axis)
Controller
forced stop
RA3
OFF
ON
Forced stop
(Note 6)
MCCB
(Note 8)
MC
(Note 9)
Power
supply
Servo amplifier
CNP1
(Note 10)
L1
CNP3A
U
L2
L3
CNP2
P
(Note 1)
C
MC
MC
SK
A-axis direct drive motor
(Note 5)
U
V
V
W
W
CN2A
D
(Note 2)
Encoder cable
Motor
M
Encoder
L11
L21
PE(
)
B-axis direct drive motor
(Note 10)
CNP3B
U
V
W
W
CN3
CN3
EM1
DOCOM
DOCOM
DICOM
SW3 (Note 7)
ON
1
2
Front side
(Note 4)
A-axis
B-axis
U
V
CN2B
(Note 6) Forced stop
(Note 5)
(Note 2)
Encoder cable
Motor
M
Encoder
24VDC
ALM-A
RA1
ALM-B
RA2
A-axis malfunction
(Note 3)
B-axis malfunction
(Note 3)
(Note 4)
Note 1. Always connect between P and D terminals. When using the regenerative option, refer to section 11.2.
2. Fabricate the encoder cables according to 14.8.1. When you use the cables for the absolute position detection system, absolute
position units are required.
3. If disabling malfunction (ALM-A/ALM-B) output with the parameter, configure up the power supply circuit which switches off the
magnetic contactor after detection of alarm occurrence on the controller side. This example is to continue the operation in another
axis even if an alarm occurs either A-axis or B-axis. When stopping operation of both axes at an alarm occurrence for one axis,
connect RA1 and RA2 in series.
4. This is for sink I/O interface. For source I/O interface, refer to section 3.7.3.
5. Refer to section 14.2 for wiring power lines.
6. Configure up the circuit which shuts off main circuit power with external circuit at forced stop 1 (EM1) off.
7. This connection example is for using a direct drive motor. Turn on SW3.
(Refer to section 3.14.)
8. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of
80ms or less.
9. For 1-phase 200VAC to 230VAC, connect the power supply to L1 and L2. Leave L3 open. Refer to section 1.3 for the power supply
specification.
10. Connecting a servo motor for different axis to the CNP3A or CNP3B connector may cause a malfunction.
14 - 9
14. USING A DIRECT DRIVE MOTOR
14.3.3 Internal connection diagram
Servo amplifier
CN3
24VDC
(Note 2)
(Note 1)
DICOM
23
DOCOM
26
EM1
10
DI1-A
7
24 ALM-B
DI2-A
8
25 MBR-B
DI3-A
9
DI1-B
20
DI2-B
21
DI3-B
22
CN3
11 ALM-A
Approx
5.6k
12 MBR-A
CN3
3
16
4
17
5
18
6
19
14
Approx
5.6k
<Isolated>
CN5
1
D
2
D
3
GND 5
VBUS
USB
P5
(Note 2)
(Note 3)
(Note 3)
RA
LA-A
LAR-A
LB-A
LBR-A
LA-B
LAR-B
Differential line
driver output
(35mA or less)
LB-B
LBR-B
LG
CN3
Analog monitor
2
MO1
15
MO2
1
LG
CN2A
3
4
2
5
6
1
RA
10VDC
10VDC
(Note 5)
MR
MRR
LG
THM
THM
P5
MR
7
MRR 8
LG 10
THM 6
THM 11
P5
9
CNP3A
2A
P5
CN2B
3
4
2
5
6
1
CNP3B
2A
14 - 10
(Note 6)
A-axis direct
drive motor
E
M
B-axis direct
drive motor
(Note 5)
MR
MRR
LG
THM
THM
P5
(Note 4)
Encoder
MR
7
MRR 8
LG 10
THM 6
THM 11
P5
9
E
(Note 4)
Encoder
M
14. USING A DIRECT DRIVE MOTOR
Note 1. Signal can be assigned for these pins with the controller setting. For contents of signals, refer to the instruction manual of the
controller.
2. This is for sink I/O interface. For source I/O interface, refer to section 3.7.3.
3. When you using a direct drive motor, use MBR (Electromagnetic brake interlock) for an external brake mechanism.
4. The encoder detects speed, position, and temperature of the direct drive motor.
5. The encoder cable should be fabricated by the customer. (Refer to section 14.8.1.)
6. The connection is for incremental system. For the connection for the absolute position detection system, refer to the following
diagram.
P5
Absolute position
storage unit
MR-BTAS01
CN2A
3
MR
4 MRR
2
LG
5 THM1
6 THM2
1
P5
9 BAT
7
MR
MRR 8
10
LG
THM1 6
THM2 11
P5
9
BAT 2
7
MR
8 MRR
10 LG
6 THM1
11 THM2
9
P5
2 BAT
1
VB
CNP3A
2A
P5
CN2B
3
4
2
5
6
1
9
A-axis direct
drive motor
7
MR
MRR 8
LG 10
THM1 6
THM2 11
9
P5
BAT 2
1
VB
E
Absolute position
storage unit
MR-BTAS01
7
MR
MRR 8
10
LG
THM1 6
THM2 11
P5
9
BAT 2
MR
MRR
LG
THM1
THM2
P5
BAT
CNP3B
2A
SW3
ON
1
2
Front side
POINT
When using a linear servo motor, turn on SW3.
M
B-axis direct
drive motor
MR
MRR
LG
THM1
THM2
P5
BAT
VB
E
14.4 Operation and functions
14 - 11
7
MR
8 MRR
10 LG
6 THM1
11 THM2
9
P5
2 BAT
1
VB
Encoder
7
8
10
6
11
9
2
1
Encoder
M
14. USING A DIRECT DRIVE MOTOR
14.4.1 Startup procedure
Start up the direct drive servo in the following procedure.
Setting of the servo motor select switch (SW3) (Refer to section 3.14)
Perform this procedure once at startup
Execution of installation and wiring
Incremental system
Absolute position
detection system?
Absolute position detection system
Can you manually turn
on the Z-phase pulse of the direct
drive motor?
Yes
No
(Note 1) Execution of the magnetic pole detection (Refer to section 14.4.2)
Z-phase pulse of the direct drive motor is turned on
by the JOG operation (Note 1 and 2)
Z-phase pulse of the direct drive
motor is turned on manually (Note 3)
Change to the setting not requiring the magnetic
pole detection (Refer to section 14.4.2 (2))
Turn the servo amplifier power
supply off and on (Note 2)
(Note 1) Positioning operation check using the test operation mode
Positioning operation check using the controller (Refer to section 14.4.3)
Home position return (Refer to the manual of the controller.)
Positioning operation
Note 1. Use MR Configurator.
2. For the absolute position detection system, always turn on the Z-phase pulse of the direct drive motor while the servo amplifier
power is on, and then turn the servo amplifier power supply off and on again. By turning off and on the power supply, the absolute
position becomes confirmed. Without this operation, the absolute position will not be regained properly, and a warning will occur
at the controller.
3. If the Z-phase pulse of the direct drive motor can be turned on manually, the Z-phase pulse does not have to be turned on by the
magnetic pole detection or the JOG operation.
For this operation, always connect the direct drive motor encoder and the servo amplifier, and turn on only the control circuit
power supply of the servo amplifier (L11 and L21) (turn off the main circuit power supply L1, L2, and L3). Perform this operation by
considering the safety.
14 - 12
14. USING A DIRECT DRIVE MOTOR
14.4.2 Magnetic pole detection
POINT
The magnetic pole detection is not required for the configured absolute position
detection system where the Z-phase pulse of the direct drive motor can be turned
on manually.
For this operation, always connect the direct drive motor encoder and the servo
amplifier and turn on the control circuit power supply of the servo amplifier. Perform
this operation by considering the safety.
Before the positioning operation of the direct drive motor, make sure to perform the magnetic pole detection.
Before starting up the equipment, perform the test operation (positioning operation) of MR Configurator.
(1) Preparation for the magnetic pole detection
POINT
When the test operation mode is selected with the test operation select switch
(SW2-1), the SSCNET communication for the servo amplifier in the test operation
mode and the following servo amplifiers is blocked.
For the magnetic pole detection, use the test operation mode (positioning operation) of MR Configurator.
Turn off the servo amplifier power, and set the test operation select switch (SW2-1) as shown below.
Turning on the power enables the test operation mode.
SW2
F012
SW1
TEST
SW2
Set SW2-1 to "UP"
B CD
345
789A
E
6
UP
DOWN
ON 4E
1
2
1
14 - 13
2
14. USING A DIRECT DRIVE MOTOR
(2) Operation at the magnetic pole detection
WARNING
Note that the magnetic pole detection automatically starts simultaneously with the
turning-on of the servo-on command.
CAUTION
If the magnetic pole detection is not executed properly, the direct drive motor may
operates unexpectedly.
POINT
Make a machine components for using stroke limits (FLS/RLS). If stroke limits
(FLS/RLS) are not used, the machine may be damaged due to a collision.
At the magnetic pole detection, whether the motor rotates in the forward or reverse
direction is unpredictable.
Depending on the setting value of Parameter No.PL09 (Magnetic pole detection
voltage level), an overload, overcurrent, magnetic pole detection alarm, or others
may occur.
When performing the positioning operation from a controller, use the sequence
which confirms the normal completion of the magnetic pole detection and the
servo-on status, then outputs the positioning command. If the controller outputs the
positioning command before Ready (RD) turns on, the command may not be
accepted or a servo alarm may occur.
After the magnetic pole detection, check the positioning accuracy with the test
operation (positioning operation function) of MR Configurator.
The accuracy of the magnetic pole detection improves with no load.
The magnetic pole detection is required in the following cases.
1) Using the motor in the incremental system (Refer to (2) (a) of this section.)
2) Using the absolute position detection system with the following cases. (Refer to (2) (b) of this
section.)
When the system is set up (at the first startup of equipment)
When the direct drive motor is replaced
When the Z-phase pulse of the direct drive motor is not turned on manually
When Absolute position erased (25. ) is occurred
14 - 14
14. USING A DIRECT DRIVE MOTOR
(a) Incremental system
For the incremental system, the magnetic pole detection is required every time the power is turned on.
By turning on the servo-on command from the controller after the power-on, the magnetic pole detection
is automatically carried out. Therefore, you do not need to set the parameter (first digit of parameter
No.PS01) for executing the magnetic pole detection.
1) Timing chart
Servo-on command ON
OFF
Base circuit
ON
OFF
Ready (RD)
ON
OFF
95ms
15s or less
Magnetic pole detection time (Note)
Note. The magnetic pole detection time indicates the operation time when the stroke limits
(FLS and RLS) are on.
2) Direct drive motor movement (when FLS and RLS are on)
Center of direct drive motor rotation part
(Note) RLS
FLS (Note)
Servo-on position (Magnetic pole detection start position)
Magnetic pole detection complete position
10deg or less
Note. When the stroke limit (FLS or RLS) turns off during the magnetic pole detection, the
magnetic pole detection is carried on to the opposite direction. When both FLS and RLS
are off, Initial magnetic pole detection error (27) will occur.
3) Direct drive motor movement (when FLS or RLS is off)
When FLS or RLS is off at servo-on, the magnetic pole detection is carried out as follows.
Center of direct drive motor rotation part
FLS
RLS
Servo-on position
After the machine moves to the position where the stroke
limit (FLS and RLS) is set, the magnetic pole detection
starts.
Magnetic pole detection
start position
Magnetic pole detection complete position
10deg or less
14 - 15
14. USING A DIRECT DRIVE MOTOR
(b) Absolute position detection system
POINT
Turn on the Z-phase pulse of the direct drive motor in JOG operation after the
magnetic pole detection.
Perform the magnetic pole detection in the following procedure.
1) Set parameter No.PS01 (Special function selection 1) to "
enabled)".
1 (Magnetic pole detection
Parameter No.PS01
1
Magnetic pole detection always valid (initial value)
2) Execute the magnetic pole detection. (Refer to (2) (a) 1) and 2) of this section.)
3) After the completion of the magnetic pole detection, change Parameter No.PS01 to "
(Magnetic pole detection disabled)".
0
Parameter No.PS01
0
Magnetic pole detection invalid
After the magnetic pole detection, by turning on the Z-phase pulse of the direct drive motor in JOG
operation and by disabling the magnetic pole detection function with Parameter No.PS01, the
magnetic pole detection after each power-on is not required.
(3) Magnetic pole detection method setting
Set the magnetic pole detection method using the first digit of parameter No.PS08 (Magnetic pole detection
method selection).
Parameter No.PS08
Method selection for the magnetic pole detection
0: Position detection method
4: Minute position detection method
14 - 16
14. USING A DIRECT DRIVE MOTOR
(4) Setting of the magnetic pole detection voltage level by the position detection method
For the magnetic pole detection by the position detection method, set the voltage level with parameter
No.PS09 (Magnetic pole detection voltage level). For the magnetic pole detection by the minute position
detection method, the voltage level setting is not required.
(a) Guideline of parameter settings
Set the parameters by referring to the following table.
Parameter No.PS09 setting value
Small
Medium
Large
(guide value)
(Less than 10 (Default value) More than 50)
Servo status
Torques required for operation
Overload, overcurrent alarm
Magnetic pole detection alarm
Small
Large
Seldom occurs
Frequently occurs
Frequently occurs
Seldom occurs
Low
High
Magnetic pole detection accuracy
(b) Setting procedure
1) Perform the magnetic pole detection, and increase the setting value of parameter No.PS09
(Magnetic pole detection voltage level) until Overload 1 (50. ), Overload 2 (51. ), Overload
warning 1 (E1. ), and Overload warning 2 (EC.1) occur. Increase the setting value by "five" as a
guide value. When these alarms and warnings occur during the magnetic pole detection by using
MR Configurator, the test operation of MR Configurator automatically completes and the servo-off
status is established.
2) Specify the setting value to approximately 70 of the value of Overload 1 (50. ), Overload 2
(51. ), Overload warning 1 (E1. ), and Overload warning 2 (EC.1) occurrence as the final setting
value. However, if Initial magnetic pole detection error (27. ) occurs with this value, specify a value
intermediate between the value set at [AL.50 Overload 1], [AL.51 Overload 2], [AL.E1 Overload
warning 1], or [AL.EC Overload warning 2] occurrence and the value set at the magnetic pole
detection alarm occurrence, as the final setting value.
3) Perform the magnetic pole detection again with the final setting value.
(c) Setting example
Magnetic pole detection
Parameter No.PS09 setting value
Overload and overcurrent alarm
30
35
40
45
65
70
Existence or nonexistence
Carry out the magnetic pole detection repeatedly while making
the setting value of the parameter No.PS09 larger.
An alarm has occurred
when the setting value
of the parameter
No.PS09 is set to 70.
In this example, the final setting value of parameter No.PS09 is 49 (setting value at the alarm
occurrence = 70 0.7).
14 - 17
14. USING A DIRECT DRIVE MOTOR
(5) Magnetic pole detection method by using MR Configurator
The following shows the magnetic pole detection procedure by using MR Configurator.
(a) Magnetic pole detection by the position detection method
Magnetic pole detection
1) After confirming that the stroke limits (FLS and RLS) and the forced stop (EM1) are on, turn the
power of servo amplifier off once and then turn it on again.
2) After switching the test operation select switch (SW2-1) of the servo amplifier to "Up", turn the power
of servo amplifier off once and then turn it on again.
3) Set parameter No.PS08 (Special function selection 3) to "
method to "position detection method".
0", and the magnetic pole detection
4) Change to "Magnetic pole detection always valid" by setting the parameter No.PS01 (Special
function selection 1) to "
1". (Note)
5) Turn the power of servo amplifier off once and then turn it on again.
6) Set the parameter No.PS09 (Magnetic detection voltage level) to "F10" (guide value) as a guide.
7) Execute the "forward rotation" or "reverse rotation" with the "positioning operat" of the MR
Configurator test operation mode. Set the travel distance to "0" at this time.
The magnetic pole detection is carried out.
YES
Is the parameter No.PS09
(Magnetic pole detection
voltage level) the final value?
NO
Has the magnetic pole
detection alarm (27) occurred?
YES Reset the alarm or turn the power
of servo amplifier off once, and
then turn the power on again.
NO
Have the overload alarms (50 and
51), overcurrent alarm (32) and
overload warning (E1) occurred?
YES
NO Turn the power of servo amplifier
off once and then turn it on again.
Reset the alarm or turn the power
of servo amplifier off, and then turn
the power on again.
Raise the value of parameter
No.PS09 in five.
Set approximately 70 of the
parameter No.PS09 as the final
setting vale.
In the case where the magnetic pole
detection error (27) occurs with this
setting value, set the final setting
value to the value intermediate
between the setting value at the
occurrence of the overload alarms
(50 and 51), overcurrent alarm (32),
overload warning (E1) and the setting
value at the occurrence of the
magnetic pole detection alarm (27).
8) Change to "Magnetic pole detection invalid" by setting the parameter No.PS01 (Special function
selection 1) to "
0". (Note)
End
Note. For the incremental system, the parameter No.PS01 setting is not required.
14 - 18
14. USING A DIRECT DRIVE MOTOR
(b) Magnetic pole detection by the minute position detection method
Magnetic pole detection
1) After confirming that the stroke limits (FLS and RLS) and the forced stop (EM1) are on, turn the
power of servo amplifier off once and then turn it on again.
2) After switching the test operation select switch (SW2-1) of the servo amplifier to "Up", turn the power
of servo amplifier off once and then turn it on again.
3) Set parameter No.PS08 (Special function selection 3) to "
method to "minute position detection method".
4", and the magnetic pole detection
4) Change to "Magnetic pole detection always valid" by setting the parameter No.PS01 (Special
function selection 1) to "
1". (Note 1)
5) Turn the power of servo amplifier off once and then turn it on again.
6) Set the load inertia moment ratio of the direct drive motor with parameter No.PS17 (Minute position
detection method function selection). (Note 2)
7) Execute the "forward rotation" or "reverse rotation" with the "positioning operatation" of the MR
Configurator test operation mode. Set the travel distance to "0" at this time.
The magnetic pole detection is carried out.
YES
Is the response of the
minute position detection method,
which is set by parameter No.PS17 (Minute position
detection method function selection),
finalized?
NO
Do abnormal sounds and
vibration occur during the
magnetic pole detection?
YES
Lower the response of the minute position
detection method by two in parameter No.PS17
(Minute position detection method function
selection), and use the value as the finalized
value.
NO
Does the travel distance
during the magnetic pole detection
has a problem? (Note 3)
Problem
exists
Raise the response of the minute position
detection method by one in parameter No.PS17
(Minute position detection method function
selection).
Problem does not exist
8) Change to "Magnetic pole detection invalid" by setting the parameter No.PS01 (Special function
selection 1) to "
0". (Note 1)
End
Note 1. For the incremental system, the parameter No.PS01 setting is not required.
2. If the load to direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the position
detection method, and then perform the auto tuning to set an estimated value.
For the magnetic pole detection by the minute position detection method, the maximum rotation angle at the
magnetic pole detection must be five degrees or less. To shorten the travel distance, increase the response
by the minute position detection method in parameter No.PS17 (Function selection for minute position
detection method).
14 - 19
14. USING A DIRECT DRIVE MOTOR
(c) State transition of the servo amplifier display (3-digit, 7-segment LED) at the magnetic pole detection
When the magnetic pole detection with MR Configurator is normally executed, the servo amplifier
display (3-digit, 7-segment LED) shows the state as below.
Servo-off status
Detecting
magnetic poles
Magnetic pole
detection
completed
(servo-on status)
Decimal point flickers.
14.4.3 Operation from controller
To configure the absolute position detection system by using the direct drive motor, the battery unit (MRBTCASE MR-BAT 8) and the absolute position storage unit MR-BTAS01 are required.
The direct drive servo can be used with any of the following controllers.
Servo system controller
Model
Q17 DCPU
Motion controller
Q170MCPU
Positioning module
Software version (Note)
SV13/SV22
00H or above
SV43
00B or above
SV13/SV22
00G or above
SV43
QD75MH
101120000000000-B or above
LD77MH
All software versions
Note. For software versions and other details, refer to each servo system controller manual.
(1) Operation method
Positioning operation from the controller is basically performed like the MR-J3W- B servo amplifier.
For the incremental system, the magnetic pole detection is automatically performed at the first servo-on
after the power-on. For this reason, when performing the positioning operation, create the sequence which
surely confirms the servo-on status as the inter lock condition of the positioning command.
Also, some parameter settings and the home position return differ according to the controller type.
14 - 20
14. USING A DIRECT DRIVE MOTOR
(2) Servo system controller setting
(a) Setting precautions
The following servo parameters will be enabled by cycling the servo amplifier power after the controller
writes the parameters to the servo amplifier.
Set content
Setting item
Motion controller
Q17 DCPU/Q170MCPU
Servo amplifier setting
MR-J3-B DD
Motor setting
No.
Servo
parameter
(Note 1)
Symbol
Default
value
Name
PA01 **STY
Control mode (Note 2)
Error excessive alarm level
0000h
0010h
PD03
0020h
This parameter is not used. (Note 2)
PD04
0021h
PS01 **LIT1 Special function selection 1
0301h
PS04 *LIT2
0003h
PS07
Special function selection 2
LB1
Servo control position deviation error
detection level
0
LB2
Servo control speed deviation error
detection level
0
LB3
Servo control torque deviation error
detection level
100
PS08 *LIT3
Special function selection 3
0010h
PS09 LPWM Magnetic pole detection voltage level
PS10
This parameter is not used. (Note 2)
PS11
0060h
30
Set the items as
required.
Set QD75MH with
sequence program.
When you start up the
direct drive motor, initial
values of these
parameters should be
set. Refer to (b) and (c)
of this section.
5
100
PS12
500
LTSTS Minute position detection method function
PS17
selection
PS18
0060h
0
PC03 *ENRS Encoder output pulse selection
PS06
MR-J3-B DD (Note 4)
Automatic setting
PC01 *ERZ
PS05
(Note 3)
Positioning module
QD75MH /LD77MH
IDLV
Minute position detection method
identification signal amplitude
0000h
0000h
Note 1. The parameter whose symbol is preceded by * is enabled with the following conditions:
*: After setting the parameter, power off and on the servo amplifier or reset the controller.
**: After setting the parameter, cycle the power of the servo amplifier.
2. For QD75MH , make sure to set the default value.
3. Note the followings.
If the parameter (servo parameter) of servo amplifier has been changed, it automatically reads the servo parameter and stores in
the buffer memory of QD75MH /LD77MH . However, it does not reflect to the flash ROM.
When turning off, resetting the power of QD75MH /LD77MH or turning off the control circuit power supply of servo amplifier
right after changing the servo parameter, the servo parameter may not reflect to the buffer memory of QD75MH /LD77MH . In
such a case, change it again.
4. Set QD75MH with sequence program. (Refer to (b) of this section.)
14 - 21
14. USING A DIRECT DRIVE MOTOR
(b) Sequence program example of servo parameters on the positioning module
POINT
For QD75MH , the parameter error (37. ) will occur if servo parameters are not
initialized.
The number of write time to the flash ROM is limited to 100,000. Therefore, try to
write to the flash ROM only when changing the servo parameter instead of writing
with every sequence program. When controlling multiple axes, write the servo
parameters to all axes.
1) Sequence program example when QD75MH is used.
The following shows the example of writing the axis No.1 servo parameter to the flash ROM.
After changing the servo parameter, turn on the power of QD75MH again or reset the CPU,
then send the setting value to the servo amplifier. Refer to (2) (c) of this section for the address of
the special setting parameters (No.PS ) of the servo parameters.
(Note 1)
Write condition
Servo amplifier series
TOP
H0
K30100 K6
TOP
H0
K30101 H0060 K1
Setting of the servo parameter No.PA01
TOP
H0
K30164 K0
K1
Setting of the servo parameter No.PC01
TOP
H0
K30166 H0010 K1
Setting of the servo parameter No.PC03
TOP
H0
K30198 H0020 K1
Setting of the servo parameter No.PD03
TOP
H0
K30199 H0021 K1
Setting of the servo parameter No.PD04
TOP
H0
K30268 H0301 K1
Setting of the servo parameter No.PS01
TOP
H0
K30271 H0003 K1
Setting of the servo parameter No.PS04
TOP
H0
K30272 K0
K1
Setting of the servo parameter No.PS05
TOP
H0
K30273 K0
K1
Setting of the servo parameter No.PS06
TOP
H0
K30274 K100
K1
Setting of the servo parameter No.PS07
TOP
H0
K30275 H0010 K1
Setting of the servo parameter No.PS08 (Note 2)
TOP
H0
K30276 K30
K1
Setting of the servo parameter No.PS09
TOP
H0
K30277 K5
K1
Setting of the servo parameter No.PS10
TOP
H0
K30278 K100
K1
Setting of the servo parameter No.PS11
TOP
H0
K30279 K500
K1
Setting of the servo parameter No.PS12
TOP
H0
K30284 H0000 K1
Setting of the servo parameter No.PS17
TOP
H0
K30285 H0000 K1
Setting of the servo parameter No.PS18
TOP
H0
K1900
Write to flash ROM
K1
K1
K1
Note 1. Configure a sequence program where the servo parameters are written to the flash ROM only when a servo parameter is changed.
2. Change the sequence program of the servo parameter No.PS08 to the following sequence program for the magnetic pole detection
without the stroke limit (FLS and RLS).
TOP
H0
K30275 K0110 K1
Setting of the servo parameter
No.PS08
However, do not change to this sequence program if using the stroke limit (FLS and RLS) at the QD75MH
14 - 22
side.
14. USING A DIRECT DRIVE MOTOR
2) Initialization of the servo parameter at the startup of direct drive servo
a) Before turning the power of servo amplifier on, write the servo parameter default value, which is
unique to the direct drive servo, to the flash ROM of QD75MH referring to the sequence
program example shown in (2) (b) of this section.
b) After completion of writing to the flash ROM, turn the power of servo amplifier on.
POINT
Once the default values are written to the flash ROM at startup, servo parameters
are not required to be written at next power on or later. If the module write with GX
Configurator-QP has been performed using QD75MH , however, initialize the
servo parameters again.
14 - 23
14. USING A DIRECT DRIVE MOTOR
(c) QD75MH
buffer memory address of special setting parameters (No.PS )
Description
No.
Symbol
(Note)
PS01
**LIT1
PS02
Default
value
Name
Buffer memory address
Unit
Axis 1
Axis 2
Axis 3
Axis 4
Special function selection 1
0301h
30268
30468
30668
30868
This parameter is not used.
1000h
30269
30469
30669
30869
1000h
30270
30470
30670
30870
0003h
30271
30471
30671
30871
PS03
PS04
*LIT2
Special function selection 2
PS05
LB1
Servo control position deviation error
detection level
0
0.01rev
30272
30472
30672
30872
PS06
LB2
Servo control speed deviation error detection
level
0
r/min
30273
30473
30673
30873
PS07
LB3
Servo control torque deviation error detection
level
100
30274
30474
30674
30874
PS08
*LIT3
Special function selection 3
30875
PS09
LPWM
PS10
0010h
30275
30475
30675
Magnetic pole detection voltage level
30
30276
30476
30676
30876
This parameter is not used.
5
30277
30477
30677
30877
PS11
100
30278
30478
30678
30878
PS12
0000h
30279
30479
30679
30879
PS13
0000h
30280
30480
30680
30880
PS14
0
30281
30481
30681
30881
PS15
0000h
30282
30482
30682
30882
PS16
0000h
30283
30483
30683
30883
Minute position detection method function
selection
0000h
30284
30484
30684
30884
Minute position detection method
identification signal amplitude
0000h
30285
30485
30685
30885
This parameter is not used.
PS17
LTSTS
PS18
IDLV
PS19
0000h
30286
30486
30686
30886
PS20
0000h
30287
30487
30687
30887
PS21
0000h
30288
30488
30688
30888
PS22
0000h
30289
30489
30689
30889
PS23
0000h
30290
30490
30690
30890
PS24
0000h
30291
30491
30691
30891
PS25
0000h
30292
30492
30692
30892
PS26
0000h
30293
30493
30693
30893
PS27
0000h
30294
30494
30694
30894
PS28
0000h
30295
30495
30695
30895
PS29
0000h
30296
30496
30696
30896
PS30
0000h
30297
30497
30697
30897
PS31
0000h
30298
30498
30698
30898
PS32
0000h
30299
30499
30699
30899
Note. The parameter whose symbol is preceded by * is enabled with the following conditions:
*: After setting the parameter, power off and on the servo amplifier or reset the controller.
**: After setting the parameter, cycle the power of the servo amplifier.
14 - 24
14. USING A DIRECT DRIVE MOTOR
14.4.4 Function
(1) Servo control error detection function
POINT
For the servo control error detection function, the position and speed deviation error
detections are enabled by default. (parameter No.PS04:
3)
If the servo control gets unstable for some reasons, the direct drive motor may not operate properly. To
detect this state and to stop operation, the servo control error detection function is used as a protective
function.
The servo control error detection function has three different detection methods: the position deviation,
speed deviation, and torque deviation. An error is detected when each method is enabled with parameter
No.PS04 (Special function selection 4). The detection level can be changed with parameter Nos.PS05,
PS06 and PS07.
Servo amplifier
Direct drive motor
Servo amplifier internal value
1) Model feedback position [rev]
3) Model feedback rotation speed [r/min]
5) Command torque [ ]
Encoder
2) Feedback position [rev]
4) Feedback rotation speed [r/min]
6) Feedback torque [ ]
Encoder
Figure 14.1 Outline of servo control error detection function
(a) Position deviation error detection
Set parameter No.PS04 to "
1" to enable the position deviation error detection.
Parameter No.PS04
1
Position deviation
error detection valid
When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 14.1, if
the deviation is more than the value of parameter No.PS05 (Servo control position deviation error
detection level) (1 rev to 1000 rev), the alarm (Servo control error 42. ) will occur and the motor will
stop. The default value of parameter No.PS05 is 0.09rev. Change the set value as required.
14 - 25
14. USING A DIRECT DRIVE MOTOR
(b) Speed deviation error detection
Set parameter No.PS04 to "
1" to enable the speed deviation error detection.
Parameter No.PS04
2
Speed deviation
error detection valid
When you compare the model feedback position ( 3)) and the feedback position ( 4)) in figure 14.1, if
the deviation is more than the value of parameter No.PS06 (Servo control speed deviation error
detection level) (1 rev to 2000 rev), the alarm (Servo control error 42. ) will occur and the motor will
stop. The default value of parameter No.PS06 is 100r/min. Change the set value as required.
(c) Torque deviation error detection
Set parameter No.PS04 to "
4" to enable the torque deviation error detection.
Parameter No.PS04
4
Torque deviation
error detection valid
When you compare the command torque ( 5)) and the feedback torque ( 6)) in figure 14.1, if the
deviation is more than the value of parameter No.PS07 (Servo control torque deviation error detection
level) (1 to 1000 ), the alarm (Servo control error 42. ) will occur and the motor will stop. The
default value of parameter No.PS05 is 100 . Change the set value as required.
(d) Detecting multiple deviation errors
When parameter No.PS04 is set as follows, multiple deviation errors can be detected. For the error
detection methods, refer to (1) (a), (b), and (c) of this section.
Parameter No.PS04
Setting Position deviation
value
error detection
1
2
3
4
5
6
7
14 - 26
Speed deviation
error detection
Torque deviation
error detection
14. USING A DIRECT DRIVE MOTOR
14.5 Parameters
CAUTION
Never make a drastic adjustment or change to the parameter values as doing so will
make the operation unstable.
If fixed values are written in the digits of a parameter, do not change these values.
In this servo amplifier, the parameters are classified into the following groups on a function basis.
Parameter group
Main description
Basic setting parameters
(No.PA
)
Make basic setting with these parameters.
Gain/filter parameters
(No.PB
)
Use these parameters when making gain adjustment manually.
Extension setting parameters
(No.PC
)
When changing settings such as analog monitor output signal, use
these parameters.
I/O setting parameters
(No.PD
)
Use these parameters when changing the I/O signals of the servo
amplifier.
Special setting parameters
(No.PS
)
Use these parameters when setting specially for the direct drive servo.
Option setting parameters
(No.Po
)
These are only for MR-J3W.
14 - 27
14. USING A DIRECT DRIVE MOTOR
14.5.1 Parameter writing inhibit (parameter No.PA19)
POINT
To enable the parameter value, cycle the power or reset the controller after setting
the parameter.
In the default setting, this servo amplifier allows changes to the all parameter settings. With the setting of
parameter No.PA19, write can be disabled to prevent accidental changes.
The following table indicates the parameters which are enabled for reference and write by the setting of
parameter No.PA19. Operation can be performed for the parameters marked .
Parameter
No.PA19
setting
0000h
000Bh
(Default
value)
000Ch
000Dh
000Eh
100Bh
100Ch
100Dh
100Eh
Setting
operation
Basic setting
parameters
No.PA
Gain/filter
parameters
No.PB
Extension
setting
parameters
No.PC
Reference
Writing
Reference
Writing
Reference
Writing
Reference
Writing
Reference
Writing
Reference
Writing
PA19 only
Reference
Writing
PA19 only
Reference
Writing
PA19 only
Reference
Writing
PA19 only
14 - 28
I/O setting
parameters
No.PD
Option setting
parameters
No.Po
Special setting
parameters
No.PS
14. USING A DIRECT DRIVE MOTOR
14.5.2 Basic setting parameters (No.PA
)
(1) Parameter list
POINT
The parameter whose symbol is preceded by * is enabled with the following
conditions:
* : After setting the parameter, cycle the power or reset the controller.
**: After setting the parameter, cycle the power.
No.
Symbol
PA01
**STY
Control mode
PA02
**REG
Regenerative option
PA03
*ABS
Absolute position detection system
PA04
*AOP1
PA05
Name
Function selection A-1
Each/
common
(Note 1)
Default
value
(Note 2)
Each
0000h
(2) of this
section
Common
0000h
Section
5.1.4
Each
0000h
(2) of this
section
Common
0000h
Section
5.1.6
This parameter is not used. Do not change this value by any means.
Unit
Reference
0
PA06
1
PA07
1
PA08
ATU
Auto tuning mode
Each
PA09
RSP
Auto tuning response
Each
12
PA10
INP
In-position range
Each
100
PA11
This parameter is not used. Do not change this value by any means.
0001h
Section
5.1.7
pulse
(2) of this
section
1000.0
PA12
1000.0
PA13
0000h
PA14
*POL
Rotation direction selection
Each
0
(2) of this
section
PA15
*ENR
Encoder output pulses
Each
4000
Section
5.1.10
PA16
This parameter is not used. Do not change this value by any means.
0
PA17
0000h
PA18
0000h
PA19
*BLK
Parameter writing inhibit
Each
000Bh
Section
14.5.1
Note 1. Each: Set parameters for each axis of A and B.
Common: Set parameters for common axis of A and B. Be sure to set the same value to the both axes. When the setting values are
different, the value set at last will be enabled.
2. The values are common in A-axis and B-axis.
14 - 29
14. USING A DIRECT DRIVE MOTOR
(2) Detail list
No. Symbol
Each/ Default
common value
Name and function
PA01 **STY Control mode
"
0 " (Rotary servo motor) is selected as the initial value.
When using the direct drive motor, always select "
6 ".
Setting
range
Each
0000h
Refer to
Name
and
function
column.
Each
0000h
Refer to
Name
and
function
column.
Each
0
0/1
Parameter No.PA01
0 0
Unit
0
Control mode selection
0: Rotary servo motor
4: Linear servo motor
6: Direct drive motor
PA03 *ABS Absolute position detection system
Set this parameter when using the absolute position detection system in the position
control mode.
0 0 0
Selection of absolute position detection system
(Refer to chapter 12)
0: Used in incremental system
1: Used in absolute position detection system
If the absolute position detection system is
enabled when the incremental system is being
used, parameter error (37.2) occurs.
POINT
This parameter cannot be used in the speed control mode.
PA14 *POL Rotation direction selection
Select a rotation direction of the direct drive motor.
Direct drive motor rotation direction
Setting value
When positioning address
increases
When positioning
address decreases
0
CCW
CW
1
CW
CCW
Forward rotation (CCW)
Reverse rotaion (CW)
POINT
This parameter cannot be used in the speed control mode.
14 - 30
14. USING A DIRECT DRIVE MOTOR
No. Symbol
PA19 *BLK
Each/ Default
common value
Name and function
Parameter writing inhibit
Setting
Operation
value
0000h
Each
Applicable parameters
No.
PA
No.
PB
No.
PC
No.
PD
Reference
Writing
000Bh
000Ch
000Dh
000Eh
100Bh
100Ch
100Dh
100Eh
Reference
Writing
Reference
Writing
Reference
Writing
Reference
Writing
Reference
Writing
PA19 only
Reference
Writing
PA19 only
Reference
Writing
PA19 only
Reference
Writing
PA19 only
14 - 31
No.
PS
No.
Po
000Bh
Unit
Setting
range
Refer to
Name
and
function
column.
14. USING A DIRECT DRIVE MOTOR
14.5.3 Gain/filter parameters (No.PB
)
POINT
The parameter whose symbol is preceded by * is enabled with the following
conditions:
* : After setting the parameter, cycle the power or reset the controller.
**: After setting the parameter, cycle the power.
No.
Symbol
PB01
FILT
PB02
VRFT
PB03
PB04
Each/
common
(Note 1)
Default
value
(Note 2)
Adaptive tuning mode (adaptive filter II)
Each
0000h
Vibration suppression control tuning mode (advanced vibration
suppression control)
Each
0000h
Name
This parameter is not used. Do not change this value by any means.
Unit
Section
5.2.2
0
FFC
Feed forward gain
PB06
GD2
Ratio of load inertia moment to direct drive motor inertia moment
Each
7.0
Multip
lier
PB07
PG1
Model loop gain
Each
24
rad/s
PB08
PG2
Position loop gain
Each
37
rad/s
PB09
VG2
Speed loop gain
Each
823
rad/s
PB10
VIC
Speed integral compensation
Each
33.7
ms
PB11
VDC
Speed differential compensation
Each
980
Each
4500
Notch shape selection 1
Each
0000h
Machine resonance suppression filter 2
Each
4500
Notch shape selection 2
Each
0000h
Each
3141
PB05
NH1
PB14
NHQ1
PB15
NH2
PB16
NHQ2
PB17
Machine resonance suppression filter 1
0
Section
5.2.2
500
This parameter is not used. Do not change this value by any means.
PB13
PB18
Each
This parameter is not used. Do not change this value by any means.
PB12
Section
5.2.2
0
Hz
Section
5.2.2
Hz
Automatic setting parameter
LPF
Low-pass filter setting
rad/s
PB19
VRF1
Vibration suppression control vibration frequency setting
Each
100.0
Hz
PB20
VRF2
Vibration suppression control resonance frequency setting
Each
100.0
Hz
PB21
This parameter is not used. Do not change this value by any means.
0.00
PB22
0.00
PB23
VFBF
Low-pass filter selection
Each
0000h
PB24
*MVS
Slight vibration suppression control selection
Each
0000h
Each
0000h
PB25
PB26
Reference
This parameter is not used. Do not change this value by any means.
*CDP
Gain changing selection
Section
5.2.2
0000h
Section
5.5.2
PB27
CDL
Gain changing condition
Each
10
PB28
CDT
Gain changing time constant
Each
1
ms
PB29
GD2B
Gain changing ratio of load inertia moment to direct drive motor inertia
moment
Each
7.0
Multip
lier
PB30
PG2B
Gain changing position loop gain
Each
37
rad/s
PB31
VG2B
Gain changing speed loop gain
Each
823
rad/s
PB32
VICB
Gain changing speed integral compensation
Each
33.7
ms
14 - 32
14. USING A DIRECT DRIVE MOTOR
No.
Symbol
Name
Each/
common
(Note 1)
Default
value
(Note 2)
Unit
Reference
Section
5.5.2
PB33
VRF1B Gain changing vibration suppression control vibration frequency setting
Each
100.0
Hz
PB34
VRF2B Gain changing vibration suppression control resonance frequency
setting
Each
100.0
Hz
PB35
This parameter is not used. Do not change this value by any means.
0.00
PB36
0.00
PB37
100
PB38
0.0
PB39
0.0
PB40
0.0
PB41
1125
PB42
1125
PB43
0004h
PB44
0.0
PB45
0000h
Note 1. Each: Set parameters for each axis of A and B.
Common: Set parameters for common axis of A and B. Be sure to set the same value to the both axes. When the setting values are
different, the value set at last will be enabled.
2. The values are common in A-axis and B-axis.
14 - 33
14. USING A DIRECT DRIVE MOTOR
14.5.4 Extension setting parameters (No.PC
)
POINT
The parameter whose symbol is preceded by * is enabled with the following
conditions:
* : After setting the parameter, cycle the power or reset the controller.
**: After setting the parameter, cycle the power.
No.
Symbol
Name
Each/
common
(Note 1)
Default
value
(Note 2)
Unit
Reference
Section
5.3.2
PC01
ERZ
Error excessive alarm level
Each
0
rev
PC02
MBR
Electromagnetic brake sequence output
Each
0
ms
PC03
Each
0010h
PC04 **COP1 Function selection C-1
Each
0000h
PC05 **COP2 Function selection C-2
Each
0000h
PC06
Each
0000h
Each
50
PC07
*ENRS Encoder output pulse selection
*COP3 Function selection C-3
ZSP
PC08
Zero speed
This parameter is not used. Do not change this value by any means.
PC09
MOD1
PC10
PC11
PC12
Analog monitor 1 output
Common
0000h
MOD2
Analog monitor 2 output
Common
0001h
MO1
Analog monitor 1 offset
Common
0
mV
MO2
Analog monitor 2 offset
Common
0
mV
PC13
This parameter is not used. Do not change this value by any means.
0
SNO
PC16
Station number selection
Common
0
Each
0000h
This parameter is not used. Do not change this value by any means.
PC17 **COP4 Function selection C-4
PC18
This parameter is not used. Do not change this value by any means.
0000h
0000h
PC22
Alarm history clear
Each
This parameter is not used. Do not change this value by any means.
0000h
0000h
PC24
0000h
PC25
0000h
PC26
0000h
PC28
Each
This parameter is not used. Do not change this value by any means.
Section
5.3.2
0000h
PC23
PC27 **COP9 Function selection C-9
Section
5.3.2
0000h
PC20
*BPS
Section
5.3.2
0000h
PC19
PC21
Section
5.3.2
0
PC14
PC15
r/min
0
0000h
Section
5.3.2
0000h
PC29
0000h
PC30
0000h
PC31
0000h
PC32
0000h
Note 1. Each: Set parameters for each axis of A and B.
Common: Set parameters for common axis of A and B. Be sure to set the same value to the both axes. When the setting values are
different, the value set at last will be enabled.
2. The values are common in A-axis and B-axis.
14 - 34
14. USING A DIRECT DRIVE MOTOR
14.5.5 I/O setting parameters (No.PD
)
POINT
The parameter whose symbol is preceded by * is enabled with the following
conditions:
*: After setting the parameter, cycle the power or reset the controller.
No.
Symbol
PD01
Each/
common
(Note 1)
Name
This parameter is not used. Do not change this value by any means.
Default
value
(Note 2)
0000h
PD03
0020h
PD04
0021h
PD05
0022h
PD06
0000h
*D01
Output signal device selection 1 (A-axis: CN3-12, B-axis: CN3-25)
*D03
Output signal device selection 3 (A-axis: CN3-11, B-axis: CN3-24)
PD08
PD09
PD10
Each
This parameter is not used. Do not change this value by any means.
0005h
This parameter is not used. Do not change this value by any means.
0003h
Section
5.4.2
0000h
0004h
PD12
0000h
PD13
0000h
PD15
Section
5.4.2
0004h
Each
PD11
PD14
Reference
0000h
PD02
PD07
Unit
*DOP3 Function selection D-3
Each
This parameter is not used. Do not change this value by any means.
0000h
Section
5.4.2
0000h
PD16
0000h
PD17
0000h
PD18
0000h
PD19
0000h
PD20
0
PD21
0
PD22
0
PD23
0
PD24
0000h
PD25
0000h
PD26
0000h
PD27
0000h
PD28
0000h
PD29
0000h
PD30
0000h
PD31
0000h
PD32
0000h
Note 1. Each: Set parameters for each axis of A and B.
Common: Set parameters for common axis of A and B. Be sure to set the same value to the both axes. When the setting values are
different, the value set at last will be enabled.
2. The values are common in A-axis and B-axis.
14 - 35
14. USING A DIRECT DRIVE MOTOR
14.5.6 Special setting parameters (No.PS
)
(1) Parameter list
POINT
The parameter whose symbol is preceded by * is enabled with the following
conditions:
*: After setting the parameter, cycle the power or reset the controller.
**: After setting the parameter, cycle the power.
No.
Symbol
PS01
**LIT1
PS02
Name
Special function selection 1
Each/
common
(Note 1)
Default
value
(Note 2)
Each
0301h
This parameter is not used. Do not change this value by any means.
Unit
(2) of this
section
1000
PS03
1000
PS04
*LIT2
Special function selection 2
Each
0003h
PS05
LB1
Servo control position deviation error detection level
Each
0
0.01
rev
PS06
LB2
Servo control speed deviation error detection level
Each
0
r/min
PS07
LB3
Servo control torque deviation error detection level
Each
100
PS08
*LIT3
Special function selection 3
Each
0010h
PS09
LPWM
Magnetic pole detection voltage level
Each
30
PS10
This parameter is not used. Do not change this value by any means.
100
PS12
500
PS13
0000h
PS14
0
PS15
0000h
PS16
0000h
PS18
PS19
(2) of this
section
5
PS11
PS17
Reference
LTSTS Minute position detection method function selection
IDLV
Minute position detection method identification signal amplitude
This parameter is not used. Do not change this value by any means.
Each
0000h
Each
0000h
(2) of this
section
0000h
PS20
0000h
PS21
0000h
PS22
0000h
PS23
0000h
PS24
0000h
PS25
0000h
PS26
0000h
PS27
0000h
PS28
0000h
PS29
0000h
PS30
0000h
PS31
0000h
PS32
0000h
Note 1. Each: Set parameters for each axis of A and B.
Common: Set parameters for common axis of A and B. Be sure to set the same value to the both axes. When the setting values are
different, the value set at last will be enabled.
2. The values are common in A-axis and B-axis.
14 - 36
14. USING A DIRECT DRIVE MOTOR
(2) Detail list
No. Symbol
Name and function
PS01 **LIT1 Special function selection 1
The magnetic pole detection setting and the valid/invalid setting of the direct drive
motor thermistor can be selected. (Refer to section 14.4.2.)
Direct drive motor magnetic pole detection setting is unnecessary for an incremental
system.
Each/ Default
common value
Each
Unit
0301h
Setting
range
Refer to
Name
and
function
column.
0 0
Direct drive motor magnetic pole detection setting
0: Magnetic pole detection invalid
1: Magnetic pole always valid
Direct drive motor thermistor valid/invalid setting
0: Thermistor error detection valid
1: Thermistor error detection invalid
POINT
To protect the direct drive motor from overheating, usually
fabricate a cable that includes a thermistor wire. Set the
thermistor error detection to be valid with this parameter.
PS02
This parameter is not used. Do not change this value by any means.
1000
PS03
1000
PS04 *LIT2 Special function selection 2
Servo control error detection function and servo control error reset can be selected.
Each
0003h
Refer to
Name
and
function
column.
0 0
Servo control error detection function selection
(Refer to section 14.4.4)
0: Invalid
1: Position deviation error detection valid
2: Speed deviation error detection valid
3: Position/speed detection deviation error
detection valid
4: Torque deviation error detection valid
5: Position/torque deviation error detection valid
6: Speed/torque deviation error detection valid
7: Position/speed/torque deviation error detection
valid
Servo control error detection reset selection
Set the controller reset condition of the servo
control error detection (42. ).
0: Reset impossible (Reset by switching off is
possible.)
1: Reset possible
PS05
LB1
Servo control position deviation error detection level
This is used to set the position deviation error detection level of the servo control
error detection. When the deviation between a model feedback position and actual
feedback position is larger than the setting value, Servo control error (42.1) will occur.
(Refer to section 14.4.4.)
Setting "0" will be regarded as 0.09rev by the servo amplifier.
Each
0
0.01rev
0 to
1000
PS06
LB2
Servo control speed deviation error detection level
This is used to set the speed deviation error detection level of the servo control error
detection. When the deviation between a model feedback speed and actual feedback
speed is larger than the setting value, Servo control error (42.2) will occur. (Refer to
section 14.4.4.)
Setting "0" will be regarded as 100r/min by the servo amplifier.
Each
0
r/min
0 to
2000
14 - 37
14. USING A DIRECT DRIVE MOTOR
No. Symbol
Name and function
Each/ Default
common value
Unit
Setting
range
Servo control torque deviation error detection level
This is used to set the torque deviation error detection level of the servo control error
detection. When the deviation between a command torque and actual feedback
torque is larger than the setting value, Servo control error (42.3) will occur. (Refer to
section 14.4.4.)
Setting "0" will be regarded as 100 by the servo amplifier.
Each
100
0 to
1000
PS08 *LIT3 Special function selection 3
Select the valid/invalid setting of the stroke limit and the magnetic pole detection
method for the magnetic pole detection.
(Refer to section 14.4.2 (3).)
When not using the stroke limit (FLS and RLS) of the servo amplifier, invalidate the
stroke limit for the magnetic pole detection.
Each
0010h
Refer to
Name
and
function
column.
Each
30
0 to 100
PS07
LB3
0
1
Method selection for the magnetic pole detection
0: Position detection method
4: Minute position detection method
Valid/invalid setting of the stroke limit (FLS and
RLS) for the magnetic pole detection
0: Valid
1: Invalid
PS09 LPWM Magnetic pole detection voltage level
This is used to set a direct current exciting voltage level during the magnetic pole
detection. When overload alarm (50. and 51. ) or overcurrent alarm (32. )
occurs, set the smaller value. If Initial magnetic pole detection error occurs during the
magnetic pole detection, increase the setting value. (Refer to section 14.4.2 (2).)
PS10
This parameter is not used. Do not change this value by any means.
5
PS11
100
PS12
500
PS13
0000h
PS14
0
PS15
0000h
PS16
0000h
14 - 38
14. USING A DIRECT DRIVE MOTOR
No. Symbol
Each/ Default
common value
Name and function
PS17 LTSTS Minute position detection method function selection
Set the response and the load to motor inertia moment ratio of the minute position
detection method.
To make the parameter valid, set parameter No.PS08 (Special function selection 3)
to "
4" (minute position detection method). (Refer to section 14.4.2 (5).)
Unit
Setting
range
Each
0000h
Refer to
Name
and
function
column.
Each
0000h
0000h
to
006Fh
0 0
Response of the minute position detection
method
Setting
0
1
2
3
4
5
6
7
Response
Low response
Setting
Response
8
Middle response
9
A
B
C
D
E
High response
Middle response
F
Selecting the load inertia moment ratio at the
direct drive motor, which decides the response of
the minute position detection method
Setting
Load inertia
moment ratio
Setting
Load inertia
moment ratio
0
1
2
3
4
5
6
7
Less than 10 times
10 times
20 times
30 times
40 times
50 times
60 times
70 times
8
9
A
B
C
D
E
F
80 times
90 times
100 times
110 times
120 times
130 times
140 times
150 times or more
PS18 IDLV
Minute position detection method identification signal amplitude
Used to set the identification signal amplitude for the minute position detection
method. To make the parameter valid, set parameter No.PS08 (Special function
selection 3) to "
4". Identification signal is "100 " when "0000h" is set. (Refer
to section 14.4.2 (5).)
PS19
This parameter is not used. Do not change this value by any means.
0000h
PS20
0000h
PS21
0000h
PS22
0000h
PS23
0000h
PS24
0000h
PS25
0000h
PS26
0000h
PS27
0000h
PS28
0000h
PS29
0000h
PS30
0000h
PS31
0000h
PS32
0000h
14 - 39
14. USING A DIRECT DRIVE MOTOR
14.5.7 Option setting parameters (No.Po
)
POINT
The parameter whose symbol is preceded by * is enabled with the following
conditions:
*: After setting the parameter, cycle the power or reset the controller.
**: After setting the parameter, cycle the power.
No.
Symbol
Name
Each/
common
(Note 1)
Default
value
(Note 2)
Po01
*OOP1 Function selection O-1
Common
0000h
Po02
SGRA
Axis selection for graphing analog data (MR Configurator)
Common
0000h
Po03
SGRD
Axis selection for graphing digtal data (MR Configurator)
Common
0000h
Common
0000h
Po04 **OOP2 Function selection O-2
Po05
This parameter is not used. Do not change this value by any means.
Unit
Reference
Section
5.5.2
0000h
Po06
0000h
Po07
0000h
Po08
0000h
Po09
0000h
Po10
0000h
Po11
0000h
Po12
0000h
Po13
0000h
Po14
0000h
Po15
0000h
Po16
0000h
Note 1. Each: Set parameters for each axis of A and B.
Common: Set parameters for common axis of A and B. Be sure to set the same value to the both axes. When the setting values are
different, the value set at last will be enabled.
2. The values are common in A-axis and B-axis.
14 - 40
14. USING A DIRECT DRIVE MOTOR
14.6 Troubleshooting
POINT
If an alarm which indicates each axis in the stop method column occurs, the axis
without the alarm operates the servo motor as per normal.
If an alarm/warning has occurred, refer to this section and remove its cause.
14.6.1 Alarm and warning list
When an error occurs during operation, the corresponding alarm or warning is displayed. Refer to section 14.6.2
and 8.3 for alarms, and section 14.6.3 and 8.4 for warnings to take an appropriate action. When an alarm occurs,
ALM-A/ALM-B will turn off.
After its cause has been removed, the alarm can be deactivated in any of the methods marked
in the alarm
deactivation column. Warnings are automatically canceled after the cause of occurrence is removed.
Detection
system
CPU reset
(Note 3)
Stop
system
(Note 4)
Alarm deactivation
Alarm
Display
Name
Power off
to on
Error
reset
10
Undervoltage
Common
All axes
11
Switch setting error
Common
All axes
12
Memory error 1 (RAM)
Common
All axes
13
Clock error
Common
All axes
15
Memory error 2 (EEP-ROM)
Common
All axes
16
Encoder initial communication error 1
17
Each
Each
Board error
Common
All axes
19
Memory error 3 (Flash-ROM)
Common
All axes
1A
Motor combination error
Each
Each
1E
Encoder initial communication error 2
Each
Each
1F
Encoder initial communication error 3
Each
Each
20
Encoder normal communication error 1
Each
Each
21
Encoder normal communication error 2
Each
Each
24
Main circuit error
Each
All axes
25
Absolute position erased
Each
Each
27
Initial magnetic pole detection error
Each
Each
2B
Encoder counter error
Each
Each
Common
All axes
Each
Each
30
Regenerative error
31
Overspeed
(Note 1)
(Note 1)
(Note 1)
32
Overcurrent
Each
All axes
33
Overvoltage
Common
All axes
Each
Each
(Note 2)
34
SSCNET receive error 1
35
Command frequency error
Each
Each
36
SSCNET receive error 2
Each
Each
37
Parameter error
Each
Each
Each
Each
Common
All axes
42
Servo control error
45
Main circuit device overheat
14 - 41
(Note 1)
(Note 5)
(Note 5)
(Note 1)
(Note 1)
14. USING A DIRECT DRIVE MOTOR
Detection
system
CPU reset
(Note 3)
Alarm deactivation
Warning
Alarm
Display
Name
46
Direct drive motor overheat
47
Cooling fan error
Power off
to on
Error
reset
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
(Note 1)
Stop
system
(Note 4)
Each
Each
Common
All axes
Each
Each
Each
Each
50
Overload 1
51
Overload 2
52
Error excessive
Each
Each
8A
USB communication time-out error
Common
All axes
8E
USB communication error
Common
All axes
888
Watchdog
Common
All axes
91
Main circuit device overheat warning
Common
92
Battery cable disconnection warning
Each
96
Home position setting warning
Each
9F
Battery warning
E0
Excessive regeneration warning
E1
Overload warning 1
E2
Direct drive motor overheat warning
Each
E3
Absolute position counter warning
Each
E4
Parameter warning
E6
Servo forced stop warning
Each
Common
Each
Each
Common
All axes
All axes
E7
Controller forced stop warning
Common
E8
Cooling fan speed reduction warning
Common
E9
Main circuit off warning
Common
All axes
EB
The other axis error warning
Each
All axes
EC
Overload warning 2
Each
ED
Output watt excess warning
Each
Note 1. Wait for about 30 minutes as cooling time after removing the cause of occurrence, then deactivate the
alarm.
2. In some controller communication status, the alarm factor may not be removed.
3. Indicates detected axis of alarm/warning.
Each: Alarm/warning will be detected for each axis.
Common: Alarm/warning will be detected as a common axis.
4. When an alarm/warning occurs, following axis will stop.
Each axis: Only detected axis will stop.
All axes: All axes will stop.
5. To cancel it, set parameter No.PS04 to "1
".
14 - 42
14. USING A DIRECT DRIVE MOTOR
14.6.2 Remedies for alarms
CAUTION
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the
alarm before restarting operation. Otherwise, it may cause injury.
If Absolute position erased (25.1) occurs, always make home position setting again.
Otherwise, it may cause an unexpected operation.
When alarms are occurring in both axes of A and B, shut off the main circuit power
supply. Not doing so may cause a fire when a regenerative transistor malfunctions or
the like may overheat the regenerative resistor.
POINT
When any of the following alarms has occurred, do not cycle the power repeatedly
to restart. Doing so will cause a malfunction of the servo amplifier and direct drive
motor. Remove its cause and allow about 30 minutes for cooling before resuming
the operation. To protect the main circuit elements, any of these servo alarms
cannot be deactivated from the servo system controller until the specified time
elapses after its occurrence. Judging the load changing condition until the alarm
occurs, the servo amplifier calculates this specified time automatically.
Regenerative error (30. )
Main circuit device overheat (45. )
Overload 1 (50. )
Direct drive motor overheat (46. )
Overload 2 (51. )
To deactivate the alarm, cycle the power, command the error reset, or CPU reset
from the servo system controller. For details, refer to section 14.6.1.
When an alarm occurs, Malfunction (ALM-A/ALM-B) switches off and the dynamic brake is operated to stop the
direct drive motor. At this time, the display indicates the alarm No.
Remove the cause of the alarm in accordance with this section. Use MR Configurator to refer to the cause of
alarm occurrence.
Alarm No.: 10
Alarm content
Display
Detail name
10.1
Voltage drop in
the control
circuit power
10.2
Voltage drop in
the main circuit
power
Name: Undervoltage
Stop system: All axes
The voltage of the control circuit power supply has dropped.
The voltage of the main circuit power supply has dropped.
Cause
Check method
Same as for the rotary servo motors.
Refer to section 8.3.
14 - 43
Check result
Action
14. USING A DIRECT DRIVE MOTOR
Alarm No.: 11
Alarm content
Display
Detail name
11.1
Rotary switch
setting error
11.2
DIP switch
setting error
11.3
Servo motor
select switch
setting error
11.4
Servo motor
select switch
setting error 2
Alarm No.: 12
Alarm content
Display
Detail name
12.1
CPU built-in
RAM error
12.2
CPU data RAM
error
12.3
Custom IC
RAM error
Alarm No.: 13
Alarm content
Display
13.1
Detail name
Clock error
Alarm No.: 15
Alarm content
Display
Detail name
Name: Switch setting error
Stop system: All axes
Rotary axis setting switch was incorrectly set.
DIP switch was incorrectly set.
Servo motor selection switch was incorrect set.
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.3.
Name: Memory error 1 (RAM)
Stop system: All axes
A part (CPU) in the servo amplifier is failure.
A part (custom IC) in the servo amplifier is failure.
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.3.
Name: Clock error
Stop system: All axes
Fault was found in the printed board.
A clock error transmitted from the controller occurred.
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.3.
Name: Memory error 2 (EEP-ROM)
Stop system: All axes
A part (EEP-ROM) in the servo amplifier is failure.
Cause
15.1
EEP-ROM error Same as for the rotary servo motors.
Refer to section 8.3.
at power on
15.2
EEP-ROM error
during
operation
Check method
14 - 44
Check result
Action
14. USING A DIRECT DRIVE MOTOR
Alarm No.: 16
Alarm content
Display
Detail name
16.1
Encoder
receive data
error 1
16.2
Encoder
receive data
error 2
16.3
Encoder
receive data
error 3
16.5
Encoder
transmission
data error 1
16.6
Encoder
transmission
data error 2
16.7
Encoder
transmission
data error 3
Alarm No.: 17
Alarm content
Display
Detail name
17.1
AD converter
error
17.2
Current
feedback data
error
17.3
Custom IC error
17.4
Amplifier
detection signal
error
17.5
Rotary switch
error
17.6
DIP switch error
Alarm No.: 19
Alarm content
Display
Detail name
19.1
Flash-ROM
error 1
19.2
Flash-ROM
error 2
Name: Encoder initial communication error 1
Stop system: Each axis
An error occurred in the communication between the encoder and the servo amplifier.
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.3.
Name: Board error
Stop system: All axes
A part in the servo amplifier is failure
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.3.
Name: Memory error 3 (Flash-ROM)
Stop system: All axes
A part (Flash-ROM) in the servo amplifier is failure.
Cause
Check method
Same as for the rotary servo motors.
Refer to section 8.3.
14 - 45
Check result
Action
14. USING A DIRECT DRIVE MOTOR
Alarm No.: 1A
Alarm content
Display
1A.1
Name: Servo motor combination error
Detail name
Motor
combination
error
Cause
1)
2)
Alarm No.: 1E
Alarm content
Display
Detail name
1E.1
Encoder failure
Alarm No.: 1F
Alarm content
Display
1F.1
Detail name
Incompatible
encoder
Alarm No.: 20
Alarm content
Display
Detail name
20.1
Encoder
receive data
error 1
20.2
Encoder
receive data
error 2
20.3
Encoder
receive data
error 3
20.5
Encoder
transmission
data error 1
20.6
Encoder
transmission
data error 2
20.7
Encoder
transmission
data error 3
Stop system: Each axis
Combination of servo amplifier and servo motor is incorrect.
Check method
Check result
Combination of servo
amplifier and servo motor
is incorrect.
Check the model name
of the direct drive motor
and corresponding
servo amplifier.
Rotary servo setting was
selected in the parameter.
Direct drive motor
Check the parameter
was selected.
No. PA01 setting.
Rotary servo motor:
"
0 "
Linear servo motor:
"
4 "
Direct drive motor:
"
6 "
Name: Encoder initial communication error 2
Action
The combination is
not correct.
Use them in the correct
combination.
The combination is
correct.
Check 2).
Use them in the correct
combination.
Stop system: Each axis
The encoder is malfunctioning.
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.3.
Name: Encoder initial communication error 3
Stop system: Each axis
The connected encoder is not compatible with the servo amplifier.
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.3.
Name: Encoder normal communication error 1
Stop system: Each axis
An error occurred in the communication between the encoder and the servo amplifier.
Cause
Check method
Same as for the rotary servo motors.
Refer to section 8.3.
14 - 46
Check result
Action
14. USING A DIRECT DRIVE MOTOR
Alarm No.: 21
Alarm content
Display
Name: Encoder normal communication error 2
Detail name
21.1
Encoder data
error
21.2
Encoder data
update error
21.3
Encoder data
waveform error
Alarm No.: 24
Alarm content
Display
Detail name
24.1
Ground fault
detected by
hardware
detection circuit
24.2
Ground fault
detected by
software
detection
function
Stop system: Each axis
Error is found in the encoder data.
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.3.
1)
Something near the device
caused it.
Check for noise, and
other factors.
Problem found.
Take countermeasures
against its cause.
No problem found.
Check 2).
2)
Encoder failure
Replace the direct drive
motor, and then check
the repeatability.
It is not repeatable.
Replace the direct drive
motor.
Name: Main circuit error
Stop system: All axes
Ground fault occurred at the servo motor power lines of the servo amplifier.
A ground fault occurred at the servo motor.
Cause
Check method
Same as for the rotary servo motors.
Refer to section 8.3.
14 - 47
Check result
Action
14. USING A DIRECT DRIVE MOTOR
Alarm No.: 25
Alarm content
Display
25.1
Alarm content
27.1
27.2
27.3
Cause
Magnetic pole
detection time
out error
Magnetic pole
detection limit
switch error
Check method
Check result
Action
1)
Power was switched on for Check if the action
the first time in the absolute stated in the left is
performed.
position detection system.
2)
The battery was removed
(replaced) when the control
circuit power supply was
off.
Check if the action
stated in the left is
performed.
3)
The battery voltage is low.
(Battery is consumed.)
Check the battery
voltage with a tester.
3.0VDC or more.
Check 4).
4)
The battery cable is faulty.
Check for poor contact
using a tester.
Problem found.
Replace the battery cable.
No problem found.
Check 5).
5)
Encoder cable is faulty.
Check for poor contact
using a tester.
Check the voltage on
the motor side.
Problem found.
Repair or replace the
encoder cable.
No problem found.
Check 6).
Replace the absolute
position storage unit.
Performed.
Check that the battery is
mounted, and make home
position return.
Not performed.
Check 2).
Performed.
Check that the battery is
mounted, and make home
position return.
Not performed.
Check 3).
Below 3.0VDC.
Replace the battery.
6)
The absolute position
storage unit is
malfunctioning.
Check if it occurs with a
new absolute position
storage unit.
It does not occur.
It occurs.
Check 7).
7)
Encoder failure
Check if it occurs with a
new battery.
It occurs.
Replace the servo motor.
Name: Initial magnetic pole detection error
Stop system: Each axis
The initial magnetic pole detection was not completed properly.
Detail name
Magnetic pole
detection
abnormal
termination
Stop system: Each axis
An error was found in the absolute position data.
Power was switched on for the first time in the absolute position detection system.
When the alarm occurs, startup the direct drive servo again, and then make home position setting.
Detail name
Absolute
position data
erase
Alarm No.: 27
Display
Name: Absolute position erased
Cause
Check method
Check result
Action
1)
A moving part collided
against the machine.
Check if it collided.
It collided.
Move the start position of
the magnetic pole
detection.
It did not collided.
Check 2).
2)
Power line wiring failure
The servo motor power
lines are not routed
correctly.
Problem found.
Correct the wiring.
No problem found.
Check 3).
3)
Accuracy of the initial
magnetic pole detection is
not satisfactory.
The travel distance at
the magnetic pole
detection is short.
It is too short.
Review the parameter
No.PS09 setting.
1)
Only one of the magnetic
pole detection limit
switches is on.
Check the limit
switches.
Problem found.
Remove the cause.
Change the location of the
magnetic pole detection.
No problem found.
Check 2).
2)
The magnetic pole
detection voltage level is
small.
The travel distance at
the magnetic pole
detection is short.
It is too short.
Review the parameter
No.PS09 setting.
1)
Both of the magnetic pole
detection limit switches are
off.
Check if the limit
switches are off.
They are off.
Turn on the limit switches.
14 - 48
14. USING A DIRECT DRIVE MOTOR
Alarm No.: 27
Alarm content
Name: Initial magnetic pole detection error
Stop system: Each axis
The initial magnetic pole detection was not completed properly.
Display
Detail name
27.4
Magnetic pole
detection
estimated error
1)
The estimated value of
magnetic pole detection is
not correct.
Check it with the check method for alarm display "27.1".
27.5
Magnetic pole
detection
position
deviation error
1)
Position deviation
increased during the
magnetic pole detection.
Check it with the check method for alarm display "27.1".
27.6
Magnetic pole
detection speed
deviation error
1)
Speed deviation increased
during the magnetic pole
detection.
Check it with the check method for alarm display "27.1".
27.7
Magnetic pole
detection
current error
1)
The current reached the
alarm level during the
magnetic pole detection.
Check it with the check method for alarm display "27.1".
Alarm No.: 28
Alarm content
Display
2B.1
Encoder
counter error 2
Alarm No.: 30
Alarm content
Display
Detail name
30.1
Regeneration
heat error
30.2
Regenerative
transistor error
30.3
Regenerative
transistor
feedback data
error
Check method
Name: Encoder counter error
Check result
Action
Stop system: Each axis
Data which encoder created is failure.
When the alarm occurs, startup the direct drive servo again, and then make home position setting.
Detail name
Encoder
counter error 1
2B.2
Cause
Cause
1)
Encoder cable is faulty.
Check method
Check the condition of
the shielded part.
Check result
Action
The shielded part is
broken.
Repair the cable.
The shielded part
has no problem.
Check 2).
2)
Something near the device
caused it.
Check the noise,
ambient temperature,
etc.
Problem found.
Take countermeasures
against its cause.
No problem found.
Check 3).
3)
Encoder failure
Replace the direct drive
motor, and then check
the repeatability.
It is not repeatable.
Replace the direct drive
motor.
1)
Encoder cable is faulty.
Check it with the check method for alarm display "2B.1".
2)
Something near the device
caused it.
3)
Encoder failure
Name: Regenerative error
Stop system: All axes
Permissible regenerative power of the built-in regenerative resistor or regenerative option is exceeded.
A regenerative transistor in the servo amplifier is malfunctioning.
Cause
Check method
Same as for the rotary servo motors.
Refer to section 8.3.
14 - 49
Check result
Action
14. USING A DIRECT DRIVE MOTOR
Alarm No.: 31
Alarm content
Display
31.1
Detail name
Motor speed
error
Alarm No.: 32
Alarm content
Display
Detail name
32.1
Overcurrent
detected at
hardware
detection circuit
(during
operation)
32.2
Overcurrent
detected at
software
detection
function (during
operation)
32.3
Overcurrent
detected at
hardware
detection circuit
(during a stop)
32.4
Overcurrent
detected at
software
detection
function (during
a stop)
Alarm No.: 33
Alarm content
Display
33.1
Detail name
Main circuit
voltage error
Name: Overspeed
Stop system: Each axis
Direct drive motor speed exceeded the instantaneous permissible speed.
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.3.
Name: Overcurrent
Stop system: All axes
Current that flew is higher than the permissible current of the servo amplifier.
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.3.
Name: Overvoltage
Stop system: All axes
The value of the bus voltage exceeded 400VDC.
Cause
Check method
Same as for the rotary servo motors.
Refer to section 8.3.
14 - 50
Check result
Action
14. USING A DIRECT DRIVE MOTOR
Alarm No.: 34
Alarm content
Display
SSCNET
Detail name
34.1
SSCNET
receive data
error
34.2
SSCNET
communication
connector
connection
error
34.3
SSCNET
communication
data error
34.4
Hardware error
signal detection
Alarm No.: 35
Alarm content
Display
Detail name
35.1
Command
frequency error
Alarm No.: 36
Alarm content
Display
Detail name
36.1
Continuous
communication
data error
Alarm No.: 37
Alarm content
Display
Name: SSCNET receive error 1
Detail name
37.1
Parameter
setting range
error
37.2
Parameter
combination
error
Stop system: Each axis
communication is malfunctioning. (continuous communication error with 3.5ms interval)
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.3.
Name: Command frequency error
Stop system: Each axis
Input pulse frequency of command pulse is too high.
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.3.
Name: SSCNET receive error 2
SSCNET
Stop system: Each axis
communication is malfunctioning. (intermittent communication error with about 70ms interval)
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.3.
Name: Parameter error
Stop system: Each axis
Parameter setting is incorrect.
Cause
Check method
Same as for the rotary servo motors.
Refer to section 8.3.
14 - 51
Check result
Action
14. USING A DIRECT DRIVE MOTOR
Alarm No.: 42
Alarm content
Display
Detail name
42.1
Servo control
error by position
deviation
42.2
42.3
Servo control
error by speed
deviation
Servo control
error by torque
detection
Name: Servo control error
Cause
Connection of the direct
drive motor is not correct.
Check the wiring.
2)
The initial magnetic pole
detection was not
executed.
Execute the magnetic
pole detection again,
and then check the
repeatability.
3)
The position deviation
Check the operation
reached the detection level. status.
(Check the value of
droop pulses.)
1)
Connection of the direct
drive motor is not correct.
Check the wiring.
The initial magnetic pole
detection was not
executed.
Execute the magnetic
pole detection again,
and then check the
repeatability.
2)
Display
Detail name
Check result
Action
Problem found.
Wire it correctly.
No problem found.
Check 2).
It is not repeatable.
Execute the magnetic pole
detection.
It is repeatable.
Check 3).
The deviation is
large.
Review the operation
status.
Review the setting of
parameter No.PS05 (Servo
control position deviation
error detection level) as
required.
Problem found.
Wire it correctly.
No problem found.
Check 2).
It is not repeatable.
Execute the magnetic pole
detection.
It is repeatable.
Check 3).
3)
The speed deviation
Check the operation
reached the detection level. status.
(Calculate the deviation
between the speed
command and direct
drive motor speed.)
The deviation is
large.
Review the operation
status. Review the setting
of parameter No.PS06
(Servo control speed
deviation error detection
level) as required.
1)
Connection of the direct
drive motor is not correct.
Check the wiring.
Problem found.
Wire it correctly.
No problem found.
Check 2).
The initial magnetic pole
detection was not
executed.
Execute the magnetic
pole detection again,
and then check the
repeatability.
It is not repeatable.
Execute the magnetic pole
detection.
It is repeatable.
Check 3).
The deviation is
large.
Review the operation
status.
Review the setting of
parameter No.PS07 (Servo
control torque deviation
error detection level) as
required.
3)
Alarm content
Check method
1)
2)
Alarm No.: 45
Stop system: Each axis
A servo control error occurred.
The thrust deviation
Check the operation
reached the detection level. status.
(Calculate the deviation
between the current
command and torque.)
Name: Main circuit device overheat
Stop system: All axes
Inside of the servo amplifier overheated.
Cause
45.1
Same as for the rotary servo motors.
Main circuit
device overheat Refer to section 8.3.
error
45.5
Board
temperature
error
Check method
14 - 52
Check result
Action
14. USING A DIRECT DRIVE MOTOR
Alarm No.: 46
Alarm content
Name: Direct drive motor overheat
Stop system: Each axis
The direct drive motor overheated.
Display
Detail name
46.1
Encoder
thermal sensor
error
Same as for the rotary servo motors.
Refer to section 8.3.
46.2
Direct drive
motor thermal
sensor error
1)
Ambient temperature of the Check the ambient
temperature of the
direct drive motor has
direct drive motor.
exceeded 40 .
2)
The direct drive motor has
been under overload
status.
Check the effective load The effective load
ratio.
ratio is large.
3)
The thermal sensor in the
direct drive motor is
malfunctioning.
Check the direct drive
motor temperature
when the alarm occurs.
Replace the direct drive
The direct drive
motor temperature is motor.
low.
1)
A thermistor wire is not
connected.
Check if the thermistor
wire is connected.
It is not connected.
It is connected.
Check 2).
The thermistor wire is
disconnected.
Check the thermistor
wire.
It is disconnected.
Repair the lead wire.
46.3
Thermistor wire
disconnected
error
Alarm No.: 47
Alarm content
Display
Detail name
47.1
Cooling fan
stop error
47.2
Cooling fan
speed reduction
error
Cause
2)
Check method
Check result
It is over 40 .
Lower the ambient
temperature of the direct
drive motor.
It is 40
Check 2).
or less.
The effective load
ratio is small.
Name: Cooling fan error
Action
Reduce the load or review
the operation pattern.
Check 3).
Connect it.
It is not disconnected. Replace the direct drive
motor.
Stop system: All axes
The speed of the servo amplifier cooling fan decreased.
The speed decreased to the alarm level or less.
Cause
Check method
Same as for the rotary servo motors.
Refer to section 8.3.
14 - 53
Check result
Action
14. USING A DIRECT DRIVE MOTOR
Alarm No.: 50
Alarm content
Display
Detail name
Name: Overload 1
Cause
50.1
Same as for the rotary servo motors.
Thermal
overload error 1 Refer to section 8.3.
during
operation
50.2
Thermal
overload error 2
during
operation
50.3
Thermal
overload error 4
during
operation
50.4
Thermal
overload error 1
during a stop
50.5
Thermal
overload error 2
during a stop
50.6
Thermal
overload error 4
during a stop
Alarm No.: 51
Alarm content
Display
Detail name
Cause
51.2
Thermal
overload error 3
during a stop
Display
Detail name
52.3
Excess droop
pulses
52.4
Error excessive
during 0 torque
limit
Alarm No.: 8A
Alarm content
Display
Detail name
8A.1
USB
communication
time-out error
Check result
Action
Stop system: Each axis
Maximum output current flowed for several seconds continuously due to machine collision or the like.
Same as for the rotary servo motors.
Thermal
overload error 3 Refer to section 8.3.
during
operation
Alarm content
Check method
Name: Overload 2
51.1
Alarm No.: 52
Stop system: Each axis
Load exceeded overload protection characteristic of servo amplifier.
Check method
Name: Error excessive
Check result
Action
Stop system: Each axis
The droop pulses existing between the model position and the actual servo motor position reached the alarm
level.
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.3.
Name: USB communication time-out error
Stop system: All axes
Communication between the servo amplifier and a communication device (PC, etc.) stopped for the specified
time or longer.
Cause
Check method
Same as for the rotary servo motors.
Refer to section 8.3.
14 - 54
Check result
Action
14. USING A DIRECT DRIVE MOTOR
Alarm No.: 8E
Alarm content
Display
Detail name
8E.1
USB
communication
receive error
8E.2
USB
communication
checksum error
8E.3
USB
communication
character error
8E.4
USB
communication
command error
8E.5
USB
communication
data No. error
Name: USB communication error
Stop system: All axes
The USB communication error occurred between the servo amplifier and communication device (e.g.
personal computer).
Cause
Check method
Same as for the rotary servo motors.
Refer to section 8.3.
14 - 55
Check result
Action
14. USING A DIRECT DRIVE MOTOR
14.6.3 Remedies for warnings
If Absolute position counter warning (E3. ) occurs, always make home position
setting again. Otherwise, it may cause an unexpected operation.
CAUTION
POINT
When any of the following alarms has occurred, do not cycle the power of the servo
amplifier repeatedly to restart. Doing so will cause a malfunction of the servo
amplifier and direct drive motor. If the power of the servo amplifier is switched
off/on during the alarms, allow more than 30 minutes for cooling before resuming
operation.
Excessive regeneration warning (E0. )
Main circuit device overheat warning (91. )
Overload warning (E1. )
Direct drive motor overheat warning (E2. )
When a warning whose stop system is "All axis" in the following table occurs, the servo amplifier will be the
servo-off status and the servo motor will stop at the warning occurrence. If any other warning occurs, operation
can be continued but an alarm may take place or proper operation may not be performed.
Eliminate the cause of the warning according to this section. Use MR Configurator to refer to the cause of
warning occurrence.
Warning No.: 91
Name: Main circuit device overheat warning
Warning description
Display
Detail name
Cause
Check method
91.1
Same as for the rotary servo motors.
Main circuit
device overheat Refer to section 8.4.
warning
91.2
Board
temperature
warning
Alarm No.: 92
Name: Battery cable disconnection warning
Warning description
Display
92.1
Stop method: No stop (common detection)
The temperature inside of the servo amplifier reached a warning level.
Check result
Action
Stop method: No stop (each-axis detection)
Absolute position detection system battery voltage is low.
Detail name
Cause
Encoder battery 1)
disconnection
warning signal
detection
2)
3)
4)
Check method
Check result
Action
The absolute position
storage unit has not
connected.
Check if the absolute
position storage unit is
connected.
Battery cable is
disconnected.
Check the battery cable. Problem found.
No problem found.
Check 3).
Battery voltage dropped.
(detected by encoder)
Measure the battery
voltage.
It is below 3.0VDC.
Replace the battery.
An encoder cable is
disconnected.
Check if the encoder
cable is disconnected.
It is disconnected.
14 - 56
It is not connected.
Connect the absolute
position storage unit.
It is connected.
Check 2).
Replace the battery.
Repair the cable.
It is 3.0VDC or more. Check 4).
Repair or replace the
encoder cable.
14. USING A DIRECT DRIVE MOTOR
Warning No.: 96
Warning description
Display
Name: Home position setting warning
Detail name
Cause
Check method
96.1
In-position error Same as for the rotary servo motors.
Refer to section 8.4.
at home
positioning
96.2
Command input
error at home
positioning
Alarm No.: 9F
Warning description
Display
Stop method: No stop (each-axis detection)
Home position setting could not be made.
Name: Battery warning
Check result
Action
Stop method: No stop (each-axis detection)
Absolute position detection system battery voltage is low.
Detail name
Cause
Check method
Check result
Action
9F.1
Low battery
Same as for the rotary servo motors.
Refer to section 8.4.
9F.2
Battery
degradation
1)
The absolute position
storage unit has not
connected.
Check if the absolute
position storage unit is
connected.
It is connected.
Check 2).
2)
The battery has
deteriorated. (detected by
encoder)
Replace the battery.
It is not repeatable.
Replace the battery.
Warning No.: 91
Warning description
Display
E0.1
Detail name
Excessive
regeneration
warning
Name: Excessive regeneration warning
It is not connected.
Connect the absolute
position storage unit.
Stop method: No stop (common detection)
There is a possibility that regenerative power may exceed permissible regenerative power of built-in
regenerative resistor or regenerative option.
Cause
Check method
Same as for the rotary servo motors.
Refer to section 8.4.
14 - 57
Check result
Action
14. USING A DIRECT DRIVE MOTOR
Warning No.: E1
Name: Overload warning 1
Warning description
Display
Detail name
E1.1
Thermal
overload
warning 1
during
operation
E1.2
Thermal
overload
warning 2
during
operation
E1.3
Thermal
overload
warning 3
during
operation
E1.4
Thermal
overload
warning 4
during
operation
E1.5
Thermal
overload
warning 1
during a stop
E1.6
Thermal
overload
warning 2
during a stop
E1.7
Thermal
overload
warning 3
during a stop
E1.8
Thermal
overload
warning 4
during a stop
Warning No.: E2
Cause
Detail name
E2.1
Direct drive
motor overheat
warning
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.4.
Name: Direct drive motor overheat warning
Warning description
Display
Stop method: No stop (each-axis detection)
Overload alarm (50. , 51. ) may occur.
Stop method: No stop (each-axis detection)
Direct drive motor overheat (46. ) may occur.
Cause
1)
The direct drive motor
temperature reached 85
of the alarm level of Direct
drive motor overheat
(46.2).
Check method
Check result
Check it with the check method for alarm No. "46.2".
14 - 58
Action
14. USING A DIRECT DRIVE MOTOR
Alarm No.: E3
Warning description
Display
Detail name
Name: Absolute position counter warning
Cause
E3.1
Same as for the rotary servo motors.
Absolute
position counter Refer to section 8.4.
travel distance
excess warning
E3.2
Encoder
absolute
position counter
error warning
Warning No.: E4
Warning description
Display
E4.1
Detail name
Parameter
setting range
error warning
Warning No.: E6
Warning description
Display
E6.1
Detail name
Forced stop
warning
Warning No.: E7
Warning description
Display
E7.1
Detail name
Controller
forced stop
warning
Warning No.: E8
Warning description
Display
E8.1
Detail name
Decreased
cooling fan
speed warning
Stop method: No stop (each-axis detection)
The multi-revolution counter value of the absolute position encoder exceeded the maximum range.
Absolute position encoder pulses are faulty.
Check method
Name: Parameter warning
Check result
Action
Stop method: No stop (each-axis detection)
Out of the setting range was attempted to write during parameter writing.
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.4.
Name: Servo forced stop warning
Stop system: All axes
Forced stop signal was turned off.
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.4.
Name: Controller forced stop warning
Stop system: All axes
The forced stop signal of the servo system controller was enabled.
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.4.
Name: Cooling fan speed reduction warning
Stop method: No stop (common detection)
The cooling fan speed decreased to the warning occurrence level or less.
Cause
Check method
Same as for the rotary servo motors.
Refer to section 8.4.
14 - 59
Check result
Action
14. USING A DIRECT DRIVE MOTOR
Warning No.: E9
Warning description
Display
Detail name
E9.1
Servo-on signal
on during main
circuit off
E9.2
Bus voltage
drop during low
speed operation
E9.3
Ready-off
signal on during
main circuit off
Warning No.: EB
Warning description
Display
EB.1
Detail name
The other axis
error warning
Warning No.: EC
Warning description
Display
EC.1
Detail name
Overload
warning 2
Warning No.: ED
Warning description
Display
ED.1
Detail name
Output watt
excess
Name: Main circuit off warning
Stop system: All axes (common detection)
The servo-on command was inputted with main circuit power supply off.
The bus voltage dropped during the direct drive motor driving under 50r/min.
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.4.
Name: The other axis error warning
Stop system: All axes (each-axis detection)
In the other axis, an alarm demanding all axes stop (11. , 15. , 17. , 24. , and 32. ) occurred.
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.4.
Name: Overload warning 2
Stop method: No stop (each-axis detection)
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.
Cause
Check method
Check result
Action
Same as for the rotary servo motors.
Refer to section 8.4.
Name: Output watt excess warning
Stop method: No stop (each-axis detection)
The status, in which the output wattage (speed torque) of the direct drive motor exceeded the rated output,
continued steadily.
Cause
Check method
Same as for the rotary servo motors.
Refer to section 8.4.
14 - 60
Check result
Action
14. USING A DIRECT DRIVE MOTOR
14.7 Characteristics
14.7.1 Overload protection characteristics
An electronic thermal is built in the servo amplifier to protect the servo amplifier, the direct drive motor, and direct
drive motor power lines from overloads.
Overload 1 alarm (50. ) occurs if overload operation performed is above the electronic thermal protection curve
shown in fig. 14.2. Overload 2 alarm (51. ) occurs if the maximum current is applied continuously for several
seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken line
in the graph.
For the system where the unbalanced torque occurs, such as a vertical axis system, it is recommended that the
unbalanced torque of the machine be kept at 70 or less of the motor's rated torque. When mounting MR-J3W44B closely, use it with 90 or lower of the effective load ratio.
The MR-J3W servo amplifier has solid-state direct drive motor overload protection for each axis. (The direct
drive motor overload current (full load current) is set on the basis of 115 rated current of the servo amplifier.)
1000
Operating
Operation time [s]
100
Servo lock
10
1
0.1
0
50
100
150
200
250
300
(Note) Load ratio [ ]
MR-J3W-44B/MR-J3W-77B/MR-J3W-1010B
Note. If operation that generates torque more than 100 of the rating is performed with an abnormally high frequency in a direct drive motor
stop status (servo-lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may malfunction regardless of
the electronic thermal protection.
Fig. 14.2 Electronic thermal protection characteristics
14 - 61
14. USING A DIRECT DRIVE MOTOR
14.7.2 Dynamic brake characteristics
POINT
Dynamic brake operates at occurrence of alarm, Servo forced stop warning (E6.1),
and Controller forced stop warning (E7.1), and when power is turned off. Do not
use dynamic brake to stop in a normal operation as it is the function to stop in
emergency.
Maximum usage time of dynamic brake for a machine operating under
recommended load to motor inertia ratio is 1000 time while decelerating from rated
speed to a stop with frequency of once in 10 minutes.
Be sure to enable Forced stop (EM1) after the direct drive motor stops when using
Forced stop (EM1) frequently in other than emergency.
(1) Dynamic brake operation
(a) Calculation of coasting distance
Fig. 14.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is
operated. Use equation 14.1 to calculate an approximate coasting distance to a stop. The dynamic
brake time constant varies with the direct drive motor and machine operation speeds. (Refer to (1) (b)
of this section.)
Forced stop (EM1)
ON
OFF
Dynamic brake time constant
V0
Machine speed
te
Time
Fig. 14.3 Dynamic brake operation diagram
Lmax
Lmax
Vo
JM
JL
te
V0
60
te
1
JL
JM
......................................................................................................................(14.1)
: Maximum coasting distance .................................................................................................... [mm][in]
: Machine's fast feed speed ..........................................................................................[mm/min][in/min]
-4
2
2
: direct drive motor inertia moment .................................................................... [ 10 kg m ][oz in ]
: Load moment of inertia converted into equivalent value on direct drive motor rotor
-4
2
2
·························································································································· [ 10 kg m ][oz in ]
: Dynamic brake time constant ............................................................................................................[s]
: Delay time of control section (Note)...................................................................................................[s]
Note. There is internal relay delay time of about 10ms.
14 - 62
14. USING A DIRECT DRIVE MOTOR
[ms]
30
25
002
20
15
006
10
5
0
0
100
70
60
018
50
004
Time constant
Time constant
[ms]
(b) Dynamic brake time constant
The following shows necessary dynamic brake time constant τ for equation 14.1.
200
300
Speed [r/min]
400
500
006
40
30
20
012
10
0
0
100
[ms]
60
50
012
40
30
20
10
0
0
100
400
500
TM-RFM E20
Time constant
Time constant
[ms]
TM-RFM C20
200
300
Speed [r/min]
200
300
Speed [r/min]
400
500
80
70
60
50
40
30
20
10
0
0
040
50
TM-RFM G20
100
150
Speed [r/min]
200
TM-RFM J10
(2) Permissible load to motor inertia ratio when the dynamic brake is used
Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is
higher than this value, the built-in dynamic brake may burn. If there is a possibility that the ratio may exceed
the value, contact your local sales office.
The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation
speed of the direct drive motor.
The value in the parenthesis shows the value at the rated speed of the direct drive motor.
Servo amplifier
Direct drive motor
MR-J3W-22B
A-axis
TM-RFM002C20
B-axis
MR-J3W-44B
A-axis
100 (300)
B-axis
MR-J3W-77B
A-axis
B-axis
MR-J3W-1010B
A-axis
B-axis
100 (300)
TM-RFM004C20
100 (300)
100 (300)
100 (300)
TM-RFM006C20
100 (300)
100 (300)
TM-RFM006E20
100 (300)
100 (300)
TM-RFM012E20
100 (300)
TM-RFM018E20
100 (300)
100 (300)
TM-RFM012G20
50 (300)
50 (300)
TM-RFM040J10
50 (200)
50 (200)
14 - 63
14. USING A DIRECT DRIVE MOTOR
14.8 Options for direct drive motor
WARNING
Before connecting any option or peripheral equipment, turn off the power and wait for
15 minutes or more until the charge lamp turns off. Then, confirm that the voltage
between P and N is safe with a voltage tester and others. Otherwise, an electric
shock may occur. In addition, when confirming whether the charge lamp is off or not,
always confirm it from the front of the servo amplifier.
CAUTION
Use specified auxiliary equipment and options. Otherwise, it may cause a
malfunction or fire.
14.8.1 Cable/connector sets
POINT
The IP rating indicated is the cable's or connector's protection against ingress of
dust and water when the cable or connector is connected to a servo amplifier or
direct drive motor.
If the IP rating of the cable, connector, servo amplifier and direct drive motor vary,
the overall IP rating depends on the lowest IP rating of all components.
Purchase the cable and connector options indicated in this section.
(1) Cable combinations
Servo amplifier
3)
4) 5)
For incremental system
6)
1)
For absolute position detection system
CNP3
(Note 1)
CNP3
1)
2)
CN2A
CN2B
(Note 1)
Power
supply
connect
Encoder
connector
Absolute position
storage unit
MR-BTAS01 (Note 2)
Direct drive motor
TM-RFM
Note 1. Options for B-axis are the same as for A-axis.
2. Always make connection for use in an absolute position detection system. (Refer to section 14.8.2.)
14 - 64
14. USING A DIRECT DRIVE MOTOR
No.
1)
Product
Encoder
connector set
Model
Description
Application
IP67
MR-J3DDCNS
For connection between servo amplifier and direct drive motor.
For connection between servo amplifier and absolute position storage unit.
Refer to section 14.8.1 (2) for details.
2)
Encoder
connector set
MR-J3DDSPS
IP67
For connection between absolute position storage unit and direct drive motor.
Refer to section 14.8.1 (2) for details.
3)
4)
5)
6)
Power connector
set
Power connector
set
Power connector
set
Power connector
set
MR-PWCNF
MR-PWCNS4
MR-PWCNS5
MR-PWCNS3
Plug: CE05-6A14S-2SD-D (DDK)
Cable clamp: YSO14-9 to 11 (Daiwa Dengyo)
Applicable cable
Applicable wire size: 0.3mm2 (AWG22) to
1.25mm2 (AWG16)
Overall diameter of cable: 8.3 to 11.3mm
Plug: CE05-6A18-10SD-D-BSS
Cable clamp: CE3057-10A-1-D
(DDK)
Applicable cable
Applicable wire size: 2mm2 (AWG14) to 3.5mm2
(AWG12)
Overall diameter of cable: 10.5 to 14.1mm
Plug: CE05-6A22-22SD-D-BSS
Cable clamp: CE3057-12A-1-D
(DDK)
Applicable cable
Applicable wire size: 5.5mm2 (AWG10) to 8mm2
(AWG8)
Overall diameter of cable: 12.5 to 16mm
Plug: CE05-6A32-17SD-D-BSS
Cable clamp: CE3057-20A-1-D
(DDK)
Applicable cable
Applicable wire size: 14mm2 (AWG6) to 22mm2
(AWG4)
Overall diameter of cable: 22 to 23.8mm
14 - 65
IP67
For TM-RFM C20
For TM-RFM C20
IP67
For TM-RFM G20
IP67
For TM-RFM040J10
For TM-RFM120J10
For TM-RFM240J10
Be sure to
use this
when
correspon
ding to EN
IP67
14. USING A DIRECT DRIVE MOTOR
(2) Encoder connector set
(a) MR-J3DDCNS
This connector set is used to fabricate an encoder cable for the incremental system or the absolute
position detection system (between the servo amplifier and the absolute position storage unit).
Parts
Connector set
Description
MR-J3DDCNS (option)
Servo amplifier-side connector
Encoder side or absolute position storage
Receptacle: 36210-0100PL
unit (connect from servo amplifier) side
Shell kit: 36310-3200-008
connector
(3M)
Plug: RM15WTPZK-12S
or
Cord clamp: JR13WCCA-8(72)
Connector set: 54599-1019
(Hirose Electric)
(Molex)
Applicable wire size: 0.25mm2 (AWG 23) to 0.5mm2 (AWG20)
(b) MR-J3DDSPS
This connector set is used to fabricate an encoder cable for the absolute position detection system
(between the absolute position storage unit and the direct drive motor).
Parts
Connector set
Description
MR-J3DDSPS (option)
Absolute position storage unit-side
Encoder side connector
connector
Plug: RM15WTPZK-12S
Plug: RM15WTPZ-12P(72)
Cord clamp: JR13WCCA-8(72)
Cord clamp: JR13WCCA-8(72)
(Hirose Electric)
(Hirose Electric)
Applicable wire size: 0.25mm2 (AWG 23) to 0.5mm2 (AWG20)
(3) Fabricating encoder cables
POINT
The encoder cables should be fabricated by the customer. When fabricating the
cable, prepare the following parts (a) or (b), and fabricate it according to the wiring
diagram in (c).
Fabricate the encoder cable to be 50m or shorter between the servo amplifier and
the direct drive motor.
To configure the absolute position detection system by using the direct drive motor,
the battery unit (MR-BTCASE MR-BAT 8) and the absolute position storage unit
MR-BTAS01 are required.
For the absolute position detection system, refer to chapter 12.
Replacing battery unit (MR-BTCASE MR-BAT 8) should be during control circuit
power supply on.
Replacing the unit during control circuit power supply off will cause Absolute
position erased alarm (25.1).
14 - 66
14. USING A DIRECT DRIVE MOTOR
(a) Combinations of encoder cables
1) For incremental system
Servo amplifier
50m or less
CN2A
CN2B
(Note 2)
a)
(Note 1) Encoder cable A)
Direct drive motor
TM-RFM
b)
Note 1. Refer to section (3) (b) 1) of this section for details.
2. Options for B-axis are the same as for A-axis.
2) For absolute position detection system
Servo amplifier
50m or less
(Note 1) Encoder cable A)
CN2A
CN2B
(Note 3)
b)
a)
(Note 2) Encoder cable B)
c)
Absolute position storage unit
MR-BTAS01
Note 1. Refer to section (3) (b) 2) of this section for details.
2. Refer to section (3) (b) 3) of this section for details.
3. Options for B-axis are the same as for A-axis.
4. For cables of 20m or longer, contact your local sales office.
14 - 67
b)
Direct drive motor
TM-RFM
14. USING A DIRECT DRIVE MOTOR
(b) Wiring diagram of encoder cable
1) Encoder cable A)
a) Connector details
a) CNP2A/CNP2B connector
2
LG
4
6
THM2
8
10
MRR
1
P5
3
MR
5
THM1
7
b) Encoder connector
Connector set: 54599-1019
(Molex)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
2
LG
or
9
4
6
Straight plug: RM15WTPZK-12S
Cord clamp: JR13WCCA-8(72)
(Hirose Electric)
8
10
7
9
Recommended cable: 20276 VSVPAWG
#23 6P KB-0492
(Note 3)
(Bando Densen)
MRR THM2
1
3
P5 MR
5
THM1
1
View seen from wiring side. (Note 1)
View seen from wiring side. (Note 1)
9
P5
10
LG
2
3
8
MRR
7
MR
12
11
6
THM2
THM1
4
5
FG
View seen from the wiring side. (Note 2)
Note 1.
2.
3.
Do not connect anything to the pins shown as
. Especially, pin 10 is provided for manufacturer adjustment. If it
is connected with any other pin, the servo amplifier cannot operate normally.
Do not connect anything to the pins shown as
.
Purchase from Toa Electric Industry Co. Ltd., Nagoya Branch
b) Internal wiring diagram
a) CNP2A/CNP2B
connector
P5
LG
1
2
MR
3
MRR
4
THM1 5
THM2 6
SD
Plate
b) Encoder
connector
9
10
P5
LG
7
8
6
11
5
MR
MRR
THM1
THM2
FG
Refer to the following table for the required wires to fabricate the encoder cable.
Core size
Conductor resistance of
one core
0.25mm2
63.6 /km or less
14 - 68
Overall diameter
8.2mm
14. USING A DIRECT DRIVE MOTOR
2) Encoder cable b)
a) Connector details
c) CNP2A/CNP2B connector
Connector set: 54599-1019
(Molex)
Receptacle: 36210-0100PL
Shell kit: 36310-3200-008
(3M)
2
LG
4
6
THM2
8
10
MRR
1
P5
3
MR
5
THM1
7
d) Absolute position storage unit connector
or
9
2
LG
4
8
Recommended cable: 20276 VSVPAWG
#23 6P KB-0492
(Note 3)
(Bando Densen)
10
MRR THM2
1
3
P5 MR
BAT
6
Straight plug: RM15WTPZK-12S
Cord clamp: JR13WCCA-8(72)
(Hirose Electric)
5
THM1
7
9
BAT
1
View seen from wiring side. (Note 1)
View seen from wiring side. (Note 1)
9
P5
10
LG
2
BAT
3
8
MRR
7
MR
12
11
6
THM2
THM1
4
5
FG
View seen from the wiring side. (Note 2)
Note 1.
2.
3.
Do not connect anything to the pins shown as
. Especially, pin 10 is provided for manufacturer adjustment. If it
is connected with any other pin, the servo amplifier cannot operate normally.
Do not connect anything to the pins shown as
.
Purchase from Toa Electric Industry Co. Ltd., Nagoya Branch
b) Cable internal wiring diagram
When the distance between the servo amplifier and the
direct drive motor is within 20m (Note)
a) CNP2A/CNP2B
connector
P5
LG
b) Absolute position storage
unit connector
1
2
MR
3
MRR
4
THM1
5
THM2
6
BAT
9
SD
Plate
9
10
P5
LG
7
8
6
11
2
MR
MRR
THM1
THM2
BAT
5
FG
Note. For cables of 20m or longer, contact your local sales office.
Refer to the following table for the required wires to fabricate the encoder cable.
Core size
Conductor resistance of
one core
0.25mm2
63.6 /km or less
14 - 69
Cable OD
6.2mm
14. USING A DIRECT DRIVE MOTOR
3) Encoder cable c)
a) Connector details
e) Absolute position storage unit connector
f) Encoder connector
Straight plug: RM15WTPZ-12P(72)
Cord clamp: JR13WCCA-8(72)
(Hirose Electric)
Straight plug: RM15WTPZK-12S
Cord clamp: JR13WCCA-8(72)
(Hirose Electric)
Recommended cable: 20276 VSVPAWG
#23 6P KB-0492
(Note 2)
(Bando Densen)
Recommended cable: 20276 VSVPAWG
#23 6P KB-0492
(Note 2)
(Bando Densen)
8
9
P5
MRR
7
MR
12
1
VB
2
10
LG
6
11
THM1
THM2
5
FG
1
VB
2
3
3
4
Note 1.
2.
7
MR
11
6
THM2
THM1
4
View seen from the wiring side. (Note 1)
8
MRR
12
10
LG
BAT
BAT
9
P5
5
FG
View seen from the wiring side. (Note 1)
Do not connect anything to the pins shown as
.
Purchase from Toa Electric Industry Co. Ltd., Nagoya Branch
b) Internal wiring diagram
When the distance between the servo amplifier and the
direct drive motor is within 20m (Note)
c) Absolute position storage
unit connector
b) Encoder connector
P5
LG
9
10
9
10
P5
LG
MR
MRR
THM1
THM2
VB
BAT
FG
7
8
6
11
1
2
5
7
8
6
11
1
2
5
MR
MRR
THM1
THM2
VB
BAT
FG
Note. For cables of 20m or longer, contact your local sales office.
Refer to the following table for the required wires to fabricate the encoder cable.
Core size
Conductor resistance of
one core
0.25mm2
63.6 /km or less
14 - 70
Overall diameter
8.2mm
14. USING A DIRECT DRIVE MOTOR
14.8.2 Absolute position storage unit MR-BTAS01
POINT
Replacing the MR-BTAS01 absolute position storage unit will erase the absolute
position. Start up the direct drive motor again and perform home positioning
according to section 14.4.1.
Replacing battery unit (MR-BTCASE MR-BAT 8) should be during control circuit
power supply on.
Replacing the unit during control circuit power supply off will cause Absolute
position erased (25.1).
Absolute position erased (25.1) will occur if the encoder cable is disconnected.
To configure the absolute position detection system by using the direct drive motor, the battery unit (MRBTCASE MR-BAT 8) and the absolute position storage unit MR-BTAS01 are required.
(1) Connection method with the encoder cable
Refer to section 14.8.1 (3) (a) 2).
(2) Dimensions
[Unit: mm]
RM15WTRZB-12P(72)
(For servo amplifier)
19
19
RM15WTRZB-12S(72)
(For encoder)
16
<Mounting screw size>
M5
6 mounting hole
R3
81
6
2-
5
Mounting surface A (Note)
20
20
45.2
63
45.2
5
6
30
22
15
Mounting surface B (Note)
R3
5
69.8
79.8
5
Mass: 0.26[kg] (0.57 [lb])
Note. When mounting the unit outside the cabinet, fix the mounting surface A with four screws. When mounting the unit
inside the cabinet, you can also fix the mounting surface B with two screws.
14 - 71
14. USING A DIRECT DRIVE MOTOR
(3) Environment
The following table indicates the environment for the absolute position storage unit.
Item
Environment
Ambient
temperature
Operation
0
Ambient
humidity
Operation
90 RH or less (non-condensing)
Storage
90 RH or less (non-condensing)
Storage
Ambience
20
to 65
(non-freezing)
(non-freezing)
Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, oil
and water.
Altitude
Vibration resistance
to 55
1000m or less above sea level
When the mounting surface A is fixed: 49m/s2 (directions of X, Y, and Z axes)
When the mounting surface B is fixed: 5.9m/s2 (directions of X, Y, and Z axes)
14 - 72
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15. MR-J3W-0303BN6 SERVO AMPLIFIER
This chapter explains MR-J3W-0303BN6 servo amplifier. The contents of this chapter are only for MR-J3W0303BN6 servo amplifier. Refer to the corresponding sections for each item below.
Item
Reference
Normal gain adjustment
Chapter 6
Special adjustment functions
Chapter 7
15.1 Functions and configuration
POINT
This section does not include the following items. For details of the items, refer to
each section of the detailed description field.
Item
Detailed
explanation
Summary
Section 1.1
Function list
Section 1.4
15 - 1
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.1.1 Function block diagram
The function block diagram of this servo is shown below.
Servo amplifier
RA
A-axis Servo motor
Inverter (A)
PM
Current
detector
Regenerative
TR
CHARGE
lamp
0
24
U
V
V
W
W
RA
Control
circuit
power
supply
24VDC
U
24VDC
Main circuit power
supply: 24VDC
Circuit
protector
CNP2B
Current
detector
Encoder
U
U
V
V
W
W
RA
Virtual
encoder
Control (A)
Model position
control (A)
Current
detection
A
Control (B)
Model speed
control (A)
Model position
control (B)
Virtual
encoder
Model speed
control (B)
Virtual
motor
Actual position
control (A)
Actual speed
control (A)
Virtual
motor
Current
control (A)
I/F
Control
Actual position
control (B)
USB
CN1A
CN1B
Controller or
servo amplifier
Servo amplifier
or cap
Current
detection
B
Overcurrent
B
Overvoltage
CN5
Personal
computer
USB
15 - 2
Actual speed
control (B)
ElectroB magnetic
brake
B2
MRJ3BAT
Battery + Mounting
attachment
(for absolute position
detection system)
Current
control (B)
D/A
CN3
Analog monitor
(2 channels)
B1
Encoder
CN4
Overcurrent
A
M
CN2B
24VDC
Base amplifier
Regenerative
brake
ElectroB magnetic
brake
B2
B-axis Servo motor
Inverter (B)
24VDC
M
B1
CN2A
CNP1
Built-in
regenerative
resistor
CNP2A
Main circuit power
supply: 48VDC
Circuit
48VDC
protector
Digital I/O
control
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.1.2 Servo amplifier standard specifications
Servo amplifier
MR-J3W-0303BN6
Item
Rated output
Output
30W (A-axis)
Rated voltage
Rated current
[A]
2.4
2.4
Voltage
Main circuit
power
supply input
48VDC/24V (Note 6)
Rated current
[A]
Permissible voltage
fluctuation
48VDC, 2.4A/24VDC, 4.8A
48VDC, within 15 /24VDC, within 10
Power supply capacity
Refer to section 15.8.2.
Inrush current
Refer to section 15.8.4.
Voltage
24VDC
Rated current
Control
Permissible voltage
circuit power
fluctuation
supply
Power consumption
[A]
0.5
Within 10
[W]
10
Inrush current
Interface
power
supply
Refer to section 15.8.4.
Voltage
24VDC 10
Current capacity
[A]
Reusable regenerative
energy (Note 3)
[J]
0.25 (Note 1)
0.9
Rotary servo motor
Capacitor
Moment of inertia J
regeneration
equivalent to permissible
charging amount (Note 4)
[ 10-4kg m2]
Control method
0.18
Sine-wave PWM control, current control method
Built-in regenerative resistor
[W]
1.3
Dynamic brake
Built-in (Note 5)
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic
thermal), servo motor overheat protection, encoder error protection, regenerative error
protection, undervoltage, instantaneous power failure protection, overspeed protection, and
error excessive protection
Protective functions
Structure
Natural-cooling, open (IP rating: IP20)
Close mounting
Ambient
temperature
Ambient
Environment humidity
(Note 2)
Operation
Storage
[
]
0 to 55 (non-freezing)
[ ]
[
32 to 131 (non-freezing)
]
20 to 65 (non-freezing)
[ ]
4 to 149 (non-freezing)
Operation
90 RH or less (non-condensing)
Storage
Indoors (no direct sunlight)
free from corrosive gas, flammable gas, oil mist, dust, and dirt
Ambience
Altitude
1000m or less above sea level
Vibration
resistance
Mass
30W (B-axis)
3-phase 48VAC
5.9m/s2, at 10Hz to 55Hz (directions of X, Y and Z axes)
[kg]
0.3
[lb]
0.66
15 - 3
15. MR-J3W-0303BN6 SERVO AMPLIFIER
Note 1. 0.25A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O
points.
2. Operate the servo amplifier at 75 load ratio and at the ambient temperatures of 0 to 45 .
3. Regenerative energy is generated when the machine, whose moment of inertia is equivalent to the permissible charging amount,
decelerates from the rated speed to stop.
4. This is moment of inertia when the motor decelerates from the rated speed to stop. It will be moment of inertia for two axes when
two motors decelerate simultaneously. It will be moment of inertia for each axis when multiple motors do not decelerate
simultaneously.
5. Electronic dynamic brake deceleration is built-in. It will not operate while the control circuit power supply is off. In addition, It will not
be operate depending on the contents of alarms and warnings. Refer to chapter 8 for details.
6. When using it with 24VDC, set the parameter No.Po04 to "1
".
15 - 4
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.1.3 Model designation
(1) Rating plate
AC SERVO
SER.S28001001
MODEL MR-J3W-0303BN6
POWER : 30W×2 (A, B)
INPUT : 0.5A DC24V, 4.8A DC24V/2.4A DC48V
OUTPUT: 3PH48V 0-360Hz 2.4A×2 (A, B)
STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300148
Max. Surrounding Air Temp.: 55°C
IP20
TOKYO 100-8310, JAPAN
Serial number
Model
Capacity
Applicable power supply
Rated output current
Standard, Manual number
Ambient temperature
IP rating
KC mark number,
The year and month of
manufacture
MADE IN JAPAN
Country of origin
(2) Model
The following describes what each block of a model name indicates. Not all combinations of the symbols
are available.
Main circuit power supply: 48VDC/24VDC
Series name
Interface
Symbol
Interface
B
SSCNET
BN
Rated output
Rated output [W]
Symbol
A axis
B axis
0303
30
30
Rating plate
15.1.4 Combination with servo motor
The following table lists combinations of servo amplifiers and servo motors. The same combinations is applied
to the servo motors with an electromagnetic brake.
Servo motor
MR-J3W-0303BN6
A-axis
HG-AK0136
HG-AK0236
HG-AK0336
15 - 5
B-axis
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.1.5 Parts identification
Name/Application
Detailed
explanation
Display
The 3-digit, seven-segment LED shows the servo status
and alarm number.
Section 4.3
USB communication connector (CN5)
Connect the personal computer.
Section 11.4
Section 3.13
BCD E
F01
2
789
A
3 4 56
Rotary axis setting switch (SW1)
Used to set the axis No. of servo amplifier.
SW
I/O signal connector (CN3)
Used to connect digital I/O signals.
More over an analog monitor is output.
Test operation select switch (SW2-1)
Used to perform the test operation
mode by using MR Configurator.
SW
1
2
Section 15.3.2
Section 15.3.4
Section 3.13
For manufacturer setting (Be sure to set
to the "Down" position).
Battery connector (CN4)
Used to connect the battery for absolute position data
backup. Battery is not required in fully closed control.
SSCNET cable connector (CN1A)
Used to connect the servo system controller or the front
axis servo amplifier.
Section 15.10
Section 3.9
SSCNET cable connector (CN1B)
Used to connect the rear axis servo amplifier. For the final Section 3.9
axis, puts a cap.
Rating plate
A-axis servo motor encoder connector (CN2A)
Used to connect the A-axis servo motor encoder.
Section 15.3.4
Section 15.9.1
B-axis servo motor encoder connector (CN2B)
Used to connect the B-axis servo motor encoder.
Section 15.3.4
Section 15.9.1
Control circuit power voltage error lamp (24V ERROR)
When a voltage of the control circuit power voltage
(24VDC) is out of permissible range, this will light in
yellow.
Section 15.4.2
Main circuit power supply connector (CNP1)
Connect the input power supply.
Section 15.3.1
Section 15.9.1
Charge lamp (CHARGE)
When the main circuit is charged, this will light in red.
While this lamp is lit, do not reconnect the cables.
A-axis servo motor power output connector (CNP2A)
Connect the A-axis servo motor.
Section 15.3.1
Section 15.3.3
B-axis servo motor power output connector (CNP2B)
Connect the B-axis servo motor.
Section 15.3.1
Section 15.3.3
15 - 6
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.1.6 Configuration including peripheral equipment
Connecting a servo motor for different axis to the CNP2A or CNP2B connector may
cause a malfunction.
CAUTION
POINT
Equipment other than the servo amplifier and servo motor are optional or
recommended products.
MR Configurator
Personal
computer
CN5
Main circuit power supply: 48VDC
48VDC power
supply
CN3
24VDC power
supply
I/O signal
CN4
CN1A
Servo system
controller or Front axis
servo amplifier CN1B
CN1B
Rear axis servo amplifier
CN1A or Cap
Circuit
protector
CN2A
CN2B
24
0
PM
Relay
CNP2A
Main circuit power supply: 24VDC
24VDC power
supply
A-axis servo motor
CNP2B
MR-J3BAT
B-axis servo motor
Circuit
protector
PM 0
24
15 - 7
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.2 Installation (direction and clearances)
WARNING
To prevent electric shock, ground each equipment securely.
CAUTION
Stacking in excess of the specified number of product packages is not allowed.
Install the equipment on incombustible material. Installing it directly or close to
combustibles will lead to a fire.
Install the equipment in a load-bearing place in accordance with the Instruction
Manual.
Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.
Use the equipment within the specified environment. (For the environment, refer to
section 1.3.)
Provide an adequate protection to prevent screws and other conductive matter, oil
and other combustible matter from entering the servo amplifier.
Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may
cause a malfunction.
Do not drop or strike the servo amplifier. Isolate it from all impact loads.
Do not install or operate a faulty servo amplifier.
When the product has been stored for an extended period of time, contact your local
sales office.
When handling the servo amplifier, be careful about the edged parts such as corners
of the servo amplifier.
The servo amplifier must be installed in a metal cabinet.
The equipment must be installed in the specified direction. Otherwise, it may cause a
malfunction.
Leave specified clearances between the servo amplifier and the cabinet walls or
other equipment. Otherwise, it may cause a malfunction.
POINT
This section does not include the following items. For details of the items, refer to
each section of the detailed description field.
Item
Detailed
explanation
Summary
Section 1.1
Function list
Section 1.4
When using heat generating equipment, install them with full consideration of heat generation so that the servo
amplifier is not affected.
Install the servo amplifier on a perpendicular wall in the correct vertical direction.
15 - 8
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(1) Installation of one servo amplifier
Control box
Control box
40mm or
more
Servo
amplifier
Wiring allowance
80mm
10mm or more
Top
10mm or more
Bottom
40mm or
more
(2) Installation of two or more servo amplifiers
POINT
You can mount the MR-J3W-0303BN6 servo amplifiers closely. When mounting
them closely, operate the servo amplifier at 75 load ratio and at the ambient
temperatures of 0 to 45 .
Not to make inside the cabinet stuffy, circulate air by making the clearances between top/bottom and inside
cabinets larger.
When mounting the servo amplifiers closely, leave a clearance of 1mm between the adjacent servo
amplifiers in consideration of mounting tolerances.
Control box
Control box
100mm or more
100mm
or more
5mm
or more
1mm
1mm
Top
30mm
or more
30mm
or more
30mm
or more
Bottom
40mm or more
Leaving clearance
40mm or more
Mounting closely
15 - 9
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.3 Signals and wiring
WARNING
Any person who is involved in wiring should be fully competent to do the work.
Before wiring, turn off the power and check that the charge lamp turns off. Otherwise,
an electric shock may occur. In addition, when confirming whether the charge lamp
is off or not, always confirm it from the front of the servo amplifier.
Ground the servo amplifier and the servo motor securely.
Do not attempt to wire the servo amplifier and servo motor until they have been
installed. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may
cause an electric shock.
To avoid an electric shock, insulate the connections of the power supply terminals.
Wire the equipment correctly and securely. Otherwise, the servo motor may operate
unexpectedly, resulting in injury.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity ( / ) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay for control output should be fitted
in the specified direction. Otherwise, the emergency stop and other protective
circuits may not operate.
Servo amplifier
DOCOM
24VDC
Control output
signal
DICOM
RA
For sink output interface
CAUTION
Servo amplifier
24VDC
DOCOM
Control output
signal
DICOM
RA
For source output interface
Electromagnetic interference may be given to the electronic equipment used near the
servo amplifier. Use a noise filter, etc. to minimize the influence of electromagnetic
interference.
Do not install a power capacitor, surge killer or radio noise filter (FR-BIF option) with
the power line of the servo motor.
Do not modify the equipment.
Connect the servo amplifier power output (U, V, and W) to the servo motor power
input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.
Otherwise, it may cause a malfunction.
Servo amplifier
U
V
W
U
Servo motor
V
W
15 - 10
Servo amplifier
U
M
V
W
U
V
W
Servo motor
M
15. MR-J3W-0303BN6 SERVO AMPLIFIER
POINT
This section does not include the following items. For details of the items, refer to
each section of the detailed description field.
Item
Detailed
explanation
Interface
Section 3.7
Treatment of cable shield external conductor
Section 3.8
SSCNET
cable connection
Control axis selection
Section 3.9
Section 3.13
15.3.1 Input power supply circuit
CAUTION
Always connect a circuit protector between the power supply and power supply
voltage input terminals (24, 0, and PM) of the servo amplifier, in order to configure a
circuit that shuts down the power supply on the side of the servo amplifier’s power
supply. If a circuit protector is not connected, continuous flow of a large current may
cause a fire when the servo amplifier malfunctions.
When alarms are occurring in both axes of A and B, shut off the main circuit power
supply. Not doing so may cause a fire when a regenerative transistor malfunctions or
the like may overheat the regenerative resistor.
Check the servo amplifier model, and then input proper voltage to the servo amplifier
power supply. If input voltage exceeds the upper limit, the servo amplifier will break
down.
Connecting a servo motor for different axis to the CNP2A or CNP2B connector may
cause a malfunction.
POINT
Even if alarm has occurred, do not switch off the control circuit power supply. When
the control circuit power supply has been switched off, optical module does not
operate, and optical transmission of SSCNET communication is interrupted.
Therefore, the next axis servo amplifier displays "AA" at the indicator and turns into
base circuit shut-off. The servo motor will stop.
Wire the power supply/main circuit so that the main circuit power supply is shut off and the servo-on command
turned off as soon as an alarm occurring, an enabled servo forced stop, or an enabled controller forced stop. A
circuit protector must be used with the input cables of the power supply.
15 - 11
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(Note 3)
Controller
Malfunction
forced stop
RA1(A-axis)
RA3
OFF
ON
RA4
RA2(B-axis)
Forced stop
(Note 6)
Main circuit power
supply: 48VDC
24VDC Circuit
(Note 1) protector
Servo amplifier
CNP1
(Note 7)
24
CNP2A
U
0
PM
48VDC
(Note 1)
RA4
RA4
(Note 8)
(Note 4)
U
V
W
W
(Note 2)
Encoder cable
Motor
M
Encoder
B-axis servo motor
(Note 7)
CNP2B
U
(Note 5)
U
V
V
W
W
CN2B
(Note 6) Forced stop
(Note 5)
V
CN2A
Main circuit power
supply: 24VDC
24VDC Circuit
(Note 1) protector
A-axis servo motor
CN3
CN3
EM1
DOCOM
DOCOM
DICOM
(Note 2)
Encoder cable
Motor
M
Encoder
24VDC
ALM-A
RA1
ALM-B
RA2
A-axis malfunction
(Note 3)
B-axis malfunction
(Note 3)
(Note 4)
Note 1. Use reinforced insulating type for 24VDC and 48VDC power supply. Connect at power supply part for - side wiring (0V). Refer to
section 15.3.3 (1) (c) for selecting power supply.
2. For the encoder cable, using optional cable is recommended. Refer to section 15.9.1 for selection of the cable.
3. If disabling malfunction (ALM-A/ALM-B) output with the parameter, configure up the circuit which switches off the main circuit
power supply after detection of alarm occurrence on the controller side. This example is to continue the operation in another axis
even if an alarm occurs either A-axis or B-axis. When stopping operation of both axes at an alarm occurrence for one axis,
connect RA1 and RA2 in series.
4. This is for sink I/O interface. For source I/O interface, refer to section 3.7.3.
5. Refer to section 15.3.6 for wiring power lines.
6. Configure up the circuit which shuts off main circuit power with external circuit at forced stop 1 (EM1) off.
7. Connecting a servo motor for different axis to the CNP2A or CNP2B connector may cause a malfunction.
8. The noiseless grounding ( ) terminals of CNP2A and CNP2B are connected to the noiseless grounding ( ) terminal of CNP1
in the servo amplifier. Be sure to ground from the noiseless grounding ( ) terminal of CNP1 to the grounding terminal of the
cabinet.
15 - 12
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.3.2 I/O signal connection example
10m or less
10m or less
Servo amplifier
(1 axis 2 axis)
(Note 10)
24VDC
(Note 12) (Note 12)
DICOM
(Note 14)
DOCOM
(Note 3, 4) Forced
A-axis upper stroke limit (FLS)
A-axis lower stroke limit (RLS)
A-axis proximity dog (DOG)
(Note 15) B-axis upper stroke limit (FLS)
B-axis lower stroke limit (RLS)
B-axis proximity dog (DOG)
(Note 5)
MR Configurator
Personal
computer
EM1
DI1-A
DI2-A
DI3-A
DI1-B
DI2-B
DI3-B
CN3
23
26
10
7
8
9
20
21
22
USB cable
MR-J3USBCBL3M
(option)
CN5
Servo system
controller
(Note 6)
SSCNET
(option)
(Note 2)
CN3
ALM-A
RA1
12
MBR-A
RA2
A-axis electromagnetic
brake interlock
24
ALM-B
RA3
B-axis malfunction
(Note11)
25
MBR-B
RA4
3
16
4
17
5
18
6
19
14
2
1
15
LA-A
LAR-A
LB-A
LBR-A
LA-B
LAR-B
LB-B
LBR-B
LG
MO1
LG
MO2
Plate SD
cable
CN1A
SW
SW
2m or less
(Note 8)
12
CNP1 (Note 1)
MR-J3W-B
(Note 7)
(3 axis 4 axis)
(Note 6)
SSCNET
(option)
CN1A
SW
CN1B
SW
(Note 8)
12
cable
MR-J3W-B
(n-1 axis
(Note 9)
Cap
n axis)
CN1A
SW
CN1B
SW
12
15 - 13
A-axis malfunction
(Note 11)
11
(Note 7)
(Note 8)
(Note 13, 14)
B-axis electromagnetic
brake interlock
A-axis encoder A-phase
pulse (Differential line driver)
A-axis encoder B-phase
pulse (Differential line driver)
B-axis encoder A-phase
pulse (Differential line driver)
B-axis encoder B-phase
pulse (Differential line driver)
Analog monitor 1
Analog monitor 2
Output voltage: 10V 5V
Maximum current: 1mA
15. MR-J3W-0303BN6 SERVO AMPLIFIER
Note 1. To prevent electric shock, be sure to connect the noiseless grounding ( ) of CNP1 of the servo amplifier to the grounding terminal
of the cabinet.
2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals,
disabling Forced stop (EM1) and other protective circuits.
3. If the controller does not have forced stop function, always install the forced stop switch (normally closed contact).
4. Always turn on Forced stop (EM1) for driving. (normally closed contact) Setting the parameter No.PA04 to " 1
" will disable
Forced stop (EM1).
5. Use MRZJW3-SETUP 221E. (Refer to section 11.4.)
6. Use SSCNET cables listed in the following table.
Cable
Cable model
Cable length
Standard cord
inside cabinet
MR-J3BUS M
0.15m to 3m
Standard cable
outside cabinet
MR-J3BUS M-A
5m to 20m
Long-distance
cable
MR-J3BUS M-B
30m to 50m
7. The wiring of the third and subsequent axes is omitted.
8. Up to 16 axes can be connected. Refer to section 3.13 for setting of axis selection.
9. Make sure to cap the unused CN1B connector.
10. Supply 24VDC 10 250mA current for interfaces from outside. 250mA is the value applicable when all I/O signals are used. The
current capacity can be decreased by reducing the number of I/O points. Refer to section 3.7.2 (1) that gives the current value
necessary for the interface.
11. Malfunction (ALM-A/ALM-B) will be on in normal alarm-free condition. (Normally closed contact)
12. The pins with the same signal name are connected in the servo amplifier.
13. The signals can be changed by parameter No.PD07 and PD09.
14. This is for sink I/O interface. For source I/O interface, refer to section 3.7.3.
15. Devices can be assigned for DI1-A, DI2-A, DI3-A DI1-B, DI2-B, and DI3-B with controller setting. For devices that can be assigned,
refer to the controller instruction manual. The following devices can be assigned for Q173DCPU, Q172DCPU, Q173HCPU,
Q172HCPU, Q170MCPU, QD74MH , QD75MH , LD77MH , Q173DSCPU, Q172DSCPU, and QD77MS. For Q173DSCPU,
Q172DSCPU, or QD77MS, use a controller in the SSCNET mode.
15 - 14
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.3.3 Explanation of power supply system
(1) Signal explanations
POINT
Do not connect anything to the pins for manufacturer setting.
(a) Pin assignment and connector applications
Servo amplifier
CNP1
24
4
0
3
PM
2
Connector
1
CNP1
CNP2A
(Note) (Note) 3
U
B
W
2
V
1
Name
Function/application
Input main circuit power supply and control
circuit power supply.
Power supply connector
CNP2A
A-axis servo motor
output connector
power
CNP2B
B-axis servo motor
output connector
power
Connect with the A-axis servo motor.
Connect with the B-axis servo motor.
A
CNP2B
(Note) (Note) 3
U
B
W
2
V
1
A
Note. It is for manufacturer setting. Do not connect anything to the pins for manufacturer setting.
(b) Detailed explanation
Symbol
Connection target
(application)
24
0
Used to connect of the control circuit power supply (24VDC).
Main circuit/control
circuit power supply
Used to connect of the main circuit power supply and control circuit power
supply.
Servo motor power
). Connect the
Connect to the servo motor power terminals (U, V, W, and
servo amplifier power output (U, V, W, and
) to the servo motor power input
(U, V, W, and
) directly. Do not let a magnetic contactor, etc. intervene.
Otherwise, it may cause a malfunction.
Noiseless grounding
Connect this to the grounding terminal of cabinet.
PM
U/V/W/
Description
Used to connect of the main circuit power supply (48VDC).
15 - 15
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(c) Selection of the main circuit/control circuit power supply
The inrush current at power on will be large because a resistance for protecting inrush current is not
built-in in the main circuit power supply of the servo amplifier. The electric capacity of the capacitor is
approximately 560 F. When the load characteristic (overcurrent protection criteria) of the power unit is
current fold back method, the power cannot startup. Be careful to select power. Especially when the
power is turned ON/OFF on the power unit output side, approximately 100 s to 300 s instantaneous
current will flowed at power on due to capacitor charge. Therefore, a power unit such as one which
operates overcurrent at 1ms or less cannot be used.
In addition, when using a switching power supply for input power supply of the control circuit power
supply, use a reinforced insulating type. A circuit to protect inrush current at power on is built-in in the
control circuit power supply.
(2) Power-on sequence
POINT
The voltage of analog monitor output, output signal, etc. may be unstable at poweron.
(a) Power-on procedure
1) When wiring the power supply, be sure to use a circuit protector for the power supply (24, 0, and PM)
as shown in section 15.3.1. Configure up an external sequence so that the relay connected to PM
turns off when an alarm occurs in both axes of A and B.
2) When using a 48VDC power supply, 24 and 0 should be turned on simultaneously with PM and 0, or
should be turned on before PM and 0. If the control circuit power supply is turned on with the main
circuit power supply off, and then the servo-on command is transmitted, Main circuit off warning
(AL.E9) will occur. Turning on the main circuit power supply stops the warning and starts the normal
operation.
3) The servo amplifier receives the servo-on command within 3s after the main circuit power supply is
switched on. (Refer to (2) (b) of this section.)
(b) Timing chart
Servo-on command accepted
(3s)
Power supply
ON
OFF
Base circuit
ON
OFF
Servo-on command
(from controller)
ON
OFF
95ms
15 - 16
10ms
95ms
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(c) Forced stop
CAUTION
Provide an external forced stop circuit to ensure that operation can be stopped and
power switched off immediately.
If the controller does not have a forced stop function, configure a circuit which shut off the main circuit
power supply simultaneously with EM1 off at forced stop. When EM1 is turned off, dynamic brake will
start to stop the servo motor. During this sequence, the display shows Servo forced stop warning (E6.1).
During normal operation, do not use Forced stop (EM1) to alternate stop and drive. The the servo
amplifier life may be shortened.
Servo amplifier
EM1
(Note)
Forced
stop
DOCOM
Note. This is for sink I/O interface. For source I/O interface, refer to section 3.7.3.
(3) Wiring CNP1
POINT
For the wire sizes used for wiring, refer to section 15.9.1.
CNP1 wiring connector is supplied with the servo amplifier.
(a) Connector
Servo amplifier
CNP1
15 - 17
15. MR-J3W-0303BN6 SERVO AMPLIFIER
Table 15.1 Connector and applicable wire
Connector
applications
For CNP1
Receptacle assembly
FK-MCP1.5/4-ST-3.5 or
equivalent
Applicable wire
size
Stripped length
[mm]
Open tool
AWG24 to
AWG16
9
-
Manufacturer
Phoenix Contact
(b) Cable connection procedure
1) Termination of the cables
Solid wire: After the sheath has been stripped, the cable can be used as it is.
Sheath Core wires
Approx. 9mm
Twisted wire: Use the cable after stripping the sheath without twisting the core. At this time, take
care to avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder
the core as it may cause a contact fault.
2) Inserting wire
a) Solid wire
Insert the cable to the end.
Solid wire
b) Stranded wire
Insert the wire to the end with pushing down the button with a small flat head screwdriver, etc.
Release button
Stranded wire
15 - 18
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.3.4 Connectors and pin assignment
POINT
The pin assignment of the connectors are as viewed from the cable connector
wiring section.
For details of the devices and signals, refer to section 3.5 (2).
CN5
CN5 (USB connector)
Refer to section 11.4.
CN3
14
CN3
1
2
CN4
CN1A
Connector for
SSCNET cable
for previous servo
amplifier axis
CN1A
CN2A
5B 5A
SH
4B 4A
LG P5
3B 3A
MO1
CN1B
CN1B
Connector for
SSCNET cable
for next servo
amplifier axis
CN2B CN2A
2B 2A
1B 1A
M MR
2B 2A
1B 1A
M MR
The Tyco Electronics make
connector is shown.
When using any other
connector, refer to section
11.1.2.
3
6
5
7
DI1-A
DI2-A
EM1
12
MBR-A
LBR-A
18
19 LAR-B
LA-B
LB-B
8
LG
MO2
16
17 LAR-A
LA-A
LB-A
10
CNP2B CNP2A CNP1
CN2B
5B 5A
SH
4B 4A
LG P5
3B 3A
4
LG
15
9
DI3-A
11
ALM-A
13
LBR-B
21
20
DI1-B
DI2-B
23
22
DI3-B
DICOM
25
24
ALM-B
MBR-B
26
DOCOM
The frames of the CN2A,
CN2B and CN3 connectors are
connected to the noiseless
grounding terminal in the
amplifier.
Connector
Name
CN1A
Connector for SSCNET cable for
previous servo amplifier axis
Used for connection with the controller or previous axis servo amplifier.
CN1B
Connector for SSCNET cable for
next servo amplifier axis
Used for connection with the next axis servo amplifier or for connection of the cap.
CN2A
Connector for A-axis encoder
Connect with the A-axis servo motor encoder.
CN2B
Connector for B-axis encoder
Connect with the B-axis servo motor encoder.
CN3
I/O signal connector
CN4
Battery connector
CN5
Communication connector (USB)
Function/application
Used to connect I/O signals.
When using it as absolute position detection system, connect to battery. Before
connecting battery, turn off the main circuit power supply and check that the charge lamp
turns off. Otherwise, an electric shock may occur. In addition, when confirming whether
the charge lamp is off or not, always confirm it from the front of the servo amplifier.
Replace the battery with main circuit power-off and with control circuit power-on.
Replacing the battery with the control circuit power-off results in loosing absolute position
data.
The personal computer is connected.
15 - 19
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.3.5 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.
When alarms are occurring in both axes of A and B, shut off the main circuit power
supply. Not doing so may cause a fire when a regenerative transistor malfunctions or
the like may overheat the regenerative resistor.
POINT
If Servo-on (SON) is turned on during the electronic dynamic brake is operating, the
servo-on status will not be enabled until electromagnetic brake is released.
The time constant " " for the electronic dynamic brake will be shorter than that of
normal dynamic brake. Therefore, coasting distance will be longer than that of
normal dynamic brake. For how to set the electronic dynamic brake, refer to
parameter No.PF06 and PF12.
When an alarm occurs in the servo amplifier, the electronic dynamic brake will operate and stop the servo motor.
Shut off the main circuit power supply by the external sequence as soon as an alarm occurs. To deactivate the
alarm, cycle the control circuit power or give the error reset or CPU reset command from the servo system
controller. However, the alarm cannot be deactivated unless its cause is removed.
15 - 20
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(1) Timing chart
(a) When an all-axis stop alarm occurred
ON
Main circuit
power OFF
Control circuit
Power ON
Power ON
The brake operates during the time set in Pr. PF12.
ON
Base circuit
OFF
Base circuit
ON
Base circuit
ON (EDB)
Base circuit
ON
Base circuit
ON (EDB)
Base circuit
ON
Base circuit
ON (EDB)
Base circuit
ON
ON
Dynamic brake
Brake operation
Brake operation
Brake operation
OFF
A-axis
Servo-on command
(from controller)
ON
Servo-on
command
OFF
ON
Alarm
No alarm
OFF
Servo-on
command
Occurrence of
all axis stop alarm
No alarm
Servo-on
command
Occurrence of
all axis stop alarm
No alarm
Occurrence of
all axis stop alarm
No alarm
ON
Reset command
Reset operation
OFF
ON
Base circuit
OFF
Base circuit
ON
Base circuit
ON (EDB)
Base circuit
ON
Base circuit
ON (EDB)
Base circuit
ON
Base circuit
ON (EDB)
Base circuit
ON
ON
Brake operation
Dynamic brake
Brake operation
Brake operation
OFF
B-axis
Servo-on command
(from controller)
ON
Servo-on
command
OFF
ON
Alarm
No alarm
OFF
Reset command
Servo-on
command
Occurrence of
all axis stop alarm
No alarm
Servo-on
command
Occurrence of
all axis stop alarm
No alarm
Occurrence of
all axis stop alarm
No alarm
ON
OFF
1.5s
Power on
50ms or
more
Reset operation
50ms or
more
Fault cause
Fault cause
Occurrence of removed Alarm reset Occurrence of removed Alarm reset
all axis stop alarm
all axis stop alarm
Note 1. It is different according to the operation status.
2. The dynamic brake does not operate while the control circuit power supply is cut.
15 - 21
60ms (Note 1)
Main circuit power Main circuit power
supply shut-off
supply on
(Note 2)
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(b) When a corresponding axis stop alarm occurred
ON
Main circuit
power OFF
Control circuit
Base circuit
ON
OFF
Dynamic brake
Power ON
Power ON
The brake operates during the time set in Pr. PF12.
Base circuit
ON
Base circuit
ON
Base circuit
ON (EDB)
Base circuit
ON (EDB)
Base circuit
ON
ON
Brake operation
Brake operation
OFF
A-axis
Servo-on command
(from controller)
Alarm
ON
OFF
ON
No alarm
OFF
Reset command
Servo-on
command
Servo-on
command
Occurrence of
each axis alarm
No alarm
ON
Reset operation
OFF
Base circuit
Occurrence of
all axis stop alarm
No alarm
ON
OFF
Base circuit
ON
Base circuit
ON (EDB)
Base circuit
ON
Base circuit
ON (EDB)
Base circuit
ON
ON
Dynamic brake
Brake operation
Brake operation
OFF
B-axis
Servo-on command
(from controller)
ON
OFF
Servo-on
command
Servo-on
command
ON
Alarm
Occurrence of
each axis alarm
No alarm
OFF
Reset command
No alarm
Occurrence of
all axis stop alarm
No alarm
ON
Reset operation
50ms or
50ms or
60ms (Note 1)
more
more
1.5s
Fault cause
Fault cause
removed
removed
Occurrence of
Alarm reset Occurrence of
Alarm reset
Main circuit power Main circuit power
Power on
each axis alarm
all Power shutoff
supply shut-off
supply on
Power on axis stop alarm
(Note 2)
OFF
Note 1. It is different according to the operation status.
2. The dynamic brake does not operate while the control circuit power supply is cut.
(2) Supplementary explanation
(a) Overcurrent/Overload 1/Overload 2
Driving the servo motor by cycling the control circuit power repeatedly to restart without removing the
cause of an occurring alarm of Overcurrent (32. )/Overload 1 (50. )/Overload 2 (51. ) will raise
temperature. Doing so may result in a malfunction of the servo amplifier or servo motor. Remove its
cause and allow about 30 minutes for cooling before resuming the operation.
(b) Regenerative error
Driving the servo motor by cycling the control circuit power repeatedly to restart without removing the
cause of an occurring Regenerative error (30. ) will raise the temperature of regenerative resistor.
Doing so may result in a malfunction of the servo amplifier or servo motor.
(c) Undervoltage
Undervoltage (10. ) occurs on the following conditions.
A power failure occurred for 15 ms at the control circuit power supply and recovered.
Bus voltage dropped to 24VDC, 15VDC/48VDC, 35VDC on the servo-on status.
15 - 22
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.3.6 Connection of servo amplifier and HG-AK series servo motor
WARNING
CAUTION
Any person who is involved in wiring should be fully competent to do the work.
Ground the servo motor securely.
Do not attempt to wire the servo motor until it has been mounted. Otherwise, it may
cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may
cause an electric shock.
To avoid an electric shock, insulate the connections of the power supply terminals.
Wire the equipment correctly and securely. Otherwise, the servo motor may operate
unexpectedly, resulting in injury.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity ( / ) is correct. Otherwise, a burst, damage, etc. may occur.
Do not install a power capacitor, surge killer or radio noise filter (FR-BIF option) with
the power line of the servo motor.
Do not modify the equipment.
Connect the servo amplifier power output (U, V, and W) to the servo motor power
input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.
Otherwise, it may cause a malfunction.
Servo amplifier
U
V
W
U
Servo motor
V
W
Servo amplifier
U
M
V
W
Servo motor
U
V
M
W
(1) Connection instructions
CAUTION
To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and
W) of the servo amplifier and servo motor.
Do not connect AC power supply directly to the servo motor. Otherwise, it may cause
a malfunction.
Do not use a power supply for the electromagnetic brake with other 24VDC power
supplies. Always use the power supply designed exclusively for the electromagnetic
brake. Otherwise, it may cause a malfunction.
POINT
Refer to section 15.7.1 for selection of the encoder cable.
Refer to "Servo Motor Instruction Manual (Vol. 2)" for the selection of a surge
absorber for the electromagnetic brake.
Connect the servo amplifier and servo motor by connecting an encoder cable and
servo motor power cable.
15 - 23
15. MR-J3W-0303BN6 SERVO AMPLIFIER
Ground wire from the servo motor to grounding terminal of cabinet via noiseless grounding terminal of the
servo amplifier and ground it from cabinet to the ground. Do not connect the wire directly to the grounding
terminal of the cabinet.
Control box
Servo amplifier
Servo motor
CNP2A/CNP2B
Grounding
terminal
CNP1
(2) Wiring
POINT
For details of MR-J3W03PWCBL M-A-H and MR-J3W03PWBRCBL M-A-H
cables, refer to section 15.7.1.
(a) Standard servo motor (without electromagnetic brake)
30m or less
0.2m
Servo amplifier
CNP2A
Servo motor
MR-J3W03PWCBL
M-A-H
Power cable attached
to the servo motor
CNP2B
CNP1
MR-J3W03PWCBL
15 - 24
M-A-H
Servo motor
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(b) Servo motor with electromagnetic brake
30m or less
0.2m
Servo amplifier
CNP2A
Servo motor
MR-J3W03PWBRCBL M-A-H
(Note 4)
24VDC power supply for
electromagnetic brake
(Note 2)
MBR-A ALM-A
RA2
RA1
(Note 1)
(Note 3) Power cable
attached to the
servo motor
MBR-B ALM-B
RA3
RA4
(Note 1)
CNP2B
CNP1
(Note 3)
Servo motor
Please fabricate these.
MR-J3W03PWBRCBL M-A-H
Power cable
attached to the
servo motor
Note 1. Connect a surge absorber as close to the servo motor as possible.
2. There is no polarity in electromagnetic brake terminals (B1 and B2).
3. Do not use a power supply for the electromagnetic brake with other 24VDC power supplies.
4. Create the circuit in order to shut off by interlocking with the emergency stop switch.
15 - 25
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.3.7 Servo motor with an electromagnetic brake
(1) Precautions
Configure an electromagnetic brake circuit so that it is activated also by an external
EMG stop switch.
Contacts must be opened when a
malfunction (ALM-A/ALM-B) and when an Contacts must be opened with
electromagnetic brake interlock (MBR-A/ the emergency stop switch.
MBR-B).
Servo motor
RA
B
CAUTION
U
24VDC
Electromagnetic brake
The electromagnetic brake is provided for holding purpose and must not be used for
ordinary braking.
Before operating the servo motor, be sure to confirm that the electromagnetic brake
operates properly.
Do not use the 24VDC interface power supply for the electromagnetic brake. Always
use the power supply designed exclusively for the electromagnetic brake. Otherwise,
it may cause a malfunction.
POINT
Refer to "Servo Motor Instruction Manual (Vol. 2)" for specifications such as the
power supply capacity and operation delay time of the electromagnetic brake.
Refer to "Servo Motor Instruction Manual (Vol. 2)" for the selection of a surge
absorber for the electromagnetic brake.
Note the following when the servo motor with an electromagnetic brake is used.
1) The brake will operate when the power (24VDC) turns off.
2) Turn off the servo-on command after the servo motor stopped.
15 - 26
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(a) Connection diagram
Servo amplifier
A-axis servo motor
24VDC
(Note 2)
RA5
DOCOM
EM1
(Note 1)
EM1
DICOM
DICOM
ALM-A
RA1
MBR-A
RA2
ALM-B
RA3
MBR-B
RA4
ALM-A
RA1
MBR-A
RA2
24VDC power
supply for
electromagnetic
brake
B1
U
B
B2
B-axis servo motor
ALM-B
RA3
MBR-B
RA4
B1
U
B
B2
Note 1. Do not use a power supply for the electromagnetic brake with other 24VDC power supplies.
2. Create the circuit in order to shut off by interlocking with the emergency stop switch.
(b) Setting
In parameter No.PC02 (Electromagnetic brake sequence output), set the time delay (Tb) from
electromagnetic brake operation to base circuit shut-off at a servo-off as in the timing chart in (2) of this
section.
15 - 27
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(2) Timing chart
(a) Servo-on command (from controller) on/off
When servo-on command is turned off, the servo lock will be released after Tb [ms], and the servo
motor will coast. If the electromagnetic brake is enabled during servo-lock, the brake life may be shorter.
When using the electromagnetic brake in a vertical lift application or the like, set delay time (Tb) to about
the same as the electromagnetic brake operation delay time to prevent a drop.
Coasting
Servo motor speed
0 r/min
(95ms)
Base circuit
Tb
ON
OFF
Electromagnetic (Note 1) ON
brake interlock
OFF
(MBR-A/MBR-B)
Servo-on command
(from controller)
ON
Ready-on command
(from controller)
ON
Electromagnetic
brake operation
delay time
(95ms)
OFF
OFF
(Note 3)
Operation command
0 r/min
(from controller)
Electromagnetic
brake
Release
Activate
Release delay time and external relay (Note 2)
Note 1. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of external
circuit relay. For the release delay time of electromagnetic brake, refer to "Servo Motor Instruction Manual (Vol. 2)".
3. Give the operation command from the controller after the electromagnetic brake is released.
15 - 28
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(b) ON/OFF of the forced stop command (from controller) or EM1 (Forced stop)
Servo motor speed
Dynamic brake
enabled time
Dynamic brake
Dynamic brake
Electromagnetic
brake
Electromagnetic brake release
Electromagnetic
brake
(210ms)
ON
Base circuit
OFF
Electromagnetic
brake interlock
(MBR-A/MBR-B)
Electromagnetic brake
operation delay time
(Note) ON
(210ms)
OFF
Forced stop command Invalid (ON)
(from controller)
or
Valid (OFF)
Forced stop (EM1)
Note. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
(c) Alarm occurrence
POINT
When an alarm occurs, the dynamic brake will not operate and the servo motor will
coast. Refer to chapter 8 for details.
Dynamic brake
Dynamic brake
Electromagnetic brake
Servo motor speed
Dynamic brake
enabled time
ON
Base circuit
Electromagnetic
brake interlock
(MBR-A/MBR-B)
Electromagnetic brake
OFF
(Note) ON
OFF
Alarm (ALM-A/ALM-B)
No (ON)
Yes (OFF)
Note. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
15 - 29
Electromagnetic brake
operation delay time
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(d) Main circuit power supply off
Main circuit power supply off causes Undervoltage alarm (10) and will be (c) of this section.
(e) Control circuit power supply off
POINT
While the control circuit power supply is off, the dynamic brake does not operate.
Coasting
Servo motor speed
Electromagnetic brake
(20ms)
Electromagnetic brake
operation delay time
ON
Control circuit
power supply
OFF
(f) Ready-off command from controller
Dynamic brake
Servo motor speed
Dynamic brake
Electromagnetic brake
Dynamic brake
enabled time
Electromagnetic brake
ON
Base circuit
OFF
Electromagnetic
brake interlock
(MBR-A/MBR-B)
(Note) ON
Electromagnetic brake
operation delay time
OFF
Ready-on command
(For controller)
No (ON)
Yes (OFF)
Note. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.
15 - 30
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.3.8 Grounding
WARNING
Ground the servo amplifier and the servo motor securely.
To prevent electric shock, be sure to connect the noiseless grounding (
of the servo amplifier to the grounding terminal of the cabinet.
) terminal
The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the
wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and
dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.
To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).
Control box
Main circuit power
supply: 48VDC
24VDC Circuit
(Note 1) protector
Servo amplifier
CNP1
A-axis servo motor
CN2A
24
Encoder
0
48VDC
(Note 1)
PM
CNP2A
U
U
V
V
W
W
Servo system
controller
Main circuit power
supply: 24VDC
24VDC Circuit
(Note 1) protector
RA
M
(Note 2)
B-axis servo motor
CN2B
Encoder
CNP2B
U
CNP1
Grounding terminal
U
V
V
W
W
M
(Note 2)
Outer
box
Note 1. For power supply specifications, refer to section 15.1.2.
2.
of the servo motor must be connected to
of the CNP2A/CNP2B connector. Do not connect the wire directly
to the grounding terminal of the cabinet.
15 - 31
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.4 Startup
WARNING
Do not operate the switches with wet hands. Otherwise, it may cause an electric
shock.
CAUTION
Before starting operation, check the parameters. Improper settings may cause some
machines to operate unexpectedly.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands
and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor,
servo motor, etc. since they may be hot while power is on or for some time after
power-off. Otherwise, it may cause a burn injury and parts damaged.
During operation, never touch the rotor of the servo motor. Otherwise, it may cause
injury.
POINT
When using either A-axis or B-axis without connecting servo motor, set parameter
No.PC05 to "
1" to select the motor-less operation.
This section does not include the following items. For details of the items, refer to
each section of the detailed description field.
Item
Detailed
explanation
Startup
Section 4.2
Servo amplifier display
Section 4.3
Test operation
Section 4.4
Test operation mode
Section 4.5
15 - 32
15. MR-J3W-0303BN6 SERVO AMPLIFIER
When switching power on for the first time, follow this section to make a startup.
15.4.1 Startup procedure
Setting of main circuit power
supply voltage
Check that the parameter No.Po04 is set to the input voltage for the main circuit
power supply. 24VDC: 1
, 48VDC/24VDC: 0
Wiring check
Check whether the servo amplifier and servo motor are wired correctly using
visual inspection, DO forced output function (section 4.5.1), etc. (Refer to section
15.4.3.)
Surrounding environment check
Check the surrounding environment of the servo amplifier and servo motor.
(Refer to section 15.4.4.)
Axis No. settings
Confirm that the axis No. settings for rotary axis setting switch (SW1) and servo
system controller are consistent. (Refer to section 3.13.)
Parameter setting
Set the parameters as necessary, such as the control mode. (Refer to chapter
5.)
Test operation of servo motor
alone in test operation mode
For the test operation, with the servo motor disconnected from the machine and
operated at the speed as low as possible, check whether the servo motor rotates
correctly. (Refer to section 4.5.)
Test operation of servo motor
alone by commands
For the test operation with the servo motor disconnected from the machine and
operated at the speed as low as possible, give commands to the servo amplifier
and check whether the servo motor rotates correctly.
Test operation with servo motor
and machine connected
After connecting the servo motor with the machine, check machine motions with
sending operation commands from the controller.
Gain adjustment
Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)
Actual operation
Stop giving commands and stop operation.
Stop
15.4.2 Troubleshooting during "24V ERROR" lamp on.
(1) When Overvoltage is applied to the control circuit in the servo amplifier, power supply to the circuit will be
shut off and the "24V ERROR" lamp will turn on. Then, the 3-digit, 7-segment LED on display will turn off.
Immediately turn off the power and check the wiring, etc. to the main circuit power supply (48VDC).
(2) If the "24V ERROR" lamp turned on with the 3-digit, 7-segment LED on, the control circuit power supply
voltage (24VDC) may be failure. Check that the voltage of the control circuit power supply is 21.6V or more.
15 - 33
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.4.3 Wiring check
(1) Power supply system wiring
Before switching on the main circuit and control circuit power supplies, check the following items.
(a) Power supply system wiring
The power supplied to the power input terminals (24, 0, and PM) of the servo amplifier should satisfy the
defined specifications. (Refer to section 1.3.)
(b) Connection of servo amplifier and servo motor
1) The servo motor power terminals (U, V, and W) should match in phase with the servo motor power
input terminals (U, V, and W).
Servo amplifier
U
U
V
V
Servo motor
M
W
W
2) The power supplied to the servo amplifier should not be connected to the servo motor power
terminals (U, V, and W). Doing so will fail the connected servo amplifier and servo motor.
Servo amplifier
Servo motor
M
24VDC
24
0
P
U
V
W
48VDC
3) The grounding terminal of the servo motor should be connected to the noiseless grounding terminal
of the servo amplifier.
Servo amplifier
CNP2A/
CNP2B
Servo motor
M
CNP
(2) I/O signal wiring
(a) The I/O signals should be connected correctly.
Use DO forced output to forcibly turn on/off the pins of the CN3 connector. This function can be used to
perform a wiring check. In this case, switch on the control circuit power supply only.
(b) 24VDC or higher voltage is not applied to the pins of the CN3 connector.
(c) SD and DOCOM of the CN3 connector is not shorted.
Servo amplifier
CN3
DOCOM
SD
15 - 34
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.4.4 Surrounding environment
(1) Cable routing
(a) The wiring cables should not be stressed.
(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.)
(c) The connector of the servo motor should not be stressed.
(2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.
15 - 35
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.5 Parameters
POINT
This section explains parameters only for MR-J3W-0303BN6. Refer to chapter 5 for
the other parameters.
15.5.1 Basic setting parameters (No.PA
)
Parameter
No.
Symbol
PA19
*BLK
Name
Parameter writing inhibit
Each/
common
Default
value
Each
000Bh
Unit
Setting
range
Refer to
the text.
POINT
To enable the parameter value, cycle the power or reset the controller after setting
the parameter.
In the factory setting, this servo amplifier allows changes to the basic setting parameter, the gain/filter parameter
and the extension setting parameter settings. With the setting of parameter No.PA19, write can be disabled to
prevent accidental changes.
The following table indicates the parameters which are enabled for reference and write by the setting of
parameter No.PA19. Operation can be performed for the parameters marked
.
PA19 setting
0000h
Basic setting Gain/filter
Setting
parameters parameters
operation
No.PA
No.PB
Extension
setting
parameters
No.PC
I/O setting
parameters
No.PD
Reference
Writing
000Bh
Reference
(default value) Writing
000Ch
Reference
000Dh
Reference
000Eh
Reference
Writing
Writing
Writing
00ABh
Reference
100Bh
Reference
100Ch
Reference
100Dh
Reference
100Eh
Reference
Writing
Writing
Writing
Writing
Writing
10ABh
PA19 only
PA19 only
PA19 only
PA19 only
Reference
Writing
PA19 only
Note. When using a rotary servo motor, you do not use the parameter.
15 - 36
(Note)
Special
setting
parameters
No.PS
Option
Manufacturer
Other
setting
setting
function
parameters parameters parameters
No.Po
No.PE
No.PF
15. MR-J3W-0303BN6 SERVO AMPLIFIER
Other function parameters (No.PF
) cannot be writable by using the "Parameter block" tab of MR
Configurator or MR Configurator2. When making Other function parameters (No.PF
) writable, open the
"Parameter setting" window and input "00AB" or "10AB" to parameter No.PA19.
(1) MR Configurator
(2) MR Configurator2
15 - 37
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.5.2 Extension setting parameters (No.PC
)
(1) Detail list
No.
Symbol
PC09
MOD1
Name and function
Analog monitor 1 output
Select a signal to output to Analog monitor 1 (MO1). (Refer to (2) of this section.)
Each/ Default
common value
Setting
range
Common 0000h
Refer to
Name
and
function
column.
Common 0001h
Refer to
Name
and
function
column.
0 0
Analog monitor 1 (MO1) output selection
Setting
0
1
2
3
4
5
6
7
8
9
D
E
Unit
Item
Servo motor speed (10 4V/max. speed)
Torque (10 4V/max. torque)
Servo motor speed (10 4V/max. speed)
Torque (10 4V/max. torque)
Current command (10 4V/max. current command)
Speed command (10 4V/max. speed)
Droop pulses (10 5V/100 pulses)
Droop pulses (10 5V/1000 pulses)
Droop pulses (10 5V/10000 pulses)
Droop pulses (10 5V/100000 pulses)
Bus voltage (10 5V/400V)
Speed command 2 (10 4V/max. speed)
Analog monitor 1 (MO1) output axis selection
0: A-axis
1: B-axis
PC10
MOD2
Analog monitor 2 output
Select a signal to output to Analog monitor 2 (MO2). (Refer to (2) of this section.)
0 0
Analog monitor 2 (MO2) output selection
The settings are the same as those of parameter
No.PC09.
Analog monitor 2 (MO2) output axis selection
The settings are the same as those of parameter
No.PC09.
15 - 38
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(2) Analog monitor
POINT
A voltage of analog monitor output may be irregular at power-on.
The servo status can be output to two channels in terms of voltage.
(a) Setting
The following shows changing digits of parameter No.PC09 and PC10.
Parameter No.PC09
0 0
Analog monitor 1 (MO1) output selection
(Signal output to across MO1-LG)
Analog monitor 1 (MO1) output axis selection
0: A-axis
1: B-axis
Parameter No.PC10
0 0
Analog monitor 2 (MO2) output selection
(Signal output to across MO2-LG)
Analog monitor 2 (MO2) output axis selection
0: A-axis
1: B-axis
You can set offset voltages to the analog output voltages in parameter No.PC11/PC12. Setting value is
999mV to 999mV.
Parameter No.
Description
PC11
This is used to set the offset voltage of Analog monitor 1
(MO1).
PC12
This is used to set the offset voltage of Analog monitor 2
(MO2).
15 - 39
Setting range [mV]
999 to 999
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(b) Set content
The servo amplifier outputs the servo motor speed to Analog monitor 1 (MO1) and torque to Analog
monitor 2 (MO2) by default. The setting can be changed as listed below by changing parameter
No.PC09 and PC10.
Refer to (c) for the measurement point.
Setting
value
0
Output item
Setting
value
Description
Servo motor speed
CCW direction
14[V]
1
Output item
Description
Torque
10[V]
10[V]
CW direction
Driving in
CW direction
6[V]
2
Servo motor speed
6[V]
0
Max. speed
Max. speed
CW direction 14[V]
CCW direction
0
Max. torque
3
Torque
4
0
Driving in
CCW direction
10[V]
Max. speed
Current command
CCW direction
14[V]
Max. torque
5
Speed command
(Note 2)
0
CW direction
6[V]
Max. current command
(Max. torque command)
0
6[V]
Max. current command
(Max. torque command)
CCW direction
15[V]
Max. speed
7
10[V]
Droop pulses
(Note 1, 2, 3)
( 10V/1000pulses)
0
CCW direction
15[V]
10[V]
5[V]
5[V]
100[pulse]
Droop pulses
(Note 1, 2, 3)
( 10V/10000pulses)
Max. speed
CW direction
CW direction
8
CCW direction
10[V]
CW direction
Droop pulses
(Note 1, 2, 3)
( 10V/100pulses)
Max. torque
14[V]
10[V]
6
Max. torque
Driving in
CW direction 14[V]
10[V]
Max. speed
Driving in
CCW direction
14[V]
0
1000[pulse]
100[pulse]
CCW direction
15[V]
9
10[V]
Droop pulses
(Note 1, 2, 3)
( 10V/100000pulses)
1000[pulse]
CCW direction
15[V]
10[V]
CW direction
CW direction
5[V]
5[V]
10000[pulse]
0
0
10000[pulse]
15 - 40
100000[pulse]
0
100000[pulse]
15. MR-J3W-0303BN6 SERVO AMPLIFIER
Setting
value
D
Output item
Setting
value
Description
Bus voltage
E
Output item
Description
Speed command 2
(Note 2, 4)
15[V]
CCW direction
14[V]
10[V]
10[V]
CW direction
6[V]
0
100[V]
Max. speed
0
Max. speed
Note 1. It is in the encoder pulse unit.
2. This cannot be used in the torque control mode.
3. This cannot be used in the speed control mode.
4. This setting can be used with the servo amplifier with software version B3 or later, and with MR Configurator2 with software version
C5 or later.
(c) Analog monitor block diagram
(Note)
Speed
command
Position
command
received
from a
controller
Differential
Droop pulses
Current
command
Speed
command 2
Speed
Position command
control
Speed
control
Bus voltage
Current
control
Current
encoder
PWM
M Servo motor
Current feedback
Differential
Position feedback
Position feedback data
returned to a controller
Servo motor
speed
Note. It is DC power.
15 - 41
Torque
Encoder
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.5.3 Manufacturer setting parameters (No.PE
No.
PE01
Symbol
)
Each/
common
Name
This parameter is not used. Do not change this value by any means.
Default
value
(Note)
0000h
PE02
0102h
PE03
0002h
PE04
1
PE05
1
PE06
400
PE07
100
PE08
10
PE09
0000h
PE10
0000h
PE11
0
PE12
40
PE13
FFFEh
PE14
0111h
PE15
20
PE16
0000h
PE17
0000h
PE18
0000h
PE19
0000h
PE20
0000h
PE21
0000h
PE22
0000h
PE23
0000h
PE24
0000h
PE25
0000h
PE26
0000h
PE27
0000h
PE28
0000h
PE29
0000h
PE30
0000h
PE31
0000h
PE32
0000h
PE33
0000h
PE34
0000h
PE35
0000h
PE36
0000h
PE37
0000h
PE38
0000h
PE39
0000h
PE40
0000h
Note. The values are common in A-axis and B-axis.
15 - 42
Unit
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.5.4 Other function parameters (No.PF
)
POINT
Each parameter name of Other function parameters (No.PF
) are displayed as
manufacturer settings in the parameter setting window of MR Configurator and MR
Configurator2. However, you can set parameter No.PF06 and PF12. The other
parameters are for manufacturer. Do not change them.
No.
Symbol
PF06
*FOP5
Name and function
Function selection F-5
Electronic dynamic brake selection
Each/ Default
common value
Each
0000h
Each
100
Unit
Refer to
Name
and
function
column.
0 0 0
Electronic dynamic brake selection
0: Automatic setting
2: Disabled
Set Electronic dynamic brake operating time with
parameter No.PF12 (DBT).
Setting "0" enables the electronic dynamic brake.
PF12
DBT
Electronic dynamic brake operating time
Set a operating time for the electronic dynamic brake.
Communication with the controller cannot be made during the electronic dynamic
brake operation due to SSCNET communication brake.
When reconnecting servo amplifier to the communication, be sure to perform after
the setting value of the electronic dynamic brake operating time has passed and
after checking that the motor has stopped.
15.5.5 Option setting parameters (No.Po
Setting
range
ms
0 to
10000
)
POINT
Each parameter name of Option setting parameters (No.Po
) are displayed as
manufacturer settings in the parameter setting window of MR Configurator and MR
Configurator2. However, you can set parameter No.Po04. The other parameters
are for manufacturer. Do not change them.
No.
Symbol
Po04
**OOP
2
Name and function
Function selection O-2
Each/ Default
common value
Common 0000h
0 0 0
HG-AK servo motor main circuit power supply selection
0: 48VDC selection
1: 24VDC selection
Select a voltage to connect to the main circuit power supply
for connecting a HG-AK servo motor.
When using a HG-AK servo motor with 24VDC, set the
parameter to "1
".
Overvoltage (33.1) will occur if "1
" is set and used with
48VDC.
15 - 43
Unit
Setting
range
Refer to
Name
and
function
column.
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.6 Troubleshooting
POINT
This section explains troubleshooting only for MR-J3W-0303BN6. For the
troubleshooting other than MR-J3W-0303BN6, refer to chapter 8.
Alarm No.: 10
Alarm content
Display
Detail name
10.1
Voltage drop in
the control
circuit power
Name: Undervoltage
The voltage of the control circuit power supply has dropped.
The voltage of the main circuit power supply has dropped.
Cause
1)
2)
10.2
Voltage drop in
the main circuit
power
Stop system: All axes
Check method
Check result
The control circuit power
supply connector was
disconnected. Loose
connection
Check the control circuit The connector was
power supply connector. disconnected or
connected loosely.
The voltage of the control
circuit power supply is low.
Action
Connect it correctly.
It has no problem.
Check 2).
Check if the voltage of
the control circuit power
supply is lower than
17VDC.
It is lower than
17VDC.
Increase the voltage of the
control circuit power
supply.
The voltage is over
17VDC.
Check 3).
It has a problem.
Review the power.
3)
An instantaneous power
failure has occurred for
longer than 15ms.
Check if the power has
a problem.
1)
The main circuit power
supply connector was
disconnected.
Check the main circuit
It is disconnected.
power supply connector. It has no problem.
Connect it correctly.
The voltage of the main
circuit power supply is low.
Check if the voltage of
the main circuit power
supply is 35VDC or
lower when 48VDC is
set for the main circuit
power supply, or 15VDC
or lower when 24VDC is
set for the main circuit
power supply.
Increase the voltage of the
main circuit power supply.
2)
The voltage of the
main circuit power
supply is 35VDC or
lower when 48VDC
is set for the main
circuit power supply,
or 15VDC or lower
when 24VDC is set
for the main circuit
power supply.
Check 2).
Check 3) and 4).
It is over 35VDC
when 48VDC is set
or over 15VDC when
24VDC is set.
3)
The alarm has occurred
during acceleration.
The bus voltage is
35VDC or higher when
48VDC is set for the
main circuit power
supply, or 15VDC or
higher when 24VDC is
set for the main circuit
power supply.
15 - 44
The voltage is
35VDC or lower
when 48VDC is set
for the main circuit
power supply, or
15VDC or lower
when 24VDC is set
for the main circuit
power supply.
Increase the acceleration
time constant. Or increase
the power supply capacity.
15. MR-J3W-0303BN6 SERVO AMPLIFIER
Alarm No.: 10
Alarm content
Display
Detail name
10.2
Voltage drop in
the main circuit
power
Name: Undervoltage
Stop system: All axes
The voltage of the control circuit power supply has dropped.
The voltage of the main circuit power supply has dropped.
Cause
4)
The servo amplifier is
malfunctioning.
Check method
Check the bus voltage
value with MR
Configurator.
15 - 45
Check result
Action
Replace the servo
The voltage of the
amplifier.
main circuit power
supply is 35VDC
when 48VDC is set
for the main circuit
power supply, or
15VDC when
24VDC is set for the
main circuit power
supply. However, the
measured bus
voltage value with
MR Configurator is
lower than 35VDC
when 48VDC is set
for the main circuit
power supply, or
lower than 15VDC
when 24VDC is set
for the main circuit
power supply.
15. MR-J3W-0303BN6 SERVO AMPLIFIER
Alarm No.: 30
Alarm content
Display
30.1
Name: Regenerative error
Detail name
Regeneration
heat error
Stop system: All axes
Permissible regenerative power of regenerative resistor was exceeded.
A regenerative transistor in the servo amplifier is malfunctioning.
Cause
Check method
Check result
Action
1)
The setting of regenerative
resistor is incorrect.
Check the regenerative
resistor and parameter
No.PA02 setting.
The setting value is
incorrect.
Set it correctly.
It is set correctly.
Check 2).
2)
Power supply voltage high.
Check the input power
supply voltage.
The voltage is
70VDC or higher
when 48VDC is set
for the main circuit
power supply, or
50VDC or higher
when 24VDC is set
for the main circuit
power supply.
Reduce the power supply
voltage.
The voltage is lower Check 3).
than 70VDC when
48VDC is set for the
main circuit power
supply, or lower than
50VDC when
24VDC is set for the
main circuit power
supply.
3)
The regenerative load ratio
has been over 100 .
Check the regenerative
load ratio with MR
Configurator when
alarm occurs.
15 - 46
100
or more
Reduce the frequency of
positioning.
Increase the deceleration
time constant.
Reduce the load.
Use a regenerative option if
it is not being used.
Check the applied voltage
of the main circuit is
48VDC when 24VDC is set
for the main circuit power
supply.
15. MR-J3W-0303BN6 SERVO AMPLIFIER
Alarm No.: 31
Alarm content
Display
Detail name
31.1
Abnormal motor
speed
Name: Overspeed
Stop system: Each axis
The servo motor seed has exceeded the permissible instantaneous speed.
Cause
1)
2)
3)
The command from the
controller is excessive.
The servo motor was
driven with maximum
torque and the speed
overshot.
The servo system is
unstable and oscillating.
Check method
Check result
Action
Check if the command
from the controller is
over the permissible
speed.
The command was
over the permissible
speed.
Check operation pattern.
The command was
below the
permissible speed.
Check 2).
Check if the torque at
acceleration is the
maximum torque.
It is the maximum
torque.
Increase the
acceleration/deceleration
time constant. Or reduce
the load.
It is lower than the
maximum torque.
Check 3).
It is oscillating.
Adjust the servo gain with
the auto tuning. Or reduce
the load.
Check the applied voltage
of the main circuit is
48VDC when 24VDC is set
for the main circuit power
supply.
It is not oscillating.
Increase the acceleration
time constant.
Check if the servo
motor is oscillating.
Check 4).
4)
5)
6)
The velocity waveform has
overshot.
The speed overshot when
the voltage was recovered
from a temporary bus
voltage drop during driving.
Encoder failure
Check if it is
overshooting because
the acceleration time
constant is short.
It is overshooting.
Increase the
acceleration/deceleration
time constant.
It is not
overshooting.
Check 5).
Check if a temporary
bus voltage drop occurs
during driving.
The bus voltage
dropped.
Check the power supply
capacity of the 24VDC
main circuit power supply.
Increase the voltage of the
24VDC main circuit power
supply within the
permissible range.
Change the voltage of the
main circuit power to
48VDC.
Check operation pattern.
Bus voltage did not
drop.
Check 6).
It is lower.
Replace the servo motor.
Check if the alarm is
occurring when the
actual speed of the
servo motor is
permissible
instantaneous speed or
lower.
15 - 47
15. MR-J3W-0303BN6 SERVO AMPLIFIER
Alarm No.: 32
Alarm content
Display
Detail name
32.1
Overcurrent
detected at
hardware
detection circuit
(during driving)
Name: Overcurrent
Cause
Check method
1)
The servo amplifier is
malfunctioning.
The alarm occurs even
after removing power
cables (U/V/W).
It occurs.
Replace the servo
amplifier.
It does not occur.
Check 2).
2)
Ground fault or short of a
servo motor power.
Check if only the servo
motor power cable is
shorted.
It is shorted.
Replace the power cable.
It is not shorted.
Check 3).
The servo motor is
malfunctioning.
Remove power cables
of the servo motor side
and check insulation of
the motor (between U,
V, W, and
).
A ground fault
occurred at the
servo motor.
Replace the servo motor.
A ground fault did
not occur at the
servo motor.
Check 4).
Problem found.
Take countermeasures
against its cause.
3)
32.2
Overcurrent
detected at
software
detection
function (during
driving)
Stop system: All axes
A current higher than the permissible current was applied to the servo amplifier.
Check result
Action
4)
Something near the device
caused it.
Check for noise, and
other factors.
1)
The servo gain is high.
Check if an oscillation is It is occurring.
occurring.
2)
The servo amplifier is
malfunctioning.
Check it with the check method for alarm display "32.1".
3)
Ground fault or short of a
servo motor power.
4)
The servo motor is
malfunctioning.
5)
Something near the device
caused it.
It did not occur.
15 - 48
Reduce the speed loop
gain.
Check the applied voltage
of the main circuit is
48VDC when 24VDC is set
for the main circuit power
supply.
Check 2).
15. MR-J3W-0303BN6 SERVO AMPLIFIER
Alarm No.: 33
Alarm content
Display
33.1
Name: Overvoltage
Detail name
Main circuit
voltage error
Stop system: All axes
The voltage is 35VDC or lower when 48VDC is set for the main circuit power supply, or 15VDC or lower when
24VDC is set for the main circuit power supply.
Cause
Check method
Check result
1)
Lack of regenerative
capacity
Set a larger
deceleration time
constant, and then
check the repeatability.
2)
Power supply voltage high.
Check the input voltage. The voltage is
75VDC or higher
when 48VDC is set
for the main circuit
power supply, or
55VDC or higher
when 24VDC is set
for the main circuit
power supply.
Use a regenerative option if
it is not being used.
Increase the deceleration
time constant.
It is repeatable.
Check 5).
The voltage is less
than 75VDC when
48VDC is set for the
main circuit power
supply, or less than
55VDC when
24VDC is set for the
main circuit power
supply.
15 - 49
Action
It is not repeatable.
Reduce the input voltage.
Replace the servo
amplifier.
15. MR-J3W-0303BN6 SERVO AMPLIFIER
Alarm No.: 50
Alarm content
Display
Detail name
50.1
Thermal
overload error 1
during
operation
Name: Overload 1
Cause
1)
2)
3)
Thermal
overload error 1
during a stop
The electromagnetic brake
is operating.
Check method
Check if the
electromagnetic brake
does not operate during
operation.
Check result
Review the wiring.
The brake is not
operating.
Check 2).
Servo amplifier was used in Check the effective load The effective load
ratio with MR
excess of its continuous
ratio is high.
Configurator.
output current.
The servo system is
unstable and resonating.
Check if it is resonating.
Action
The brake is
operating.
Reduce the load.
Check operation pattern.
Switch to a larger capacity
servo motor.
The effective load
ratio is small.
Check 3).
It is resonating.
Adjust gains.
Check the applied voltage
of the main circuit is
48VDC when 24VDC is set
for the main circuit power
supply.
It is not resonating.
Check 4).
The motor was driven
without taking a cooling
time after the overload
alarm occurred.
Check if the alarm was
released after 30
minutes from alarm
occurrence.
It was not released.
Take enough time before
resetting the alarm.
It was released.
Check 5).
5)
The servo amplifier is
malfunctioning.
Replace the servo
amplifier, and then
check the repeatability.
It is not repeatable.
Replace the servo
amplifier.
1)
The electromagnetic brake
is operating.
Check if the
electromagnetic brake
does not operate during
a stop.
The brake is
operating.
Review the wiring.
The brake is not
operating.
Check 2).
4)
50.4
Stop system: Each axis
Load exceeded overload protection characteristic of servo amplifier.
2)
3)
4)
5)
Servo amplifier was used in Check the effective load The effective load
ratio with MR
excess of its continuous
ratio is high.
Configurator.
output current.
Hunting occurs during
servo-lock.
Check if the hunting is
occurring.
Reduce the load.
Check operation pattern.
Switch to a larger capacity
servo motor.
The effective load
ratio is small.
Check 3).
The hunting is
occurring.
Make gain adjustment.
The hunting is not
occurring.
Check 4).
The motor was driven
without taking a cooling
time after the overload
alarm occurred.
Check if the alarm was
released after 30
minutes from alarm
occurrence.
It was not released.
Take enough time before
resetting the alarm.
It was released.
Check 5).
The servo amplifier is
malfunctioning.
Replace the servo
amplifier, and then
check the repeatability.
It is not repeatable.
Replace the servo
amplifier.
15 - 50
15. MR-J3W-0303BN6 SERVO AMPLIFIER
Alarm No.: 9F
Warning description
Display
9F.1
Name: Battery warning
Detail name
Low battery
Alarm No.: E9
Warning description
Display
Detail name
E9.1
Servo-on signal
on during main
circuit off
Stop method: No stop (each-axis detection)
Battery voltage for absolute position detection system decreased.
Cause
1)
Battery voltage dropped.
(Detected with the servo
amplifier.)
Check method
Measure the battery
voltage.
Name: Main circuit off warning
Check result
It is below 3.3VDC.
Action
Replace the battery.
Stop system: All axes (common detection)
The servo-on command was inputted with main circuit power supply off.
The bus voltage dropped during the servo motor driving under 50r/min.
The setting of the parameter No.Po04 is incorrect.
Cause
Check method
Check result
1)
The main circuit power
supply is off.
Check if the main circuit It is not inputted.
power supply is
inputted.
It is inputted.
2)
The main circuit power
supply connector was
disconnected.
Check the main circuit
It is disconnected.
power supply connector.
It has no problem.
3)
Check the bus voltage
The bus voltage is lower
than 38VDC when 48VDC value with MR
Configurator.
is set for the main circuit
power supply, or lower than
18VDC when 24VDC is set
for the main circuit power
supply.
Action
Turn on the main circuit
power supply.
Check 2).
Connect it correctly.
Check 3).
The voltage is lower Review the wiring.
Check the power supply
than 38VDC when
48VDC is set for the capacity.
main circuit power
supply, or lower than
18VDC when
24VDC is set for the
main circuit power
supply.
E9.2
Bus voltage
drop during low
speed operation
4)
The bus voltage dropped
during the servo motor
driving with under 50r/min.
Check the bus voltage
value with MR
Configurator.
The voltage is lower
than 35VDC when
48VDC is set for the
main circuit power
supply, or lower than
15VDC when
24VDC is set for the
main circuit power
supply.
Review the power supply
capacity.
Increase the acceleration
time constant.
E9.3
Ready-on
signal on during
main circuit off
1)
The setting of the
parameter No.Po04 is
incorrect.
Check that the
parameter No. Po04 is
set to the input voltage
for the main circuit
power supply.
24VDC: 1
48VDC: 0
It is not set correctly.
Set it correctly.
It is set correctly.
Check 2).
2)
The main circuit power
supply is off.
3)
The main circuit power
supply connector was
disconnected.
4)
The bus voltage is lower
than 38VDC when 48VDC
is set for the main circuit
power supply, or lower than
18VDC when 24VDC is set
for the main circuit power
supply.
Check it with the check method for alarm display "E9.1".
15 - 51
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.7 Dimensions
[Unit: mm]
(80)
30
2- 6 mounting hole
100
6
6
CN5
CN3
CN4
156
CN1B
CN2A
CN2B
CNP1
CNP2A
CNP2B
6
168
CN1A
(23)
(29)
(68)
MR-J3W03BATSET is mounted.
Mass: 0.3 [kg] (0.66 [lb])
Terminal
Mounting screw
Screw size: M5
Tightening torque: 1.87 [N m]
CNP1
0
3
PM
2
(30)
(6)
2-M5 screw
(168)
(6)
1
0.5
4
156
24
(6)
6
Mounting hole process drawing
15 - 52
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.8 Characteristics
POINT
This section does not include the following items. For details of the items, refer to
each section of the detailed description field.
Detailed
explanation
Item
Cable bending life
Section 10.4
15.8.1 Overload protection characteristics
An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor
power lines from overloads.
Overload 1 alarm (50. ) occurs if overload operation performed is above the electronic thermal protection curve
shown in fig. 15.1. Overload 2 alarm (51. ) occurs if the maximum current is applied continuously for several
seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken line
in the graph.
For the system where the unbalanced torque occurs, such as a vertical axis system, it is recommended that the
unbalanced torque of the machine be kept at 70 or less of the motor's rated torque. When mounting MR-J3W40303BN6 closely, use it with 75 or lower effective load ratio.
The MR-J3W servo amplifiers have servo motor overload protection function for each axis. (The servo motor
overload current (full load current) is set on the basis of 115 rated current of the servo amplifier.)
1000
In operation
Operation time [s]
100
In servo lock
10
1
0.1
0
50
100
150
200
250
300
(Note) Load ratio [ ]
HG-AK0136/0236/0336
Note. If operation that generates torque more than 100 of the rating is performed with an
abnormally high frequency in a servo motor stop status (servo-lock status) or in a
30r/min or less low-speed operation status, the servo amplifier may malfunction
regardless of the electronic thermal protection.
Fig. 15.1 Electronic thermal protection characteristics
15 - 53
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.8.2 Power supply capacity and generated loss
Amount of heat generated by the servo amplifier
Table 15.2 indicates the required power supply capacities for main circuit and losses generated under rated
load of the servo amplifier. For thermal design of an enclosed type cabinet, use the values in the table in
consideration for the worst operating conditions. The actual amount of generated heat will be intermediate
between values at rated torque and servo-off according to the duty used during operation. When the servo
motor is run at less than the maximum speed, the required power supply capacity for main circuit will be
smaller than the value in the table, but the servo amplifier's generated heat will not change.
The values in the table shows when the same motor is used for both A-axis and B-axis. When using
different motors for each axis, estimate the values with averages of the motors.
Table 15.2 Power supply capacity and generated loss per servo amplifier at rated output
Servo motor
2
Main circuit
(48VDC/24VDC)
Required power
supply capacity [W]
(Note) Servo amplifier-generated
heat [W]
At rated output
With servo-off
AK0136
460
13
3
AK0236
720
19
3
AK0336
960
27
3
Note. Heat generated during regeneration is not included in the servo
amplifier-generated heat.
15.8.3 Dynamic brake characteristics
POINT
The dynamic brake of MR-J3W-0303BN6 is an electronic type.
Dynamic brake operates at occurrence of alarm, Servo forced stop warning (E6.1),
and Controller forced stop warning (E7.1), and when power is turned off. Do not
use dynamic brake to stop in a normal operation as it is the function to stop in
emergency.
Be sure to enable Forced stop (EM1) after servo motor stops when using Forced
stop (EM1) frequently in other than emergency.
The time constant " " for the electronic dynamic brake will be shorter than that of
normal dynamic brake. Therefore, coasting distance will be longer than that of
normal dynamic brake. For how to set the electronic dynamic brake, refer to
parameter No. PF06 and PF12.
15 - 54
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(1) Dynamic brake operation
(a) Calculation of coasting distance
Fig. 15.2 shows the pattern in which the servo motor comes to a stop when the dynamic brake is
operated. Use equation 15.2 to calculate an approximate coasting distance to a stop. The dynamic
brake time constant varies with the servo motor and machine operation speeds. (Refer to (2) of this
section.)
Forced stop (EM1)
ON
OFF
Dynamic brake
time constant
V0
Machine speed
te
Time
Fig. 15.2 Dynamic brake operation diagram
Lmax
Lmax
Vo
JM
JL
te
V0
60
te
1
JL
JM
......................................................................................................................(15.1)
: Maximum coasting distance ......................................................................................................... [mm]
: Machine's fast feed speed ..................................................................................................... [mm/min]
-4
2
2
: Moment of inertia of the servo motor............................................................... [ 10 kg m ][oz in ]
: Load inertia moment converted into equivalent value on servo motor shaft
-4
2
2
·························································································································· [ 10 kg m ][oz in ]
: Dynamic brake deceleration ..............................................................................................................[s]
: Delay time of control section..............................................................................................................[s]
The processing delay time about 3.5ms.
(b) Dynamic brake time constant
The following shows necessary dynamic brake time constant τ for equation 15.1.
Time constant [ms]
0.0025
0136
0.0020
0236
0.0015
0.0010
0336
0.0005
0
0
1000 2000 3000 4000 5000 6000
Speed [r/min]
HG-AK series
15 - 55
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(2) Permissible load to motor inertia ratio when the dynamic brake is used
Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is
higher than this value, the built-in dynamic brake may burn. If there is a possibility that the ratio may exceed
the value, contact your local sales office.
The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation
speed of the servo motor.
Servo motor
series
Load to motor inertia ratio
[multiplier]
HG-AK
30
15.8.4 Inrush currents at power-on of main circuit and control circuit
The following shows inrush current (reference) when the maximum permissible voltage (main circuit: 55.2VDC,
control circuit: 26.4VDC) is applied on the conditions: main circuit power supply capacity; 48V/600W, control
circuit power supply capacity; 24V/100W, wiring length; 1m.
Servo amplifier
MR-J3W-0303BN6
Inrush current
Main circuit power supply (PM, 0)
Control circuit power supply (24, 0)
160A (attenuated to approx. 2A in 1ms)
1A (attenuated to approx. 0A in 30ms)
Since large inrush currents flow in the power supplies, always use circuit protectors.
For circuit protectors, it is recommended that the inertia delay type, which is not tripped by an inrush current, be
used.
15 - 56
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.9 Options and peripheral equipment
WARNING
Before connecting options and peripheral equipment, turn off the power supply and
check that the charge lamp turns off. Otherwise, an electric shock may occur. In
addition, when confirming whether the charge lamp is off or not, always confirm it
from the front of the servo amplifier.
CAUTION
Use specified auxiliary equipment and options. Otherwise, it may cause a
malfunction or fire.
POINT
This section does not include the following items. For details of the items, refer to
each section of the detailed description field.
Item
Detailed
explanation
MR Configurator
Section 11.4
Relays (recommended)
Section 11.8
Noise reduction techniques
Section 11.9
Junction terminal block MR-TB26A
Section 11.12
15.9.1 Cable/connector sets
POINT
The IP rating indicated is the cable's or connector's protection against ingress of
dust and water when the cable or connector is connected to a servo amplifier or
servo motor. If the IP rating of the cable, connector, servo amplifier and servo
motor vary, the overall IP rating depends on the lowest IP rating of all components.
Please purchase the cable and connector options indicated in this section.
15 - 57
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(1) Combinations of cable/connector sets
11)
Personal
computer
(Note 2)
5)
CN5
10)
Servo amplifier
Servo amplifier
9)
CN5
8)
CN3
6) 7)
CN4
CN1A
CN4
CN1A
CN1B
(Note 1)
Servo system
controller
2) 3) 4)
CN2A
11)
CN2B
CNP1
CN1B
CN2A Cap
CN2B (packed with
the servo amplifier)
CNP1
CNP2A
CNP2B
(Note 2)
19)
CNP2A
2) 3) 4)
CN3
CNP2B
12)
1)
13) 14)
15)
16)
17) 18)
HG-AK servo motor
Note 1. Options for B-axis are the same as for A-axis.
2. Please purchase the battery set at first use. Only MR-J3BAT can be purchased for replacement. Use one battery to configure the
absolute position detection system.
No.
Name
Model
Description
1) CNP1 connector
Application
Supplied with
servo
amplifier
Quantity: 1
Model: FK-MCP1,5/4-ST-3,5 or equivalent
(Phoenix Contact)
Applicable wire size: 0.14mm2 (AWG26) to 1.5mm2 (AWG16)
Insulator OD: to 2.9mm
2) SSCNET
cable MR-J3BUS M Connector: PF-2D103
(JAE)
Cable length:
0.15m to 3m
(Refer to section
11.1.5.)
3) SSCNET
cable MR-J3BUS MA
Cable length:
5m to 20m
(Refer to section
11.1.5.)
Connector: PF-2D103
(JAE)
Standard
cord inside
cabinet
Standard
cable outside
cabinet
15 - 58
15. MR-J3W-0303BN6 SERVO AMPLIFIER
No.
Name
4) SSCNET
Model
Description
cable MR-J3BUS M- Connector: CF-2D103-S
B
(JAE)
Cable length:
30m to 50m
(Refer to section
11.1.5.)
Application
Connector: CF-2D103-S
(JAE)
Longdistance
cable
5) USB cable
MRCN5 connector
J3USBCBL3M
mini-B connector (5 pins)
Cable length: 3m
Personal computer connector
A connector
For
connection
with PC-AT
compatible
personal
computer
6) Connector set
MR-J2CMP2
Connector: 10126-3000PE
Shell kit: 10326-52F0-008
(3M or equivalent)
Quantity: 1
Servo amplifier-side connector
Connector: 10126-6000EL
Shell kit: 10326-3210-000
(3M or equivalent)
For junction
terminal
block
connection
Quantity: 20
7) Connector set
MR-ECN1
8) Junction
terminal block
cable
MRTBNATBL M
Cable length:
0.5m/1m
(Refer to section
11.12.)
Junction terminal block connector
Connector: 10126-6000EL
Shell kit: 10326-3210-000
(3M or equivalent)
9) Junction
terminal block
MR-TB26A
Refer to section 11.12.
10) Battery set
Battery extension cable
MRJ3W03BATSET
(Refer to section
15.10.)
11) Battery
MR-J3BAT
(Refer to section
15.10.)
12) Encoder cable
MRJ3W03ENCBL
M-A-H
Cable length:
1m/2m/5m/10m/ Refer to (2) of this section for details.
20m/30m
Long bending
life
13) Encoder
connector set
MR-J3W03CN22P
Quantity: 2 of
each
14)
MR-J3W03CN2Refer to (2) of this section for details.
20P
Quantity: 20
of each
15) Servo motor
power cable
MRJ3W03PWCBL
M-A-H
Cable length:
1m/2m/5m/10m/ Refer to (3) of this section for details.
20m/30m
Long bending
life
15 - 59
MR-J3BAT
Mounting attachment
for MR-J3BAT
15. MR-J3W-0303BN6 SERVO AMPLIFIER
No.
Name
Model
Description
Application
16) Servo motor
power cable
MRJ3W03PWBRC
BL M-A-H
Cable length:
1m/2m/5m/10m/ Refer to (3) of this section for details.
20m/30m
Long bending
life Servo motor
with an
electromagnetic
brake
17) Motor power
connector set
MRJ3W03CNP2-2P
Quantity: 2 of
each
18)
MRJ3W03CNP220P
Quantity: 20
of each
19) Junction cable
for battery
connection
Refer to (3) of this section for details.
MRJ3W03BTCBL03
M
For
connection of
battery
Use this cable with an encoder cable.
(2) Encoder cable
These cables are encoder cables for the HG-AK series servo motors. The numbers in the cable length field
of the table indicate the symbol filling the square " " in the cable model. The cables of the lengths with the
symbols are available.
Cable model
MR-J3W03ENCBL MA-H
Cable length
1m
2m
5m
1
2
5
10m 20m 30m
10
20
IP rating
30
Bending life
Application
Long
For encoder
bending life
(a) Connection of servo amplifier and servo motor
Servo amplifier
CN2A
or
CN2B
MR-J3W03ENCBL
1)
M-A-H
2) (Note)
Encoder connector
Servo motor
HG-AK
Note. Pull out the connector with pushing down the lock lever on the connector. There is not need
to use the lock lever of the encoder cable.
Lock lever
15 - 60
15. MR-J3W-0303BN6 SERVO AMPLIFIER
Cable model
MRJ3W03ENCBL MA-H
1) CN2A/CN2B side connector
2) Encoder-side connector
Rec.housing: 1-1827862-5
Contact: 1827587-2
Crimping tool: 1762846-1
(TE Connectivity)
Tab housing: J21DPM-10V-KX
Contact: SJ2M-01GF-M1.0N
Crimping tool: YRS-8861
(JST)
5B 5A
SD
4B 4A
LG P5
3B 3A
5A 5B
BAT
BAT SHD
4A 4B
LG P5
3A 3B
2B 2A
2A 2B
1B 1A
1A 1B
MRR MR
MRR MR
Note. Do not connect anything to the pins shown as
.
Note. Do not connect anything to the pins shown as
.
(b) Cable internal wiring diagram
MR-J3W03ENCBL M-A-H
Encoder side
CN2A/CN2B
connector
side connector
(Note 2)
P5
LG
4A
4B
4B
4A
P5
LG
BAT
MR
MRR
SD
5B
1A
1B
5A
5A
1B
1A
5B
BAT
MR
MRR
SHD
(Note 1)
Note 1. Always make connection for use in an absolute position detection system. Wiring is
not necessary for use in an incremental system.
2. When the cable is 20m or 30m, the wiring of P5 and LG will be three pairs.
(c) When fabricating the encoder cable
When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram
(2) (b) of this section. Refer to section 15.9.2 for the specifications of the cable to use.
Parts
Connector set
Description
MR-J3W03CN2-2P, MR-J3W03CN2-20P
CN2A/CN2B side connector
Rec.housing: 1-1827862-5
Contact: 1827587-2
(TE Connectivity)
15 - 61
Encoder-side connector
Tab housing: J21DPM-10V-KX
Contact: SJ2M-01GF-M1.0N
(JST)
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(3) Servo motor power cable
These cables are servo motor power cables for the HG-AK series servo motors. The numbers in the cable
length field of the table indicate the symbol filling the square " " in the cable model. The cables of the
lengths with the symbols are available. Refer to section 15.4 when wiring.
Cable length
Cable model
10m 20m 30m
IP rating
Bending life
Application
1m
2m
5m
MR-J3W03PWCBL MA-H
1
2
5
10
20
30
Long
Standard servo motor (without
bending life electromagnetic brake)
MRJ3W03PWBRCBL M-AH
1
2
5
10
20
30
Long
Servo motor with electromagnetic
bending life brake
(a) Connection of servo amplifier and servo motor
Servo amplifier
MR-J3W03PWCBL M-A-H
1)
2) (Note)
or
CNP2A
or
CNP2B MR-J3W03PWBRCBL M-A-H
1)
Power supply
connector
Servo motor
HG-AK
2) (Note)
Note. Pull out the connector with pushing down the lock lever on the power connector. There
is not need to use the lock lever of the servo motor power cable.
Lock lever
Cable model
MRJ3W03PWCBL MA-H
MRJ3W03PWBRCBL
M-A-H
1) CN2A/CN2B side connector
Rec. housing: 1-1827864-3 or equivalent
Contact: 1871745-1
Crimping tool: 1762625-1
(TE Connectivity)
3B 3A
2B
U
1B
E
2) Servo motor-side connector
Tab housing: J21DPM-06V-KX
Contact: SJ2M-21GF-M1.0N
Crimping tool: YRF-1120
(JST)
3A
B1
2A
U
1A
E
2A
W
1A
V
Note. Do not connect anything to the pins shown as
.
15 - 62
3B
B2
2B
W
1B
V
Note. Do not connect anything to the pins shown as
.
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(b) Internal wiring diagram
MR-J3W03PWCBL M-A-H
CNP2A/CNP2B
side connector
V
E
W
U
1A
1B
2A
2B
Motor power supply
side connector
White
1B V
Yellow/green
1A E
Black
2B W
Red
2A U
MR-J3W03PWBRCBL M-A-H
CNP2A/CNP2B
side connector
1A
1B
2A
2B
V
E
W
U
Motor power supply
side connector
White
1B V
Yellow/green
1A E
Black
2B W
Red
2A U
3B B1
3A B2
(c) When fabricating the servo motor power cable
When fabricating the servo motor power cable, prepare the following parts, and fabricate it according to
the wiring diagram (3) (b) of this section. Refer to section 15.9.2 for the specifications of the cable to use.
Parts
Connector set
Description
MR-J3W03CNP2-2P, MR-J3W03CNP2-20P
CN2A/CN2B side connector
Rec. housing: 1-1827864-3 or equivalent
Contact: 1871745-1
(TE Connectivity)
15 - 63
Servo motor-side connector
Tab housing: J21DPM-06V-KX
Contact: BJ2M-21GF-M1.0N
(JST)
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.9.2 Selection example of wires
POINT
Refer to section 11.1.5 for SSCNET cable.
Wires indicated in this section are separated wires.
To comply with the UL/CSA standard, use the wires shown in appendix 4 for wiring.
To comply with other standards, use a wire that is complied with each standard.
Selection conditions of wire size is as follows.
Construction condition: One wire is constructed in the air.
Wire length: 30m or less
(1) Wires for power supply wiring
The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent. The
following table shows the wire size selection example.
Servo amplifier
24VDC power
supply
Servo motor
1)
CNP1
24
Encoder cable
CN2A
0
48VDC power
supply
Motor power
supply cable
PM
CNP2A
2)
B1
B2
Servo motor
3)
Encoder cable
CN2B
Motor power
supply cable
CNP2B
B1
B2
3)
600V polyvinyl chloride insulated wires (IV wires) and 600V grade heat-resistant polyvinyl chloride insulated
wires (HIV wires) are common size.
Table 15.3 Wire size selection example (IV/HIV wire)
Servo amplifier
Wire (Note 1)
1) 24/0/PM/
MR-J3W-0303BN6 AWG16 (Note 2, 3)
2) U/V/W/
AWG19
3) B1/B2
1.25mm2(AWG16)
Note 1. This is a selection example when HG-AK0336(B) are used for two axes.
2. Insulator OD: 2.9mm
3. Voltage drop will occur according to line impedance and current supplied to
the servo amplifier. Be sure to use this wire.
15 - 64
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(2) For cables
To fabricate encoder cables and servo motor power cables, use the following cables or equivalent.
Table 15.4 Wires for option cables
Characteristics of one core
Type
Encoder
cable
Servo
motor
power
cable
Model
Length
[m]
Core
size
Number
of cores
Conductor
Structure
resistance
[Wires/mm]
[ /km]
(Note 1)
Insulation
coating
OD d [mm]
(Note 2)
Overall
diameter
[mm]
Wire model
1 to 10 AWG22
6
70/0.08
56 or less
1.17
7.1 0.3
(Note 3) TPE SVP
70/0.08 (AWG#22 or
equivalent)-3P KB-2237-2
(Bando Densen)
20/30
AWG22
10
70/0.08
56 or less
1.17
7.7 0.3
(Note 3) TPE SVP
70/0.08 (AWG#22 or
equivalent)-5P
(Bando Densen)
MRJ3W03PWCBL
M-A-H
1 to 30 AWG19
4
150/008
29.1 or
less
1.63
5.7 0.5
(Note 4) RMFESA(CL3X) AWG19 4-cores
(Dyden)
MRJ3W03PWBRC
BL M-A-H
1 to 30 AWG19
4
150/0.08
29.1 or
less
1.63
5.7 0.5
(Note 4) RMFESA(CL3X) AWG19 4-cores
(Dyden)
MRJ3W03ENCBL
M-A-H
Note 1. d is as shown below.
d
Conductor
Insulator
2. Standard OD Maximum OD is about 10 greater.
3. Purchase from Toa Electric Industry Co. Ltd.
4. Purchase from Taisei Co., Ltd.
15.9.3 Circuit protector
Power supply specification
Circuit protector (Note)
Control circuit power supply (24VDC)
CP30-BA 1P 1-M 1A
Main circuit power supply (48VDC)
CP30-BA 1P 1-M 5A
Control circuit power supply/main
circuit power supply (24VDC)
CP30-BA 1P 1-M 10A
Note. For operation characteristics, use an intermediate speed type.
15 - 65
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.10 Absolute position detection system
CAUTION
If Absolute position erased (25.1) or Absolute position counter warning (E3. ) has
occurred, always perform home position setting again. Otherwise, it may cause an
unexpected operation.
POINT
For HG-AK series servo motors, if the encoder cable is disconnected, absolute
position data will be erased. After disconnecting the encoder cable, always execute
home position setting and then positioning operation.
This section does not include the following items. For details of the items, refer to
each section of the detailed description field.
Detailed
explanation
Item
Confirmation of absolute position data
Section 12.4
15.10.1 Features
For normal operation, as shown below, the encoder consists of a detector designed to detect a position within
one revolution and a cumulative revolution counter designed to detect the number of revolutions.
The absolute position detection system always detects the absolute position of the machine and keeps it batterybacked, independently of whether the servo system controller power is on or off. Therefore, once home position
return is made at the time of machine installation, home position return is not needed when power is switched on
thereafter.
If a power failure or a fault occurs, restoration is easy.
Current
LS
Detecting the
number of
revolutions
Home position
LS0
CYC0
CYC
Detecting the
position within
one revolution
MR-J3BAT
Battery
Servo motor
1 pulse/rev accumulative revolution
counter
Within one-revolution counter
15 - 66
High speed
serial
communication
Position control
Position data
Speed control
Servo amplifier
Servo system controller
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.10.2 Specifications
WARNING
Before mounting battery, check the control circuit power supply on, turn off the main
circuit power supply, and check that the charge lamp turns off. Otherwise, an electric
shock may occur. In addition, when confirming whether the charge lamp is off or not,
always confirm it from the front of the servo amplifier.
POINT
The internal circuits of the servo amplifier may be damaged by static electricity.
Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical parts,
directly by hand.
Replace the battery with control circuit power supply on and with main circuit power
supply off. Replacing battery with the control circuit power off will erase the absolute
position data.
(1) Specification list
Item
Description
System
Electronic battery backup type
Battery
Lithium battery (primary battery, nominal 3.6V)
Type: MR-J3BAT
Maximum revolution range
Home position 32767 rev.
(Note 1) Maximum speed at power failure 500r/min
(Note 2) Battery backup time
(Note 3) Battery life
Approximately 10,000 hours/2 axes (equipment power supply: off,
ambient temperature: 25 ) (Note 4)
Approximately 20,000 hours/1 axis (equipment power supply: off,
ambient temperature: 25 )
5 years from date of manufacture
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the
like
2. Time to hold data by a battery with power off. Replace the batteries within three years since the
operation start whether the power supply is on/off. If the battery is used out of specification, Absolute
position erased (25) may occur.
3. Quality of battery degrades by the storage condition. It is recommend that the battery be used within
two years from the production date. The life of battery is five years from the production date regardless
of the connection.
4. Even if the absolute position detection system is used with one axis, the battery backup time will be
approximately 10,000 hours.
15 - 67
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(2) Structure
Servo amplifier
CN4
CN1A
CN1B
SSCNET
cable
Controller
Cap
CN2A
CN2B
Servo motor
MR-J3BAT
CN1C
(3) Parameter setting
Set "
1" in parameter No.PA03 to enable the absolute position detection system.
Parameter No.PA03
1
Absolute position detection system selection
0: Used in incremental system
1: Used in absolute position detection system
(4) Year and month of manufacture of MR-J3BAT
Production year and month of the MR-J3BAT are indicated in a serial number on the rating plate of the
battery back face.
The year and month of manufacture are indicated by the last one digit of the year and 1 to 9, X(10), Y(11),
Z(12).
For October 2004, the Serial No. is like, "SERIAL: 4X
".
MELSERVO
3.6V,2000mAh
SERIAL 4X
MR-J3BAT
MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN
The year and month of manufacture
15 - 68
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.10.3 Battery replacement procedure
WARNING
Before mounting battery, turn off the main circuit power supply and check that the
charge lamp turns off. Otherwise, an electric shock may occur. In addition, when
confirming whether the charge lamp is off or not, always confirm it from the front of
the servo amplifier.
POINT
The internal circuits of the servo amplifier may be damaged by static electricity.
Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical parts,
directly by hand.
(1) When replacing battery with the control circuit power on
POINT
Replacing battery with the control circuit power off will erase the absolute position
data.
Replacing battery with the control circuit power on will not erase the absolute position data. Refer to section
15.10.4 for mounting procedure of battery on the servo amplifier.
To replace battery with the control circuit power off, refer to (2) of this section.
(2) When replacing battery with the control circuit power off
Replacing battery with the control circuit power off will erase the absolute position data, but battery can be
replaced without erasing the absolute position data in the following procedure.
In this procedure, MR-J3W03BTCBL03M battery connection cable is required.
MR-J3W03BTCBL03M cannot be added after home position is set. Make sure to connect MRJ3W03BTCBL03M between the servo amplifier and the encoder cable when setting up the encoder cable.
Refer to section 12.5 for the replacement procedure of the battery.
Servo amplifier
CN4
CN2A
or
CN2B
(Note)
MR-J3W03BTCBL03M
MR-J3BAT
Encoder cable
Servo motor
Note. Make sure to install MR-J3W03BTCBL03M when setting up the encoder cable.
15 - 69
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.10.4 Battery mounting/removing procedure
(1) Battery mounting procedure
3) Insert the connector of the
battery extension cable to CN4.
(Note)
2) Connect a battery
extension cable to
the battery.
1) Mount the mounting attachment
for MR-J3BAT on the servo amplifier.
Note. Be careful not to catch battery extension cable on peripheral equipment or by your
fingers. Doing so may cause a disconnection of the CN4 connector due to stress on the
connector connection part.
(2) Battery removing procedure
1) Push down the lever of the
mounting attachment for MR-J3BAT.
15 - 70
2) Pull out the battery.
15. MR-J3W-0303BN6 SERVO AMPLIFIER
15.10.5 Procedure to replace battery with the control circuit power off
(1) Preparation for battery replacement
For the battery replacement, battery for backup is required separately from the battery to be replaced.
Prepare the following batteries.
Name
MR-J3BAT
Number and Use
1 for backup
1 for replacement
15 - 71
Remarks
Battery within two years from the production date.
15. MR-J3W-0303BN6 SERVO AMPLIFIER
(2) Replacement procedure
Step 1
Connect MR-J3BAT for backup to the battery connector of
MR-J3W03BTCBL03M.
Servo amplifier
CN4
CN2A
or
CN2B
MR-J3W03BTCBL03M
Old MR-J3BAT
MR-J3BAT
for backup
New MR-J3BAT
Step 2
Remove old MR-J3BAT from the servo amplifier.
Servo amplifier
CN4
CN2A
or
CN2B
MR-J3W03BTCBL03M
(Note)
MR-J3BAT
for backup
New MR-J3BAT
Servo amplifier
CN4
CN2A
or
CN2B
MR-J3W03BTCBL03M
Note. When replacing MR-J3BAT, connect/disconnect the junction-side
connector.
Step 3
Mount new MR-J3BAT to the servo amplifier. Connect the
lead wire plug of MR-J3BAT to the battery extension cable
connected to the CN4 connector of the servo amplifier.
New MR-J3BAT
MR-J3BAT
for backup
Servo amplifier
CN4
CN2A
or
CN2B
MR-J3W03BTCBL03M
Step 4
Remove the MR-J3BAT for backup from the battery
connector of MR-J3W03BTCBL03M, and the procedure is
completed.
New MR-J3BAT
MR-J3BAT
for backup
15 - 72
APPENDIX
App. 1 Difference between MR-J3-B and MR-J3W-B
App. 1.1 Parameter change list
Parameter
No.
PA01
Name
Control mode
Setting
Each axis
None
Specification
added
PA02
Regenerative option
Common
PA03
Absolute position detection system
Each axis
PA04
Function selection A-1
Common
PA05 to
PA07
Difference
from MR-J3-B
Comment
The parameter only supports the regenerative resistor
connected to MR-J3W-B.
This parameter is not used.
PA08
Auto tuning mode
Each axis
PA09
Auto tuning response
Each axis
PA10
In-position range
Each axis
None
PA11 to
PA13
This parameter is not used.
PA14
Rotation direction selection
(Moving direction selection)
Each axis
PA15
Encoder output pulses
Each axis Function added A/B-phase pulse electronic gear setting is added.
PA16
Encoder output pulses 2
Each axis Function added A/B-phase pulse electronic gear setting is added.
PA17
Linear servo motor series setting
Each axis
New
Used to set a motor ID during the linear servo motor
drive.
PA18
Linear servo motor type setting
Each axis
New
Used to set a motor ID during the linear servo motor
drive.
PA19
Parameter write inhibit
Each axis
None
Setting
Difference
from MR-J3-B
Parameter
No.
Name
Comment
PB01
Adaptive tuning mode (Adaptive filter )
Each axis
Specification
change
Tuning mode is deleted.
PB02
Vibration suppression control filter tuning
mode (advanced vibration suppression
control)
Each axis
Specification
change
Tuning mode is deleted.
PB03
This parameter is not used.
PB04
Feed forward gain
PB05
This parameter is not used.
Each axis
PB06
Load to motor inertia moment ratio
Each axis
PB07
Model loop gain
Each axis
PB08
Position loop gain
Each axis
PB09
Speed loop gain
Each axis
PB10
Speed integral compensation
Each axis
PB11
Speed differential compensation
Each axis
PB12
This parameter is not used.
PB13
Machine resonance suppression filter 1
PB14
Notch form selection 1
Each axis
PB15
Machine resonance suppression filter 2
Each axis
PB16
Notch form selection 2
Each axis
PB17
Automatic setting parameter
PB18
Low-pass filter setting
Each axis
PB19
Vibration suppression control vibration
frequency setting
Each axis
None
Each axis
App. - 1
APPENDIX
Parameter
No.
PB20
PB21
PB22
Name
Vibration suppression control resonance
frequency setting
Setting
Difference
from MR-J3-B
Comment
Each axis
This parameter is not used.
PB23
Low-pass filter selection
Each axis
PB24
Slight vibration suppression control
selection
Each axis
PB25
This parameter is not used.
PB26
Gain changing selection
Each axis
PB27
Gain changing condition
Each axis
PB28
Gain changing time constant
Each axis
PB29
Gain changing load to motor inertia
moment ratio
Each axis
PB30
Gain changing position loop gain
Each axis
PB31
Gain changing speed loop gain
Each axis
PB32
Gain changing speed integral
compensation
Each axis
PB33
Gain changing vibration suppression
control vibration frequency setting
Each axis
PB34
Gain changing vibration suppression
control resonance frequency setting
Each axis
PB35
to
PB45
This parameter is not used.
Parameter
No.
Name
Setting
None
Difference
from MR-J3-B
Comment
PC01
Error excessive alarm level
Each axis
PC02
Electromagnetic brake sequence output
Each axis
PC03
Encoder output pulses selection
Each axis Function added A/B-phase pulse electronic gear setting is added.
PC04
Function selection C-1
Each axis
PC05
Function selection C-2
Each axis
PC06
Function selection C-3
Each axis
PC07
Zero speed
Each axis
PC08
This parameter is not used.
PC09
Analog monitor 1 output
Common
Specification
change
The setting to select an output axis of the analog
monitor is added.
PC10
Analog monitor 2 output
Common
Specification
change
The setting to select an output axis of the analog
monitor is added.
PC11
Analog monitor 1 offset
Common
PC12
Analog monitor 2 offset
Common
PC13
PC14
Station number selection
PC16
This parameter is not used.
PC17
Function selection C-4
PC21
None
None
This parameter is not used.
PC15
PC18 to
PC20
None
Common
Each axis
None
This parameter is not used.
Alarm history clear
Specification
added
Each axis
App. - 2
The setting to select a communicating axis of MR
Configurator is added.
APPENDIX
Parameter
No.
PC22 to
PC26
PC27
PC28 to
PC32
Parameter
No.
Name
Function selection C-9
Name
This parameter is not used.
Input signal automatic ON selection
Output signal device selection 1
(A-axis: CN3-12 B-axis: CN3-25)
PD08
This parameter is not used.
PD09
Output signal device selection 3
(A-axis: CN3-11 B-axis: CN3-24)
PD14
Parameter
No.
None
Setting
Difference
from MR-J3-B
None
None
Specification
change
Connector pin numbers are changed for MR-J3W.
Specification
change
Cannot be assigned to MR-J3W-B.
Each axis
Specification
change
Connector pin numbers are changed for MR-J3W.
Each axis
None
Setting
Difference
from MR-J3-B
Each axis
This parameter is not used.
Function selection D-3
This parameter is not used.
Name
PF06
Function selection F-5
Each axis New addition
PF12
Electronic dynamic brake operating time
Each axis New addition
Parameter
No.
PS01
PS02
PS03
PS04
PS05
PS06
Name
Linear function selection 1
Linear encoder resolution setting
Numerator
Linear encoder resolution setting
Denominator
Linear function selection 2
Linear servo motor control position
deviation error detection level
Linear servo motor control speed
deviation error detection level
Setting
Difference
from MR-J3-B
Each axis Function added
Not used for rotary servo motors. Used for linear
Each axis Function added servo motors. (Factory setting does not need to be
changed.)
Each axis Function added
Linear function selection 3
Each axis Function added
PS09
Magnetic pole detection voltage level
Each axis Function added
PS18
PS19 to
PS32
Comment
Each axis Function added
PS08
PS17
Used for MR-J3W-0303BN6 servo amplifier.
Each axis Function added
Linear servo motor control thrust deviation
Each axis Function added
error detection level
This parameter is not used.
Comment
Each axis Function added
PS07
PS10 to
PS16
Comment
Each axis Function added Automatically ON function for FLS and RLS is added.
This parameter is not used.
PD07
PD15 to
PD32
Each axis
Comment
This parameter is not used.
PD02
PD10 to
PD13
Difference
from MR-J3-B
This parameter is not used.
PD01
PD03 to
PD06
Setting
None
Minute position detection method function
Each axis Function added
Not used for rotary servo motors. Used for linear
selection
Minute position detection method
servo motors.
Each axis Function added
identification signal amplitude
This parameter is not used.
None
App. - 3
APPENDIX
Parameter
No.
Name
Setting
Difference
from MR-J3-B
Comment
Po01
Function selection O-1
Common
New addition
All-alarm all axis stop function is added.
Po02
Axis selection for graphing analog data
(MR Configurator)
Common
New addition
Axis selection for analog data channels in MR
Configurator is added.
Po03
Axis selection for graphing digtal data (MR
Common
Configurator)
New addition
Axis selection for digital data channels in MR
Configurator is added.
Po04
Function selection O-2
New addition
Used for MR-J3W-0303BN6 servo amplifier.
Po05 to
Po16
Common
This parameter is not used.
None
App. 1.2 Comparison of alarms and warnings
Warning
No.
Name
method
Stop
method
Difference
from MR-J3-B
Detection
10
Undervoltage
Common
All axis
None
11
Switch setting error
Common
All axis
New alarm
12
Memory error 1 (RAM)
Common
All axis
13
Clock error
Common
All axis
All axis
Comment Precautions
Occurs when the rotary switch or the DIP
switch setting is faulty.
15
Memory error 2 (EEP-ROM)
Common
16
Encoder initial communication error 1
Each axis Each axis
17
Board error
Common
All axis
19
Memory error 3 (Flash-ROM)
Common
All axis
1A
Motor combination error
Each axis Each axis
1E
Encoder initial communication error 2
Each axis Each axis
New alarm
Occurs when the cause of an alarm exists at
the encoder side.
1F
Encoder initial communication error 3
Each axis Each axis
New alarm
Occurs when the encoder is not supported.
20
Encoder normal communication error 1 Each axis Each axis
None
21
Encoder normal communication error 2 Each axis Each axis
New alarm
24
Main circuit error
Each axis All axis
25
Absolute position erase
Each axis Each axis
27
Initial magnetic pole detection error
Each axis Each axis
New alarm
Alarm for the use with a linear servo motor.
None
Occurs when the cause of an alarm exists at
the encoder side.
None
28
Linear encoder error2
Each axis Each axis
New alarm
Alarm for the use with a linear servo motor.
2A
Linear encoder error1
Each axis Each axis
New alarm
Alarm for the use with a linear servo motor.
30
Regenerative error
Common
31
Overspeed
Each axis Each axis
32
Overcurrent
Each axis All axis
33
Overvoltage
Common
All axis
All axis
34
SSCNET receive error 1
Each axis Each axis
35
Command frequency error
Each axis Each axis
36
SSCNET receive error 2
Each axis Each axis
37
Parameter error
Each axis Each axis
42
Linear servo control error
Each axis Each axis
45
Main circuit device overheat
Common
46
Servo motor overheat
Each axis Each axis
47
Cooling fan error
Common
50
Overload 1
Each axis Each axis
51
Overload 2
Each axis Each axis
None
New alarm
All axis
All axis
52
Error excessive
Each axis Each axis
8A
USB communication time-out error
Common
All axis
8E
USB communication error
Common
All axis
App. - 4
None
Alarm for the use with a linear servo motor.
APPENDIX
Warning
No.
Detection
Name
method
Stop
method
91
Main circuit device overheat warning
Common
92
Battery cable disconnection warning
Each axis
96
Home position setting warning
Each axis
9F
Battery warning
Each axis
E0
Excessive regeneration warning
Common
E1
Overload warning 1
Each axis
E2
Linear servo motor overheat warning
Each axis
E3
Absolute position counter warning
Each axis
E4
Parameter warning
Each axis
E6
Servo forced stop warning
Common
All axis
E7
Controller forced stop warning
Common
All axis
E8
Cooling fan speed reduction warning
Common
E9
Main circuit off warning
Common
EB
The other axis fault warning
Each axis All axis
EC
Overload warning 2
Each axis
ED
Output watt excess warning
Each axis
New warning
New alarm
None
CN3
1
MO1
4
LB-A
6
LB-B
8
DI2-A
10
EM1
LG
3
14
15
LG
MO2
16
17 LAR-A
LA-A
5
LBR-A
18
19 LAR-B
LA-B
7
DI1-A
9
DI3-A
11
12
LBR-B
21
DI2-B
23
DICOM
20
DI1-B
22
DI3-B
24
25
13
Comment Precautions
Occurs when the temperature inside the
servo amplifier reaches the warning level.
None
App. 2 Signal layout recording paper
2
Difference
from MR-J3-B
26
DOCOM
App. - 5
Alarm for the use with a linear servo motor.
APPENDIX
App. 3 COMPLIANCE WITH CE MARKING
App. 3.1 What is CE marking?
The CE marking is mandatory and must be affixed to specific products placed on the European Union. When a
product conforms to the requirements, the CE marking must be affixed to the product. The CE marking also
applies to machines and equipment incorporating servos.
(1) EMC directive
The EMC directive applies to the servo units alone. This servo is designed to comply with the EMC
directive. The EMC directive also applies the servo-incorporated machines and equipment. This requires
the EMC filters to be used with the servo-incorporated machines and equipment to comply with the EMC
directive. For specific EMC directive conforming methods, refer to the EMC Installation Guidelines
(IB(NA)67310).
(2) Low voltage directive
The low voltage directive applies also to servo units alone. This servo is designed to comply with the low
voltage directive.
App. 3.2 For compliance
Be sure to perform an appearance inspection of every unit before installation. In addition, have a final
performance inspection on the entire machine/system, and keep the inspection record.
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which standard product.
Servo amplifier
: MR-J3W-0303BN6 MR-J3W- B
HF-MP
HF-KP
HF-SP
HC-UP
Servo motor series : HG-AK
HC-LP
HG-JP
(2) Structure
(a) MR-J3W-0303BN6
Control box
Reinforced
insulating type
24VDC
power supply
for control circuit
Reinforced
insulating type
48VDC/24VDC
power supply
for main circuit
Circuit
protector
Circuit
protector
Relay
Servo
amplifier
Servo motor
M
M
App. - 6
APPENDIX
(b) MR-J3W-22B to MR-J3W-1010B
The control circuit provide safe separation to the main circuit in the servo amplifier.
Control box
Reinforced insulating type
24VDC
power
supply
No-fise
breaker
Magnetic
contactor
MC
MCCB
Servo motor
Servo
amplifier
M
M
(3) Environment
(a) Operate the servo amplifier at pollution degree 2 or 1 set forth in EN 60664-1. For this purpose, install
the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54).
(b) Use the product under the following conditions.
Item
(Note)
Ambient
temperature
Ambient humidity
Altitude
Environment
Operation
Storage,
Transportation
[ ]
0 to 55
[ ]
32 to 131
[ ]
20 to 65
[ ]
4 to 149
Operation, Storage,
Transportation
90
RH or less
Operation, Storage
1000m or less
Transportation
10000m or less
Note. Ambient temperature is the internal temperature of the control box.
(4) Power supply
(a) This servo amplifier can be supplied from star-connected supply with earthed neutral point of
overvoltage category III set forth in EN 60664-1. However, when using the neutral point of 400V
system for single phase supply, a reinforced insulating transformer is required in the power input
section.
(b) For the interface power supply, use a 24VDC power supply with reinforced insulation on I/O terminals.
(5) Grounding (except MR-J3W-0303BN6)
(a) To prevent an electric shock, the PE terminal (marked
the PE of the control box.
) of the servo amplifier must be connected to
(b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect cables
to the terminals one-to-one.
PE terminals
PE terminals
App. - 7
APPENDIX
(c) If an earth leakage circuit breaker is used, always earth the protective earth (PE) terminal of the servo
amplifier to prevent an electric shock.
(6) Wiring and installation
(a) The wires to be connected to the terminal block of the servo amplifier must have crimping terminals
provided with insulating tubes to prevent contact with adjacent terminals.
Insulating tube
Wire
Crimping terminal
(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standardcompliant power connector sets are available as options.
(c) The Servo amplifier must be installed in the metal cabinet (control box).
(7) Peripheral devices, options
(a) Use the circuit breaker and magnetic contactor models which are EN Standard-compliant products
given this Servo Amplifier Instruction Manual. Use a residual current device (RCD) of type B. When it is
not used, provide insulation between the servo amplifier and other device by double insulation or
reinforced insulation, or install a transformer between the main power supply and servo amplifier.
(b) The sizes of the wires given this Servo Amplifier Instruction Manual meet the following conditions. For
use in any other conditions, follow Table 6 and Annex D of EN 60204-1.
Ambient temperature: 40 (104 )
Sheath
: PVC (polyvinyl chloride)
Installation on wall surface or open cable tray
(c) Use the EMC filter for noise reduction.
(8) Performing EMC tests
When EMC tests are run on a machine/device into which the servo amplifier has been installed, it must
conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the
operating environment/electrical equipment specifications.
App. - 8
APPENDIX
App. 4 COMPLIANCE WITH UL/CSA STANDARD
This servo amplifier complies with UL 508C and CSA C22.2 No.14 standard.
Refer to section 1.3 (2) for the servo amplifier model names described in the tables and figures.
(1) Servo amplifiers and servo motors used
Use the servo amplifiers and servo motors which standard product.
Servo amplifier
Servo motor
MR-J3W0303BN6
MR-J3W-22B
MR-J3W-44B
MR-J3W-77B
MR-J3W1010B
A-axis/B-axis
A-axis/B-axis
A-axis/B-axis
A-axis/B-axis
A-axis/B-axis
HG-AK0136
HG-AK0236
HG-AK0336
HF-MP053
(Note1)
HF-MP13
(Note1)
HF-MP23
HF-MP43
(Note1)
(Note1)
(Note1)
(Note1)
HF-MP73
HF-KP053
(Note1)
HF-KP13
(Note1)
HF-KP23
HF-KP43
HF-KP73
HF-SP51
(Note1)
HF-SP81
HF-SP52
(Note1)
HF-SP102
HC-LP52
(Note1)
HC-LP102
HC-UP72
(Note1)
HF-JP53
(Note2)
(Note2, 3)
HF-JP73
(Note2)
(Note2)
HF-JP103
(Note2)
Note 1. When using this servo amplifier with software version B2 or below, it is required to set
parameter No.Po04 to "
1 ". For the servo amplier with software version B3 or above,
setting the parameter is not required.
2. The servo motor is available for servo amplifiers with software version B3 or above.
3. For this combination, the maximum torque of the HF-JP53 servo motor will be 400 of rated
torque.
(2) Installation
The MR-J3W series have been approved as the products which have been installed in the electrical
enclosure.
The minimum enclosure size is based on 150 of each MR-J3W combination.
And also, design the enclosure so that the ambient temperature in the enclosure is 55 (131 ) or less,
refer to the spec manual.
The Servo amplifier must be installed in the metal cabinet (control box).
App. - 9
APPENDIX
(3) Short circuit rating (SCCR: Short Circuit Current Rating)
Suitable For Use In A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical Amperes,
500V Maximum.
(4) Flange
Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat
dissipation effect.
Flange size
[mm]
Servo motor
HF-MP
HF-KP
250 250 6
053/13/23
053/13/23
250 250 12
43
43
300 300 12
73
73
150 150 3
HG-AK
HF-SP
HC-UP
HC-LP
HF-JP
52/102
53/73/103
0136/0236/
0336
51/81
52/102
550 550 30
72
(5) Capacitor discharge time
The capacitor discharge time is as follows. To ensure safety, do not touch the charging section for 15
minutes after power-off. (except MR-J3W-0303BN6)
Servo amplifier
Discharge time (min)
MR-J3W-22B
5
MR-J3W-44B
6
MR-J3W-77B/
MR-J3W-1010B
11
(6) Overload protection characteristics
An electronic thermal relay is built in the servo amplifier to protect the servo motor, servo amplifier and
servo motor power line from overloads. The operation characteristics of the electronic thermal relay are
shown below. It is recommended to use an unbalanced torque-generated machine, such as a vertical
motion shaft, so that unbalanced torque is not more than 70 of the rated torque. When closely mounting
MR-J3W-0303BN6, use it with 75 or less effective load torque, and with ambient temperature between 0
to 45 . When closely mounting MR-J3W-44B, use it with 90 or less of effective load torque.
Servo amplifier MR-J3W series have each solid-state servo motor overload protection. (The motor full load
current is 115 rated current.)
App. - 10
APPENDIX
100
During
operation
10
100
Operation time [s]
Operation time [s]
1000
During servo lock
During servo lock
10
1
0.1
0
During
operation
1
100
200
300
0.1
Load ratio [ ]
100
0
HF-MP053/13
HF-KP053/13
HG-AK0136/0236/0336
200
Load ratio [ ]
300
400
HF-MP23/43/73
HF-KP23/43/73
HF-SP51/81/52/102
HC-UP72
HC-LP52/102
HF-JP53/73/103
(7) Selection example of wires
To comply with the UL/CSA Standard, use UL-approved copper wires rated at 60/75
wiring.
(140/167 ) for
Wires (Note 1)
Servo amplifier
MR-J3W0303BN6
(Note 3)
L1 L2 L3
L11 L21
(Note 2, 3)
U V W
P
C
D
(Note 2)
B1 B2
THM1
THM2
24 0 PM
AWG16
(Note 4)
AWG19
MR-J3W-22B
MR-J3W-44B
MR-J3W-77B
P
2mm2 (AWG14)
MR-J3W1010B
1.25mm2
(AWG16)
0.2mm2
(AWG24)
Note 1. Wires are selected based on the highest rated current among combining servo motors.
2. This wire size indicates the size of cable extension which is used when the wiring length exceeds 10m.
3. Use the crimping terminal specified as below for the PE terminal of the servo amplifier.
Crimping terminal: FVD2-4
Tool (body)
: YNT-1614
Manufacturer
: JST
Tightening torque: 1.2 N m
4. Insulator OD : 2.9mm
App. - 11
APPENDIX
(8) About wiring protection
For installation in United States, branch circuit protection must be provided, in accordance with the National
Electrical Code and any applicable local codes and per the table below.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada
Electrical Code and any applicable provincial codes and per the table below.
Use the molded-case circuit breaker or a Class T fuse indicated in the table below.
(a) MR-J3W-0303BN6
Power supply specification
Circuit protector (Note)
Control circuit power supply (24VDC)
CP30-BA 1P 1-M 1A
Main circuit power supply (48VDC)
CP30-BA 1P 1-M 5A
Control circuit power supply/Main
circuit power supply (24VDC)
CP30-BA 1P 1-M 10A
Note. For operation characteristics, use an intermediate speed type.
(b) MR-J3W-22B to MR-J3W-1010B
Molded-case circuit breaker (Note)
Servo motor total output
Current
300W or less
30A frame 5A
From over 300W to 600W
30A frame 10A
From over 600W to 1kW
30A frame 15A
From over 1kW to 2.0kW
30A frame 20A
Fuse
Voltage AC [V]
Current [A]
Voltage AC [V]
15
20
240
300
20
30
Note. Listed no-fuse breakers are for when the power factor improving reactor is not used.
(9) Options, peripheral devices
Use the UL/CSA Standard-compliant products.
(10) Connection example
(a) MR-J3W-0303BN6
Main circuit
power supply: 48VDC
Circuit
24VDC
protector
48VDC
CNP2A
24
0
PM
U
V
W
A-axis servo motor
U
V
W
Relay
Main circuit
power supply: 24VDC
24VDC
Servo amplifier
CNP1
Circuit
protector
App. - 12
CNP2B
U
V
W
B-axis servo motor
U
V
W
APPENDIX
(b) MR-J3W-22B to MR-J3W-1010B
MCCB or
fuse
Servo amplifier
MC
Power
supply
CNP3A
CNP1
L1
L2
L3
A-axis servo motor
U
V
W
U
V
W
CNP3B
B-axis servo motor
U
V
W
U
V
W
(11) Approval mark of UL/CSA standards
This servo amplifier complies with UL and CSA standards and is labeled with the corresponding approval
mark.
Approval mark: NRTL Listing to UL 508C
Testing by TÜV Rheinland according to UL and CSA standards
App. - 13
APPENDIX
App. 5 Handling of AC servo amplifier batteries for the United Nations Recommendations on
the Transport of Dangerous Goods
United Nations Recommendations on the Transport of Dangerous Goods Rev. 15 (hereinafter
Recommendations of the United Nations) has been issued. To reflect this, transport regulations for lithium
metal batteries are partially revised in the Technical Instruction (ICAO-TI) by the International Civil Aviation
Organization (ICAO) and the International Maritime Dangerous Goods Code (IMDG Code) by the International
Maritime Organization (IMO).
To comply the instruction and code, we have modified the indication on the package for general-purpose AC
servo batteries.
(1) Target model
Battery (Cell): MR-J3BAT, MR-BAT, A6BAT
Battery unit (Battery): MR-J2M-BT
(2) Purpose
Safer transportation of lithium metal batteries.
(3) Change in regulations
The following points are changed for lithium metal batteries transportation by sea or air due to
Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition. For lithium metal
batteries, cells are classified as UN3090, and batteries contained in or packed with equipment are
classified as UN3091.
(a) A package containing 24 cells or 12 batteries or less that are not contained in equipment are no longer
exempt from the following: attachment of a handling label, submission of the Shipper's Declaration for
Dangerous Goods, and a 1.2m drop test.
(b) A battery handling label (size: 120 110mm) is required. Emergency telephone number must be filled
out in the additional handling information of the Shipper's Declaration for Dangerous Goods.
(c) New handling label design containing battery illustration (Figure) must be used.
Figure. Example of Mitsubishi Label with Battery Illustration (size: 120 110mm)
(4) Action taken by Mitsubishi
The following caution will be added to the packages of the target batteries.
"Containing lithium metal battery. Regulations apply for transportation."
App. - 14
APPENDIX
(5) Transportation precaution for customers
For sea or air transportation, the handling label (Figure) is required for the package of a Mitsubishi cell or
battery and the outer package containing several packages of Mitsubishi cells or batteries. Documentations
like the handling label in the specified design and the Shipper's Declaration for Dangerous Goods are
required. Please attach the documentations to the packages. The above change will not affect the function
and performance of the product.
App. 6 Symbol for the new EU Battery Directive
Symbol for the new EU Battery Directive (2006/66/EC) that is plastered to general-purpose AC servo battery is
explained here.
Note. This symbol mark is for EU countries only.
This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and
Annex II.
Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and
components which can be recycled and/or reused.
This symbol means that batteries and accumulators, at their end-of-life, should be disposed of
separately from your household waste.
If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the
battery or accumulator contains a heavy metal at a certain concentration. This will be indicated as
follows.
Hg: mercury (0.0005 ), Cd: cadmium (0.002 ), Pb: lead (0.004 )
In the European Union there are separate collection systems for used batteries and accumulators.
Please, dispose of batteries and accumulators correctly at your local community waste
collection/recycling centre.
Please, help us to conserve the environment we live in!
App. - 15
APPENDIX
App. 7 Recommended cable for servo amplifier power supply
The following information is as of September 2012. For the latest information, contact the manufacturer.
Manufacturer: Mitsubishi Electric System & Service Co., Ltd.
<Sales office> FA PRODUCT DIVISION mail: oss-ip@melsc.jp
(1) Specifications
Primary side power supply cable
Product
Model
Wire size
Insulator
material
Applicable
Minimum
Insulation
standard
bend
outer diameter
(wire part)
radius
1) Main circuit power supply
SC-EMP01CBL
M-L
AWG14 3pcs.
PVC (red,
white, blue)
30mm
2) Control circuit power supply
SC-ECP01CBL
M-L
AWG16 2pcs.
PVC
(red, white)
30mm
3) Regenerative option
SC-ERG01CBL
M-L
AWG14 2pcs.
SC-ERG02CBL01
M-L
AWG14 1pcs.
Built-in regenerative resistor short
4)
circuit connector
30mm
PVC (black)
Approximately
3.6mm
Approximately
UL 1063/
3.2mm
MTW
Approximately
3.6mm
A symbol " " in the model name indicates a cable length.
Motor side power supply cable
Material
Product
5)
6)
Model
SC-EPWS1CBL
M- -L
AWG18 4C
Long
SC-EPWS1CBL
bending
M- -H
life
AWG19 4C
Standard
Direct connection to
rotary servo (up to 10m)
Wire size
7) Linear servo (up to 10m)
AWG18 4C
SC-EPWS2CBL
Linear servo (more than
Standard
M-L
10m)/junction connection
8)
to rotary servo (more than
10m)
AWG16 4C
9) Linear servo (up to 10m)
AWG19 4C
Long
SC-EPWS2CBL
Linear servo (more than
bending
M-H
10m)/junction connection
life
10)
to rotary servo (more than
10m)
AWG14 4C
Outer
Insulator
sheath
ETFE
PVC
PVBC
(black)
Minimum
Finished outer
bend
diameter
radius
Applicable
standard
(wire part)
50mm
Approximately
UL 13/CL3
6.2mm
40mm
Approximately UL AWM
5.7mm
2103
50mm
Approximately
UL 13/CL3
6.2mm
90mm
Approximately UL AWM
11.1mm
2501
40mm
Approximately UL AWM
5.7mm
2103
75mm
Approximately UL AWM
10.5mm
2501
ETFE
A symbol " " in the model name indicates a cable length.
A symbol " " in the model name is "A1" or "A2". A1: Load side lead, A2: Opposite-to- load side lead.
The characters "-H" or "-L" at the end of a model name indicate a bending life. A model name with the characters "-H" has a long bending
life. A model name with the characters “-L” has a standard bending life.
App. - 16
APPENDIX
(2) Outline drawing
[Unit: mm]
2) [SC-ECP01CBL M-L]
1) [SC-EMP01CBL M-L]
Amplifier side
Amplifier side
Power supply side
Amplifier side
L [m]
23
L [m]
24
3) [SC-ERG01CBL M-L]
Power supply side
Regenerative option side
L [m]
23
1
2
3
4) [SC-ERG02CBL01M-L]
Amplifier side
5)/6) [SC-EPWS1CBL M- -L/
SC-EPWS1CBL M- -H]
Amplifier side
23
7) 8)/9) 10) [SC-EPWS2CBL M-L/
SC-EPWS2CBL M-H]
Motor side
Amplifier side
Motor side
L [m]
23
L [m]
23
30
200
200
20
25
20
200
10
A symbol " " in the model name indicates a cable length.
App. - 17
10
5.7
14
Cable outer diameter: 5) Standard Approximately 6.2
6) Long bending life Approximately
Cable outer diameter: 7) Standard 10m or less Approximately 6.2
8) Standard 11 to 30m Approximately 11.1
9) Long bending life 10m or less Approximately 5.7
10)Long bending life 11 to 30m Approximately 10.5
APPENDIX
App. 8 Certificate by Certification Body
(1) EN
MR-J3W series servo amplifiers are certificated in compliance with EN described in the Low-voltage
directive.
(a) MR-J3W-0303BN6
Supplementation: Refer to section 15.1.3 (2) for the models shown in "see Appendix 1".
App. - 18
APPENDIX
(b) MR-J3W- B
Supplementation: Refer to section 1.5 (2) for the models shown in "(see Appendix 1)".
App. - 19
APPENDIX
(2) UL/CSA standard
MR-J3W series servo amplifiers are certificated in compliance with UL/CSA standard.
(a) MR-J3W-0303BN6
App. - 20
APPENDIX
(b) MR-J3W- B
App. - 21
REVISIONS
*The manual number is given on the bottom left of the back cover.
Print Data
*Manual Number
Mar. 2010
SH(NA)030073-A
Revision
First edition
Dec. 2011
SH(NA)030073-B
Section 2.4(2)(3) The description is changed.
Nov. 2012
SH(NA)030073-C
MR-J3W-0303BN6 and MR-J3W-1010B servo amplifiers are added.
HF-SP81/HF-SP102/HC-LP102/HF-JP53/HF-JP73/HF-JP103/HG-AK0136/HGAK0236/HG-AK0336 servo motors are added.
LM-K2 linear servo motor is added.
Direct drive motor is added.
«About the manual»
Section 1.1
Section 1.3
Section 1.4
Section 1.5 (2)
Section 1.6
Section 3.1
Section 3.3.1 (2)
Section 3.3.3
Section 3.3.3 (2)
Section 3.5 (2)(b)
Section 3.7.1
Section 3.7.2 (4)
Section 3.10.2 (1)(b)
Section 3.10.2 (2)(a)
Section 3.10.2 (2)(b)
Section 3.11.1
Section 3.11.1 (1)
Section 3.11.2 (1)
Section 3.11.3 (1)
Section 3.11.3 (2)
Section 3.13
Section 3.14
Chapter 4
Section 4.4
Section 4.5.1
Section 4.5.1 (2)
Chapter 5
Section 5.1
Section 5.1.3
Section 5.1.4
Section 5.1.5
Section 5.1.7
Section 5.1.8
The table is changed.
The sentences are changed.
Servo motor is added.
Note 3 is changed.
The sentences about gain changing function are added.
The diagram is changed.
The table is changed and the sentences are added.
The sentences are added to CAUTION.
Note 5 is changed.
MR-J3W-1010B is added.
The sentences of POINT is changed.
Added.
The sentences of INP-A/INP-B, SA-A/SA-B, TLC-A/TLCB and ABSV-A/ABSV-B are changed or added.
VLC-A/VLC-B is added.
The part of diagram is changed.
Note is added.
The connector model is changed.
Note 2 and 3 are added.
Servo motor and connector are added.
The part of POINT is changed.
Note 1 and 2 are added.
The ready-on command is added to the diagram.
Note 3 and 4 are added.
Note 3 and 5 are added.
The sentences are added to POINT.
The part of POINT is changed.
The part of table is changed.
The part of POINT is changed.
The sentences are changed.
The sentences are added to POINT.
The diagram is changed.
The sentences are added to CAUTION.
POINT is partially deleted.
The sentences are added to POINT.
The setting value is added.
The sentences are added to POINT.
The setting value is added.
The sentences are added to POINT.
POINT is added.
The sentences in POINT are changed.
Print Data
*Manual Number
Nov. 2012
SH(NA)030073-C
Revision
Section 5.1.9
Section 5.2.2
Section 5.3.2
Section 5.3.3 (2)
Section 5.3.3 (3)
Section 5.4
Section 5.4.2
Section 5.5
Chapter 6
Section 7.5
Section 7.5.2
Chapter 8
Section 8.1
Section 8.2
Section 8.3
Section 8.4
Section 9.1 (2)
Section 10.1
Section 10.2
Section 10.3
Section 10.5
Section 11.1.1
Section 11.1.2 (5)(b)
Section 11.2
Section 11.2 (2)(a)
Section 11.4 (1)
Section 11.4 (2)
Section 11.5 Table11.1
Section 11.5 (2)
Section 11.6
Section 11.7
Section 11.9 (2)(b)
Section 11.10
Section 11.11
Section 11.12 (2)
The setting content is changed.
PB24: The setting content is changed.
PC01: The sentences are changed.
PC09: The setting content is changed.
PC17: The sentences are changed.
"Speed command 2" is added, Note 2 to 4 are added.
"Speed command 2" is added.
The factory setting of PD20 to PD23 are changed.
PD07: The table is changed, Note is added and
changed.
Po02: The setting content of the first digit is changed.
Po03: The setting content of the first digit is changed.
Po04: The setting content is changed.
POINT is added.
The sentences are changed.
The sentences are changed.
The sentences in POINT are changed.
MR-J3W-0303BN6 is added.
POINT is added.
16.3(1): Added.
45.5: Changed from 45.2.
46.1: Name is changed.
The sentences are changed.
E3: The content is changed.
E9.3: Added.
EB.1: (1) to (3) are added.
MR-J3W-1010B is added.
The part of diagram is changed.
Servo motor and Note 2 are added.
Servo motor is added.
HF-JP series is added.
MR-J3W-1010B is added.
Servo amplifier and servo motor are added.
Connector set is added.
Note is added.
MR-J3W-1010B is added.
MR-RB3B is added.
The contents are entirely changed.
The part of table is changed.
The part of table is changed.
MR-J3W-1010B is added.
The recommended cables of "Servo motor power cable"
and "Electromagnetic brake cable" are changed.
The sentences are added.
The table is changed.
The table is changed and the sentences are added.
The surge killer is changed.
Servo amplifier and servo motor are added.
MR-J3W-1010B is added.
The part of table is changed.
Print Data
*Manual Number
Revision
Nov. 2012
SH(NA)030073-C
Chapter 13
Chapter 14
Chapter 15
App. 1.1
App. 3.2
App. 4
The contents are entirely changed.
Added.
Added.
PF06, PF12 and Po04 are added.
MR-J3W-0303BN6 is added.
MR-J3W-0303BN6 and MR-J3W-1010B servo amplifier
are added.
HG-AK and HF-JP series servo motor are added.
Apr. 2013
SH(NA)030073-D
4. Additional instructions (1)
Chapter 2
Section 3.3.2
Section 5.3.3
Section 8.4
Section 10.5
Section 11.4 (2)
Section 13.6.4 (3)
Section 13.7.3
Section 14.6.3
Section 15.1.2
Section 15.3.3 (2)
Section 15.5.2 (2)
Section 15.6
Section 15.9.2
App. 8
The sentences are added.
The sentences are added.
The sentences in POINT are changed.
POINT is added.
The part of table is changed.
The sentences are added.
The sentences are changed.
POINT is added.
The part of table is changed.
The part of table is changed.
Note 6 is added.
POINT is added.
POINT is added.
The part of table is changed.
The part of note is changed.
Added.
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may
occur as a result of using the contents noted in this manual.
© 2010 MITSUBISHI ELECTRIC CORPORATION
Country/Region
Sales office
Tel/Fax
USA
Mitsubishi Electric Automation Inc.
500 Corporate Woods Parkway, Vernon Hills, IL 60061, USA
Tel : +1-847-478-2100
Fax : +1-847-478-0327
Germany
Mitsubishi Electric Europe B.V. German Branch
Gothaer Strasse 8, D-40880 Ratingen, Germany
Tel : +49-2102-486-0
Fax : +49-2102-486-1120
Italy
Mitsubishi Electric Europe B.V. Italian Branch
Viale Colleoni 7
1-20041 Agrate Brianza (Milano), Italy
Tel : +39-39-60531
Fax : +39-39-6053312
China
Mitsubishi Electric Automation (China) Ltd.
4F Zhi Fu Plazz, No. 80 Xin Chang Road
Shanghai 200003, China
Tel : +86-21-6120-0808
Fax : +86-21-6121-2444
Taiwan
Setsuyo Enterprise Co., Ltd.
6F, No.105 Wu-Kung 3rd Rd, Wu-Ku Hsiang, Taipei Hsine, Taiwan
Tel : +886-2-2299-2499
Fax : +886-2-2299-2509
Korea
Mitsubishi Electric Automation Korea Co., Ltd.
3F, 1480-6, Gayang-dong, Gangseo-gu, Seoul
157-200, Korea
Tel : +82-2-3660-9552
Fax : +82-2-3664-8372
Singapore
Mitsubishi Electric Asia Pte, Ltd.
307 Alexandra Road #05-01/02,
Mitsubishi Electric Building Singapore 159943
Tel : +65-6470-2460
Fax : +65-6476-7439
Warranty
1. Warranty period and coverage
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen
during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the
Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on
request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be
required after a defective unit are repaired or replaced.
[Term]
The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or
eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product
cannot exceed beyond the original warranty period before any repair work.
[Limitations]
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be
charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to
the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
(i)
a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware
or software problem
(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval
(iii)
(iv)
(v)
a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety
device required by applicable laws and has any function or structure considered to be indispensable according to a common
sense in the industry
a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly
maintained and replaced
any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)
(vi)
a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of
voltage, and acts of God, including without limitation earthquake, lightning and natural disasters
(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of
the Product from our company
(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Term of warranty after the stop of production
(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries
Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the
repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of responsibility for compensation against loss of opportunity, secondary loss, etc.
Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not
responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary damages
or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company, any damages to
products other than the Product, and also compensation for any replacement work, readjustment, start-up test run of local machines
and the Product and any other operations conducted by you.
5. Change of Product specifications
Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product
(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any
failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external system
to General-Purpose AC Servo when any failure or malfunction occurs.
(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of
electric power companies, and also which require a special quality assurance system, including applications for railway companies
and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications
when used
In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments,
railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines,
etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific
application. Please contact us for consultation.
SH(NA)030073-D
General-Purpose AC Servo
SSCNET
J3W Series
interface 2-axis AC Servo Amplifier
MODEL
MODEL
CODE
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
SH (NA) 030073-D (1304) MEE
Printed in Japan
This Instruction Manual uses recycled paper.
Specifications subject to change without notice.
J3W Series MR-J3W-0303BN6/MR-J3W- B Servo Amplifier Instruction Manual D
MODEL
MR-J3W-0303BN6
MR-J3W- B
SERVO AMPLIFIER
INSTRUCTION MANUAL
D
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