Mitsubishi Electric MR-JN-_A HF-KN_ HF-KP_G1/G5/G7 HG-KR_G1/G5/G7 Instruction Manual

MODEL

MODEL

CODE

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

SH(NA)030086ENG-D(1906)MEE Printed in Japan Specifications are subject to change without notice.

General-Purpose AC Servo

JN Series

General-Purpose Interface Servo Amplifier

MODEL (Servo Amplifier)

MR-JN□ A

MODEL (Servo Motor)

HF-KN □

HF-KP □ G1/G5/G7

HG-KR □ G1/G5/G7

INSTRUCTION MANUAL

D

Safety Instructions

Please read the instructions carefully before using the equipment.

Be sure to read through this Instruction Manual, Installation guide and appended documents carefully before using the equipment. For your protection, do not install, operate, inspect or perform maintenance procedures until you have a full knowledge of the equipment and the safety information and instructions.

In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING

Indicates that incorrect handling may cause hazardous conditions,

CAUTION

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, be sure to turn off the power, wait for 15 minutes or longer, and then make sure that the charge lamp is off to prevent an electric shock. In addition, always confirm if the charge lamp is off or not from the front of the servo amplifier.

Ground the servo amplifier and the servo motor securely.

Only qualified personnel should attempt wiring and inspection.

Wire the servo amplifier and the servo motor after installation is complete to prevent an electric shock.

Do not operate the switches with wet hands as it may cause an electric shock.

Do not damage, stress excessively, place heavy objects or pinch the cable to prevent 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, the servo motor and the regenerative option on incombustible material. Installing them directly or close to combustibles may cause a fire.

Be sure to connect a magnetic contactor between the power supply and the main circuit power supply

(L1/L2) of the servo amplifier, in order to configure a circuit that shuts off the power supply by the magnetic contactor. If a magnetic contactor is not connected, a continuous flow of a large current may cause a fire when the servo amplifier malfunctions.

When using a regenerative resistor, configure a circuit that shuts off the power if abnormality is found.

Otherwise, the regenerative resistor may overheat, causing a fire due to a regenerative transistor fault.

When using a regenerative option, remove the built-in regenerative resistor and its wiring from the servo amplifier.

Provide an adequate protection to prevent conductive matters such as screws or metal pieces or combustible matters such as oil from entering the servo amplifier and the servo motor.

Always connect a molded-case circuit breaker to the power supply of the servo amplifier.

3. To prevent injury, note the following

CAUTION

Do not apply voltage other than specified in this Instruction Manual to each terminal as it may cause burst, damage, etc.

Connect the wires to correct terminals to prevent burst, damage, etc.

Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.

The servo amplifier heat sink, the regenerative option, the servo motor can be very hot during power-on and for some time after power-off, and it may result burns or damages to parts (cables, etc.) Take measures, e.g. provide covers, to prevent accidental contact of hands and parts with them.

Never touch the rotating parts of the servo motor during operation as it may cause injury.

A - 2

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

Carry the products in a suitable way according to their weights.

Do not stack the product packages exceeding the maximum number specified on the package.

Do not hold the lead of the built-in regenerative resistor, the cables, or the connectors when carrying the servo amplifier. Otherwise, it may drop.

Do not hold the cable, the shaft or the encoder when carrying the servo motor.

Install the equipment on a weight-bearing place in accordance with this Instruction Manual.

Do not get on or place heavy objects on the equipment.

Install the equipment in the specified direction. Improper installation causes oil leakage, leading to a fire and malfunction.

Leave specified clearances between the servo amplifier and inner wall of the control box or other equipment.

Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may occur.

Do not install or operate a servo amplifier and a servo motor which are damaged or have any part missing.

Do not drop or shock the servo amplifier or the servo motor as they are precision equipment.

When storing the equipment, please fulfill the following environmental conditions.

Item

Servo amplifier

Environmental

Servo motor

Ambient temperature

Ambient humidity

Operation [ ] 0 to 55 (non-freezing)

Storage [ ]

Operation

Storage

Ambience

Altitude

Vibration resistance

20 to 65 (non-freezing)

5%RH to 90%RH (non-condensing)

Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt

Max. 1000m (3280 ft)

5.9 m/s 2 , 10 to 55Hz

(directions of X, Y, and Z axes)





HF-KN Series

HF-KP Series (Note)

HG-KR series (Note)

X Y: 49m/s 2

Note. For the standard servo motor (without reduction gear.)

Couple the servo motor to a machine securely. Insecure coupling may cause the servo motor to come off.

Be sure to measure the motor vibration level with the servo motor mounted to the machine when checking the vibration level. A great vibration may cause the early damage of a bearing, encoder, brake, and reduction gear. The great vibration may also cause the poor connector connection or bolt looseness.

For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform by using a measurement device, and then check that no vibration occurs. If the vibration occurs due to high gain, the vibration may cause the early damage of the servo motor.

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 a machine as it may damage the encoder.

Do not apply load exceeding the permissible load as it may break the shaft.

When the equipment has been stored for an extended period of time, contact your local sales office.

When handling the servo amplifier, be careful with the edged parts such as the corners of the servo amplifier.

A - 3

CAUTION

The servo amplifier must be installed in the metal cabinet.

When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect wood from insects before packing products.

(2) Wiring

CAUTION

Before unplugging CNP1 connector from the servo amplifier, disconnect the lead of the built-in regenerative resistor from CNP1 connector first.

Wire the equipment correctly and securely. Improper wiring may cause unexpected operation.

Do not install a power capacitor, a surge killer or a radio noise filter (optional FR-BIF) between the servo motor and the servo amplifier.

Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and the servo motor. Not doing so may cause unexpected operation.

Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not install a magnetic contactor, etc. between the servo amplifier and the servo motor.

Servo amplifier

U

V

W

U

Servo motor

V

M

W

Servo amplifier

U

V

W

U

Servo motor

V

M

W

Do not connect AC power supply directly to the servo motor. Otherwise, a fault may occur.

Install a surge absorbing diode on the DC relay designed for control output signal in the specified direction. Improper installation of the surge absorbing diode may cause the servo amplifier to malfunction such that the signals are not output, and emergency stop and other safety circuits are inoperable.

Servo amplifier Servo amplifier

24VDC 24VDC

DOCOM DOCOM

Control output signal

DICOM

Sink output interface

RA


DICOM

Source output interface

RA

Configure a circuit to turn off EM1 when the main circuit power supply is turned off to prevent an unexpected restart of the servo amplifier.

(3) Test run adjustment

CAUTION

Check and adjust the parameter setting before operation. Improper settings may cause some machines to perform unexpected operation.

Never adjust or change the parameter values extremely as it will make operation unstable.

A - 4

(4) Usage

CAUTION

Configure an external emergency stop circuit in order to stop the operation immediately and shut off the power.

Do not disassemble or repair the equipment.

If an alarm is reset while the operation signal is input to the servo amplifier, the equipment starts suddenly. Be sure that the operation signal is off before resetting the alarm to prevent an accident.

Do not modify the equipment.

Electromagnetic interference from the servo amplifier may affect the surrounding electronic equipment.

Minimize the influence of the electromagnetic interference by using a noise filter, etc.

Toxic gases may be generated by burning or disassembling the servo amplifier. Do not burn or disassemble the 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.

(5) Corrective actions

CAUTION

Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident.

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 provide an external brake mechanism for the purpose of prevention.

Configure the electromagnetic brake operation circuit which interlocks with an external emergency stop switch.

Shut off the servo motor when the Servo-on

(SON), the Malfunction (ALM), or the

Electromagnetic brake interlock (MBR) are turned OFF.

Servo motor

SON RA

Circuit must be opened with the emergency stop switch.

B 24VDC

Electromagnetic brake

When an alarm occurs, remove its cause. Then, ensure safety and reset the alarm before restarting operation.

Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

A - 5

(6) Storing of servo motor

CAUTION

Note the following points when storing the servo motor for an extended period of time (guideline: three or more months).

Be sure to store the servo motor indoors in a clean and dry place.

If it is stored in a dusty or damp place, make adequate provision, e.g. cover the whole product.

If the insulation resistance of the winding decreases, reexamine the storage method.

Though the servo motor is rust-proofed before shipment using paint or rust prevention oil, rust may be produced depending on the storage conditions or storage period. If the servo motor is to be stored for longer than six months, apply rust prevention oil again especially to the machined surfaces of the shaft, etc.

Before using the servo motor that has been stored for an extended period of time, hand-turn the servo motor output shaft to confirm that nothing is wrong with the servo motor. (For the servo motor with an electromagnetic brake, turn ON the power supply of the electromagnetic brake, first. Then, release the electromagnetic brake before hand-turn.)

When the equipment has been stored for an extended period of time, contact your local sales office.

(7) Maintenance, inspection and parts replacement

CAUTION

Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch.

It is recommended that the servo amplifier be replaced every 10 years when it is used in general environment.

(8) General instruction

To illustrate details, the equipment in the diagrams of this 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 Instruction Manual.

A - 6

About processing of waste

When you discard converter unit, servo amplifier, servo motor, battery (primary battery), and other option articles, please follow the law of each country (area).

FOR MAXIMUM SAFETY

These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.

Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine, passenger movement vehicles or under water relays, contact Mitsubishi Electric.

These products have been manufactured under strict quality control. However, when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system.

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 converter unit, servo amplifier (drive unit) and/or converter unit 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

Write to the EEP-ROM due to point table changes

Write to the EEP-ROM due to program changes

Write to the EEP-ROM due to data records with drive recorder

Precautions for Choosing the Products

Mitsubishi Electric will not be held liable for damage caused by factors found not to be the cause of

Mitsubishi Electric; machine damage or lost profits caused by faults in the Mitsubishi Electric products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi

Electric; damages to products other than Mitsubishi Electric products; and to other duties.

COMPLIANCE WITH EC DIRECTIVES

Refer to appendix 7 for the compliance with EC directives.

CONFORMANCE WITH UL/CSA STANDARD

Refer to appendix 8 for the conformance with UL/CSA standard.

A - 7

<<About the manuals>>

Relevant manuals

Manual name

MELSERVO-JN Series Instructions and Cautions for Safe Use of AC Servos

(Enclosed in servo amplifier.)

QUICK INSTALLATION GUIDE

MELSERVO Servo Motor Instruction Manual Vol.2

MELSERVO Servo Motor Instruction Manual Vol.3

EMC Installation Guidelines

<<About the wires used for wiring>>

Manual No.

IB(NA)0300157

L(NA)03052ENG

SH(NA)030041ENG

SH(NA)030113ENG

IB(NA)67310

Wiring wires mentioned in this instruction manual are selected based on the ambient temperature of 40

(104 ).

<<U.S. customary units>>

U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.

Quantity

Mass

Length

Torque

Moment of inertia

Load (thrust load/axial load)

Temperature

SI (metric) unit

1 [kg]

1 [mm]

1 [N•m]

1 [(× 10 -4 kg•m 2 )]

1 [N]

N [°C] × 9/5 + 32

U.S. customary unit

2.2046 [lb]

0.03937 [inch]

141.6 [oz•inch]

5.4675 [oz•inch 2 ]

0.2248 [lbf]

N [°F]

A - 8

Introduction

Introduction

The Mitsubishi Electric MELSERVO-JN series general-purpose AC servo is based on the MELSERVO-J3 series, and retains its high performance, with some limitations in functions. For details of functions, performance and specifications of the MELSERVO-JN series, refer to chapters 1 to 13 and appendices of this

Instruction Manual. This section describes the how-to (startup, actual operation, and others) for users who use the MELSERVO-JN series AC servo for the first time.

CAUTION

The lead of the built-in regenerative resistor is connected between P and C terminals on the servo amplifier power supply connectors (CNP1) of the MR-JN-

20A(1)/40A. When taking the servo amplifier out from the shipping box, do not hold the lead of the built-in regenerative resistor.

Unpack the product and check the rating plate to see if the servo motor and servo amplifier are as you ordered.

(1) Servo amplifier

Packaged product Quantity

Servo amplifier

Servo amplifier power supply connectors for CNP1 and CNP 2

MELSERVO-JN series

Instructions and Cautions for Safe Use of AC Servos

1

1 each

1

(2) Servo motor

Packaged product

Servo motor

Instructions and Cautions for Safe Use of AC Servos (Motor)

Quantity

1

1

- 1 -

Introduction

1. Operation and setting

Operation and settings of the servo amplifier are easily performed only on the display section (3-digit, 7segment LED) and on the operation section (four pushbuttons and one-touch tuning button) located on the front panel of the servo amplifier.

AUTO

Executes the one-touch tuning.

MODE

Changes the display mode and switches the upper/lower.

UP/DOWN

Scrolls the display and data.

SET

Determines the display and data, and clears data.

(1) One-touch tuning function (refer to section 6.1)

Gain and filter adjustment of the servo is easily made by the AUTO button located on the front panel of the servo amplifier.

(2) Status display, diagnosis, and parameter setting (refer to chapter 5)

The servo amplifier status display (cumulative feedback pulses, servo motor speed, and others), diagnosis

(servo operation-ready complete status, external I/O signal ON/OFF, test operation), point table settings and parameter settings can be easily performed by the MODE, SET, UP and DOWN buttons located on the front panel of the servo amplifier.

- 2 -

Introduction

2. Startup

When switching the power on for the first time, follow the startup procedure below.

Visual wiring check

Surrounding environment check

Refer to (1) in this section.

Check the surrounding environment (cable routing and impurity such as wire offcuts or metallic dust) of the servo

Power-on of the control circuit power supply

I/O signal wiring check during power-on

Parameter setting

Power-on of the main circuit power supply

Operation confirmation before actual operation

One-touch tuning

Actual operation

Stop amplifier and the servo motor.

Refer to (2) (a) in this section.



Refer to (2) (a) in this section.




When switching the power off, follow (2) (b) in this section.

- 3 -

Introduction

(1) Visual wiring check

Before switching on the main circuit and control circuit power supplies, check the following items.

Power supply system wiring

The power supplied to the power input terminals (L

1

, L

2

, +24V, 0V) of the servo amplifier should satisfy the defined specifications. (Refer to section 1.3.)

Connection of servo amplifier and servo motor

The servo motor power supply terminals (U, V, W) of the servo amplifier should match in phase with the power input terminals (U, V, W) of the servo motor.

Servo amplifier

U

V

W

U

Servo motor

V

W

M

The power supplied to the servo amplifier should not be connected to the servo motor power supply terminals (U, V, W). The connected servo amplifier and servo motor will be damaged.

Servo amplifier

L

1

U

L

2

V

W

U

Servo motor

V

W

M

The earth terminal of the servo motor should be connected to the PE terminal of the servo amplifier.

Servo amplifier Servo motor

M

When regenerative option is used

The built-in regenerative resistor and its wirings should be removed from the servo amplifier.

The regenerative option should be connected to P and C terminals.

A twisted cable should be used. (Refer to section 11.2 (4).)

I/O signal wiring

The power supplied to CN1 connector (DICOM and DOCOM) of the servo amplifier should satisfy the defined specifications. (Refer to section 1.3.)

SD and DOCOM of CN1 connector should not be shorted.

Servo amplifier

CN1

DOCOM

SD

- 4 -

Introduction

(2) Power on and off procedures

(a) Power-on

Switch the power on in the following procedure. Always follow this procedure at power-on.

1) Turn off the servo-on (SON).

2) Make sure that command and start signal from the controller are not input.

3) Switch on the control circuit power supply.

At power-on, "888" appears instantaneously, but it is not an error.

In the position control mode, data is displayed in 2[s] or later after displaying "CL" (cumulative feedback pulses in pulse unit) (initial value), or by pressing the "MODE", "UP" or "DOWN" button.

Displayed contents differ depending on each control mode. Refer to section 5.3 for details.

4) Switch on the main circuit power supply.

(b) Power-off

1) Make sure that command and start signal from the controller are not input.

2) Turn off the servo-on (SON).

3) Switch off the main circuit power supply.

4) Switch off the control circuit power supply.

(3) I/O signal wiring check during the energization

Input signal wiring confirmation

On/off status of the input signals of CN1 connector can be checked using the external I/O signal display.

By using this function, input signal wiring can be checked. (Refer to section 5.8.)

Output signal wiring confirmation

Output signals of CN1 connector can be turned on/off forcibly using the DO output. By using this function, output signal wiring can be checked. (Refer to section 5.9.)

(4) Parameter setting

POINT

Some parameters are made valid when power is switched off, then on after setting. Refer to chapter 4 for details.

For the positioning mode, refer to section 13.7.

Set the parameters as necessary, such as selecting the control mode and the regenerative option.

In the position control mode, the servo amplifier can be used just by changing the basic setting parameters

(parameter No. PA ) mainly.

As necessary, set the gain/filter parameters (parameter No. PB ), the extension setting parameters

(parameter No. PC ) and the I/O setting parameters (parameter No. PD ).

For the internal speed control mode and the internal torque control mode, refer to chapter 4.

- 5 -

Introduction

The following shows the main parameters, which must be changed, among parameter No. PA .

PA01 Selection of control mode (refer to section 4.1.3)

Select the control mode of the servo amplifier, and whether to enable or not the one-touch tuning function.

Parameter No. PA01

0

Selection of control mode

0: Position control mode

1: Position control mode and internal speed control mode

2: Internal speed control mode

3: Internal speed control mode and in ternal torque control mode

4: Internal torque control mode

5: Internal torque control mode and position control mode

6: Positioning mode (point table method)

7: Positioning mode (program method)

One-touch tuning function selection

0: Valid

1: Invalid

When this parameter is set to "1", the one-touch tuning is ignored.

PA02 Selection of regenerative option (refer to section 4.1.4)

Set this parameter when using the regenerative option.

Parameter No. PA02

0

Selection of regenerative option

00: Regenerative option is not used.

For servo amplifier of 100W, regenerative resistor is not used.

For servo amplifier of 200 to 400W, built-in regenerative resistor is used.

02: MR-RB032

03: MR-RB12

PA05 Number of command input pulses per servo motor revolution (refer to section 4.1.6)

Set the number of command input pulses necessary to rotate the servo motor one turn.

When "100 (10000[pulse/rev])" (initial value) is set to parameter No. PA05, the servo motor rotates one turn by inputting 1000 pulses of the command pulse to the servo amplifier. When "0" is set to parameter No.

PA05, the servo motor rotates one turn by inputting the command pulse of servo motor resolution to the servo amplifier.

Parameter No. PA05 setting

0

100 to 500

Description

Servo motor resolution [pulse/rev]

Number of command input pulses necessary to rotate the servo motor one turn [ 100 pulse/rev]

Command pulses

Parameter No. PA05

FBP conversion

(Note 1)

Electronic gear

CMX

CDV

(Note 2)

Value converted to the number of command input pulses per revolution

(FBP)

Deviation counter

Servo motor

M

Encoder

Note 1. This process converts the number of pulses required to rotate the servo motor one turn to the value set in parameter No. PA05.

2. Electric gear numerator and denominator can be set by parameters No. PA06 and PA07. (Refer to section 4.1.7.)

- 6 -

Introduction

PA13 Selection of command input pulse form (refer to section 4.1.11)

Select the input form of the pulse train input signal. Command pulses may be input in any of three different forms, for which positive or negative logic can be chosen.

Arrow or in the table indicates the timing of importing a pulse train. A- and B-phase pulse trains are imported after being multiplied by 4.

Parameter No. PA13

Selection of command input pulse form

Setting Pulse train form Forward rotation command Reverse rotation command

00

Forward rotation pulse train

Reverse rotation pulse train

PP

NP

01

Signed pulse train

PP

NP

PP

H L

02

A-phase pulse train

B-phase pulse train NP

PP

10


Reverse rotation pulse train NP

PP

11

Signed pulse train

L H

12

A-phase pulse train

B-phase pulse train

NP

PP

NP

Pulse train input filter selection

Setting

0

Command pulse frequency

1Mpps or less

1

2

500kpps or less

200kpps or less

POINT

The noise tolerance can be enhanced by setting parameter No. PA13 to "1 " when the command pulse frequency is 500kpps or less or "2 " when

200kpps or less.

- 7 -

Introduction

PA14 Selection of servo motor rotation direction (refer to section 4.1.12)

Select servo motor rotation direction relative to the input pulse train.


0

1

Servo motor rotation direction

When forward rotation pulse is input When reverse rotation pulse is input

CCW

CW

CW

CCW

Forward rotation (CCW)

Reverse rotation (CW)

(5) Operation confirmation before actual operation

Before starting actual operation, perform JOG operation to make sure that the machine operates properly.

MR-JN can perform the JOG operation in the test operation mode on the operation section (four pushbuttons). (Refer to section 5.10.)

JOG operation in the test operation mode

(Servo motor alone)

(a) Confirm that the servo amplifier and servo motor operate properly.

With the servo motor disconnected from the machine, use the test operation mode (JOG operation) at the slowest speed and check whether the servo motor rotates correctly.

Operation by commands from the controller

(Servo motor and machine are connected)

(b) Confirm that the servo motor rotates correctly at the slowest speed under the commands from the controller.

Make sure that the servo motor rotates in the following procedure.

1) Switch on the forced stop (EM1) and servo-on (SON). When the servo amplifier is in a servo-on status, the ready (RD) switches on.

2) Switch on the forward rotation stroke end (LSP) and the reverse rotation stroke end (LSN).

3) In the position control mode, when command pulses are input from the controller, the servo motor starts rotating. Give a low speed command at first and check the operation direction, etc. of the servo motor. If the servo motor does not rotate in the intended direction, check the input signal.

4) After checking that the machine operates properly, perform the automatic operation by the program of the controller to check for any problem with the operation.

- 8 -

Introduction

(6) One-touch tuning

Just by pressing the "AUTO" button on the front panel of the servo amplifier during operation, the gain/filter is easily adjusted.

(Refer to section 6.1.)

Startup of system

Operation

Shift to the one-touch tuning mode

Rotate the servo motor by a command device, etc.

(The one-touch tuning cannot be performed if the servo motor is not operating.)

Press the "AUTO" button for 3[s] or longer while the servo motor is rotating. The display changes to " ", and the mode shifts to the one-touch tuning mode.

Selection of the response mode

Execution of the one-touch tuning

Press the "UP" or the "DOWN" button while " " is displayed to select the response mode. (Refer to (1) in section 6.1.2.)

Start the one-touch tuning by pressing the "AUTO" button.

The progress of the one-touch tuning is displayed in percentage.

One-touch tuning complete

0% 100%

When the one-touch tuning is completed properly,

" " is displayed and the gain/filter is automatically adjusted.

POINT

For the fine adjustment after the one-touch tuning, refer to section 6.4.

- 9 -

Introduction

(7) Stop

In any of the following statuses, the servo amplifier interrupts and stops the operation of the servo motor.

Refer to section 3.11 for the servo motor with an electromagnetic brake.

(a) Servo-on (SON) OFF

The base circuit is shut off and the servo motor coasts.

(b) Alarm occurrence

When an alarm occurs, the base circuit is shut off and the dynamic brake activates to stop the servo motor immediately.

(c) Forced stop (EM1) OFF

The base circuit is shut off and the dynamic brake activates to stop the servo motor immediately. Servo forced stop warning alarm (E6.1) occurs.

(d) Forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) OFF

Position control mode: Droop pluses are cleared, and the servo motor shaft is locked. The servo motor can rotate in an opposite direction.

Internal speed control mode: The servo motor stops immediately, and the shaft is locked. The servo motor can rotate in an opposite direction.

(e) Simultaneous ON or simultaneous OFF of forward rotation start (ST1) and reverse rotation start (ST2)

In internal speed control mode: The servo motor decelerates to a stop.

In positioning mode: The servo motor decelerates to a stop after JOG operation.

(f) Simultaneous ON or simultaneous OFF of forward rotation selection (RS1) and reverse rotation selection

(RS2) (only in the internal torque control)

The servo motor coasts.

POINT

The forward rotation stroke end (LSP) and reverse rotation stroke end (LSN) operate as follows.

Assigned to the external input signals: depends on the value set in parameter

No. PD01.

Not assigned to the external input signals: automatically turns on regardless of the value set in parameter No. PD01.

In the internal torque control mode, the forward rotation stroke end (LSP) and reverse rotation stroke end (LSN) become invalid. (Refer to section 3.5.)

- 10 -

Introduction

3. Troubleshooting at startup

CAUTION Never adjust or change the parameter values extremely as it will make operation unstable.

POINT

You can refer to reasons for servo motor rotation failure, etc. using MR

Configurator.

The following faults may occur at startup. If any of such faults occurs, take the corresponding action.

(1) Troubleshooting

No. Step of occurrence

1 Power on

Fault

The 3-digit, 7-segment

LED is not lit.

The 3-digit, 7-segment

LED blinks.

Alarm occurs.

Investigation

Not improved even if CN1, CN2 and CN3 connectors are disconnected.

Improved when CN1 connector is disconnected.



Remove cause.

Possible cause

1. Power supply voltage fault

2. Servo amplifier is faulty.

Power supply of CN1 cabling is shorted.

1. Power supply of encoder cabling is shorted.

2. Encoder is faulty.

Power supply of CN3 cabling is shorted.

Wiring mistake.

The polarity of the digital output circuit diode is not correct.

Reference

Section

8.2

Section

3.8.2

Digital output ALM occurs. The 3-digit,

7-segment LED does not display the alarm.

Alarm occurs.

Check the ON/OFF status of the output signal on the external I/O signal display (refer to section

5.8).

Remove cause. 2 Switch on servo-on

(SON).

Servo motor shaft is free.

3 Input command pulse.

(Test operation)

(In the position control mode)

Servo motor does not rotate.

Check the followings.

1. Check the display to see if the servo amplifier is ready to operate.

2. Check the external I/O signal display (refer to section 5.8) to see if the servo-on (SON) is ON.

Check the cumulative command pulses on the status display or on

MR Configurator.

Check if the ready (RD) is ON.

Check the set value of parameter

No.PA13 (command input pulse form).

Check if the electromagnetic brake interlock (MBR) is ON.

Check the ON/OFF status of the output signal on the external I/O signal display (refer to section

5.8).

1. Servo-on (SON) is not input.

(Wiring mistake)

2. The interface power supply

(24VDC) is not supplied.

1. Wiring mistake.

(a) For open collector pulse train input, 24VDC power is not supplied to OPC.

(b) LSP and LSN are not on.

(c) Wiring mistake.


2. No pulses are input.

3. Electromagnetic brake operates.

Wiring mistake.


Section

8.2

Section

5.8

Section

3.8.2

Section

3.11

Section

4.1.11

Section

5.3

Section

3.8.2

- 11 -

Introduction

№ Step of occurrence

3 Input command pulse.

(Test operation)


4 Switch on forward rotation start (ST1) or reverse rotation start (ST2).

(In the internal speed control mode)

5 Switch on forward rotation selection

(RS1) or reverse rotation selection

(RS2).

(In the internal torque control mode)

6 Switch on forward rotation start (ST1) or reverse rotation start (ST2).

(In the positioning mode)

7 Gain adjustment


(In the internal speed control mode)

(In the positioning mode)

8 Cyclic operation


Fault

Servo motor rotates in reverse direction.




Rotation ripples (speed fluctuations) are large at low speed.

Large load inertia moment causes the servo motor shaft to oscillate side to side.

Position shift occurs.

Investigation

Check the cumulative command pulses on the status display or on

MR Configurator.


No.PA14 (rotation direction selection).

Check the ON/OFF status of the input signal on the external I/O signal display (refer to section

5.8).

Check the internal speed commands 0 to 7 (parameters No.

PC05 to PC08 and PC31 to

PC34).

Check the forward torque limit

(parameter No. PA11) or reverse torque limit (parameter No. PA12).


No.PC12 (internal torque command).


5.8).

Check the internal speed limits 0 to 7 (parameters No. PC05 to

PC08 and PC31 to PC34).




5.8).

Check the values of position data and servo motor speed set in the point table or program.



Make gain adjustment in the following procedure.

1. Increase the auto tuning response level.

2. Repeat acceleration and deceleration several times to complete auto tuning.

If the servo motor may be run with safety, repeat acceleration and deceleration several times to complete auto tuning.

Confirm the cumulative command pulses, the cumulative feedback pulses and the actual servo motor position.

Possible cause

1. Mistake in wiring to controller.

2. Mistake in setting of parameter

No. PA14.

LSP, LSN, ST1 or ST2 is off.

Set value is 0.

Torque limit level is too low as compared to the load torque.

Internal torque command is too low as compared to the load torque.

RS1 or RS2 is off.

Set value is 0.

Set value is 0.

LSP, LSN, ST1 or ST2 is off.

Set value is 0.

Torque limit level is too low as compared to the load torque.

Gain adjustment fault

Gain adjustment fault

Pulse counting error, etc. due to noise.

Reference

Section

4.1.12

Section

5.3

Section

5.8

Section

4.3.2

Section

4.1.10

Section

4.3.2

Section

5.8

Section

4.3.2

Section

4.1.10

Section

5.8

Chapter

13

Section

4.1.10

Chapter 6

Chapter 6

(2) in this section

- 12 -

(2) How to find the cause of position shift

Controller

(a)Output pulse counter

Q

Servo amplifier

Electronic gear (parameters No. PA06, PA07)

P FBP

CMX

CDV

FBP conversion

(b)Cumulative command pulses

Cause A

Servo-on (SON),

Stroke end

(LSP/LSN) input

C

Cause C

(c) Cumulative feedback pulses

Introduction

Machine

Servo motor

M

L

(d) Machine stop position M

Encoder

Cause B

When a position shift occurs, check (a) output pulse counter Q, (b) cumulative command pulses P, (c) cumulative feedback pulses C, and (d) machine stop position M in the above diagram.

Cause A, Cause B and Cause C indicate position shift causes. For example, Cause A indicates that noise entered the wiring between the controller and servo amplifier, causing the command input pulse to be misscounted.

In a normal status without position shift, there are the following relationships.

1) Q P (output pulse counter cumulative command pulses)

2) When using the electronic gear

P  CMX (parameter No. PA06)  Servo motor encoder resolution

C (cumulative command pulses electronic gear cumulative feedback pulses)

Note. When "0" is set to the FBP (parameter No. PA05), the FBP becomes the servo motor encoder resolution.

3) C  Δ M (cumulative feedback pulses travel per pulse machine position)

Check for a position shift in the following sequence.

1) When Q ≠ P

Noise entered in the pulse train signal wiring between the controller and servo amplifier, causing command input pulses to be miss-counted. (Cause A)

Make the following check or take the following measures.

Check the shielding.

Run wiring away from the power circuit.

Install a data line filter. (Refer to section 11.9 (2) (a).)

POINT


200kpps or less.

- 13 -

Introduction

2) When P  CMX  Servo motor encoder resolution

Note. When "0" is set to the FBP (parameter No. PA05), the FBP becomes the servo motor encoder resolution.

During the operation, the servo-on (SON), the forward/reverse rotation stroke end (LSP/LSN) was turned off, or the clear (CR) or the reset (RES) was turned on. (Cause C)

If a malfunction may occur due to much noise, increase the input filter setting (parameter No. PD19).

3) When C  Δ ≠ M

Mechanical slip occurred between the servo motor and machine. (Cause B)

4. Tough drive function

CAUTION Since the operation status of devices may be changed by the tough drive operation, check for any problems before making this function valid.

POINT

For details of the tough drive function, refer to section 7.1.

The tough drive function continues the operation not to stop a machine in such situations when normally an alarm is activated.

Three types of tough drive function can be selected in parameter No. PA04.

Parameter No. PA04

Overload tough drive function selection

Set the tough drive function for overload.

Setting

0

1

Overload tough drive function

Invalid

Valid

Vibration tough drive function selection

Set the function for vibration suppression.

Setting

0

1

Vibration tough drive function

Invalid

Valid

Instantaneous power failure tough drive function selection

Set tough drive function for instantaneous power failure of the main circuit power supply.

Setting

0

1

Instantaneous power failure tough drive function

Invalid

Valid

- 14 -

Introduction

(1) Overload tough drive function

This function reduces the effective load ratio before an overload alarm occurs to avoid the alarm.

(2) Vibration tough drive function

This function suppresses the machine resonance caused by aging distortion or individual difference of the machine.

(3) Instantaneous power failure tough drive function

This function avoids the instantaneous power failure during operation.

- 15 -

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -12

1.1 Introduction ............................................................................................................................................... 1 - 1

1.2 Function block diagram ............................................................................................................................ 1 - 3

1.3 Servo amplifier standard specifications ................................................................................................... 1 - 6

1.4 Function list .............................................................................................................................................. 1 - 8

1.5 Model code definition .............................................................................................................................. 1 -10

1.6 Combination with servo motor ................................................................................................................ 1 -10

1.7 Parts identification ................................................................................................................................... 1 -11

1.8 Configuration including auxiliary equipment ........................................................................................... 1 -12

2. INSTALLATION 2 - 1 to 2 - 6

2.1 Installation direction and clearances ....................................................................................................... 2 - 2

2.2 Keep out foreign materials ....................................................................................................................... 2 - 3

2.3 Cable stress .............................................................................................................................................. 2 - 4

2.4 Inspection items ....................................................................................................................................... 2 - 4

2.5 Parts having service lives......................................................................................................................... 2 - 5

3. SIGNALS AND WIRING 3 - 1 to 3 -48

3.1 Input power supply circuit ........................................................................................................................ 3 - 2

3.2 I/O signal connection example ................................................................................................................. 3 - 4

3.2.1 Position control mode ........................................................................................................................ 3 - 4

3.2.2 Internal speed control mode ............................................................................................................. 3 - 6

3.2.3 Internal torque control mode ............................................................................................................. 3 - 7

3.3 Explanation of power supply system ....................................................................................................... 3 - 8

3.3.1 Signal explanations ........................................................................................................................... 3 - 8

3.3.2 Power-on sequence .......................................................................................................................... 3 - 8

3.3.3 CNP1 and CNP2 wiring method ...................................................................................................... 3 -10

3.4 Connectors and signal arrangements .................................................................................................... 3 -13

3.5 Signal explanations ................................................................................................................................. 3 -16

3.6 Detailed description of the signals .......................................................................................................... 3 -22

3.6.1 Position control mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -22

3.6.2 Internal speed control mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -25

3.6.3 Internal torque control mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -28

3.6.4 Position/speed control change mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -31

3.6.5 Internal speed/internal torque control change mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -32

3.6.6 Internal torque/position control change mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -33

3.7 Alarm occurrence timing chart ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -34

3.8 Interfaces ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -35

3.8.1 Internal connection diagram ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -35

3.8.2 Detailed description of interfaces ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -36

3.8.3 Source I/O interfaces ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -39

3.9 Treatment of cable shield external conductor ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -40

3.10 Connection of servo amplifier and servo motor ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -41

3.10.1 Connection instructions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -41

3.10.2 Power supply cable wiring diagrams ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -42

- 16 -

3.11 Servo motor with an electromagnetic brake ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -43

3.11.1 Safety precautions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -43

3.11.2 Setting ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -43

3.11.3 Timing chartsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -44

3.11.4 Wiring diagrams (HF-KN series • HF-KP G1/G5/G7 • HG-KR G1/G5/G7 servo motor) ꞏꞏꞏꞏꞏ 3 -46

3.12 Grounding ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 3 -48

4. PARAMETERS 4 - 1 to 4 -54

4.1 Basic setting parameters (No. PA ) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 - 2

4.1.1 Parameter list ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 - 2

4.1.2 Parameter write inhibit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 - 3

4.1.3 Selection of control mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 - 4

4.1.4 Selection of regenerative option ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 - 4

4.1.5 Selection of the tough drive function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 - 5

4.1.6 Number of command input pulses per servo motor revolution ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 - 6

4.1.7 Electronic gear ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 - 7

4.1.8 Auto tuning ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -11

4.1.9 In-position range ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -12

4.1.10 Torque limit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -13

4.1.11 Selection of command input pulse form ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -14

4.1.12 Selection of servo motor rotation direction ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -15

4.1.13 Encoder output pulses ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -16

4.2 Gain/filter parameters (No. PB ) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -19

4.2.1 Parameter list ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -19

4.2.2 Detail list ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -21

4.2.3 Position smoothing ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -29

4.3 Extension setting parameters (No. PC ) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -30


4.3.2 List of details ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -32

4.3.3 Alarm history clear ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -39

4.3.4 Drive recorder function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -40

4.4 I/O setting parameters (No. PD ) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -44


4.4.2 List of details ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -45

4.4.3 Using forward/reverse rotation stroke end to change the stopping pattern ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 4 -54

5. DISPLAY AND OPERATION SECTIONS 5 - 1 to 5 -30

5.1 Overview ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 - 1

5.2 Display sequence ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 - 2

5.3 Status display ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 - 3

5.3.1 Display transition ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 - 4

5.3.2 Display examples ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 - 5

5.3.3 Status display list ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 - 7

5.4 Diagnostic mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 - 9

5.5 Alarm mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -11

5.6 Point table mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -13

5.6.1 Point table transition ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -13

5.6.2 Point table mode setting screen sequence ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -14

- 17 -

5.6.3 Operation example ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -15

5.7 Parameter mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -17

5.7.1 Parameter mode transition ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -17

5.7.2 Operation example ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -18

5.8 External I/O signal display ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -20

5.9 Output signal (DO) forced output ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -23

5.10 Test operation mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -24

5.10.1 Mode change .................................................................................................................................. 5 -24

5.10.2 JOG operation ................................................................................................................................ 5 -25

5.10.3 Positioning operation ...................................................................................................................... 5 -26

5.10.4 Motor-less operation....................................................................................................................... 5 -28

5.10.5 Forced tough drive operation ......................................................................................................... 5 -29

5.11 One-touch tuning ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 5 -29

6. GENERAL GAIN ADJUSTMENT 6 - 1 to 6 -18

6.1 One-touch tuning ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 - 1

6.1.1 One-touch tuning procedure ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 - 2

6.1.2 Display transition and operation procedure of the one-touch tuning ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 - 3

6.1.3 Precautions for one-touch tuning ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 - 7

6.2 Gain adjustment methods ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 - 8

6.3 Auto tuning mode 1 ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 -10

6.3.1 Overview ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 -10

6.3.2 Auto tuning mode 1 basis ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 -11

6.3.3 Adjustment procedure by auto tuning ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 -12

6.3.4 Response level setting in auto tuning mode 1 ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 -13

6.4 2-gain adjustment mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 -14

6.5 Manual mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 6 -15

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 1 to 7 -18

7.1 Tough drive function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 - 1

7.1.1 Overload tough drive function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 - 1

7.1.2 Vibration tough drive function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 - 2

7.1.3 Instantaneous power failure tough drive function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 - 4

7.2 Machine resonance suppression function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 - 6

7.2.1 Function block diagram ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 - 6

7.2.2 Adaptive filter II ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 - 6

7.2.3 Machine resonance suppression filter ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 - 8

7.2.4 Advanced vibration suppression control ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 - 9

7.2.5 Low-pass filter ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 -13

7.3 Gain changing function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 -13

7.3.1 Applications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 -13

7.3.2 Function block diagram ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 -14

7.3.3 Parameters ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 -15

7.3.4 Gain changing procedure ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 7 -17

8. TROUBLESHOOTING 8 - 1 to 8 -30

8.1 Alarms and warning list ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8 - 1

- 18 -

8.2 Remedies for alarms ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8 - 3

8.3 Remedies for warnings ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8 -24

9. DIMENSIONS 9 - 1 to 9 - 4

9.1 Servo amplifier ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9 - 1

9.2 Connector ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 9 - 3

10. CHARACTERISTICS 10- 1 to 10- 6

10.1 Overload protection characteristics ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10- 1

10.2 Power supply capacity and generated loss ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10- 2

10.3 Dynamic brake characteristics ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10- 4

10.3.1 Dynamic brake operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10- 4

10.3.2 The dynamic brake at the load inertia moment ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10- 5

10.4 Cable flexing life ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10- 6

10.5 Inrush currents at power-on of main circuit and control circuit ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10- 6

11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-46

11.1 Cable/connector sets ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11- 1

11.1.1 Combinations of cable/connector sets ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11- 2

11.1.2 Encoder cable/connector sets ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11- 7

11.1.3 Motor power supply cables ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-17

11.1.4 Motor brake cables ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-19

11.2 Regenerative options ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-21

11.3 Junction terminal block MR-TB26A ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-25

11.4 MR Configurator/MR Configurator2 ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-27

11.4.1 About engineering software ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-27

11.4.2 Precautions for using USB communication function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-28

11.5 Selection example of wires ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-29

11.6 Molded-case circuit breakers, fuses, magnetic contactors ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-32

11.7 Power factor improving AC reactor FR-HAL ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-33

11.8 Relays (recommended) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-33

11.9 Noise reduction techniques ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-34

11.10 Earth-leakage current breaker ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-40

11.11 Circuit protector ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-42

11.12 EMC filter (recommended) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-42

11.13 Surge protector (recommended) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-43

11.14 MR-HDP01 manual pulse generatorꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 11-45

12. SERVO MOTOR 12- 1 to 12-48

12.1 Introduction ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 1

12.1.1 Rating plate ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 1

12.1.2 Parts identification ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 1

12.1.3 Electromagnetic brake ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 2

12.1.4 Servo motor shaft shapes ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 4

12.2 Installation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 5

12.2.1 Installation direction ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 6

- 19 -

12.2.2 Precautions for load remove ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 7

12.2.3 Permissible load for the shaft ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 8

12.2.4 Protection from oil and water ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 8

12.2.5 Cable ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 9

12.2.6 Inspection ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12- 9

12.2.7 Life ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-10

12.2.8 Machine accuracies ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-10

12.3 Connectors used for servo motor wiring ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-11

12.3.1 Selection of connectors ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-11

12.3.2 Wiring connectors (Connector configurations A B C) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-12

12.4 Connector dimensions ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-13

12.5 HF-KN series servo motor ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-15

12.5.1 Model definition ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-15

12.5.2 Standard specifications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-16

12.5.3 Electromagnetic brake characteristicsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-18

12.5.4 Servo motors with special shafts ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-19

12.5.5 Connector installation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-20

12.5.6 Outline drawings ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-21

12.5.7 USA/Canada compliance ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-26

12.6 HF-KP series servo motor (Order accepted until May 31, 2019)ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-27


12.6.2 Specifications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-28

12.6.3 Electromagnetic brake characteristicsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-30

12.6.4 Servo motor with a reduction gear ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-31

12.6.5 Connector installation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-36

12.7 HG-KR series servo motor ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-38


12.7.2 Standard specifications ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-39

12.7.3 Electromagnetic brake ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-42

12.7.4 Geared servo motors ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-43

12.7.5 Mounting connectors ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 12-47

13. POSITIONING MODE 13- 1 to 13-94

13.1 Selection method of each operation mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13- 1

13.2 Signals ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13- 2

13.2.1 I/O signal connection example ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13- 2

13.2.2 Connectors and signal arrangements ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13- 3

13.2.3 Signal explanations ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13- 4

13.2.4 Detailed description of the signals ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-11

13.3 Automatic operation mode for point table method ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-15

13.3.1 What is automatic operation mode? ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-15

13.3.2 Automatic operation using point table ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-17

13.4 Automatic operation mode for program method ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-28

13.4.1 What is automatic operation mode for program method? ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-28

13.4.2 Programming language ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-29

13.4.3 Basic setting of signals and parameters ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-44

13.4.4 Program operation timing chart ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-45

13.5 Manual operation mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-46

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13.5.1 JOG operation ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-46

13.5.2 Manual pulse generator operationꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-47

13.6 Home position return mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-49

13.6.1 Outline of home position return ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-49

13.6.2 Selection of home position return mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-50

13.6.3 Dog type home position return ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-51

13.6.4 Count type home position return ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-54

13.6.5 Data set type home position return ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-56

13.6.6 Stopper type home position return ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-57

13.6.7 Home position ignorance (Servo-on position as home position) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-59

13.6.8 Dog type rear end reference home position return ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-60

13.6.9 Count type front end reference home position return ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-62

13.6.10 Dog cradle type home position return ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-64

13.6.11 Home position return automatic return function ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-66

13.7 Parameters ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-67

13.7.1 Basic setting parameters (No. PA ) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-68

13.7.2 Gain/filter parameters (No. PB ) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-73

13.7.3 Extension setting parameters (No. PC ) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-75

13.7.4 I/O setting parameters (No. PD ) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-78

13.7.5 Positioning setting parameters (No. PE ) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-80

13.8 Point table setting method ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-86

13.9 Program setting method ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-88

13.10 Single-step feed usage in the test operation mode ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 13-91

APPENDIX App.- 1 to App.-19

App. 1 Parameter list ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ App.- 1

App. 2 Servo motor ID codes ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ App.- 7

App. 3 Signal layout recording paper ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ App.- 7

App. 4 Status display block diagram ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ App.- 8

App. 5 Compliance with global standards ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ App.-10

- 21 -

MEMO

- 22 -

1. FUNCTIONS AND CONFIGURATION


1.1 Introduction

The Mitsubishi Electric MELSERVO-JN series general-purpose AC servo is based on the MELSERVO-J3 series, and retains its high performance, with some limitations in functions.

It has position control, internal speed control, internal torque control and positioning modes. Further, it can perform operation with the control modes changed, e.g. position/internal speed control, internal speed/internal torque control and internal torque/position control. Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools and general industrial machines but also line control and tension control.

As this new series has the USB serial communication function, a MR Configurator installed personal computer or the like can be used to perform parameter setting, test operation, status display monitoring, gain adjustment, etc.

With one-touch tuning and real-time auto tuning, you can easily and automatically adjust the servo gains according to the machine.

The servo amplifier has the tough drive function that continues the operation not to stop a machine in such situation when normally an alarm is activated.

The MELSERVO-JN series servo motor is equipped with an incremental encoder which has the resolution of

131072 pulses/rev to ensure the positioning with a high accuracy.

(1) Position control mode

Up to 1Mpps high-speed pulse train is used to control the speed and the direction of a servo motor and execute precision positioning of 131072 pulses/rev resolution.

The position smoothing function provides a choice of two different modes appropriate for a machine, so a smoother start/stop can be made in response to a sudden position command.

A torque limit is imposed on the servo amplifier by the clamp circuit to protect the power transistor in the main circuit from overcurrent due to sudden acceleration/deceleration or overload. This torque limit value can be changed to any value with the parameter.

(2) Internal speed control mode

A parameter-driven internal speed command (max. 8 speeds) is used to control the speed and the direction of a servo motor precisely and smoothly.

There are also the acceleration/deceleration time constant setting in response to the speed command and the servo lock function at a stop time.

(3) Internal torque control mode

An internal torque command (0.0% to 100.0%) is used to control the torque output by the servo motor. To prevent unexpected operation under no load, the speed limit function (internal setting) is also available for application to tension control, etc.

1 - 1


(4) Positioning mode

The positioning mode has point table method and program method.

(a) Point table method

The positioning operation can be executed by setting the position data (the target position), the servo motor speed, the acceleration/deceleration time constant, etc. in the point table as if setting them in parameters. This is the most appropriate to configure a simple positioning system or to simplify a system.

7 point tables can be used.

(b) Program method

The positioning operation is performed by creating the positioning data (the target position), the servo motor speed, the acceleration/deceleration time constant, etc. as a program and by executing the program. This is the most appropriate to configure a simple positioning system or to simplify a system.

Up to 8 programs can be created. The program capacity is 120 steps as a total of all programs.

1 - 2


1.2 Function block diagram

The function block diagram of this servo motor is shown below.

(1) Position control mode, internal speed control mode, internal torque control mode

Regenerative option

Servo amplifier

Diode stack Relay

(Note 2)

Main circuit power supply

MCCB MC

L

1

Fuse

L

2

P

(Note 1)

C

CHARGE lamp

Regenerative

TR

Current detector

Dynamic brake

(Note 2)

Control circuit power supply

Circuit protector

0V

24V

Base amplifier

Voltage detection

Overcurrent protection

Current detection

U

V

W

Servo motor

U

V

W

M

RA B1

24VDC B

B2


Encoder

Model position

Model speed

Model torque

Current control

CN1

I/F

Servo-on

Command input pulses

Start

Failure, etc.

USB

Note 1. A built-in regenerative resistor is not provided for the MR-JN-10A(1).

2. For the specification of power supply, refer to section 1.3.

1 - 3

USB

CN3


(2) Positioning mode (Point table method)

Regenerative option

(Note 2)

Main

MCCB MC

Servo amplifier

Diode stack Relay

L

1

Fuse

L

2

P

(Note 1)

C

CHARGE lamp

Regenerative

TR

(Note 2)

Control

Current detector

24V

0V

Dynamic brake


Base amplifier

Voltage detection


Current detection

Current control

Speed control

Position control

Point table

No.

Position data

Servo motor speed

1 1000

2 2000

3 4000

4 -500

5 1000

6 2000

7 1000

1000

2000

2000

2000

2000

1000

1000

Acceleration time constant

80

100

70

60

80

80

80

Deceleration

time constant

80

100

60

70

80

80

80

Dwell

0

0

500

1000

0

0

0

Auxiliary function

0

0

1

0

0

0

1

U

V

W

Servo motor

U

V

W

M

RA B1

24VDC B

B2

Electrobrake

Encoder

CN1

I/F

D I/O control

Servo-on

Start

Failure, etc.

USB



USB

CN3

1 - 4


(3) Positioning mode (Program method)

Regenerative option

Servo amplifier

Diode stack Relay

(Note 2)

Main

MCCB MC

L

1

Fuse

L

2

P

(Note 1)

C

Regenerative

TR

(Note 2)

Control

0V

24V Control circuit power supply

Current detector

U

V

W

Servo motor

U

V

W

M

Dynamic brake

RA B1

24VDC B

B2

Electrobrake

Base amplifier

Voltage detection


Current detection

Encoder

Current control

Speed control

Program

SPN(1000)

STA(200)

STB(300)

MOV(500)

SPN(1000)

MOVA(1000)

MOVA(0)

Position control

STOP

CN1

I/F

USB

CN3

D I/O control

Servo-on

Start

Failure, etc.

Personal computer

USB



1 - 5


1.3 Servo amplifier standard specifications

Servo amplifier

MR-JN-

10A 20A 40A 10A1 20A1

Item

Output

Rated voltage

Rated current [A]

Voltage/frequency

1.1 1.6

3-phase 170VAC

2.8

1-phase 200VAC to 230VAC, 50/60Hz

1.1 1.6

1-phase 100VAC to 120VAC,

50/60Hz

3.0 5.0



Rated current [A]

Permissible voltage fluctuation

Permissible frequency fluctuation

Power supply capacity

Inrush current

Voltage

Rated current [A]

Permissible voltage fluctuation

Power consumption [W]

Voltage

Power supply capacity [A]

1.5 2.4

1-phase 170VAC to 253VAC

4.5

Within 5%

Refer to section 10.2

Refer to section 10.5

24VDC

0.5

Within 10%

1-phase 85VAC to 132VAC

Interface power supply

Control System

Dynamic brake

Protective functions

Structure

Close mounting

10

24VDC 10%

0.2 (Note)

Sine-wave PWM control, current control system

Built-in

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

Natural-cooling, open (IP rating: IP20)

When mounting the servo amplifiers closely, operate them at the ambient temperature of 0°C to 45°C or at 75% or less of the effective load ratio.



-20 to 65 (non-freezing)

-4 to 149 (non-freezing)

Environmental conditions

Ambient temperature

Ambient humidity

In operation

In storage

In operation

In storage

[°C]

[°F]

[°C]

[°F]


Ambience

Altitude


Indoors (no direct sunlight)

Free from corrosive gas, flammable gas, oil mist, dust and dirt

5.9 [m/s 2

Max. 1000m (3280 ft)

], 10 to 55Hz (directions of X, Y and Z axes)

Mass

[kg]

[lb]

0.6

1.32

0.6

1.32

0.7

1.54

0.6

1.32

0.6

1.32

Note. 0.2A 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.

1 - 6


Servo amplifier

MR-JN-

Item

Position control mode

Max. input pulse frequency

Command pulse multiplying factor (electronic gear)

In-position range setting

Error excessive

Torque limit

Speed command input

Speed control range

Internal speed control mode Speed fluctuation ratio

Torque limit

Internal torque Torque command input control mode Speed limit

Operating specification

Position command input

Speed command input

System

Operating specification

Position command input

Speed command input

System

Point table method

One-time positioning operation

Automatic continuous positioning operation

Program method

10A 20A 40A 10A1

1Mpps (for differential receiver), 200kpps (for open collector)

20A1

Electronic gear A/B, A: 1 to 65535, B: 1 to 65535, 1/50 A/B 500

0 to 65535pulses (command pulse unit)

3 rotations

Parameter setting

Parameter setting

1:5000

0.01% or less (load fluctuation 0 to 100%)

0% (power fluctuation 10%)

Parameter setting

Parameter setting

Parameter setting

Positioning by specifying the point table No. (7 points)

Set in point table. One-point feed length setting range: 1[μm] to 999.999[mm]

Acceleration/deceleration time constant is set in point table.

S-pattern acceleration/deceleration time constant is set in parameter No. PC03.

Signed absolute value command system, Incremental value command system

Program language (programmed by MR Configurator).

Program capacity: 120 steps

Setting by program language.

One-point feed length setting range: 1[μm] to 999.999[mm]

Servo motor speed, acceleration/deceleration time constant and S-pattern acceleration/deceleration time constant are set by program language.

S-pattern acceleration/deceleration time constant is also settable by parameter No. PC03.

Signed absolute value command system, signed incremental value command system

Varied speed operation (2 to 7 speeds), Automatic continuous positioning operation

(2 to 7 points)

Point table number input, position data input system

One-time positioning operation is performed in accordance with position and speed commands.

Stopper type

Home position ignorance (Servo-on position as home position)

Other functions

JOG

Manual pulse generator

Dog type

Count type

Data set type

Dog type rear end reference

Count type front end reference

Dog cradle type

Setting by programming language

JOG operation is performed in accordance with parameter-set speed command by contact input.

Manual feed is made by manual pulse generator.

Command pulse multiplication: 1, 10 or 100 is selected using parameter.

Home position return is made starting with Z-phase pulse after passage of proximity dog.

Home position return direction is selectable. Home position shift value is settable.

Home position address is settable.

Automatic at-dog home position return, Automatic stroke return function

Home position return is made by counting encoder pulses after contact with proximity dog.




Home position return is made without dog.

Home position is settable at any position by manual operation, etc. Home position address is settable.

Home position return is made by pressing machine part against stroke end.

Home position return direction is selectable. Home position address is settable.

Position where servo-on (SON) is switched on is defined as home position.


Home position return is made with respect to the rear end of proximity dog.




Home position return is made with respect to the front end of proximity dog.




Home position return is made with respect to the front end of a proximity dog by the first

Z-phase pulse.




Backlash function, Overtravel prevention using external limit switch

Software stroke limit

1 - 7


1.4 Function list

The following table lists the functions of this servo. For details of the functions, refer to the reference field.

(Note 1)

Function Description Control mode

Reference


Internal speed control mode

Internal torque control mode

This servo is used as position control servo.

This servo is used as internal speed control servo.

This servo is used as internal torque control servo.

P

S

T

Section 3.2.1

Section 3.6.1

Section 3.2.2

Section 3.6.2

Section 3.2.3

Section 3.6.3

Position/internal speed control change mode

Internal speed/internal torque control change mode

Internal torque/position control change mode

Positioning mode

(Point table method) (Note 2)

Positioning mode

(Program method) (Note 2)

Home position return mode (Note 2)

High-resolution encoder

Gain changing function

Advanced vibration suppression control

Adaptive filter II

Low-pass filter

Electronic gear

One-touch tuning

Auto tuning

Position smoothing

S-pattern acceleration/ deceleration time constant

Using input device, control can be switched between position control and internal speed control.

Using input device, control can be switched between internal speed control and internal torque control.

Using input device, control can be switched between internal torque control and position control.

Positioning operation is performed by selecting 7 point tables which are set in advance, in accordance with the set value.

Select the point table using an external input signal.

Positioning operation is performed by selecting a program from

8 programs which are created in advance.

Select the program using an external input signal.

Dog type, count type, data set type, stopper type, home position ignorance, dog type rear end reference, count type front end reference, dog cradle type

The servo motor is equipped with high-resolution encoder of

131072 pulses/rev.

Gains can be changed using an input device or gain changing conditions (servo motor speed, etc.)

This function suppresses vibration of an arm end or residual vibration.

This function sets the filter characteristics automatically by the one-touch tuning to suppress vibration of a mechanical system.

This function is effective for suppressing high-frequency resonance which occurs as the servo system response is increased.

Input pulses can be multiplied by 1/50 to 500.

Position command can be multiplied by 1/131 to 1000.

Electronic gear setting range can be changed by changing the number of virtual pulses per servo motor revolution.

The gain of the servo amplifier can be adjusted by the push button on the front panel.

This function optimizes the servo gain automatically as load applied to the servo motor shaft changes.

Smooth acceleration is enabled in response to input pulse.

Smooth acceleration and deceleration are enabled.

P/S Section 3.6.4

S/T Section 3.6.5

T/P Section 3.6.6

CP Section 13.3

CL Section 13.4

CP/CL Section 13.6

P, S, T

CP/CL

P, S

CP/CL

P

CP/CL

P, S

CP/CL

P, S

CP/CL

P

CP/CL Section 13.7.1 (3)

P, S

CP/CL

P, S

CP/CL

P

S, T

CP/CL

Section 7.3

Section 7.2.4

Section 7.2.2

Section 7.2.5

Section 4.1.7

Section 6.1

Section 6.3

Section 4.2.3

Section 4.3.2

Parameter

No. PC03

Section 13.7.3 (2)

Parameter

No. PC03

Regenerative option

Alarm history clear

Regenerative option is used when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated.

This function clears alarm history and the number of tough drive performed.

P, S, T

CP/CL

P, S, T

CP/CL

Section 11.2

Parameter

No. PC11

1 - 8


Function Description

(Note 1)

Control mode

Reference

Command pulse selection

Input signal selection

Output signal selection

Torque limit

Speed limit

Status display

External I/O signal display

Command input pulse form can be selected from among three different types.

Forward rotation start (ST1), reverse rotation start (ST2), servo-on

(SON) and other input device can be assigned to specific pins.

Ready (RD), trouble (ALM) or other output device can be assigned to specific pins.

The torque generated by the servo motor can be limited by setting a parameter.

Servo motor speed can be limited by setting a parameter.

Servo status is shown on the 3-digit, 7-segment LED display

ON/OFF statuses of external I/O signals are shown on the display.

P Section 4.1.11

P, S, T

CP/CL

T

Parameter

No. PD02 to

PD14

Parameter

P, S, T

CP/CL

No. PD15 to

PD18

P, S


Section 3.6.3 (3)

Parameter

No. PC05 to

PC08, PC31 to

PC34

P, S, T

CP/CL Section 5.3

P, S, T

CP/CL Section 5.8

P, S, T

CP/CL Section 5.9

P, S, T

CP/CL Section 5.10

Output signal (DO) forced output

Test operation mode

Output signal can be forced on/off independently of the servo status.

Use this function for output signal wiring check, etc.

JOG operation, positioning operation, motor-less operation, DO forced output, forced tough drive operation, program operation, and single-step feed.

Note that MR Configurator MRZJW3-SETUP221E is necessary for the positioning operation, program operation or single-step feed.

The single-step feed is supported by servo amplifier with software version B0 or later, and MR Configurator with software version C4 or later.

CP/CL Section 13.10

MR Configurator

Parameter setting, test operation, status display, etc. can be performed using a personal computer.

P, S, T

CP/CL

Section 11.4

Section 13.8 to

13.10

Tough drive function

Limit switch

Software limit (Note2)

Drive recorder function

(Note2)

This function continues the operation not to stop a machine in such situation when normally an alarm is activated.

Three types of the tough drive function are available: overload tough drive, vibration tough drive and instantaneous power failure tough drive.

However, the overload tough drive is valid only in the position control mode or positioning mode.

The servo motor travel region can be limited using the forward rotation stroke end (LSP)/reverse rotation stroke end (LSN).

The travel region is limited using parameters in terms of address.

The function similar to that of a limit switch is limited by parameter.

This function records the state transition before and after the alarm occurrence for the predetermined period of time by always monitoring the servo status. The recorded data can be confirmed on the graph display screen by clicking the "Drive recorder display" button on the alarm history display screen of MR Configurator.

P, S

CP/CL Section 7.1

P, S Section 3.5

CP/CL Section 13.2.3


P, S, T

CP/CL Section 4.3.4

Note 1. P: Position control mode, S: Internal speed control mode, T: Internal torque control mode,

P/S: Position/internal speed control change mode, S/T: Internal speed/internal torque control change mode,

T/P: Internal torque/position control change mode

CP: Positioning mode (Point table method), CL: Positioning mode (Program method)

2. It is supported by servo amplifier with software version B0 or later.

1 - 9


1.5 Model code definition

(1) Rating plate

The following shows an example of the rating plate for explanation of each item.

AC SERVO

SER.A45001001

MODEL MR-JN-10A

POWER : 100W

INPUT : AC200-230V 1.5A 50/60Hz, DC24V 0.5A

OUTPUT: 3PH170V 0-360Hz 1.1A

STD.: IEC/EN 61800-5-1 MAN.: IB(NA)0300157

Max. Surrounding Air Temp.: 55 °C

IP20

KCC-REI-MEK-TC300A566G51

TOKYO 100-8310, JAPAN MADE IN JAPAN

DATE: 2014-05

Serial number (Note)

Model

Capacity

Applicable power supply

Rated output current

Standard, Manual number

Ambient temperature

IP rating

KC certification number

The year and month of manufacture

Country of origin

Note. The year and month when the servo amplifier is manufactured are written down in the serial number of the rating plate.

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 September 2009, the serial number is like "SERIAL: 99 ”.

(2) Model

The following explains the description of models. Not all the combination of symbols exists.

Series

Power supply

Symbol Power supply

None 1-phase 200 to 230VAC

1 1-phase 100 to 120VAC

Serial number

General purpose interface

Rated output

Symbol

10

20

40

Rated output [kW]

0.1

0.2

0.4

Rating plate

1.6 Combination with servo motor

POINT

The HF-KP G1/G5/G7 servo motors have been discontinued in May 2019.

The following table lists combinations of servo amplifiers and servo motors. The following combinations also apply to servo motors with an electromagnetic brake.

Servo amplifier

HF-KN

Servo motors (Note)

HF-KP G1/G5/G7 HG-KR G1/G5/G7

MR-JN-10A(1)

MR-JN-20A(1)

MR-JN-40A

053 13

23

43

Note. Depending on the servo motor being used, encoder resolution per servo motor revolution changes as follows.

HF-KN series servo motor: 131072pulses/rev

HF-KP G1/G5/G7 servo motor: 262144pulses/rev

HG-KR G1/G5/G7 servo motor: 262144pulses/rev (when combined with MR-JN- A servo amplifier)

1 - 10


1.7 Parts identification

Fixed part

(2 places)

Name/Application

Serial number

Main circuit power supply connector (CNP1)

Connect the input power supply/built-in regenerative resistor/regenerative option/servo motor/earth.

Charge lamp

Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Rating plate

One-touch tuning button (AUTO)

Press this button to perform the one-touch tuning.

Control circuit power supply connector (CNP2)

Connect the control circuit power supply.

Display

The 3-digit, 7-segment LED shows the servo status and alarm number

Operation section

Used to perform status display, diagnosis, alarm, point table and parameter setting operations.

MODE SET

Used to set data.

Used to change the mode.

Used to change the display or data in each mode.

I/O signal connector (CN1)

Used to connect digital I/O signals.

USB communication connector (CN3)

Connect the personal computer.

Encoder connector (CN2)

Used to connect the servo motor encoder.

Section 3.1

Section 3.3

Section 1.5

Section 6.1

Section 3.1

Section 3.3

Chapter 5

Chapter 5

Section 3.2

Section 3.4

Section 11.4

Section 3.4

Section 11.1

1 - 11


1.8 Configuration including auxiliary equipment

POINT

Equipment other than the servo amplifier and servo motor are optional or recommended products.

(Note)


Molded-case circuit breaker (MCCB)

R S

Servo amplifier

Magnetic

(MC)

Power factor improving AC reactor

(FR-HAL)

AUTO

U

V

W

P

C

Regenerative option

Circuit protector

24V

0V

(Note) power supply

MODE SET

L

1

L

2

Junction terminal block

MR Configurator

Servo motor

Note. Refer to section 1.3 for the power supply specification.

1 - 12

2. INSTALLATION

2. INSTALLATION

WARNING

CAUTION

Be sure to ground the servo amplifier to prevent electric shocks.

Carry the products in a suitable way according to their weight.

Stacking in excess of the limited number of product packages is not allowed.


Install the equipment to incombustibles. 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 details of the environmental condition, refer to section 1.3.)

Provide an adequate protection to prevent conductive matters like screws or combustible matters like oil from entering the servo amplifier.

Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may occur.

Do not subject the servo amplifier to drop impact or shock loads as they are precision equipment.

Do not install or operate a faulty servo amplifier.

When the product has been stored for an extended period of time, consult

Mitsubishi Electric.

When handling 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 fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation (heat method).

Additionally, disinfect and protect wood from insects before packing products.

2 - 1

2. INSTALLATION

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 malfunction to the equipment.

A regenerative resistor is mounted on the back of this servo amplifier. The regenerative resistor causes a temperature rise of 100 relative to the ambient temperature. Fully examine heat dissipation and installation position before installing the servo amplifier.

(1) Installation of one servo amplifier

Control box Control box

Servo amplifier

Wiring allowance

80mm

Top

10mm or more

10mm or more

40mm or more

Bottom

2 - 2

2. INSTALLATION

(2) Installation of two or more servo amplifiers

POINT

MR-JN series servo amplifier with any capacity can be mounted closely together.

Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions.

When installing the servo amplifiers closely, leave a clearance of 1mm between the adjacent servo amplifiers in consideration of mounting tolerances.

In this case, operate the servo amplifiers at the ambient temperature of 0 to 45 or at 75% or less of the effective load ratio.

Control box Control box

100mm or more or more 1mm

100mm or more

1mm

30mm or more

30mm or more

30mm or more

30mm or more

Top

Bottom

40mm or more 40mm or more

Leaving clearance Mounting closely

(3) Others

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.

2.2 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 toxic gas, dirt and dust exist, 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

2. INSTALLATION

2.3 Cable stress

(1) The way of clamping the cable must be fully examined so that flexing 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 flexing life range. Use the power supply and brake wiring cables within the flexing 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 moves, the flexing radius should be made as large as possible. Refer to section 10.4 for the flexing life.

2.4 Inspection items

WARNING

Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. 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.

Due to risk of electric shock, only qualified personnel should attempt inspection.

For repair and parts replacement, contact your local sales office.

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 screws. Retighten any loose screws.

(2) Check the cables and the wires for scratches and cracks. Perform periodic inspection according to operating conditions.

(3) Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch.

2 - 4

2. INSTALLATION

2.5 Parts having service lives

Service lives of the following parts are listed below. However, the service life varies 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 local sales office.

Part name Life guideline

Smoothing capacitor 10 years

Relay

Number of power-on and number of forced stop times:

100,000 times

(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 when operated continuously in an air-conditioned environment (ambient temperature of 40 ˚C or less).

(2) Relays

Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their life when the cumulative number of power-on and forced stop times is 100,000, which depends on the power supply capacity.

2 - 5

2. INSTALLATION

MEMO

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, 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.

Before unplugging the CNP1 connector from the servo amplifier, disconnect the lead of the built-in regenerative resistor from the CNP1 connector.

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpected 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 designed for control output should be fitted in the specified direction. Otherwise, the signal is not output due to a fault, disabling the emergency stop and other protective circuits.

Servo amplifier

DOCOM

24VDC

Servo amplifier

DOCOM

24VDC

CAUTION


DICOM

Sink output interface

RA


DICOM

Source output interface

RA

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.

3 - 1


CAUTION

Connect the servo amplifier power output (U/V/W) to the servo motor power input

(U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

U

U

Servo motor Servo amplifier

U

U

Servo motor

V

V

M V

V

M

W

W

W

W

3.1 Input power supply circuit

CAUTION

Always connect a magnetic contactor (MC) between the main circuit power supply, and L

1

and L

2

of the servo amplifier to configure a circuit that shuts down the power on the servo amplifier's power supply side. If a magnetic contactor (MC) is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions.

Use the trouble (ALM) to switch power off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.

Before unplugging the CNP1 connector from the servo amplifier, disconnect the lead of the built-in regenerative resistor from the CNP1 connector. Otherwise, the lead of the built-in regenerative resistor may break.

For main circuit power supply of servo amplifier, check the model of servo amplifier and input the correct voltage. If a voltage exceeding the upper limit shown in the servo amplifier input voltage specification is input, the servo amplifier malfunctions.

3 - 2


Wire the main circuit power supply as shown below so that the servo-on (SON) turns off as soon as alarm occurrence is detected and power is shut off.

A molded-case circuit breaker (MCCB) must be used with the input cables of the main circuit power supply.

Trouble

RA

OFF

ON

MC

Forced stop (Note 5)

MC

SK

Servo motor


1-phase 200 to 230VAC or

1-phase 100 to 120VAC

MCCB

MC (Note 6)

(Note 1)

Servo amplifier

CNP1

L

1

L

2

Built-in regenerative resistor U

P V

C W

(Note 4)

U

V

W

Motor

M

Circuit protector

CNP2

+24V

0V

CN2

(Note 2)

Encoder


24VDC (Note 7)

Encoder cable

(Note 3)

Forced stop (Note 5)

Servo-on

CN1

EM1

SON

DOCOM

CN1

DOCOM

DICOM

ALM

24VDC

RA

Trouble

(Note 3)

Note 1. The built-in regenerative resistor is provided for MR-JN-20A(1) and MR-JN-40A. (Factory-wired.) When using the regenerative option, refer to section 11.2.

2. For encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable.

3. For sink I/O interface.

For source I/O interface, refer to section 3.8.3.

4. Refer to section 3.10.

5. Configure the circuit to shut off the main circuit power supply by an external sequence simultaneously with the forced stop

(EM1) turning OFF.

6. Be sure to use a magnetic contactor (MC) 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.

7. Use the enhanced insulation power supply for the control circuit power supply 24VDC. In addition, do not use a power supply with an output voltage starting time of one second or more.

3 - 3


3.2 I/O signal connection example

3.2.1 Position control mode

Programmable controller

FX5U MT/ES (Note 13)

2m max. (Note 8)

Programmable controller power supply

S/S

24V

0V

L

N

Y0

COM0

Y4

COM1

Y10

COM2

X_

X_

X0(Note 14)

24VDC

(Note 4, 10)

Servo amplifier

DICOM

OPC

DOCOM

PP

(Note 7)

CN1

1

2

13

23

(Note 7)

CN1

9 ALM

12 MBR

NP 25

CR

INP

RD

OP

LG

SD

5

10

11

21

14

Plate

15 LA

16 LAR

17 LB

18 LBR

19 LZ

20 LZR

14 LG

Plate SD

(Note 2)

RA1

RA2

10m max.

Trouble (Note 6)

Electromagnetic brake interlock

(Note 10, 12)

Encoder A-phase pulse

(differential line driver)

Encoder B-phase pulse


Encoder Z-phase pulse


Control common

(Note 15)

(Note 3, 5) Forced stop

Servo-on

(Note 10, 11)

(Note 5)

Reset

Forward rotation stroke end

Reverse rotation stroke end

(Note 9)

MR Configurator

Personal computer

10m max.

EM1

SON

RES

LSP

LSN

(Note 7)

CN1

8

4

3

6

7

USB cable

(option)

CN3

CNP1 (Note 1)

3 - 4


Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier main circuit power connector (CNP1) 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. The forced stop switch (normally closed contact) must be installed.

4. Supply 24VDC 10% 200mA current for interfaces from the outside. 200mA 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 3.8.2 (1) that gives the current value necessary for the interface.

5. When starting operation, always switch on the forced stop (EM1) or the forward/reverse rotation stroke end (LSP, LSN).

(Normally closed contacts)

6. Trouble (ALM) turns on in normal alarm-free condition. (Normally closed contact) When this signal is switched off (at occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program.

7. The pins with the same signal name are connected in the servo amplifier.

8. This length applies to the command input pulses in the open collector system. The wirings can be extended up to 10m when using positioning modules with the differential line driver type.

9. Use MRZJW3-SETUP221E (C4 or later).

10. This diagram shows sink I/O interface. For source I/O interface, refer to section 3.8.3.

11. The assigned signals can be changed using the settings of parameter No. PD03 to PD14.


13. Select the number of I/O points of the programmable controllers in accordance with the system.

14. Select it within X0 to X7.

15. When a command cable for connection with the controller side malfunctions due to disconnection or noise, a position mismatch can occur. To avoid position mismatch, it is recommended that Encoder A-phase pulse and Encoder B-phase pulse be checked.

3 - 5


3.2.2 Internal speed control mode

(Note 9,

10, 12)

(Note 8)


Servo-on

Reset

Speed selection 1

Forward rotation start

Reverse rotation start

MR Configurator

Personal computer

24VDC (Note 4, 9)

10m max.

USB cable

(option)

DICOM

DOCOM

EM1

SON

RES

SP1

ST1

ST2

Servo amplifier

(Note 7)

CN1

1

5

6

7

13

8

4

3

(Note 7)

CN1

9

10

11

12

ALM

SA

RD

MBR

CN3

(Note 2)

RA1

RA2

RA3

RA4

Trouble (Note 6)

Speed reached

Ready


(Note 9, 11)

19

16

17

LZ

20 LZR

15 LA

LAR

LB

18 LBR

14 LG

21 OP

Plate SD

2m max.

10m max.







Control common

Control common


(open collector)

CNP1 (Note 1)






5. When starting operation, always switch on the forced stop (EM1). (Normally closed contacts)

6. Trouble (ALM) turns on in normal alarm-free condition. (Normally closed contact)






12. The forward rotation stroke end (LSP) and the reverse rotation stroke end (LSN) automatically switch ON if not assigned to the external input signals.

3 - 6


3.2.3 Internal torque control mode

(Note 8, 9)

(Note 7)

(Note 3) Forced stop

Servo-on

Reset

Speed selection 1

Forward rotation selection

Reverse rotation selection

MR Configurator

Personal computer

24VDC (Note 4, 8)

10m max.

USB cable

(option)

DICOM

DOCOM

EM1

SON

RES

SP1

RS1

RS2

3

5

7

8

4

6

Servo amplifier

(Note 6)

CN1

1

13

(Note 6)

CN1

9 ALM

11 RD

12 MBR

19 LZ

CN3

20

15

LZR

LA

16 LAR

17 LB

18 LBR

(Note 2)

RA1

RA2

RA3

Trouble (Note 5)

Ready


(Note 8, 10)

14 LG

21 OP

Plate SD

2m max.

10m max.







Control common

Control common


(open collector)

CNP1 (Note 1)












3 - 7


3.3 Explanation of power supply system

3.3.1 Signal explanations

POINT

For the layout of connector, refer to chapter 9 DIMENSIONS.

Abbreviation

L

L

1

2

Connection target

(application)


P

C

+24V

0V

U

V

W

Built-in regenerative resistor or regenerative option


Servo motor power

Description

Supply the following power supply.

MR-JN-10A/20A/40A : 1-phase 200VAC to 230VAC, 50/60Hz

MR-JN-10A1/20A1 : 1-phase 100VAC to 120VAC, 50/60Hz

1) MR-JN-10A(1)

When using the regenerative option, connect it to P and C. (MR-JN-10A(1) does not provide a built-in regenerative resistor.)

2) MR-JN-20A(1)/40A

When using the servo amplifier built-in regenerative resistor, connect the built-in regenerative resistor to P and C. (Factory-wired.)

When using a regenerative option, first, disconnect the wirings to P and C, second, remove the built-in regenerative resistor from the servo amplifier, finally, connect the regenerative option to P and C.

Supply 24VDC power to +24V and 0V.

Connect to the servo motor power supply terminals (U, V, W). Connect the servo amplifier power supply output (U, V, and W) to the servo motor power supply input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

3.3.2 Power-on sequence

(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 (single-phase: L 1 , L 2 ). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.

2) The servo amplifier can accept the servo-on (SON) about 1 to 2s after the main circuit power supply is switched on. Therefore, when the servo-on (SON) is switched on simultaneously with the main circuit power supply, the base circuit will switch on in about 1 to 2s, and the ready (RD) will switch on in further about 5ms, making the servo amplifier ready to operate. (Refer to paragraph (2) in this section.)

If the main circuit power supply is OFF while the servo-on (SON) is ON, the display on the servo amplifier shows the corresponding warning. Switching ON the main circuit power supply discards the warning and the servo amplifier operates normally.

3) When the reset (RES) is switched on, the base circuit is shut off and the servo motor shaft coasts.

3 - 8


(2) Timing chart

Servo-on (SON) accepted

Main circuit

Control circuit

Power supply

Base circuit

Servo-on (SON)

Reset (RES)

Ready (RD)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Trouble (ALM)

No (ON)

Yes (OFF)

(1 to 2s)

5ms

10ms

10ms

95ms

5ms

10ms 95ms

10ms 5ms 10ms

1s

(3) Forced stop

CAUTION

Power-on timing chart

Configure a circuit which interlocks with an external emergency stop switch in order to stop the operation immediately and shut off the power.

Configure a circuit that shuts off the 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 immediately. At this time, the display shows the servo forced stop warning (E6.1).

During the normal operation, do not use the forced stop (EM1) to alternate stop and run. The service life of the servo amplifier may be shortened.

Also, the servo motor rotates simultaneously with the reset of the forced stop if a forward rotation start

(ST1) or the reverse rotation start (ST2) is ON, or if a pulse train is input during the forced stop. Be sure to shut off the operation instruction during the forced stop.

Servo amplifier

24VDC

(Note)

Forced stop

DICOM

EM1

Note. For sink I/O interface. For source I/O interface, refer to section 3.8.3.

3 - 9


3.3.3 CNP1 and CNP2 wiring method

POINT

Refer to section 11.5, for the wire sizes used for wiring.

Use the supplied servo amplifier power supply connectors for wiring of CNP1 and CNP2.

(1) Servo amplifier power supply connectors

Connector for CNP1

FKC2,5/ 9-ST-5,08

(Phoenix Contact)

CNP1

Servo amplifier

CNP1

<Applicable cable example>

Wire size: 0.2 to 2.5mm

2 (AWG24 to AWG12)

Cable finish OD: to 4mm

CNP2

CNP2

Connector for CNP2

FKCT 2,5/ 2-ST-5,08

(Phoenix Contact)

3 - 10


(2) Termination of the wires

(a) Solid wire

The wire can be used just by stripping the sheath.

Sheath

Core

Approx. 10mm

(b) Twisted wire

1) Inserting the wires directly to the terminals

Use the wire after stripping the sheath and 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) Putting the wires together using a ferrule

Use a ferrule as follows.

[mm

Cable size

2 ] AWG

1.25/1.5 16

2/2.5 14

For one wire

Ferrule type

For two wires

AI 1,5-10 BK AI-TWIN 2 1,5-10 BK

AI 2,5-10 BK

Crimping tool

CRIMPFOX ZA 3

Manufacturer

Phoenix Contact

Cut off the exceeding wire from the tip of the ferrule, leaving 0.5mm or less.

0.5mm or shorter

When using the ferrule for two wires, plug the wires in a direction in which insulating sleeves do not interfere the adjacent poles.

Crimp

Crimp

3 - 11


(3) Connection method

(a) Inserting the wires directly to the terminals

Insert the wire to the very end of the hole while pressing the button by a tool such as a small flat-blade screwdriver.

Button

Tools such as a small flat-blade screwdriver

Twisted wire

(b) Putting the wires together using a ferrule

Insert the wire as the uneven side of the crimped ferrule collar faces the button side.

Ferrule for one wire or solid wire

Ferrule for two wires

Use a ferrule for two wires when inserting two wires into one hole.

3 - 12


3.4 Connectors and signal arrangements

POINT

For the positioning mode, refer to section 13.2.2.

The pin configurations of the connectors are as viewed from the cable connector wiring section.

Refer to (2) in this section for CN1 signal assignment.

(1) Signal arrangement

The front view shown below is that of MR-JN-20A(1) or smaller. Refer to chapter 9 DIMENSIONS for the appearances and connector layouts of the other servo amplifiers.

AUTO

CN3 (USB connector)

Refer to section 11.4.

MODE SET

CNP2

CN3

2

LG 4

MRR

1

P5 3

MR

CN2

6

5

8

MDR

10

9

7

MD

The 3M make connector is shown.

When using any other connector, refer to section 11.1.2.

The frames of the CN1 connector are connected to the PE (earth) terminal in the servo amplifier.

CN1

1

2

DICOM

15

OPC

3

LA

4

RES

17

SON

5

LB

6

CR

19

LSP

7

LZ

8

LSN

21

EM1

9

OP

10

INP

12

MBR

ALM 23

11

PP

RD

25

13

NP

DOCOM

PG

24

NG

26

LBR

20

LZR

22

14

LG

16

LAR

18

Signal assignments shown above are in the case of position control mode.

3 - 13


(2) CN1 signal assignment

The signal assignment of connector changes with the control mode as indicated below;

For the pins which are given parameter No. in the related parameter column, their signals can be changed using those parameters.

Pin No.

(Note 1)

I/O P P/S

(Note 2) I/O signals in control modes

S S/T T T/P

Related parameter No.

I

I

I

I

O

O

O

O

O

O

O

O

O

O

I

O

I

I

I

I

I

22

23

24

25

18

19

20

21

14

15

16

17

10

11

12

13

26

1

8

9

6

7

4

5

2

3

LBR

LZ

LZR

OP

DICOM

RES

SON

SP1

RS2

RS1

EM1

ALM

RD

MBR

DOCOM

LG

LA

LAR

LB

LBR

LZ

LZR

OP

DICOM

RES

SON

SP1/SP1

ST1/RS2

ST2/RS1

EM1

ALM

SA/-

RD

MBR

DOCOM

LG

LA

LAR

LB

LBR

LZ

LZR

OP

DICOM

RES

SON

SP1

ST1

ST2

EM1

ALM

SA

RD

MBR

DOCOM

LG

LA

LAR

LB

LBR

LZ

LZR

OP

PG/-

PP/-

NG/-

NP/-

DICOM

OPC/-

RES

SON

CR/SP1

LSP/ST1

LSN/ST2

EM1

ALM

INP/SA

RD

MBR

DOCOM

LG

LA

LAR

LB

LBR

LZ

LZR

OP

PG

PP

NG

NP

INP

RD

MBR

DOCOM

LG

LA

LAR

LB

DICOM

OPC

RES

SON

CR

LSP

LSN

EM1

ALM

Note 1. I: Input signal, O: Output signal

2. P: Position control mode, S: Internal speed control mode, T: Internal torque control mode,



LBR

LZ

LZR

OP

-/PG

-/PP

-/NG

-/NP

DICOM

-/OPC

RES

SON

PD03 PD04

PD05 PD06

SP1/CR PD07 PD08

RS2/LSP PD09 PD10

RS1/LSN PD11 PD12

EM1 PD13 PD14

ALM PD15

-/INP

RD

MBR

DOCOM

LG

LA

LAR

LB

PD16

PD17

PD18

PD02

PD02

3 - 14


TL1

LSP

LSN

SP1

SP2

SP3

LOP

CDP

PP

NP

PG

NG

RD

SON

RES

PC

EM1

CR

ST1

ST2

RS1

RS2

(3) Explanation of abbreviations

Abbreviation Signal name

Servo-on

Reset

Proportion control

Forced stop

Clear





Internal torque limit selection



Speed selection 1

Speed selection 2

Speed selection 3

Control change

Gain changing

Forward/reverse rotation pulse train

Ready

Abbreviation

CDPS

OP

LZ

LZR

LA

LAR

LB

LBR

DICOM

OPC

DOCOM

LG

SD

ALM

INP

SA

MBR

TLC

VLC

WNG

ZSP

MTTR

Signal name

Trouble

In-position

Speed reached


Limiting torque

Limiting speed

Warning

Zero speed

During tough drive

During variable gain selection

Encoder Z-phase pulse (open collector)







Digital I/F power supply input

Open collector power input

Digital I/F common

Control common

Shield

3 - 15


3.5 Signal explanations

POINT


For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.2.

In the control mode field of the table

P : Position control mode, S: Internal speed control mode, T: Internal torque control mode

: Denotes that the signal may be used in the initial setting status.

: Denotes that the signal may be used by setting the corresponding parameter No. PD02 to PD18.

The pin numbers in the connector pin No. column are those in the initial status.

(1) I/O devices

(a) Input devices

Device Symbol

Connector pin

No.

Functions/Applications

I/O division

Servo-on DI-1

Control mode

P S T

Reset


SON CN1-4 When SON is turned on, the power is supplied to the base circuit and the servo amplifier is ready to operate (servo-on).

When SON is turned off, the power to the base circuit is shut off and the servo motor coasts.

Set parameter No. PD01 to " 4 " to switch this signal on

(keep terminals connected) automatically in the servo amplifier.

RES CN1-3 When RES is turned on for 50ms or longer, an alarm can be reset.

Some alarms cannot be deactivated by the reset (RES). Refer to section

8.1.

Turning RES on in an alarm-free status shuts off the base circuit. The base circuit is not shut off when " 1 " is set in parameter No. PD20.

This device is not designed to make a stop. Do not turn it ON during operation.

LSP CN1-6 To start operation, turn LSP/LSN on. Turn it off to bring the motor to a sudden stop and make it servo-locked.

Set " 1 " in parameter No. PD20 to make a slow stop.

(Refer to section 4.4.2.)

(Note) Input device

LSP LSN

Operation

CCW direction

CW direction

DI-1

DI-1


LSN CN1-7

1

0

1

0

1

1

0

0

Note. 0: off

1: on

When LSP or LSN turns OFF, stroke limit warning (99. ) occurs, and warning (WNG) turns ON. However, when using WNG, set parameter

No. PD15 to PD18 to make it usable.

In the internal speed control mode, LSP and LSN turns ON automatically if they are not assigned to the external input signals.

3 - 16


Device






ST1

ST2

Symbol

TL1

RS1

RS2

Connector pin

No.


The internal torque limit 2 (parameter No. PC14) becomes valid by turning

TL1 on.

The forward torque limit (parameter No. PA11) and the reverse torque limit (parameter No. PA12) are always valid.

The smallest torque limit among the valid forward and reverse torque limits is the actual torque limit value.

(Note)

Input device Comparison between limit

TL1 values

0

1

Parameter

No. PC14 >

Parameter

No. PC14 <

Parameter

No. PA11

Parameter

No. PA12

Parameter

No. PA11

Parameter

No. PA12

Valid torque limit value

Forward rotation

Parameter

No. PA11

Parameter

No. PA11

Parameter

No. PC14

Reverse rotation

Parameter

No. PA12

Parameter

No. PA12

Parameter

No. PC14

Note. 0: off

1: on

Used to start the servo motor in any of the following directions.

(Note) Input device

ST2 ST1

Servo motor starting direction

0 0 Stop (servo lock)

0 1 CCW

1 0 CW

1 1 Stop (servo lock)

Note. 0: off

1: on

If both ST1 and ST2 are switched on or off during operation, the servo motor will be decelerated to a stop according to parameter No. PC02 setting and servo-locked.

When " 1 " is set in parameter No. PC23, the servo motor is not servo-locked after deceleration to a stop.

Used to select any of the following servo motor torque generation directions.

(Note) Input device

RS2 RS1

Torque generation direction

0

0

1

0

1

0

Torque is not generated.

Forward rotation in driving mode / reverse rotation in regenerative mode

Reverse rotation in driving mode / forward rotation in regenerative mode

Torque is not generated. 1 1

Note. 0: off

1: on

Torque is not generated if both RS1 and RS2 are switched ON or OFF during the operation.

I/O division

DI-1

Control mode

P S T

DI-1

DI-1

3 - 17


Device Symbol

Connector pin

No.


I/O division

Control mode

P S T

Speed selection 1 SP1 <Internal speed control mode>

Used to select the command speed for operation. (Max. 8 speeds)

DI-1

Speed selection 2 SP2

(Note) Input device

SP3 SP2 SP1

Speed command

0 0 0 Internal speed command 0 (parameter No. PC05)

0

0

0

1

1

1

1

0

0

0

1

1

1

1

1 Internal speed command 1 (parameter No. PC06)




1 Internal speed command 5 (parameter No. PC32) DI-1



Note. 0: off

1: on

<Internal torque control mode>

Used to select the limit speed for operation. (Max. 8 speeds)

Speed selection 3 SP3

Proportion control

Forced stop

Clear

(Note) Input device

SP3 SP2 SP1

0

0

0

0

1

1

1

1

0

0

1

1

0

0

1

1

Speed limit

0 Internal speed limit 0 (parameter No. PC05)








PC

Note. 0: off

1: on

When PC is turned on, the type of the speed loop switches from the proportional integral type to the proportional type.

If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift. When the servo motor shaft is to be locked mechanically after positioning completion (stop), switching on the proportion control (PC) upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift.

In case of locking the servo motor shaft for a long time, turn on the internal torque limit selection (TL1) simultaneously with the proportion control (PC). Then, set the internal torque limit 2 (parameter No. PC14) in order to make the torque lower than the rating.

EM1 CN1-8 When EM1 is turned off (contact between commons is opened), the servo amplifier falls in a forced stop state in which the base circuit is shut off, and the dynamic brake activates.

When EM1 is turned on (contact between commons is shorted) in the forced stop state, the state can be reset.

CR CN1-5 When CR is turned on, the droop pulses of the position control counter are cleared on its leading edge. The pulse width should be 10ms or more.

The delay amount set in parameter No. PB03 (position command acceleration/deceleration time constant) is also cleared. When parameter

No. PD22 is set to " 1 ", the pulses are always cleared while CR is on.

DI-1

DI-1

DI-1

DI-1

3 - 18


Device Symbol

CDP

Connector pin

No.


I/O division

Control mode

P S T

Gain changing

Control change LOP

The values of the load to motor inertia moment ratio and the gains are changed to the value set in parameter No. PB29 to PB34 by turning CDP on.

<Position/internal speed control change mode>

Used to select the control mode in the position/internal speed control change mode.

(Note) LOP

0

1

Control mode

Position

Internal speed

Note. 0: off

1: on

<Internal speed/internal torque control change mode>

Used to select the control mode in the internal speed/internal torque control change mode.

(Note) LOP

0

1

Control mode

Internal speed

Internal torque

Note. 0: off

1: on

<Internal torque/position control mode>

Used to select the control mode in the internal torque/position control change mode.

(Note) LOP

0

1

Note. 0: off

1: on

Control mode

Internal torque

Position

DI-1

DI-1 Refer to

Functions/A pplications.

(b) Output devices

Device

Trouble

Ready

In-position

Symbol

Connector pin

No.


ALM

RD

CN1-9 ALM turns off when power is switched off or the protective circuit is activated to shut off the base circuit.

When there is no alarm, ALM turns on approximately 1s after power-on.

CN1-11 RD turns on when the servo motor is ready for the operation after turning on the servo-on (SON).

INP CN1-10 INP turns on when the number of droop pulses is in the preset in-position range. The in-position range can be changed using parameter No. PA10.

When the in-position range is increased, may be kept connected during low-speed rotation.

INP turns on when servo-on turns on.

If parameter No. PA04 is set to " 1" and the overload tough drive function is enabled, the INP ON time in the overload tough drive is delayed. The delay time can be limited by parameter No. PC26.

I/O division

DO-1

DO-1

DO-1

Control mode

P S T

3 - 19


Device

Speed reached

Limiting speed

Limiting torque

Zero speed

Symbol

SA

VLC

TLC

ZSP

Connector pin

No.


CN1-10 SA turns on when the servo motor speed has nearly reached the preset speed. When the preset speed is 20r/min or less, SA always turns on.

SA does not turn on even when the servo-on (SON) is turned off or the servo motor speed by the external force reaches the preset speed while both the forward rotation start (ST1) and the reverse rotation start (ST2) are off.

VLC turns ON when the speed reaches the value limited by any of the internal speed limits 0 to 7 (parameter No. PC05 to PC08, and PC31 to

PC34) in the internal torque control mode.

VLC turns off when servo-on (SON) turns off.

TLC turns ON when the generated torque reaches the value set to the forward torque limit (parameter No. PA11), the reverse torque limit

(parameter No. PA12) or the internal torque limit 2 (parameter No.

PC14).

ZSP turns on when the servo motor speed is zero speed (50r/min) or less. Zero speed can be changed using parameter No. PC10.

Example

Zero speed is 50r/min

I/O division

Control mode

P S T

DO-1

DO-1

DO-1

DO-1


MBR

Warning WNG

During tough drive

MTTR


CDPS

Forward rotation direction

Servo motor speed

ON level

50r/min

0r/min

Reverse rotation direction

Zero speed

(ZSP)

ON level

50r/min

OFF level

70r/min

ON

OFF

1)

2)

3)

4)

20r/min

(Hysteresis width)

Parameter

No. PC10

Parameter

No. PC10

20r/min

(Hysteresis width)

ZSP turns on 1) when the servo motor is decelerated to 50r/min, and

ZSP turns off 2) when the servo motor is accelerated to 70r/min again.

ZSP 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 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-JN-A servo amplifier.

If parameter No. PA04 is set to " 1" and the overload tough drive function is enabled, the ZSP ON time in the overload tough drive is delayed. The delay time can be limited by parameter No. PC26.

MBR turns off when the servo is switched off or an alarm occurs.

At an alarm occurrence, MBR turns off regardless of the base circuit status.

When a warning occurs, WNG turns on.

When there is no warning, WNG turns off approximately 1s after poweron.

If the instantaneous power failure tough drive function selection is enabled, MTTR turns on when the instantaneous tough drive activates.

If parameter No. PD20 is set to " 1 ", MTTR also turns on when the overload tough drive activates.

CDPS is on during gain changing.

DO-1

DO-1

DO-1

DO-1

3 - 20


(2) Input signals

Signal Symbol

Connector pin No.



(Open collector)


(Differential line driver)





(4) Power supply

LZ

LZR

OP CN1-21 Outputs the zero-point signal of the encoder. One pulse is output per servo motor revolution. OP turns on when the zero-point position is reached. (Negative logic)

The minimum pulse width is about 400 s. For home position return using this pulse, set the creep speed to 100r/min. or less.

LA

LAR

LB

LBR

CN1-15

CN1-16

CN1-17

CN1-18

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. PC13.

CN1-19

CN1-20

The same signal as OP is output in the differential line driver type.

I/O division

DO-2

DO-2

Control mode

P S T

(Note) Forward rotation pulse train


PP

NP

PG

NG

CN1-23

CN1-25

CN1-22

CN1-24

Used to input command pulses.

In the open collector system (max. input frequency 200kpps)

Forward rotation pulse train across PP-DOCOM

Reverse rotation pulse train across NP-DOCOM

In the differential receiver system (max. input frequency 1Mpps)

Forward rotation pulse train across PG-PP

Reverse rotation pulse train across NG-NP

The command input pulse form can be changed using parameter No. PA13.

DI-2

Note. For the internal speed control mode or the internal torque control mode, PP or NP cannot be assigned to the CN1-23 pin or CN1-

25 pin. When assigning an input device to the CN1-23 pin or CN1-25 pin, supply OPC with 24VDC ( ) and use it at the sink interface. It cannot be used at source interface.

(3) Output signals

Signal Symbol

Connector pin No.


I/O division

Control mode

P S T

DO-2

Signal


Symbol

Connector pin No.


I/O division

Control mode

P S T


Digital I/F common

Control common

Shield

DICOM CN1-1 Used to input 24VDC (200mA) for I/O interface. The power supply capacity changes depending on the number of I/O interface points to be used.

For a sink interface, connect the positive terminal of the 24VDC external power supply to DICOM.

For a source interface, connect the negative terminal of the 24VDC external power supply to DICOM.

OPC CN1-2 When inputting a pulse train in the open collector system, supply this terminal with the positive ( ) power of 24VDC.

DOCOM CN1-13 Common terminal for input signals such as SON and EM1. Pins are connected internally.

Separated from LG.

For a sink interface, connect the negative terminal of the 24VDC external power supply to DICOM.

For a source interface, connect the positive terminal of the 24VDC external power supply to DICOM.

LG CN1-14 Common terminal for OP.

SD Plate Connect the external conductor of the shield cable.

3 - 21


3.6 Detailed description of the signals

3.6.1 Position control mode

POINT


POINT

The noise tolerance can be enhanced by setting parameter No. PA13 to "1

" when the command pulse frequency is 500kpps or less or "2 " when

200kpps or less.

(Refer to section 4.1.11)

(1) Pulse train input

(a) Input pulse waveform selection

Command pulses may be input in any of three different forms, for which positive or negative logic can be chosen. Set the command input pulse form in parameter No. PA13. Refer to section 4.1.11 for details.

(b) Connections and waveforms

1) Open collector system

Connect as shown below.

Servo amplifier

24VDC

OPC

(Note)

DOCOM

PP

NP

Approx.

1.2k

Approx.

1.2k

SD

Note. Pulse train input interface is comprised of a photo coupler.

Therefore, it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line.

The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No. PA13 has been set to " 10 "). Their relationships with transistor ON/OFF are as follows.


(transistor)


(transistor)

(ON) (OFF) (ON) (OFF) (ON)

(OFF)

(OFF)

(ON) (OFF) (ON) (OFF) (ON)

Forward rotation command Reverse rotation command

3 - 22


2) Differential line driver type

Connect as shown below.

(Note)

Servo amplifier

PP

Approx.

100

PG

NP

Approx.

100

NG

SD



The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No. PA13 has been set to " 10 ").

The waveforms of PP, PG, NP and NG are based on that of the ground of the differential line driver.


PP

PG


NP

NG

Forward rotation command Reverse rotation command

(2) In-position (INP)

INP turns on when the number of droop pulses in the deviation counter falls within the preset in-position range (parameter No. PA10). INP turns on when low-speed operation is performed with a large value set as the in-position range.

Servo-on (SON)

ON

OFF

Alarm

Yes

No

In-position range

Droop pulses

In-position (INP)

ON

OFF

3 - 23


(3) Ready (RD)

Servo-on (SON)

Alarm

ON

OFF

Yes

No

100ms or less 10ms or less

10ms or less

Ready (RD)

ON

OFF

(4) Torque limit

CAUTION

If the torque limit is canceled during servo lock, the servo motor may suddenly rotate according to position deviation in respect to the command position.

When using the torque limit, check that load to motor inertia moment ratio

(parameter No. PB06) is set properly. Improper settings may cause an unexpected operation such as an overshoot.

(a) Torque limit and torque

By setting parameter No. PA11 (forward torque limit) or parameter No. PA12 (reverse torque limit), torque is always limited to the maximum value during operation. A relationship between the limit value and servo motor torque is shown below.

Reverse rotation (CW) direction Max. torque Forward rotation (CCW) direction

100

Torque limit value in parameter No. PA12

0 100

Torque limit value in parameter No. PA11

[%]

(b) Torque limit value selection

As shown below, the internal torque limit selection (TL1) can be used for selecting the torque limit between the forward torque limit (parameter No. PA11) or the reverse torque limit (parameter No. PA12) and the internal torque limit 2 (parameter No. PC14).

However, if the value of parameter No. PA11 or parameter No. PA12 is lower than the limit value selected by TL1, the value of parameter No. PA11 or parameter No. PA12 is made valid.

(Note) Input device

TL1

0

Limit value status

Validated torque limit values

Forward rotation (CCW) driving

Reverse rotation (CW) regeneration

Parameter No. PA11

Parameter No. PA11

Reverse rotation (CW) driving

Forward rotation (CCW) regeneration

Parameter No. PA12

Parameter No. PA12

1

Parameter No. PC14 Parameter No. PC14

Note. 0: off

1: on

3 - 24


(c) Limiting torque (TLC)

TLC turns on when the servo motor torque reaches the torque limited by the forward torque limit, the reverse torque limit or the internal torque limit 2.

3.6.2 Internal speed control mode

(1) Internal speed command settings

(a) Speed command and speed

The servo motor operates at the speed set in the parameters.

Up to 8 speeds can be set to the internal speed command.

The following table indicates the rotation direction according to forward rotation start (ST1) and reverse rotation start (ST2) combination.

(Note 1) Input device

ST2 ST1

(Note 2) Rotation direction

0

0

1

0

1

0

Stop

(Servo lock)




1 1

Stop

(Servo lock)

Note 1. 0: off

1: on

2. If the torque limit is canceled during servo lock, the servo motor may suddenly rotate according to position deviation in respect to the command position.


Connect the wirings as follows when operating in forward or reverse rotation with the internal speed command set to the eighth speed.

Servo amplifier

(Note 1)

24VDC

ST1

ST2

SP1

SP2

SP3

DOCOM

DICOM

(Note 2)

Note 1. For sink I/O interface. For source I/O interface, refer to section 3.8.3.

2. Set the input devices by parameter No. PD02 to PD14.

3 - 25


POINT

The servo-on (SON) can be set to turn on automatically by parameter No.

PD01 (input signal automatic ON selection 1).

The forward rotation stroke end (LSP) and the reverse rotation stroke end

(LSN) switches as follows:

Assigned to the external input signals: depends on the value set in parameter No. PD01.


If parameter No. PC23 (function selection C-2) is set to " 0 " (initial value), the servo motor is servo-locked regardless of the deceleration time constant when the zero speed (ZSP) turns on.

(b) Speed selection 1 (SP1) and speed command value

At the initial condition, the speed command values for the internal speed command 0 and 1 can be selected using the speed selection 1 (SP1).

(Note) Input device

SP1

0

1

Note. 0: off

1: on

Speed command value

Internal speed command 0 (parameter No. PC05)


By making the speed selection 2 (SP2) and the speed selection 3 (SP3) usable by setting of parameter

No.PD02 to PD14, the speed command values for the internal speed commands 0 to 7 can be selected.

SP3

(Note) Input device

SP2 SP1

0

0

0

0

1

0

0

1

1

0

0

1

0

1

0

1

1

1

Note. 0: off

1: on

0

1

1

1

0

1

Speed command value









The speed may be changed during rotation. In this case, the values set in parameters No. PC01 and

PC02 are used for acceleration/deceleration.

When the speed has been specified under any internal speed command, it does not vary due to the ambient temperature.

3 - 26


(2) Speed reached (SA)

SA turns on when the servo motor speed has nearly reached the speed set to the internal speed command.

Set speed selection Internal speed command 1

Internal speed command 2

Forward rotation/ reverse rotation start (ST1/ST2)

ON

OFF

Servo motor speed

Speed reached (SA)

ON

OFF

(3) Torque limit

As in section 3.6.1 (4).

3 - 27


3.6.3 Internal torque control mode

(1) Internal torque command settings

Torque is controlled by the internal torque command set in parameter No. PC12.

If the internal torque command is small, the torque may vary when the actual speed reaches the speed limit value. In such case, increase the speed limit value.

The following table indicates the torque generation directions determined by the forward rotation selection

(RS1) and the reverse rotation selection (RS2) when the internal torque command (parameter No. PC12) is used.

(Note) Input device

RS2 RS1

Rotation direction

Internal torque command (parameter No. PC12)

0.1 to 100.0% 0.0% Forward rotation (CCW)

0 0

0

1

1

1

0

1


CCW (reverse rotation in driving mode/forward rotation in regenerative mode)

CW (forward rotation in driving mode/reverse rotation in regenerative mode)




Note. 0: off

1: on

Generally, make connection as shown below.

Servo amplifier

(Note)

RS1

RS2

DOCOM

DICOM

24VDC

Note. For sink I/O interface. For source I/O interface, refer to section 3.8.3.

The following shows the effect of the low-pass filter on the internal torque command.

Forward rotation/reverse rotation selection

(RS1/RS2)

ON

OFF

Torque

Internal torque command (parameter No. PC12)

Internal torque command after filtered

Torque command time constant (parameter No. PC04)

(2) Torque limit

By setting parameter No. PA11 (forward torque limit) or parameter No. PA12 (reverse torque limit), torque is always limited to the maximum value during operation. A relationship between limit value and servo motor torque is as in section 3.6.1 (4).

3 - 28


(3) Speed limit

(a) Speed limit value and speed

The speed is limited to the values set in parameters No. PC05 to PC08 and PC31 to PC34 (Internal speed limit 0 to 7).

When the servo motor speed reaches the speed limit value, the internal torque control may become unstable. Make the set value more than 100r/min greater than the desired speed limit value.

The following table indicates the limit direction according to forward rotation selection (RS1) and reverse rotation selection (RS2) combination.

(Note) Input device

RS1 RS2

1

0

Note. 0: off

1: on

0

1

Speed limit direction





Connect the wirings as follows when setting the internal speed limit to the eighth speed.

Servo amplifier

(Note 1)

RS1

RS2

SP1

SP2

SP3

DOCOM

DICOM

(Note 2)

24VDC

Note 1. For sink I/O interface. For source I/O interface, refer to section 3.8.3.

2. Set the input devices by parameter No. PD02 to PD14.

POINT

The servo-on (SON), the forward rotation stroke end (LSP), and the reverse rotation stroke end (LSN) can be set to turn on automatically by parameter

No. PD01 (input signal automatic ON selection 1).

3 - 29


(b) Speed selection 1 (SP1) and speed limit values

At the initial condition, the speed limit values for the internal speed limits 0 and 1 can be selected using the speed selection 1 (SP1).

(Note) Input device

SP1

0

1

Note. 0: off

1: on

Speed limit value

Internal speed limit 0 (parameter No. PC05)


By making the speed selection 2 (SP2) and the speed selection 3 (SP3) usable by setting parameter

No.PD02 to PD14, the speed limit values for the internal speed limit 0 to 7 can be selected.

1

1

1

0

1

0

0

SP3

(Note) Input device

SP2 SP1

0

1

1

0

0

1

1

0

0

0

1

0

1

0

1

0

1

Note. 0: off

1: on

Speed limit value









When the speed is limited by the internal speed limits 0 to 7, the speed does not vary with the ambient temperature.

(c) Limiting speed (VLC)

VLC turns on when the servo motor speed reaches the speed limited by the internal speed limits 0 to 7.

3 - 30


3.6.4 Position/speed control change mode

Set parameter No. PA01 to " 1 " to switch to the position/internal speed control change mode.

(1) Control change (LOP)

By using the control change (LOP), control mode can be switched between the position control and the internal speed control modes from an external contact. Relationships between LOP and control modes are indicated below.

(Note) LOP Control mode

0

1



Note. 0: off

1: on

The control mode may be switched in the zero speed status. To ensure safety, switch the control mode after the servo motor has stopped. When the control mode is switched to the internal speed control mode from the position control mode, droop pulses are cleared.

Even if the speed is decreased to the zero speed or below after switching LOP, the control mode cannot be switched. A change timing chart is shown below.




Servo motor speed

Zero speed level

Zero speed (ZSP)

Control change (LOP)

ON

OFF

ON

OFF

(Note) (Note)

Note. When ZSP is not on, control cannot be changed if LOP is switched on-off.

If ZSP switches on after that, control cannot be changed.

(2) Torque limit in position control mode


(3) Speed setting in internal speed control mode


(4) Speed reached (SA)


3 - 31


3.6.5 Internal speed/internal torque control change mode

Set No. PA01 to " 3 " to switch to the internal speed/internal torque control change mode.


By using the control change (LOP), the control mode can be switched between the internal speed control and the internal torque control mode from an external contact. Relationships between LOP and control modes are indicated below.

(Note) LOP Servo control mode

0

1



Note. 0: off

1: on

The control mode may be changed at any time. A change timing chart is shown below.





Internal torque command

(parameter No. PC12)

ON

OFF

Servo motor speed

(Note)

Note. When the start (ST1, ST2) is switched off as soon as the mode is changed to internal speed control, the servo motor comes to a stop according to the deceleration time constant.

(2) Speed setting in internal speed control mode


(3) Torque limit in internal speed control mode


(4) Speed limit in internal torque control mode


(5) Internal torque control setting in internal torque control mode


(6) Torque limit in internal torque control mode


3 - 32


3.6.6 Internal torque/position control change mode

Set parameter No. PA01 to " 5 " to switch to the internal torque/position control change mode.


By using the control change (LOP), the control mode can be switched between the internal torque control and the position control modes from an external contact. Relationships between LOP and control modes are indicated below.

(Note) LOP Servo control mode

0

1

Note. 0: off

1: on



The control mode may be switched in the zero speed status.

To ensure safety, switch the control mode after the servo motor has stopped. When the control mode is switched to the internal torque control mode from the position control mode, droop pulses are cleared.

Even if the speed is decreased to the zero speed or below after switching LOP, the control mode cannot be switched. A change timing chart is shown below.




Servo motor speed

Zero speed level



Zero speed (ZSP)


ON

OFF

ON

OFF

(2) Speed limit in internal torque control mode


(3) Internal torque control setting in internal torque control mode


(4) Torque limit in internal torque control mode


(5) Torque limit in position control mode


3 - 33


3.7 Alarm occurrence timing chart

CAUTION

When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation.

As soon as an alarm occurs, turn off servo-on (SON) and power off.

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 reset the alarm, switch the control circuit power supply from off to on, press the " SET " button on the current alarm screen, or turn the reset (RES) from off to on. However, the alarm cannot be reset unless its cause is removed.

(Note 1)

Main circuit

Base circuit

Dynamic brake

Servo-on

(SON)

Ready

(RD)

Trouble

(ALM)

Reset

(RES)

ON

OFF

ON

OFF

Valid

Invalid

ON

OFF

ON

OFF

ON

OFF

ON

OFF

1s

Brake operation

Power off

Brake operation

Power on

15 to 60ms or more (Note 2)

Alarm occurs.

Remove cause of trouble.

50ms or more

Note 1. Shut off the main circuit power as soon as an alarm occurs.

2. Changes depending on the operating status.

(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) Instantaneous power failure

If power failure has occurred in the control circuit power supply, undervoltage (10.1) occurs when the power is recovered.

(4) In-position control mode

Once an alarm occurs, the servo motor command rejects the command pulse. When resuming the operation after resetting the alarm, make a home position return.

3 - 34


3.8 Interfaces

3.8.1 Internal connection diagram

(Note

3)

(Note

2, 4)

24VDC

(Note 1)

P S T

SON SON SON

RES RES RES

EM1 EM1 EM1

LSP ST1 RS2

LSN ST2

CR

OPC

SP1

RS1

SP1

DICOM

CP/CL

SON

MD0

EM1

ST1

ST2

DI0

OPC

CN1

8

6

4

3

2

1

7

5

Approx. 5.6k

Approx. 5.6k

PP

PG

NP

NG

DOCOM

DI1

DOG

13

23

22

25

24

Approx. 100

Approx. 100

Approx. 1.2k

Approx. 1.2k

Servo amplifier

<Isolated>

CN1

9

(Note 1)

P S

ALM ALM

T

ALM

CP/CL

ALM

10

11

INP

RD

SA

RD RD

INP

RD

12 MBR MBR MBR MBR

CN1 P

15

16

17

18

19

20

21

14

(Note 1)

S

LA

LAR

LB

T

LBR

LZ

LZR

OP

LG

CP/CL

RA

RA

(Note

3)

Differential line driver output

(35mA or less)

Open collector output

USB

(Note 1)

P S T

VBUS

D-

D+

GND

CP/CL CN3

1

2

3

5

CN2 P

7

8

3

4

2

CNP1

(Note 1)

S

MD

T

MDR

MR

MRR

LG

CP/CL

E

Servo motor

Encoder

M

Note 1. P: Position control mode, S: Internal speed control mode, T: Internal torque control mode

CP: Positioning mode (Point table method) CL: Positioning mode (Program method)

2. This diagram is for the open collector pulse train input. When inputting the differential line driver pulse train in the position control mode, make the following connection.

24VDC

DOC

OPC

DICOM

PP

PG

DOCOM

NP

NG

23

22

25

24

46

2

1

13

3. For sink I/O interface. For source I/O interface, refer to section 3.8.3.

4. When assigning the input device to the CN1-23 pin or CN1-25 pin in the internal speed control mode, internal torque control mode, or positioning mode, use it at sink input interface. It cannot be used at source input interface. For the positioning mode, the input devices (DI1, DOG) are assigned to the initial values.

3 - 35


3.8.2 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. The following figure is for sink input. Refer to section

3.8.3 for source input.

For transistor

Approx. 5mA

Servo amplifier

SON, etc.

Approx. 5.6k

TR

V

CES

1.0V

I

CEO

100 A

Switch

24VDC 10%

200mA

DICOM

(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.

The following figure is for the sink output. Refer to section 3.8.3 for the source output.

Servo amplifier

ALM, etc.

Load

If polarity of diode is reversed, servo amplifier will fail.

DOCOM

(Note) 24VDC 10%

200mA

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 - 36


(3) Pulse train input interface DI-2

Give a pulse train signal in the open collector system or differential line driver type.

(a) Open collector system

1) Interface

24VDC

OPC

Servo amplifier

Max. input pulse frequency 200kpps

Approx. 1.2k

2m or less

(Note)

PP, NP

DOCOM

SD



2) Input pulse condition tc tHL

PP

0.9

0.1

tLH=tHL<0.2 s tc>2 s tF>3 s tc tLH tF

NP

(b) Differential line driver type

1) Interface

(Note)

10m or less

Servo amplifier

Max. input pulse frequency 1Mpps

PP(NP)

PG(NG)

Approx. 100

Am26LS31 or equivalent

V

OH

: 2.5V

V

OL

: 0.5V

SD



3 - 37


2) Input pulse condition

PP PG

0.9

0.1

tc tHL tc tLH tF tLH=tHL<0.1 s tc>0.35 s tF>3 s

NP NG

(4) Encoder output pulse DO-2

(a) Open collector system

Interface

Max. output current: 35mA

Servo amplifier

OP

LG

SD

Servo amplifier

OP

LG

SD

5 to 24VDC

Photocoupler

(b) Differential line driver type

1) Interface

Max. output current: 35mA

Servo amplifier

LA

(LB, LZ)

Am26LS32 or equivalent

150

LAR

(LBR, LZR)

SD

LG

Servo amplifier

LA

(LB, LZ)

LAR

(LBR, LZR)

SD

100

High-speed photocoupler

3 - 38


2) Output pulse

Servo motor CCW rotation

LA

LAR

LB

LBR

/2

T

Time cycle (T) is determined by the settings of parameter No.PA15 and PC13.

400 s or more

OP

3.8.3 Source I/O interfaces

In this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1 output signals are of source type. Perform wiring according to the following interfaces.

(1) Digital input interface DI-1

Servo amplifier

SON, etc.

Approx. 5.6k

Switch

DICOM

Approx. 5mA

V

CES

1.0V

I

CEO

100 A

24VDC 10%

200mA

(2) Digital output interface DO-1

A maximum of 2.6V voltage drop occurs in the servo amplifier.

Servo amplifier

ALM, etc.

Load

If polarity of diode is reversed, servo amplifier will fail.

DOCOM

(Note) 24 VDC ± 10%

200 mA

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 - 39


3.9 Treatment of cable shield external conductor

In the case of the CN1 and CN2 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

Strip the sheath.

(1) For CN1 connector (3M connector)

Core

External conductor

Sheath

Pull back the external conductor to cover the sheath.

Screw

Cable

Ground plate

Screw

(2) For CN2 connector (3M or Molex connector)

Cable

Ground plate

Screw

3 - 40


3.10 Connection of servo amplifier and servo motor

CAUTION

Connect the servo amplifier power output (U/V/W) to the servo motor power input

(U/V/W) directly. Do not connect a magnetic contactor and others between them.

Otherwise, it may cause a malfunction.

3.10.1 Connection instructions

WARNING To avoid an electric shock, insulate the connections of the power supply terminals.

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. CAUTION

Do not use the 24VDC interface and control circuit power supplies 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.

This section indicates the connection of the servo motor power supply (U, V, W). Use of the optional cable or the connector set is recommended for connection between the servo amplifier and the servo motor. 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

PE terminal

Servo motor

3 - 41


3.10.2 Power supply cable wiring diagrams

(1) HF-KN series HF-KP G1/G5/G7 HG-KR G1/G5/G7 servo motor

(a) When cable length is 10m or less

10m or less

MR-PWS1CBL M-A1-L

MR-PWS1CBL M-A2-L

MR-PWS1CBL M-A1-H

MR-PWS1CBL M-A2-H

Servo motor Servo amplifier

CNP1

U

V

W

AWG 19(red)

AWG 19(white)

AWG 19(black)

AWG 19(green/yellow)

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

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 Servo amplifier

CNP1

U

V

W

Extension cable

AWG 19(red)

AWG 19(white)

AWG 19(black)

AWG 19(green/yellow)

U

V

W

M

(Note) a) Relay connector for

extension cable

(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 a) Relay connector for

extension cable b) Relay connector for

motor power supply

cable

Description

Connector: RM15WTPZ-4P(71)

Cord clamp: JR13WCC-5(72)

(Hirose Electric) Numeral changes depending on the cable OD.

Connector: RM15WTJZ-4S(81)

Cord clamp: JR13WCC-8(72)

(Hirose Electric) Numeral changes depending on the cable OD.

IP rating

IP65

IP65

3 - 42


3.11 Servo motor with an electromagnetic brake

3.11.1 Safety precautions

Configure an electromagnetic brake operation circuit which interlocks with an external emergency stop switch.

Shut off the servo motor when

Servo-on (SON), Malfunction

(ALM), or Electromagnetic brake interlock (MBR) are turned OFF.

Circuit must be opened with the emergency stop switch.

Servo motor

SON RA

B 24VDC

CAUTION


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 and control circuit power supplies for the electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake. Otherwise, a fault may occur.

POINT

Refer to chapter 12 for specifications such as the power supply capacity and operation delay time of the electromagnetic brake.

Switch off the servo-on (SON) after the servo motor has stopped.

Refer to (3) in section 12.1.3 for the selection of the surge absorbers for the electromagnetic brake.

Note the following when the servo motor with an electromagnetic brake is used.

1) Always assign the electromagnetic brake interlock (MBR) to CN1-12 pin by parameter No. PD18.

(MBR is assigned to CN1-12 pin by default.)

2) The electromagnetic brake operates when the power (24VDC) turns off.

3) While the reset (RES) is on, the base circuit is shut off. When using the servo motor with a vertical shaft, use the electromagnetic brake interlock (MBR).

3.11.2 Setting

(1) Set " 05 " to parameter No. PD18 to assign the electromagnetic brake interlock (MBR) to CN1-12 pin.

(2) Using parameter No. PC09 (electromagnetic brake sequence output), set a time delay (Tb) at servo-off from electromagnetic brake operation to base circuit shut-off as in the timing chart shown in section

3.11.3 (1).

3 - 43


3.11.3 Timing charts

(1) Servo-on (SON) command (from controller) ON/OFF

Tb [ms] after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter.

Therefore, when using the electromagnetic brake in a vertical lift application or the like, set Tb to about the same as the electromagnetic brake operation delay time to prevent a drop.

Servo motor speed 0 r/min

Base circuit

ON

OFF


(MBR)

(Note 1) ON

OFF

Servo-on (SON)

ON

OFF

(95ms)

(95ms)

(Note 3)

Coasting

Tb Electromagnetic brake sequence output


Electromagnetic brake operation delay time

Position command

(Note 4)


0 r/min

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 section 12.5.3, 12.6.3.

3. Give a position command after the electromagnetic brake is released.

4. For the position control mode.

(2) Forced stop (EM1) ON/OFF

Servo motor speed

Deceleration starts after the forced stop (EM1) turns OFF. (Note 2)

Dynamic brake

Dynamic brake



Electromagnetic brake release

(210ms)

Base circuit

ON

OFF

(10ms)

Tb

Electromagnetic brake sequence output (parameter No. PC09)


(210ms)

Electromagnetic (Note 1) ON brake interlock (MBR)

OFF

Forced stop (EM1)

Invalid (ON)

Valid (OFF)



2. The operation differs from the timing chart of MR-J3- A servo amplifier.

3 - 44


(3) Alarm occurrence

Servo motor speed

Base circuit (Note 1)

ON

OFF

(10ms)

Electromagnetic (Note 2) ON brake interlock (MBR)

OFF

Trouble (ALM)

No (ON)

Yes (OFF)

Dynamic brake

Dynamic brake




Note 1. Electromagnetic brake sequence output (parameter No. PC09) is invalid.

2. ON: Electromagnetic brake is not activated.


(4) Both main and control circuit power supplies off

Servo motor speed

(10ms)

Dynamic brake

Dynamic brake



Base circuit

(Note 1)

ON

10 to 60ms

OFF


(MBR)

(Note 2) ON

OFF

Trouble (ALM)

Main circuit


No (ON)

Yes (OFF)

ON

OFF


Note 1. Changes with the operating status.

2. ON: Electromagnetic brake is not activated.


3 - 45


(5) Only main circuit power supply off (control circuit power supply remains on)

Servo motor speed

Deceleration starts after the trouble (ALM) turns OFF. (Note 2)

(10ms)

Dynamic brake

Dynamic brake



Base circuit

Trouble (ALM)


ON

OFF


(MBR)

(Note 1) ON

OFF

No (ON)

Yes (OFF)

ON

OFF

Electromagnetic brake sequence output


10 to 60ms




2. The operation differs from the timing chart of MR-J3- A servo amplifier.

3.11.4 Wiring diagrams (HF-KN series HF-KP G1/G5/G7 HG-KR G1/G5/G7 servo motor)

(1) When cable length is 10m or less

24VDC power supply for electromagnetic brake

(Note 3)


(MBR)

Trouble

(ALM)

10m or less

(Note 5)

RA

(Note 1)

U

MR-BKS1CBL M-A1-L

MR-BKS1CBL M-A2-L

MR-BKS1CBL M-A1-H

MR-BKS1CBL M-A2-H

AWG20

AWG20

Servo motor

(Note 2)

B1

B2

B

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. When using a servo motor with an electromagnetic brake, always assign the electromagnetic brake interlock (MBR) to CN1-12 pin by parameter No. PD18.

4. Do not use the 24VDC interface power supply for the electromagnetic brake.

5. Switch off the circuit interlocking with the emergency stop switch.

When fabricating the motor brake cable MR-BKS1CBL M-H, refer to section 11.1.4.

3 - 46


(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.

(Note 5)


50m or less

(Note 4)

Electromagnetic

Extension cable

(To be fabricated) brake interlock

(MBR)

Trouble

(ALM)

(Note 6)

RA

(Note 1)

U

2m or less

MR-BKS1CBL2M-A1-L

MR-BKS1CBL2M-A2-L

MR-BKS1CBL2M-A1-H

MR-BKS1CBL2M-A2-H

MR-BKS2CBL03M-A1-L

MR-BKS2CBL03M-A2-L

Servo motor

(Note 3)

AWG20

B1

AWG20

B2

B

(Note 2) a) Relay connector for

extension cable

(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 a) Relay connector for

extension cable b) Relay connector for

motor brake cable

CM10-CR2P-

(DDK)

CM10-SP2S-

(DDK)

Wire size: S, M, L

Wire size: S, M, L

Description IP rating

IP65

IP65

3. There is no polarity in electromagnetic brake terminals (B1 and B2).

4. When using a servo motor with an electromagnetic brake, always assign the electromagnetic brake interlock (MBR) to CN1-12 pin by parameter No. PD18.

5. Do not use the 24VDC interface power supply for the electromagnetic brake.

6. Switch off the circuit interlocking with the emergency stop switch.

3 - 47


3.12 Grounding

Ground the servo amplifier and servo motor securely.

WARNING

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 motor

(Note)


MCCB

MC

L

1

L

2

Servo amplifier

CN2

Encoder

(Note)


Circuit protector

+24V

0V

U

V

W

U

V

W

M

CN1

Programmable logiccontroller

Protective earth (PE)

Outer box

Ensure to connect it to PE terminal of the servo amplifier.

Do not connect it directly to the protective earth of the control panel.

Note. For the specification of power supply, refer to section 1.3.

3 - 48

4. PARAMETERS

4. PARAMETERS

CAUTION

Never make a drastic adjustment or change to the parameter values, as doing so will make the operation unstable.

Do not change the parameter settings as described below. Doing so may cause an unexpected condition, such as failing to start up the servo amplifier.

Changing the values of the parameters for manufacturer setting.

Setting out-of-range values.

Changing the fixed values in the digits of a parameter.

POINT

For the positioning mode, refer to section 13.7.

Positioning mode is supported by servo amplifier with software version B0 or later.

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 when using this servo amplifier in the position control mode.

Gain/filter parameters

(No. PB )

Extension setting parameters

(No. PC )

I/O setting parameters

(No. PD )

Use these parameters when making gain adjustment manually.

Use these parameters mainly when using this servo amplifier in the internal speed control mode or in the internal torque control mode.

Use these parameters when changing the I/O signals of the servo amplifier.

Positioning setting parameters Use these parameters only for the positioning mode.

(No. PE ) (Refer to section 13.7.5.)

When using this servo in the position control mode, mainly setting the basic setting parameters (No. PA ) allows the setting of the basic parameters at the time of introduction.

4 - 1

4. PARAMETERS

4.1 Basic setting parameters (No. PA )

POINT

For any parameter whose symbol is preceded by *, set the parameter value and switch power off once, then switch it on again to make that parameter setting valid.

Never change parameters for manufacturer setting.

4.1.1 Parameter list

No. Symbol Name

PA01 *STY Control mode

PA02 *REG Regenerative option

PA03 For manufacturer setting

PA04 *AOP1 Tough drive function selection

PA05 *FBP Number of command input pulses per revolution

PA06 CMX

Electronic gear numerator

(Command input pulse multiplying factor numerator)

PA07 CDV

Electronic gear denominator

(Command input pulse multiplying factor denominator)

PA08 ATU Auto tuning mode

PA09 RSP Auto tuning response

Initial value

000h

000h

000h

000h

100

1

Unit

100 pulse/rev

Control mode

Position

Internal speed

Internal torque

PA10 INP In-position range

PA11 TLP Forward torque limit

PA12 TLN Reverse torque limit

PA13 *PLSS Command input pulse form

PA14 *POL Rotation direction selection

PA15 *ENR Encoder output pulses

PA16 *ENR2 Encoder output pulse electronic gear

PA17

PA18

For manufacturer setting

PA19 *BLK Parameter write inhibit

1

001h

6

100

100

100

000h

0

Refer to section

4.1.9.

%

%

4000 pulse/rev

0

000h

000h

00Eh

4 - 2

4. PARAMETERS

4.1.2 Parameter write inhibit

No. Symbol

Parameter

Name

Initial value

Setting range

Unit

Control mode

Internal torque

PA19 *BLK Parameter write inhibit 00Eh

Refer to the text.

POINT

This parameter is made valid when power is switched off, then on after setting.

In the factory setting, this servo amplifier allows to change all the setting parameters. With the setting of parameter No. PA19, writing can be disabled to prevent accidental changes.

The following table indicates the parameters which are enabled for reference and writing by the setting of parameter No. PA19. Operation can be performed for the parameters marked .


Setting operation


No. PA

Gain/Filter parameters

No. PB


No. PC


No. PD

Positioning setting parameters

No. PE

000h

Reference

Writing

00Ah

00Bh

00Ch

00Eh

(initial value)

10Bh

10Ch

10Eh

Reference

Writing

Reference

Writing

Reference

Writing

Reference

Writing

Reference

Writing

Reference

Writing

Reference

Writing

Parameter No.

PA19 only

Parameter No.

PA19 only

Parameter No.

PA19 only

Parameter No.

PA19 only

Parameter No.

PA19 only

4 - 3

4. PARAMETERS

4.1.3 Selection of control mode

No. Symbol

Parameter

Name

Initial value

Setting range

Unit

Control mode

Internal torque

PA01 *STY Control mode 000h

Refer to the text.

POINT


Select the control mode of the servo amplifier, and valid or invalid the one-touch tuning function.

Parameter No. PA01

0

Selection of control mode

0: Position control mode

1: Position control mode and internal speed control mo de

2: Internal speed control mode

3: Internal speed control mode and internal torque control mode

4: Internal torque control mode

5: Internal torque control mode and position contr ol mode

6: Positioning mode (point table method)

7: Positioning mode (program method)

One-touch tuning function selection

0: Valid

1: Invalid

If "1" is set, the one-touch tuning is ignored.

4.1.4 Selection of regenerative option

No. Symbol

Parameter

Name

Initial value

Setting range

Unit

Control mode

Internal torque

PA02 *REG Regenerative option 000h

Refer to the text.

POINT


Incorrect 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.

Set this parameter when using the regenerative option.

Parameter No. PA02

0


00: Regenerative option is not used



02: MR-RB032

03: MR-RB12

4 - 4

4. PARAMETERS

4.1.5 Selection of the tough drive function

No. Symbol

Parameter

Name

Initial value

Setting range

Unit

Control mode

Internal torque

PA04 *AOP1 Tough drive function selection 000h

Refer to the text.

POINT


The alarm may not be avoided in the tough drive depending on the conditions of the power supply and the load change.

The during tough drive (MTTR) can be assigned to the CN1-9 pin to CN1-12 pin connector using parameters No. PD15 to PD18.

For details on tough drive function, refer to section 7.1.

By selecting the tough drive function, the operation is continued not to stop the machine in such situation when normally an alarm is activated.

Parameter No. PA04

Overload tough drive function selection

Set the tough drive function for overload.

The overload tough drive function is valid only in the position control mode or positioning mode.

Setting

0

1

Overload tough drive function

Invalid

Valid

The details on the overload tough drive function can be set in parameter No.

PC26 (detailed setting of overload tough drive).

Vibration tough drive function selection

Set the function for vibration suppression.

Setting

0

1

Vibration tough drive function

Invalid

Valid

The details on the vibration tough drive function can be set in parameter No.

PC27 (detailed setting of vibration tough drive).

Instantaneous power failure tough drive function selection

Set the tough drive fun ction for instantaneous power failure of the main circuit power.

Setting

0

1

Instantaneous power failure tough drive function

Invalid

Valid

The details on the instantaneous power failure tough drive function can be set in parameter No. PC28 (detailed setting of instantaneous power failure tough drive).

4 - 5

4. PARAMETERS

4.1.6 Number of command input pulses per servo motor revolution

No. Symbol

Parameter

Name

Initial value

Setting range

Unit

Control mode

Internal torque

PA05 *FBP Number of command input pulses per revolution 100

0 100 to 500

100 pulses/rev

POINT


Unlike MR-J3- A servo amplifier, the electronic gear is always valid regardless of the settings of parameter No. PA05.

Set the number of command input pulses necessary to rotate the servo motor one turn.

When "100 (10000[pulse/rev])" (initial value) is set to parameter No. PA05, the servo motor rotates one turn by inputting 10000 pulses of the command pulse to the servo amplifier. When "0" is set to parameter No. PA05, the servo motor rotates one turn by inputting the command pulse of servo motor resolution to the servo amplifier.

Parameter No. PA05 setting Description

0

100 to 500

Servo motor resolution [pulse/rev]

Number of command input pulses necessary to rotate the servo motor one turn

[ 100pulse/rev]


Parameter No. PA05

FBP conversion

(Note)

Parameter No. PA06 , PA07

CMX

CDV

Deviation counter

Servo motor

M

Value converted to the number of command input pulses per revolution (FBP)

Encoder

Note. This process converts the number of pulses required to rotate the servo motor one turn to the value set in parameter No. PA05.

4 - 6

4. PARAMETERS

4.1.7 Electronic gear

No. Symbol

Parameter

Name

PA06 CMX

PA07 CDV

Electronic gear numerator

(Command pulse multiplying factor numerator)

Electronic gear denominator

(Command pulse multiplying factor denominator)

Initial value

1

1

Setting range

1 to

65535

1 to

65535

Unit

Control mode

Internal torque

CAUTION Incorrect setting may cause unexpectedly fast rotation, resulting injury.

POINT

50 <

CMX

CDV < 500.

If the set value is outside this range, noise may be generated during acceleration/deceleration, or operation may not be performed at the preset speed and/or acceleration/deceleration time constants.

Always set the electronic gear with servo off state to prevent unexpected operation due to improper setting.

(1) Concept of electronic gear

The machine can be moved at any multiplication factor to input pulses.


Parameter No. PA05

FBP conversion

(Note)

Parameter No. PA06 , PA07

CMX

CDV

Deviation counter

Servo motor

M

Value converted to the number of command input pulses per revolution (FBP)

Encoder

Note. This process converts the number of pulses required to rotate the servo motor one turn to the value set in parameter No. PA05.

CMX

CDV =

parameter No.PA06

parameter No.PA07

The following setting examples are used to explain how to calculate the electronic gear.

POINT

The following specification symbols are required to calculate the electronic gear

Pb : Ballscrew lead [mm]

1/n : Reduction ratio

0

: Travel per command pulse [mm/pulse]

S : Travel per servo motor revolution [mm/rev]

0

: Angle per pulse [ /pulse]

: Angle per revolution [ /rev]

4 - 7

4. PARAMETERS

(a) For motion in increments of 10μm per pulse

Machine specifications

Ballscrew lead Pb 10 [mm]

Reduction ratio: 1/n = Z

1

/Z

2

= 1/2

Z

1

: Number of gear cogs on servo motor side

Z

2

: Number of gear cogs on load side

Command input pulses per revolution: 10000

[pulse/rev]

CMX

CDV = Δ 0 ΔS = Δ 0

ꞏ 10000 -3

1/n=Z

1

/Z

2

=1/2

Z

2

1/n

Z

1

Pb=10[mm]

Number of command input pulses per revolution of servo motor:

10000 [pulse/rev]

20

1

Hence, set 20 to CMX and 1 to CDV.

(b) Conveyor setting example

For rotation in increments of 0.01 per pulse


Table : 360 /rev

Reduction ratio : 1/n=P

1

/P

2

=625/12544

P

1

: Pulley diameter on servo motor side

P

2

: Pulley diameter on load side

Command input pulses per revolution: 36000

[pulse/rev]

Number of command input pulses per revolution of servo motor:

36000 [pulse/rev]

Table

Timing belt: 625/12544

CMX

CDV = Δθ 0

ꞏ 36000

36000

625/12544 ꞏ 360 =

12544

625 ........................................... (4.1)


POINT

In the linear or rotary operation, setting the following values in the number of command input pulses per revolution (parameter No. PA05) simplifies the setting values of the electronic gear (parameter No. PA06, PA07).

Linear operation: 100 (10000[pulse/rev])

Rotary operation: 360 (36000[pulse/rev])

4 - 8

4. PARAMETERS

(2) Setting for use of QD75

The QD75 also has the following electronic gear parameters. Normally, the servo amplifier side electronic gear must also be set due to the restriction on the command pulse frequency (differential 1Mpulse/s, open collector 200kpulse/s).

AP: Number of pulses per motor revolution

AL: Moving distance per motor revolution

AM: Unit scale factor

QD75 Servo amplifier

Command value

Control unit

AP

AL AM

Electronic gear

Command pulse

CMX

CDV

Deviation counter

Electronic gear

Feedback pulse

Servo motor

For example, if 100 (1000[pulse/rev]) is set to parameter No. PA05, the pulse command required to rotate the servo motor is as follows.

Servo motor speed [r/min]

2000

3000

Required pulse command

10000 2000/60 333333 [pulse/s]

10000 3000/60 500000 [pulse/s]

Use the electronic gear of the servo amplifier to rotate the servo motor under the maximum output pulse command of the QD75.

To rotate the servo motor at 3000r/min in the open collector system (200kpulse/s), set the electronic gear as follows.

CDV =

N

0

60 ꞏ 10000 f : Input pulse frequency [pulse/s]

N

0

: Servo motor speed [r/min]

200 ꞏ 10 3 ꞏ CMX

3000

60 ꞏ 10000

CMX

CDV =

3000

60 ꞏ

10000

200 ꞏ 10 3 60 ꞏ 200000 =

15

6

4 - 9

4. PARAMETERS

The following table indicates the electronic gear setting example (ballscrew lead = 10mm) when the QD75 is used in this way.

Servo amplifier

Rated servo motor speed

Input system

Max. input pulse frequency [pulse/s]

Feedback pulse/revolution [pulse/rev]

Electronic gear (CMX/CDV)

Command pulse frequency [kpulse/s] (Note)

Number of pulses per servo motor revolution as viewed from QD75[pulse/rev]

3000r/min

Open collector

200k

10000

Differential line driver

1M

15/6 1/2

200k 1M

4000 20000

2000r/min

Open collector

200k

10000

Differential line driver

1M

5/3 1/3

200k 1M

6000 30000

AD75P

Electronic gear

Minimum command unit

1pulse

Minimum command unit

0.1 m

AP

AL

AM

AP

1

1

1

4000

1

1

1

20000

1

1

1

6000

1

1

1

30000

AL 1000.0[ m] 1000.0[ m] 1000.0[ m] 1000.0[ m]

AM 10 10 10 10

Note. Command pulse frequency at rated speed

POINT

In addition to the setting method using the electronic gear given here, the number of pulses per servo motor revolution can also be set directly using parameter No. PA05. In this case, parameter No. PA05 is the "Number of pulses per servo motor revolution as viewed from QD75".

4 - 10

4. PARAMETERS

4.1.8 Auto tuning

No. Symbol

Parameter

Name

Initial value

Setting range

Unit

Control mode

Internal torque

PA08 ATU Auto tuning mode 001h

Refer to the text.

1 to 16 PA09 RSP Auto tuning response

POINT

6

When executing one-touch tuning, the setting value of parameter No. PA08 is changed to " 0", and the setting value of parameter No. PA09 is automatically set. (Refer to section 6.1.)

Make gain adjustment using auto tuning. Refer to section 6.3 for details.

(1) Auto tuning mode (parameter No. PA08)

Select the tuning mode.

Parameter No. PA08

0 0

Tuning mode setting

Setting Tuning mode

0

1

2-gain adjustment mode

Auto tuning mode 1

3 Manual mode

Estimated load to motor inertia moment ratio

Valid

Valid

Invalid

Automatically set parameter

No. (Note)

PB06, PB08, PB09, PB10

PB06, PB07, PB08, PB09,

PB10

Manually set parameter

No. (Note)

PA09, PB07

PA09

PB06, PB07, PB08, PB09,

PB10

Note. The parameters have the following names.

Parameter No.

PA09

PB06

PB07

PB08

PB09

PB10

Name

Auto tuning response

Load to motor inertia moment ratio

Model loop gain

Position loop gain

Speed loop gain

Speed integral compensation

4 - 11

4. 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

9

10

11

12

7

8

5

6

3

4

1

2

Low response

13

14

15

16 High response

4.1.9 In-position range

No. Symbol

Parameter

Name

Initial value Setting range Unit

Control mode

Internal torque

PA10 INP In-position range 100 0 to 65535 (Note)

Set the range, where in-position (INP) is output, in the command unit before calculation of the electronic gear.

When " 1" is set to the parameter No. PC24, the range can be changed to the servo motor encoder pulse unit.

Servo motor droop pulse

Command pulse

Command pulse

Droop pulse

In-position range [pulse]

In-position (INP)

ON

OFF

Note. The unit varies depending on the each control mode.

Control mode

Parameter No. PC24 set value

0 1

Position, internal speed, internal torque

Positioning pulse

μm pulse pulse

4 - 12

4. PARAMETERS

4.1.10 Torque limit

No. Symbol

Parameter

Name

Initial value

Setting range

Unit

Control mode

Internal torque

PA11 TLP Forward torque limit 100 0 to 100 %

PA12 TLN Reverse torque limit 100 0 to 100 %

The torque generated by the servo motor can be limited. Refer to section 3.6.1 (4) and use these parameters.

(1) Forward torque limit (parameter No. PA11)

Set this parameter on the assumption that the maximum torque is 100 [%]. Set this parameter when limiting the torque of the servo motor in the CCW driving mode or CW regeneration mode. Set this parameter to "0" to generate no torque.

(2) Reverse torque limit (parameter No. PA12)

Set this parameter on the assumption that the maximum torque is 100 [%]. Set this parameter when limiting the torque of the servo motor in the CW driving mode or CCW regeneration mode. Set this parameter to "0" to generate no torque.

4 - 13

4. PARAMETERS

4.1.11 Selection of command input pulse form

No. Symbol

Parameter

Name

Initial value

Setting range

Unit

Control mode

Internal torque

PA13 *PLSS Command input pulse form 000h

Refer to the text.

POINT



200kpps or less.

Select the input form of the pulse train input signal. Command pulses may be input in any of three different forms, for which positive or negative logic can be chosen.

Arrow or in the table indicates the timing of importing a pulse train.

A- and B-phase pulse trains are imported after being multiplied by 4.

Parameter No. PA13

Selection of command input pulse form

Setting Pulse train form Forward rotation command Reverse rotation command

00



PP

NP

01

Signed pulse train

PP

NP

H L

02

10

11

12

A-phase pulse train

B-phase pulse train

PP

NP



PP

NP

PP

Signed pulse train

NP

A-phase pulse train

B-phase pulse train

PP

NP

Pulse train input filter selection

Setting

0

1

2


1Mpps or less

500kpps or less

200kpps or less

L H

4 - 14

4. PARAMETERS

4.1.12 Selection of servo motor rotation direction

No. Symbol

Parameter

Name

Initial value

Setting range

Unit

Control mode

Internal torque

PA14 *POL Rotation direction selection 0 0 1

POINT


Select servo motor rotation direction relative to the input pulse train.



When forward rotation pulse is input

When reverse rotation pulse is input

0

1

CCW

CW

CW

CCW



4 - 15

4. PARAMETERS

4.1.13 Encoder output pulses

No. Symbol

Parameter

Name

Initial value

Setting range

Unit

Control mode

Internal torque



4000

0

1 to

65535

0 to

65535 pulse/ rev

POINT


Used to set the encoder pulses (A-phase, 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. PC13 to choose the output pulse setting or output division ratio setting.

The number of A/B-phase pulses actually output is 1/4 of the preset number of pulses.

The maximum output frequency is 4.6Mpps (after multiplied by 4). Use this parameter within this range.

(1) For output pulse designation

Set parameter No. PC13 to " 0 " (initial value).

Set the number of pulses per servo motor revolution.

Output pulse = set value [pulses/rev]

For instance, when parameter No. PA15 is set to "5600", the A/B-phase pulses actually output are as indicated below.

Servo motor

M

Parameter No. PA15

Feedback pulses

Encoder

A-phase/B-phase output pulses

4 - 16

4. PARAMETERS

(2) For output division ratio setting

Set parameter No. PC13 to " 1 ".

The number of pulses per servo motor revolution is divided by the set value.

Output pulse= Resolution per servo motor revolution [pulse/rev]

For instance, when parameter No. PA15 is set to "8", the A/B-phase pulses actually output are as indicated below.

8 ꞏ

1

4 = 4096 [pulse]

Servo motor

M

Set division ratio by parameter No. PA15.

Feedback pulses 1

ENR

Encoder


(3) When outputting pulse same as command pulses

Set parameter No. PC13 to " 2 ". The feedback pulses from the encoder can be output after being converted to the same value as the command pulse.



FBP conversion

Both equivalent.

Electronic gear

CMX

CDV

Pulse conversion

Deviation counter

Feedback pulses

Servo motor

M

Encoder

4 - 17

4. PARAMETERS

(4) When multiplying A-phase/B-phase output pulses by the value of the electronic gear

Set parameter No. PC13 to " 3 ".

The value resulted from multiplying the number of pulses per servo motor revolution by the value of the electronic gear becomes the output pulse.

(a) Set the electric gear numerator in the A-phase/B-phase output pulses to parameter No. PA15.

(b) Set the electric gear denominator in the A-phase/B-phase output pulses to parameter No. PA16. Setting

0 to parameter No. PA16 is recognized as 1.

(Example) When using the HF-KN series servo motor

When parameter No. PA15 is set to "5600" and PA16 to "4096", the A/B-phase pulses actually outputted are as follows.

A-phase/B-phase output pulses =

parameter No.16 ꞏ

1

4

4096 ꞏ

1

4 = 44800 [pulse]

Servo motor

M Electronic gear

(parameters No. PA15, PA16)

Feedback pulses ENR

ENR2

Encoder


POINT

Resolution per servo motor revolution depends on the servo motor as follows.

HF-KN series servo motor: 131072pulses/rev

HF-KP G1/G5/G7 servo motor: 262144pulses/rev

HG-KR G1/G5/G7 servo motor: 262144pulses/rev (when combined with MR-

JN- A servo amplifier)

4 - 18

4. PARAMETERS

4.2 Gain/filter parameters (No. PB )

POINT


Set any parameter with [Applied] written in the name column when using an advanced function.


No. Symbol Name

Initial value

Unit

PB01 FILT Adaptive tuning mode (Adaptive filter II)

PB02 VRFT

Vibration suppression control tuning mode

(Advanced vibration suppression control)

PB03 PST

Position command acceleration/deceleration time constant (Position smoothing)

PB04 FFC Feed forward gain

PB05 For manufacturer setting

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

PB11 VDC Speed differential compensation

PB12 OVA Overshoot amount compensation

PB13 NH1 Machine resonance suppression filter 1

PB14 NHQ1 Notch shape selection 1



PB17 Automatic setting parameter

PB18 LPF Low-pass filter setting

PB19 VRF1 Vibration suppression control vibration frequency setting

PB20 VRF2 Vibration suppression control resonance frequency setting

PB21

PB22


PB23 VFBF Low-pass filter selection


PB25 *BOP1 Function selection B-1

PB26 *CDP Gain changing

PB27 CDL Gain changing condition

PB28 CDT Gain changing time constant

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

PB33 VRF1B

Gain changing vibration suppression control vibration frequency setting

000h

000h

3

[Applied] 0

500

%

7.0 Multiplier

24

37 rad/s rad/s

823

33.7 rad/s ms

[Applied] 980

[Applied] 0

4500

000h

4500

000h

%

Hz

Hz

[Applied] 3141 rad/s

[Applied] 100.0 Hz

[Applied] 100.0 Hz

0

0

[Applied] 000h

000h

[Applied] 000h

[Applied] 000h

[Applied] 10

Refer to section

4.2.2. ms [Applied] 1

[Applied] 7.0 Multiplier

[Applied] 37 rad/s

[Applied] 823 rad/s

[Applied] 33.7 ms

[Applied] 100.0 ms

Hz

Control mode

Position

Internal speed

Internal torque

4 - 19

4. PARAMETERS

No. Symbol Name

PB46

PB47

PB48

PB49

PB50

PB34 VRF2B

Gain changing vibration suppression control resonance frequency setting

PB35

PB36


PB37




PB41

PB42

PB43

PB44

PB45

Initial value

[Applied] 100.0

0

0

100

4500

000h

111h

20

000h

000h

000h

000h

000h

000h

000h

000h

000h

Unit

Control mode

Position

Internal speed

Internal torque

Hz

Hz

4 - 20

4. PARAMETERS

4.2.2 Detail list

No. Symbol Name and function

Initial value

Setting range


POINT

When executing one-touch tuning, the adaptive tuning mode starts automatically.

When the adaptive filter is set during the one-touch tuning, this parameter is changed to " 2" automatically.

Select if the adaptive tuning is used or not. Setting this parameter to "

2" (manual mode) enables users to manually adjust the machine resonance suppression filter 1 (parameter No. PB13) and notch shape selection 1 (parameter No. PB14).

When this parameter is set to " 0", the initial values are set for both the machine resonance suppression filter 1 and the notch shape selection 1.

000h Refer to name and function column.

Unit

Control mode

Position

Internal speed

Internal torque

Machine resonance point

Frequency

Notch frequency

Frequency

0 0

Selection of adaptive tuning mode

Setting

0

Adaptive tuning mode

Filter OFF

Parameter that can be set manually

(Note)

2 Manual mode

Parameter No. PB13

Parameter No. PB14

Note. Parameter No. PB13 and PB14 are fixed to the initial values.

4 - 21

4. PARAMETERS


Initial value

Setting range

PB02 VRFT Vibration suppression control tuning mode (Advanced vibration suppression control)

POINT

When using the vibration suppression control tuning mode (advanced vibration suppression control) and the one-touch tuning simultaneously, refer to section 7.2.4 (3).

The vibration suppression is valid when parameter No. PA08 (auto tuning mode) is set to " 3". When PA08 is set to" 1", vibration suppression is always invalid.

Select the setting method for vibration suppression control tuning.

Setting this parameter to " 1" (vibration suppression control tuning mode) automatically changes the vibration frequency for vibration suppression control setting (parameter No. PB19) and resonance frequency for vibration suppression control (parameter No. PB20) after positioning operation is performed the predetermined number of times.


Droop pulse

Command

Machine end position

Automatic adjustment

Droop pulse

Command

Machine end position

Unit

Control mode

Position

Internal speed

Internal torque

0 0


Setting

0


Vibration suppression control OFF


(Note)

1



Manual mode

Parameter No. PB19

Parameter No. PB20

2


When this parameter is set to " 1", the tuning is completed after positioning is performed the predetermined number of times for the predetermined period of time, and the setting changes to " 2".

When the vibration suppression control tuning is not necessary, the setting changes to " 0". When this parameter is set to " 0", the initial values are set to the vibration suppression control vibration frequency setting and vibration suppression control resonance frequency setting. However, this does not occur when the servo off.

4 - 22

4. PARAMETERS


PB03 PST Position command acceleration/deceleration time constant

(Position smoothing)

Used to set the time constant of a low-pass filter in response to the position command.

When the one-touch tuning is executed, this parameter is automatically set. (Refer to section 6.1.)

The control system of either the primary delay or the linear acceleration/deceleration can be selected by parameter No. PB25.

When the linear acceleration/deceleration is selected, the setting range is 0 to 10ms. Setting of longer than 10ms is recognized as

10ms.

POINT

When the linear acceleration/deceleration is selected, do not execute control switching. Doing so will cause the servo motor to make a sudden stop during the control switching.

(Example) When a command is given from a synchronous encoder, synchronous operation can be started smoothly if started during line operation.

3

Initial value

Setting range

0 to

20000

Unit ms

Control mode

Position

Internal speed

Internal torque

Synchronous encoder

Start

Servo amplifier

Servo motor

Without time constant setting

With time constant setting

Servo motor speed

Start

ON

OFF

PB04 FFC Feed forward gain [Applied]

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.


Do not change this value by any means.

0

500

0 to

100

%

4 - 23

4. PARAMETERS



Used to set the load to motor inertia moment ratio.

Setting a value that is considerably different from the actual load moment of inertia may cause an unexpected operation such as an overshoot.

When auto tuning mode 1 and 2-gain adjustment mode are selected, this parameter is automatically set. (Refer to section 6.2.) In this case, it varies between 0.0 and 100.0.


Set the response gain up to the target position.

As the gain is increased, the trackability in response to the command is improved.

When executing the one-touch tuning, the result of the one-touch tuning is automatically set in this parameter.

When auto turning mode 1 is selected, the result of auto turning is automatically set in this parameter.


Used to set the gain of the position loop.

Set this parameter to increase the position response level to load disturbance. Higher setting increases the response level but is liable to generate vibration and/or noise.

When auto tuning mode 1 and 2-gain adjustment mode are set, the result of auto tuning is automatically set in this parameter.


Set the gain of the speed loop.

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.



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.


PB11 VDC Speed differential compensation [Applied]

Used to set the differential compensation.

The set value is made valid when the proportion control (PC) is switched on.

PB12 OVA Overshoot amount compensation [Applied]

Set the suppression ratio of the overshoot suppression control.

Set the suppression ratio for the friction torque in %.

Executing one-touch tuning automatically changes this parameter.

POINT

This parameter can reduce the overshoot caused by a device having large friction.

7.0

24

37

823

33.7

980

0

Initial value

Setting range

Unit

Multiplier

Control mode

Position

Internal speed

Internal torque

0.0 to

300.0

1 to

2000

1 to

1000

20 to

50000

0.1 to

1000.0

0 to

1000

0 to

100 rad/s rad/s rad/s ms

%

4 - 24

4. PARAMETERS



Set the notch frequency of the machine resonance suppression filter 1.


When parameter No. PB01 is set to " 0", the setting of this parameter is ignored.


Used to select the machine resonance suppression filter 1.

0

Notch depth selection

Setting Depth

0 Deep

Gain

40dB

1

2

3 to

Shallow

14dB

8dB

4dB

Notch width selection

Setting

0

Width

Standard

1

2

3 to

Wide

4

5

2

3

Initial value

Setting range

4500 30 to

4500


Unit

Hz

Control mode

Position

Internal speed

Internal torque


When parameter No. PB01 is set to " 0", the setting of this parameter is ignored.


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.



Select the shape of the machine resonance suppression filter 2.


Machine resonance suppression filter 2 selection

0: Invalid

1: Valid


Setting

0

1

Depth

Deep to

Gain

40dB

14dB

2

3 Shallow

8dB

4dB


Setting Width

0

1

2

Standard to

3 Wide

2

3

4

5

4500 30 to

4500

Hz


4 - 25

4. PARAMETERS



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 [Applied]

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.

PB19 VRF1 Vibration suppression control vibration frequency setting [Applied]

Set the vibration frequency for vibration suppression control to suppress low-frequency machine vibration, such as enclosure vibration.

Setting parameter No. PB02 (vibration suppression control tuning mode) to " 1" automatically changes this parameter. When parameter No. PB02 is set to " 2", this parameter can be set manually.

PB20 VRF2 Vibration suppression control resonance frequency setting [Applied]

Set the resonance frequency for vibration suppression control to suppress low-frequency machine vibration, such as enclosure vibration.

Setting parameter No. PB02 (vibration suppression control tuning mode) to " 1" automatically changes this parameter. When parameter No. PB02 is set to " 2", this parameter can be set manually.

PB21

PB22



PB23 VFBF Low-pass filter selection [Applied]

Select the low-pass filter. (Refer to section 7.2.5.)

0 0

Low-pass filter selection

0: Automatic setting

1: Manual setting (parameter No. PB18 setting)



PB25 *BOP1 Function selection B-1 [Applied]

Select the control systems for position command acceleration/deceleration time constant (parameter No. PB03).

0 0

Control of position command acceleration/ deceleration time constant

0: Primary delay

1: Linear acceleration/deceleration

When linear acceleration/deceleration is

selected, do not execute control switching after

instantaneous power failure. The servo motor will

make a sudden stop during the control switching.

Initial value

Setting range

Unit

Control mode

Position

Internal speed

Internal torque

3141 100 to

9000 rad/s

100.0 0.1 to

100.0

100.0 0.1 to

100.0

0

0


000h


Hz

Hz

4 - 26

4. PARAMETERS

No. Symbol

0

Name and function

Initial value

Setting range

Unit

PB26 *CDP Gain changing [Applied]

Select the gain changing condition. (Refer to section 7.3.)


Gain changing selection

Under any of the following conditions, the gains change on the basis of parameter No. PB29 to

PB34 settings.

0: Invalid

1: Input device (gain changing (CDP))

2: Command frequency (parameter No.PB27 setting)

3: Droop pulse (parameter No.PB27 setting)

4: Servo motor speed (parameter No.PB27 setting)

Gain changing condition

0: Valid when the input device (gain changing (CDP)) is

ON, or valid when the value is equal to or larger than

the value set in parameter No. PB27.

1: Valid when the input device (gain changing (CDP)) is

OFF, or valid when the value is equal to or smaller

than the value set in parameter No. PB27.

PB27 CDL Gain changing condition [Applied]

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 varies depending on the changing condition item. (Refer to section 7.3.)

PB28 CDT Gain changing time constant [Applied]

Used to set the time constant at which the gains change in response to the conditions set in parameters No. PB26 and PB27. (Refer to section 7.3.)

PB29 GD2B Gain changing load to motor inertia moment ratio [Applied]

Used to set the load to motor inertia moment ratio when gain changing is valid.

This parameter is made valid when the auto tuning mode is invalid

(parameter No. PA08: 3).

PB30 PG2B Gain changing position loop gain [Applied]

Set the position loop gain when the gain changing is valid.



PB31 VG2B Gain changing speed loop gain [Applied]

Set the speed loop gain when the gain changing is valid.



PB32 VICB Gain changing speed integral compensation [Applied]

Set the speed integral compensation when the gain changing is valid.



PB33 VRF1B Gain changing vibration suppression control vibration frequency setting [Applied]

Set the vibration frequency for vibration suppression control when the gain changing is valid. This parameter is made valid when parameter

No. PB02 is set to " 2" and parameter No. PB26 is set to " 1".

When using the vibration suppression control gain changing, always execute the changing after the servo motor has stopped.

10

1

7.0

37

823

33.7

0 to

9999

0 to

100

1 to

2000

20 to

50000

0.1 to

5000.0

100.0 0.1 to

100.0 kpps pulse r/min ms

0.0 to

300.0

Multiplier rad/s rad/s ms

Hz

Control mode

Position

Internal speed

Internal torque

4 - 27

4. PARAMETERS


Initial value

Setting range

PB40

PB41

PB42

PB43

PB44

PB45

PB46

PB47

PB48

PB49

PB50

PB34 VRF2B Gain changing vibration suppression control resonance frequency setting [Applied]

Set the resonance frequency for vibration suppression control when the gain changing is valid. This parameter is made valid when parameter No. PB02 is set to " 2" and parameter No. PB26 is set to " 1".

When using the vibration suppression control gain changing, always execute the changing after the servo motor has stopped.

PB35

PB36



PB37


Set the notch frequency of the machine resonance suppression filter 3.

Set parameter No. PB39 (notch shape selection 3) to " 1" to make this parameter valid.


Used to select the machine resonance suppression filter 3.

100.0 0.1 to

100.0

0

0

100

4500 30 to

4500


Machine resonance suppression filter 3 selection

0: Invalid

1: Valid


Setting

0

1

2

3

Depth

Deep to

Shallow

Gain

40dB

14dB

8dB

4dB


Setting

0

1

Width

Standard to

2

3 Wide

4

5

2

3



111h

20

000h

000h

000h

000h

000h

000h

000h

000h

000h

Unit

Hz

Control mode

Position

Internal speed

Internal torque

Hz

4 - 28

4. PARAMETERS

4.2.3 Position smoothing

By setting the position command acceleration/deceleration time constant (parameter No. PB03), the servo motor is operated smoothly in response to a sudden position command.

The following diagrams show the operation patterns of the servo motor in response to a position command when the position command acceleration/deceleration time constant is set.

Select the primary delay or linear acceleration/deceleration in parameter No. PB25 according to the machine used.

(1) For step input

: Input position command

: Position command after

filtering for primary delay

: Position command after filtering

for linear acceleration/deceleration

: Position command acceleration/

deceleration time constant (parameter No. PB03)

Time

(3t)

(2) For trapezoidal input

For trapezoidal input (linear acceleration/deceleration), the setting range is 0 to 10ms.

(3t)

: Input position command

: Position command after

filtering for primary delay

: Position command after filtering

for linear acceleration/deceleration

: Position command acceleration/

deceleration time constant

(parameter No. PB03)

(3t)

Time

4 - 29

4. PARAMETERS

4.3 Extension setting parameters (No. PC )

POINT




No. Symbol

PC01 STA Acceleration time constant

PC02 STB Deceleration time constant

PC03 STC S-pattern acceleration/deceleration time constant

PC04 TQC Torque command time constant

PC05 SC0 Internal speed command 0

Internal speed limit 0







PC09 MBR Electromagnetic brake sequence output

PC10 ZSP Zero speed

PC11 *BPS Alarm history clear

PC12 TC Internal torque command

PC13 *ENRS Encoder output pulses selection

PC14 TL2 Internal torque limit 2

PC15 ERZL Error excessive alarm detection level

PC16 For manufacturer setting

PC17 *OSL Overspeed alarm detection level

PC18

PC19


PC20

PC21

PC22 *COP1 Function selection C-1




PC26 ALDT Detailed setting of overload tough drive

PC27 OSCL Detailed setting of vibration tough drive

PC28 CVAT Detailed setting of instantaneous power failure tough drive







Name

Initial value

Unit

0

0

0

0

0

100

500 r/min

1000 r/min

100

50

000h

0.0

000h ms r/min

%

% [Applied] 100

3.0

3.0

0 rev r/min ms ms ms ms r/min r/min

1000

0

000h

001h

[Applied] 000h

[Applied] 000h

[Applied] 000h

[Applied] 000h

[Applied] 200

[Applied] 50

[Applied] 3

[Applied] 000h

[Applied] 000h

[Applied] 200

[Applied]

[Applied] 300

[Applied]

10ms

%

10ms r/min r/min

Control mode

Position

Internal speed

Internal torque

4 - 30

4. PARAMETERS

No. Symbol Name





PC35

PC36

PC37

PC38


PC39

PC40

PC41

PC50

PC51

PC52

PC53

PC54

PC55

PC56

PC57

PC42

PC43

PC44 RECT Drive recorder alarm specifying


PC46

PC47

PC48

PC49


PC59 DBT Electronic dynamic brake operating time


PC61

PC62

PC63

PC64

Initial value

[Applied] 500

[Applied]

[Applied] 800

[Applied]

000h

0

0

0

0

0

000h

0

000h

000h

000h

000h

000h

000h

000h

000h

000h

000h

000h

000h

000h

000h

000h

[Applied] 000h

[Applied] 000h

000h

000h

000h

000h

000h

Unit r/min r/min

Control mode

Position

Internal speed

Internal torque

10ms

4 - 31

4. PARAMETERS

4.3.2 List of details



Used to set the acceleration time required for the servo motor to reach the rated speed from 0r/min in response to the internal speed commands 0 to 7.

Speed

Rated speed

If the preset speed command is lower than the rated speed, acceleration/deceleration time

will be shorter.

Initial value

0

Setting range

0 to

50000

Unit ms

Control mode

Position

Internal speed

Internal torque

0r/min Time

Parameter

No. PC01 setting

Parameter

No. PC02 setting

For example for the servo motor of 3000r/min rated speed, set 3000

(3s) to increase speed from 0r/min to 1000r/min in 1 second.


Used to set the deceleration time required for the servo motor to reach 0r/min from the rated speed in response to the internal speed commands 0 to 7.

0 0 to

50000 ms

4 - 32

4. PARAMETERS



Used to smooth start/stop of the servo motor.

Set the time of the arc part for S-pattern acceleration/deceleration.

Set "0" to select the linear acceleration/deceleration.

Speed command

Initial value

0

Setting range

0 to

1000

Unit ms

Control mode

Position

Internal speed

Internal torque

0r/min

STC

STA

STC

STC

STB

STC

Time

STA: Acceleration time constant (parameter No. PC01)

STB: Deceleration time constant (parameter No. PC02)

STC: S-pattern acceleration/deceleration time constant


Long setting of STA (acceleration time constant) or STB (deceleration time constant) may produce an error in the time of the arc part for the setting of the S-pattern acceleration/deceleration time constant.

The upper limit for the actual time of the arc part is as follows:

STA , At deceleration:

2000000

STB

(Example) Settings of STA = 20000, STB = 5000 and STC = 200 limit the actual arc part times as follows:

At acceleration: 100 [ms]

Since

2000000

20000

=100[ms]<200[ms], the time is limited to 100[ms].

At deceleration: 200 [ms]

Since

2000000

5000

=400[ms]>200[ms], the time is as-is.


Used to set the constant of a low-pass filter in response to the internal torque command.


0

Torque

After filtered

0 to

20000 ms

TQC

TQC: Torque command time constant

TQC Time

4 - 33

4. PARAMETERS



Used to set speed 0 of internal speed commands.


Used to set speed 0 of internal speed limits.














Used to set the delay time (Tb) from the electromagnetic brake interlock (MBR) turns off to the base drive circuit is shut-off.

PC10 ZSP Zero speed

Used to set the output range of the zero speed detection (ZSP).

Zero speed detection (ZSP) has hysteresis width of 20r/min (refer to section 3.5 (1) (b))


Used to clear the alarm history.

0

Alarm history clear

0: Invalid

1: Valid

When alarm history clear is made valid, the alarm history and the number of tough drive are cleared at next power-on.

After the alarm history and the number of tough drive are cleared, the setting is automatically made invalid

(reset to 0).

Presence or absence of drive recorder selection

0: Valid (drive recorder execution)

1: Invalid (drive recorder stop)

MR Configurator is necessary referring to the drive recorder. (Refer to Section 4.3.4.)

Initial value

0

100

500

1000

100

50

Setting range

Unit r/min

Control mode

Position

Internal speed

Internal torque

0 to instantaneous permissible speed




0 to

1000

0 to

10000 r/min r/min r/min ms r/min

000h Refer to the name and function field.

4 - 34

4. PARAMETERS


Initial value

Setting range


Set the internal torque command during the internal torque control.

Set the parameter on the assumption that the maximum torque is

100.0 %.

For example, when 50.0 is set, a value of maximum torque ×

50.0

100.0

will be outputted.


Used to select the encoder output pulse direction, the encoder output pulse setting and the encoder output pulse cycle.

0

0.0 0.0 to

100.0


Unit

%

Control mode

Position

Internal speed

Internal torque

Setting

Encoder pulse output phase changing

Changes the phases of A, B-phase encoder pulses output.


CCW CW

A-phase A-phase

0

B-phase B-phase

1

A-phase

B-phase

A-phase

B-phase

Encoder output pulse setting selection

0: Output pulse setting

1: Division ratio setting

2: Same output pulse setting as the command pulses.

3: A/B-phase pulses electronic gear setting

Setting "2" makes parameter No. PA15

(encoder output pulses) setting invalid.

Encoder output pulse cycle setting (Note)

0: 444 s cycle

1: 55 s cycle

Note. It is supported by servo amplifiers of the software version A1 or later.

PC14 TL2 Internal torque limit 2 [Applied]

Set this parameter to limit servo motor torque on the assumption that the maximum torque is 100[%].

When 0 is set, torque is not produced.

The internal torque limit 2 is made valid when the internal torque limit selection (TL1) is turned on. (Refer to (4) in section 3.6.1.)


Set the error excessive alarm detection level.

100

3.0

3.0

0 to

100

0.1 to

99.9

% rev




Set the overspeed alarm detection level.

When "0" or "value exceeding the maximum servo motor speed

1.2" is set, the overspeed alarm detection level becomes "maximum motor speed 1.2".

PC18

PC19

PC20

PC21



4 - 35

0

1000

0

000h

001h

0 to

20000 r/min

4. PARAMETERS

No. Symbol

0 0

Name and function

PC22 *COP1 Function selection C-1 [Applied]

Select the encoder cable communication system.

Encoder cable communication system

0: Two-wire type

1: Four-wire type

Incorrect setting will result in an encoder transmission data error 3 (The servo amplifier not receiving) (16.3).

For the encoder cable communication method, refer to section 11.1.2.

Initial value

Setting range


Unit

Control mode

Position

Internal speed

Internal torque


Select the servo lock while the servo motor stops in internal speed control mode.

0 0

Selection of servo lock while the servo motor stops in internal speed control mode.

In the internal speed control mode, the servo motor shaft can be locked to prevent the shaft from being moved by the external force.

0: Valid (Servo-locked)

The control to maintain the stop position is

performed.

1: Invalid (Not servo-locked)

The stop position is not maintained.

The control to make the speed 0r/min is performed.


Select the unit of the in-position range.



0 0

In-position range unit selection

0: Command input unit

1: Servo motor encoder pulse unit


Select the stroke limit warning (99. ), tough drive warning (F0. ) and alarm history write.

0

Stroke limit warning (99. ) selection

0: Valid

1: Invalid

When this parameter is set to "1", the stroke limit warning (99. ) will not occur even if the forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) turns OFF.

Tough drive warning (F0. ) alarm history write selection

0: Writing to alarm history: Yes

1: Writing to alarm history: No

The alarm is written to history at the tough drive warning (F0. ) occurrence when "0" is set.


4 - 36

4. PARAMETERS


Initial value

Setting range

PC26 ALDT Detailed setting of overload tough drive [Applied]

Limits the maximum value of the output time delay of the in-position

(INP) and zero speed (ZSP) while the overload tough drive. Limit with the delay time permitted by the connected controller side.

When parameter No. PA04 (tough drive function selection) is set to

" 0" and this parameter (No. PC26) is set to "0", the output time delay of the in-position (INP) and zero speed (ZSP) are invalid.

PC27 OSCL Detailed setting of vibration tough drive [Applied]

Set the filter reset detection range of parameter No. PB13 (machine resonance suppression filter 1) and parameter No. PB15 (machine resonance suppression filter 2).

(Example) When this parameter is set to "50", it is reset when the oscillation detection level reaches 50% of the rated torque.

When parameter No. PA04 (tough drive function selection) is set to

" 0 ", resets of the following filters are invalid: parameter No.

PB13 (machine resonance suppression filter 1) and parameter No.

PB15 (machine resonance suppression filter 2).

PC28 CVAT Detailed setting of instantaneous power failure tough drive [Applied]

Set the time between the fall of the main circuit power supply to the alarm detection level and the occurrence of the instantaneous power failure alarm.

When parameter No. PA04 (tough drive function selection) is set to "0

", this parameter is invalid.


Select the detection method of the main circuit power undervoltage alarm (10.2)

0 0

200

50

3

0 to

999

0 to

100

3 to

200


Unit

10 ms

Control mode

Position

Internal speed

Internal torque

%

10 ms

Select the detection method of the main circuit power undervoltage alarm (10.2)

0: Undervoltage alarm (10.2) is detected regardless of the

servo motor speed

1: When the servo motor speed is 50r/min or less,

main circuit power off warning (E9. ) is detected


Select the speed command input unit.

0 0

Selection of the speed command input unit (setting unit of internal speed command 0 to 7)

0: In unit of 1r/min

1: In unit of 0.1r/min


PC31 SC4 Internal speed command 4 [Applied]


Internal speed limit 4 [Applied]


200 0 to instantaneous permissible speed r/min

4 - 37

4. PARAMETERS


Initial value

Setting range







PC45

PC46

PC47

PC48

PC49

PC50

PC51

PC52

PC53

PC54

PC55

PC56







PC35

PC36

PC37

PC38

PC39



PC40

PC41

PC42

PC43


Specify the alarm No. which activates the drive recorder.

0

Specification of alarm No.

00 : No specification

(The optimum item is recorded according to the alarms that have occurred earlier and operating conditions.)

01 to FFh : Specification

(The specified item is recorded when an alarm of the specified alarm No. occurs.)

For the data recorded with drive recorder, refer to section 4.3.4 (2).



4 - 38

000h

000h

000h

000h

000h

000h

000h

000h

000h

000h

000h

000h

300

500

800

000h

0

0

0

0

0

000h

0

000h





Unit r/min

Control mode

Position

Internal speed

Internal torque r/min r/min

4. PARAMETERS


PC57


When using the electronic dynamic brake, set this parameter.

This parameter setting is available with servo amplifiers with software version B2 or later.

0 0

Initial value

Setting range

000h

000h Refer to the

"Name and function" column

Unit

Control mode

Position

Internal speed

Internal torque

Electronic dynamic brake selection

0: Enabled only for specified servo motors

2: Disabled

Refer to the following table for the specified servo motors.

Series

HG-KR

Servo motors

HG-KR053G1/G5/G7

HG-KR13G1/G5/G7

HG-KR23G1/G5/G7

HG-KR43G1/G5/G7


Set the operating time for the electronic dynamic brake.

Setting value is in hexadecimal. Convert the value into hexadecimal and set.

The setting range is "000h" (2000ms), "001h" (1ms) to "3E8h"

(10000ms).

If set beyond that range, the time will be limited to 10000ms.

When "000h" is set, the electronic dynamic brake operates for

2000ms.

To disable the electronic dynamic brake, set parameter No. PC58 to

"002h".

This parameter setting is available with servo amplifiers with software version B2 or later.

PC60

PC61

PC62

PC63



PC64

4.3.3 Alarm history clear

000h 000h to

FFFh

000h

000h

000h

000h

000h

10 ms

The servo amplifier stores past 16 alarms since the power is switched on for the first time. To control alarms which will occur during the operation, clear the alarm history using parameter No. PC11 before starting the operation. This parameter is made valid by switching the power from OFF to ON after setting. The value in parameter No. PC11 automatically changes to " 0 " after the alarm history is cleared.

Parameter No. PC11

Alarm history clear

0: Invalid (not cleared)

1: Valid (cleared)

4 - 39

4. PARAMETERS

4.3.4 Drive recorder function

POINT

Records the state transition when an alarm occurs. However, the previously recorded data is discarded. If another alarm occurs while an alarm is occurring, the state transition during that another alarm is not recorded.

The drive recorder does not operate in the following situation.

When the number of record times reaches 255.

When the number of write times to alarm history after power-on reaches 16.

The number of record times can be confirmed on the display (alarm mode).


The drive recorder does not operate when the following alarms occur.

Undervoltage (10.1 or 10.3)

Memory error 1 (RAM) (12. )

Memory error 2 (EEP-ROM) (15. )

Encoder initial communication error 1 (16. )

Board error (17. )

Memory error 3 (Flash-ROM) (19. )

Motor combination error (1A. )

Software combination error (1C. )

Encoder initial communication error 2 (1E. )

Encoder initial communication error 3 (1F. )

Parameter error (37. )

Watchdog (888)

When the graph is displayed in MR Configurator, the drive recorder function becomes invalid. To make the drive recorder function valid again, switch the power off then on. Valid/invalid of drive recorder function can be confirmed on the display (diagnostic mode). (Refer to section 5.4.)

The drive recorder function records the state transition before and after the alarm occurrence for the predetermined period of time by always monitoring the servo status. The recorded data can be confirmed on the graph display screen by clicking the "drive recorder display" button on the alarm history display screen of

MR Configurator. After shifting to the graph display screen, the drive recorder function becomes invalid. The recorded data can be displayed with the analog 3CH or digital 4CH as in the graph function of MR Configurator.


Select valid/invalid of the drive recorder function in parameter No. PC11.

Parameter No. PC11

0

Presence or absence of drive recorder selection

0 : Valid (drive recorder execution)

1 : Invalid (drive recorder stop)

MR Configurator is required to refer to the drive recorder.

4 - 40

4. PARAMETERS

Specify the alarm No. in parameter No. PC44 when operating the drive recorder with the specific alarm No.

Parameter No. PC44

0

Specification of alarm No.

00 : No specification

(The optimum item is recorded according to the alarms that have occurred

earlier and operating conditions.)

01 to FFh : Specification

(The specified item is recorded when an alarm of the specified alarm No. occurs.)

When a non-existent alarm No. is specified, the specified value is recognized as "00h".

(2) Record data

(a) When the set value of parameter No. PC44 is " 00":

1) When alarms to be recorded by the drive recorder function are in the alarm history:

The specified data are automatically selected and recorded based on the alarm history. a) Analog CH data

Three data for 3CH are automatically selected from the data listed below.


Bus voltage (Note)

Multi-revolution counter [rev]

Regenerative load ratio [%]

Effective load ratio [%]

Torque [%]

Within one-revolution position [pulse]

Current command [%]

Command pulse frequency [kpps]

Note. The bus voltage is displayed in five steps.

Display value Description

3

2

5

4

1

Overvoltage (About 400V or more)

High voltage (About 375V or more)

Normal

Low voltage (About 200V or less)

Undervoltage (About 160V or less) b) Digital CH (4CH) data

Four data for 4CH are automatically selected from the data listed below.

Trouble (ALM)

Servo-on (SON)

Main circuit power supply OFF

Limiting torque (TLC)

Forced stop (EM1)

Electromagnetic brake interlock (MBR)

Ready (RD)

2) When alarms to be recorded by the drive recorder function are not in the alarm history:

The data to be recorded are as indicated in the following table.

Analog CH data

CH1 Servo motor speed [r/min]

CH2 Torque [%]

CH3 Within one-revolution position [pulse]

CH1

(trigger)

Digital CH data

CH2 CH3 CH4

ALM EM1 SON RD

Sampling time

[ms]

0.8

Measuring length [ms]

(64 points)

56.8

4 - 41

4. PARAMETERS

(b) When the set value of parameter No. PC44 is other than " 00":

The data to be recorded are as indicated in the following table.

45

35

39

33

32

30

31

24

20

21

50

51

46

Setting

10

13

35.

39.

45.

32.

33.

24.

30.

31.

20.

21.

46.

50.

51.

Corresponding alarm No.

10.2

13.

Digital CH data

Analog CH data CH1

(trigger)

CH2 CH3 CH4


CH2 Torque [%]

CH3 Bus voltage (Note)

ALM EM1 MBR

(Main circuit power supply is OFF.)


CH2 Torque [%]




CH2 Torque [%]

CH3 Current command [%]


CH2 Torque [%]

CH3 Regenerative load ratio [%]


CH2 Torque [%]

CH3 Command pulse frequency [kpps]


CH2 Torque [%]

CH3 Current command [%]


CH2 Torque [%]

CH3 Bus voltage (Note)


CH2 Torque [%]

CH3 Command pulse frequency [kpps]


CH2 Torque [%]



CH2 Torque [%]



CH2 Torque [%]

CH3 Effective load ratio [%]


CH2 Torque [%]



CH2 Torque [%]


ALM EM1 SON

CH2 Within one-revolution position [pulse] ALM EM1 SON

CH3 Multi-revolution counter [rev]


CH2 Within one-revolution position [pulse] ALM

CH3 Multi-revolution counter [rev]

EM1 SON

RD

ALM EM1 SON

ALM EM1 SON

ALM EM1 SON

ALM

ALM

EM1

EM1

SON

SON

ALM EM1 SON

ALM EM1 SON

ALM EM1 SON

ALM EM1 MBR RD

ALM EM1 MBR RD

ALM EM1 MBR RD

RD

RD

RD

RD

RD

RD

RD

RD

RD

RD

Sampling time

[ms]

0.8

0.8

56.8

56.8

56.8

0.8

0.8

0.8

3.5

0.8

0.8

56.8

0.8

0.8

0.8

4 - 42


(64 points)

56.8

56.8

56.8

56.8

56.8

56.8

227

56.8

3600

56.8

56.8

56.8

3600

3600

3600

4. PARAMETERS

52

61

8E

Setting

Corresponding alarm No.

52.

61.

8E.

Analog CH data


CH2 Torque [%]

CH3 Droop pulses [pulse] (unit: 100 pulses)


CH2 Torque [%]



CH2 Torque [%]


Digital CH data

CH1

(trigger)

CH2 CH3

ALM EM1 RD

ALM EM1 SON

ALM EM1 SON

CH4

RD

TLC

RD

Note. The bus voltage is displayed in five steps.

Display value

5

4

3

2

1

Description

Overvoltage (About 400V or more)

High voltage (About 375V or more)

Normal

Low voltage (About 200V or less)

Undervoltage (About 160V or less)

Sampling time

[ms]

3.5

0.8

0.8


(64 points)

227

56.8

56.8

4 - 43

4. PARAMETERS

4.4 I/O setting parameters (No. PD )

POINT


In the positioning mode, refer to section 13.7.4 (2) for the parameter No. PD20.


No. Symbol

PD01 *DIA1 Input signal automatic ON selection 1

PD02 *DI0 Input signal device selection 0 (CN1-23, CN1-25)

PD03 *DI1-1 Input signal device selection 1L (CN1-3)

PD04 *DI1-2 Input signal device selection 1H (CN1-3)











PD15 *DO1 Output signal device selection 1 (CN1-9)




PD19 *DIF Input filter setting

PD20 *DOP1 Function selection D-1

PD21 For manufacturer setting





PD26

Name

Control mode

Initial value Unit

Position

Internal speed

Internal torque

0000h

262Dh

0303h

2003h

0202h

0202h

0D06h

2C0Dh

070Ah

0707h

080Bh

0808h

0505h

0505h

0003h

0004h

0002h

0005h

0002h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

4 - 44

4. PARAMETERS

4.4.2 List of details



Select the input devices to be automatically turned ON.

Signal name

Automatic/manual selection (MD0)

Servo-on (SON)

Signal name

Proportion control (PC)

Forced stop (EM1)

Signal name

Forward rotation stroke end (LSP)

Reverse rotation stroke end (LSN)

0

Signal name

Initial value

BIN HEX

Point table No./Program No.

selection 1 (DI0)

Point table No./Program No. selection 2 (DI1)

0

0


0

0

BIN 0: Used as external input signal

BIN 1: Automatic ON

0

Example 1: Turn ON SON

The setting is " 4".

Example 2: Turn ON LSP/LSN

To turn ON LSP only: The setting is " 4 ".

To turn ON LSN only: The setting is " 8 ".

To turn ON both LSP and LSN: The setting is " C ".

POINT

The input status of LSP and LSN differs depending on their assignment conditions as follows.

Assigned to the external input signals: depends on the value set in parameter No. PD01.


Initial value

BIN HEX

0

0

0

0

0

Initial value

BIN HEX

0

0

0

0

0

Initial value

BIN HEX

0

0

0 0

Initial value

Setting range


Unit

Control mode

Position

Internal speed

Internal torque

4 - 45

4. PARAMETERS


Any input device can be assigned to the CN1-23 pin and CN1-25 pin (forward and reverse rotation pulse trains).

For the position control mode, position/internal speed change mode or internal torque/position control change mode, CN1-23 pin is fixed to PP or CN1-25 pin to NP. For the internal speed control mode or the internal torque control mode, PP or NP can not be assigned.

Initial value

Setting range

262Dh Refer to the name and function field.

Unit

Control mode

Position Internal

Internal torque

Input signal device of CN1-23 pin (PP) selection

Input signal device of CN1-25 pin (NP) selection

The devices that can be assigned in each control mode are indicated by abbreviation in the following table. If any other device is set, it is invalid.

Setting

00

12 to 1F

08

09

0A

0B

0C

0D

0E

0F

10

11

01

02

03

04

05

(Note 4)

06

07

P

Control modes (Note 1)

S T CP/CL

CN1-23 pin: PP

CN1-25 pin: NP

For manufacturer setting (Note 2)

SON SON

RES RES

PC

EM1 EM1

SON

RES

PC

EM1

20

21 to 23

24

25

26

27

28 to 2B

2C

2D

2E

2F to 3F

CN1-23 pin: PP

CN1-25 pin: NP


ST1 RS2

ST2 RS1

TL1

LSP

LSN

ST1

ST2

TL1

LSP

LSN


SP1 SP1

SP2 SP2

SP3 SP3

LOP LOP

CDP CDP


MD0


TSTP


DOG

PI1(Note 3)


DI0

DI1

DI2


Note 1. P: Position control mode

S: Internal speed control mode

T: Internal torque control mode

CP: Positioning mode (Point table method)

CL: Positioning mode (Program method)

2. For manufacturer setting. Never set this value.

3. It is valid in the positioning mode (Program method) only.

4. When operating temporarily without using EM1 such as at startup, etc., set the EM1 to automatic ON in parameter No.PD01.

4 - 46

4. PARAMETERS



Any input signal can be assigned to the CN1-3 pin.

Note that the setting digits and the signal that can be assigned vary depending on the control mode.



Select the input device of the CN1-

3 pin.

The devices that can be assigned in each control mode are indicated by symbols in the following table. If any other device is set, it is invalid.

Setting

P

00

01

02

03

04

05

SON

RES

PC

(Note 4) EM1

06

07

08

09

0A

0B

0C

0D

0E

0F

10

11

12 to 1F

20

CR

TL1

LSP

LSN

LOP

CDP

21 to 23

24

25

26

27

28 to 2B

2C

2D

2E

2F to 3F


S T CP/CL


SON

RES

PC

SON

RES

SON

RES

PC

EM1 EM1 EM1

ST1

ST2

TL1

LSP

LSN

RS2

RS1

ST1

ST2

TL1

LSP

LSN


SP1

SP2

SP3

LOP

SP1

SP2

SP3

LOP

CDP CDP


MD0


TSTP


DOG

PI1 (Note 3)


DI0

DI1

DI2








3. It is valid in the positioning mode (Program method) only.

4. When operating temporarily without using EM1 such as at startup, etc., set the EM1 to automatic ON in parameter No.PD01.

Initial value

Setting range


Unit

Control mode

Position Internal

Internal torque

4 - 47

4. PARAMETERS




The devices that can be assigned and the setting method are the same as in parameter No. PD03.

Initial value

Setting range


Unit

Control mode

Position Internal

Internal torque


Positioning mode


3 pin.








4 pin.






Positioning mode


4 pin.




0D06h Refer to the name and function field.




5 pin.




2C0Dh Refer to the name and function field.


Positioning mode


5 pin.

4 - 48

4. PARAMETERS





Initial value

Setting range

070Ah Refer to the name and function field.

Unit

Control mode

Position

Internal speed

Internal torque




6 pin.






Positioning mode


6 pin.




080Bh Refer to the name and function field.




7 pin.






Positioning mode


7 pin.




If a value other than the initial value is set, EM1 cannot be used.





8 pin.

4 - 49

4. PARAMETERS





If a value other than the initial value is set, EM1 cannot be used.

Initial value

Setting range


Unit

Control mode

Position

Internal speed

Internal torque


Positioning mode


8 pin.

4 - 50

4. PARAMETERS



Any output signal can be assigned to the CN1-9pin. ALM is assigned as the initial value.

Note that the device that can be assigned varies depending on the control mode.

0 0

Select the output device of the CN1-9 pin.

The devices that can be assigned in each control mode are indicated by abbreviation in the following table. If any other device is set, it is invalid.

Setting

P


S T CP/CL

00 Always OFF Always OFF Always OFF Always OFF

01

02 RD


RD RD RD

03

04

05

06

ALM

INP

MBR

ALM

SA

ALM

Always OFF

MBR MBR


ALM

INP

MBR

07

08

09 For manufacturer setting (Note 2)

0A Always OFF

0B

TLC

WNG

TLC

WNG

SA

Always OFF Always OFF

VLC

WNG


VLC

TLC

WNG

Always OFF

0C

0D

0E

0F

ZSP

MTTR

CDPS

ZSP

MTTR

ZSP



ZSP

MTTR

10 to 1F For manufacturer setting (Note 2)

20 Always OFF Always OFF Always OFF CP0 (Note 3)

21 Always OFF Always OFF Always OFF


CDPS

ZP

POT



PUS

MEND

25 Always OFF Always OFF Always OFF PT0 (Note 3)



28 Always OFF Always OFF Always OFF OUT1 (Note 4)

29 Always OFF Always OFF Always OFF SOUT (Note 4)

2A to 3F For manufacturer setting (Note 2)







3. For the program method, it is always OFF.

4. For the point table method, it is always OFF.

Initial value

Setting range


Unit

Control mode

Position

Internal speed

Internal torque

4 - 51

4. PARAMETERS



Any output signal can be assigned to the CN1-10 pin. INP is assigned as the initial value.


0 0



Any output signal can be assigned to the CN1-11 pin. RD is assigned as the initial value.


0 0



Any output signal can be assigned to the CN1-12 pin. MBR is assigned as the initial value.


0 0


Initial value

Setting range


Unit

Control mode

Position

Internal speed

Internal torque




Select the input filter.

0

Input filter

If external input signal causes chattering due to noise, etc., input filter is used to suppress it.

0: None

1: 1.777[ms]

2: 3.555[ms]

3: 5.333[ms]

Reset (RES) dedicated filter selection

0: Invalid

1: Valid (50[ms])


Clear (CR) dedicated filter selection

0: Invalid

1: Valid (50[ms])

4 - 52

4. PARAMETERS



Select the stop processing at forward rotation stroke end

(LSP)/reverse rotation stroke end (LSN) OFF, the base circuit status at reset (RES) ON and the operation during tough drive (MTTR).

0

How to make a stop when forward rotation stroke end (LSP)/reverse rotation stroke end (LSN) is OFF. (Refer to Section 4.4.3.)

0: Sudden stop

1: Slow stop

Selection of base circuit status at reset (RES) ON

0: Base circuit switched off

1: Base circuit not switched off

Operation selection during tough drive (MTTR)

0: MTTR turns ON during the instantaneous

power failure tough drive.

1: MTTR turns ON during the overload tough

drive or the instantaneous power failure tough

drive




Set the clear (CR).

0 0 0

Clear (CR) selection

0: Droop pulses are cleared on the leading edge.

1: While on, droop pulses are always cleared.

Initial value

Setting range


Unit

Control mode

Position

Internal speed

Internal torque

0000h





Select the warning (WNG) outputs.

0 0 0

Selection of output device at warning occurrence

Select the warning (WNG) and trouble (ALM) output status at warning occurrence.

Setting

0

WNG

ALM

(Note) Device status

1

0

1

0

1

WNG

ALM

Warning occurrence

1

0

1

0

Warning occurrence

Note. 0: off

1: on

0000h


4 - 53

4. PARAMETERS


Initial value

Setting range

Unit

Control mode

Position

Internal speed

Internal torque

PD25 For manufacturer setting 0000h

PD26 Do not change this value by any means. 0000h

4.4.3 Using forward/reverse rotation stroke end to change the stopping pattern

In the initial value, the servo motor makes a sudden stop when the forward/reverse rotation stroke end turns

OFF. A slow stop can be made by changing parameter No. PD20 setting.

Parameter No. PD20 setting Stopping method

0

(initial value)

1

Sudden stop



Slow stop



: The servo motor stops by clearing the droop

pulses.

: The servo motor stops when the deceleration time

constant is zero.

: The servo motor decelerates to a stop in

accordance with parameter No. PB03 setting.

: The servo motor decelerates to a stop in

accordance with parameter No. PC02 setting.

4 - 54

5. DISPLAY AND OPERATION

5. DISPLAY AND OPERATION SECTIONS

POINT

Positioning mode is supported by servo amplifier with software version B0 or later.

5.1 Overview

MR-JN-A servo amplifier has a display section (3-digit, 7-segment LED), operation section (4 pushbuttons) and a one-touch tuning button for servo amplifier status display, alarm display, parameter and point table setting, etc.

The operation section and display data are described below.

3-digit LED Displays data.

MODE Display mode change upper/lower switching

UP

DOWN

SET

Display/data scrolling

Display/data scrolling

Display/data determination

Data clear

Decimal LED Displays the decimal points, alarm presence/absence, etc.

Lit to indicate the decimal point.

Decimal point

Lit to indicate the negative value.

Blinks to indicate alarm occurrence.

Blinks to indicate the test operation mode.

The symbol in the third digit indicates that the number is the upper 3 digits of the parameter or the upper 3 digits of the point table. (If there is no number in the second digit, the same symbol will be displayed in the second digit.)

However, when the position data of the point table is

"100000" or higher, or "-100000" or less, a number will be displayed in the third digit.

Lit decimal point of the first digit indicates the lower 3 digits of the parameter or the lower 3 digits of the point table.

5 - 1


5.2 Display sequence

Press the "MODE" button once to shift to the next display mode. Refer to section 5.3 and later for the description of the corresponding display mode.

To refer to or set the gain/filter parameters, extension setting parameters, I/O setting parameters and positioning setting parameters, make them valid with parameter No. PA19 (parameter writing inhibit).

Display mode transition Initial screen Function Reference

Servo status display. Section 5.3

Status display

appears at power-on. (Note)

Diagnosis

Alarm

Sequence display, external signal display, forced output of signal (DO), test operation, software version display, servo motor series ID display, servo motor type ID display, servo motor encoder ID display.

Current alarm display, alarm history display, the number of tough drive display, parameter error No. display.

Section 5.4

Section 5.5

Display and setting of point table data. Section 5.6

Point table

Display and setting of basic setting parameters. Section 5.7 button

MODE


Display and setting of gain/filter parameters.


Display and setting of extension setting parameters.


Display and setting of I/O setting parameters.


Display and setting of positioning setting parameters.

Note. When the axis name is set to the servo amplifier using MR Configurator, the axis name is displayed and the servo status is then displayed.


5 - 2


5.3 Status display

The servo status during operation is shown on the 3-digit, 7-segment LED display. Press the "UP" or the

"DOWN" button to change the display data as desired. When the required data is selected, the corresponding symbol appears. Press the "SET" button to display the data. At power-on, however, the data appears either after the symbol of the status display for the respective control mode (refer to the following table) has been shown for 2[s], or after pressing the "MODE", "UP" or "DOWN" button.

Control mode Status display at power-on

Position

Position/internal speed

Internal speed

Cumulative feedback pulses by the pulse

Cumulative feedback pulses by the pulse/servo motor speed in 10r/min

Servo motor speed in 10r/min

Internal speed/internal torque

Internal torque

Internal torque/position

Servo motor speed in 10r/min/instantaneous torque

Instantaneous torque

Instantaneous torque/cumulative feedback pulses by the pulse

Positioning Current position in 10 STM m unit

The servo amplifier display shows the data of 26 items such as the motor speed in a 3-digit display.

5 - 3


5.3.1 Display transition

After selecting the status display mode by the "MODE" button, pressing the "UP" or the "DOWN" button changes the display as shown below.

To Step No.

Cumulative feedback pulses in pulse unit

Within one-revolution position in pulse unit

Cumulative feedback pulses in 1000 pulse unit

Within one-revolution position in 1000 pulse unit

Servo motor speed in 10r/min unit


Servo motor speed in r/min unit Bus voltage

Droop pulses in pulse unit

(Note 1)

Droop pulses in 1000 pulse unit

Cumulative command pulses in pulse unit

UP

DOWN

Cumulative command pulses in 1000 pulse unit


Regenerative load ratio

Effective load ratio

Settling time

Current position in 10 STM m unit

Current position in 1000 10 unit

STM m

Command position in 10 STM m unit

Command position in 1000 10 STM

m unit

Command remaining distance in

10 STM m unit

Command remaining distance in

1000 10 STM m unit


Peak load ratio

(Note 2)

Instantaneous torque Step No.

To Cumulative feedback pulses in pulse unit

Note 1. It can be displayed in the positioning mode (point table method and program method).

2. It can be displayed in the positioning mode (program method).

5 - 4


5.3.2 Display examples

POINT

The following is priority order of the status display when two or more decimal points need to be displayed.

1. Alarm occurrence, test operation

2. Negative values

The following table lists display examples.

Item Status

Displayed data

Servo amplifier display

Forward rotation at 2500r/min

Servo motor speed in 10r/min unit

Reverse rotation at 3000r/min

Lit

Reverse rotation is indicated by the lit decimal points in the upper two digits.

Forward rotation at 250r/min

Servo motor speed in r/min unit

Reverse rotation at 300r/min

Lit


5 - 5


Item Status

720000pulses

Pulse unit

1000 pulse unit

Displayed data

Servo amplifier display

Cumulative feedback pulses

Pulse unit

Lit

Negative value is indicated by the lit decimal points in the upper two digits.

-680000pulses


15 Multiplier

1000 pulse unit

Lit

Negative value is indicated by the lit decimal points in the upper two digits.

5 - 6


5.3.3 Status display list

POINT

Refer to appendix 4 for the measurement point.

The following table lists the servo statuses that may be shown.

Name Symbol Unit Description

Display range

Cumulative feedback pulses in pulse unit

Cumulative feedback pulses in 1000 pulse unit

CL pulse

CH 1000pulses

Feedback pulses from the servo motor encoder are counted and displayed.

Press the "SET" button to reset the display value to zero.

Negative values are indicated by the lit decimal points in the upper two digits.

Servo motor speed in

10r/min unit r 10r/min The servo motor speed is displayed in 10r/min unit.

Servo motor speed in r/min unit r1 r/min The servo motor speed is displayed in r/min unit.

Droop pulses in pulse unit

Droop pulses in 1000 pulse unit

Cumulative command pulses in pulse unit

Cumulative command pulses in 1000 pulse unit


Regenerative load ratio


Peak load ratio

Instantaneous torque

EL pulse

EH 1000pulses

PL

PH 1000pulses n

L

J b

T pulse kpps

%

%

%

%

The number of droop pulses in the deviation counter is displayed.

When the servo motor is rotating in the reverse direction, the decimal points in the upper two digits are lit.

The displayed number of pulses is in the same pulse unit as the servo motor encoder resolution.

The position command input pulses are counted and displayed.

As the value displayed is not yet multiplied by the electronic gear

(CMX/CDV), it may not match the indication of the cumulative feedback pulses.

Press the "SET" button to reset the display value to zero.


The frequency of the position command input pulses is displayed.

The value displayed is not multiplied by the electronic gear (CMX/CDV).

The value in excess of ±999 can be counted up to ±1500. However, the counter shows only the lower three digits since the servo amplifier display is three digits.

The ratio of regenerative power to permissible regenerative power is displayed in %.

The continuous effective load current is displayed.

The effective value in the past 15[s] is displayed relative to the rated current of 100%.

The maximum current is displayed.

The highest value in the past 15[s] is displayed relative to the rated current of 100%.

Torque that occurred instantaneously is displayed.

The value of the torque that occurred is displayed in real time relative to the rate torque of 100%.

Within one-revolution position in pulse unit

Within one-revolution position in 1000 pulse unit


Bus voltage

Settling time

Cy1

Cy2 1000pulses dC

Pn

ST pulse

Multiplier

( 10 ms

1 )

Position within one revolution is displayed in encoder pulses.

The value returns to 0 when it exceeds the maximum number of pulses.

The value is incremented in the CCW direction of rotation.

The value is decremented in the CW direction of rotation.

The estimated value of the load to motor inertia ratio is displayed.

Status of the bus voltage is displayed in five steps.

5: Overvoltage (About 400V or more)

4: High voltage (About 375V or more)

3: Normal

2: Low voltage (About 200V or less)

1: Undervoltage (About 160V or less)

Settling time is displayed.

The value in excess of 999 can be counted. However, the counter shows only the lower three digits since the servo amplifier display is three digits.

-999 to 999

-999 to 999

-540 to 540

-999 to 999

-999 to 999

-999 to 999

-999 to 999

-999 to 999

-999 to 999

0 to 100

0 to 300

0 to 400

0 to 400

0 to 999

0 to 999

0 to 300

Refer to the contents.

0 to 999

5 - 7


Name Symbol Unit Description

Display range

Current position in

10 STM m unit (Note 1)

Current position in 1000


Command position in


Command position in

1000 10 STM m unit

(Note 1)

Command remaining distance in 10 STM m unit

(Note 1)

Command remaining distance in 1000 10 STM m unit (Note 1)

Point table No. (Note 1)

PSL 10

PSH

1000

10 STM

CPL 10

CPH rnL rnH

1000

10 STM

10

STM

STM

STM

m

m

m

1000

10 STM m being regarded as "0".

Negative values are indicated by the lit decimal points in the upper two digits.

The internal command position is displayed.

Negative values are indicated by the lit decimal points in the upper two digits. selected point table is displayed.

The value in excess of 999999 can be counted. However, the counter shows only the lower or higher three digits since the servo amplifier display is three digits.

Program No. (Note 1)

Step No. (Note 2)

Pno

Sno

The point table No./Program No. which is being performed is displayed.

During automatic operation or temporary stop

: Displays the No. being performed.

During stop : Displays the selected No.

During manual operation : Displays 0.

The step No. of the program which is being performed is displayed.

0: During stop

1 to 120: Step No. of the program which is being performed.

Note 1. It can be displayed in the positioning mode (point table method and program method).

2. It can be displayed in the positioning mode (program method).

-999 to 999

-999 to 999

-999 to 999

-999 to 999

0 to 999

0 to 999

0 to 7

0 to 8

0 to 120

5 - 8


5.4 Diagnostic mode

Name Display

Sequence

External I/O signal display Refer to section 5.8.

Description

Not ready.

Indicates that the servo amplifier is being initialized or an alarm has occurred.

Ready.

Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate.

Indicates the ON-OFF states of the external I/O signals.

The upper segments correspond to the input signals and the lower segments to the output signals.

Lit: ON

Extinguished: OFF

Drive recorder is valid. (During operation)

Drive recorder valid/invalid display

Output signal (DO) forced output

JOG operation

Positioning operation

Test operation mode

Motor-less operation

Forced tough drive operation

Single-step feed

Drive recorder is invalid. (During stop)

The digital output signal can be forced on/off.

For details, refer to section 5.9.

JOG operation can be performed when there is no command from the command device.

For details, refer to section 5.10.2.

With no command given from the command device, positioning operation can be executed once.

MR Configurator is required for positioning operation.


Without connection of the servo motor, the servo amplifier provides output signals and displays the status as if the servo motor is running actually in response to the input device.


Overload tough drive can be forced even in the normal status.


Indicates the operation following the set point table

No. MR Configurator is required for single-step feed.

For details, refer to section 13.10.

Indicates the version of the software.

Software version low

5 - 9


Name Display

Software version high

Servo motor series ID

Servo motor type ID

Servo motor Encoder ID


Description

Indicates the lower two digits of the system number of the software. Three digits are displayed by pressing the "SET" button.

Series ID of the servo motor currently connected will be displayed by pressing the "SET" button.

For details, refer to App. 2.

Type ID of the servo motor currently connected will be displayed by pressing the "SET" button.


Encoder ID of the servo motor currently connected will be displayed by pressing the "SET" button.


5 - 10


5.5 Alarm mode

The current alarm, the past alarm history, the number of tough drive, the number of drive recorder record times, and the parameter error No. are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error.

Name Display Description

Indicates no occurrence of an alarm.

Current alarm

2[s] intervals

Indicates the occurrence of alarm 33 (overvoltage: detail 1).

Blinks at occurrence of the alarm.

Alarm No. and detail No. are displayed alternately in 2[s] intervals.

Indicates the last alarm.

If the last alarm is 50 (overload: detail 1), alarm No. 50 (with detail No.) is displayed while holding down the "SET" button.

SET

Alarm history

Indicates in hexadecimal for the second to the sixteenth alarm in the past as shown on the left. The alarm No. (with detail No.) is displayed while holding down the "SET" button.

The number of tough drive

The number of drive recorder record times SET

Indicates the number of tough drive from 0 to 99. The number of tough drive can be cleared by setting parameter No. PC11 (alarm history clear) to " 1".

Indicates the number of drive recorder record times. The number of times is displayed while holding down the "SET" button.

5 - 11


Name Display Description

Indicates no occurrence of alarm 37 (parameter error).

Indicates the parameter error No.

If an error occurs in parameter No. PA12, "A12" is displayed while holding down the "SET" button.

SET

Parameter error No.

SET

Indicates the point table error No.

If an error occurs in acceleration time constant of the point table No.1,

"1A" is displayed while holding down the "SET" button.

The first digit in the display refers to the followings.

P: Position data

d: Servo motor speed

A: Acceleration time constant

b: Deceleration time constant

n: Dwell

H: Auxiliary function

Functions at occurrence of an alarm

(1) Any mode screen displays the current alarm.

(2) Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation area.

At this time, the decimal point in the third digit remains blinking.

(3) For any alarm, remove its cause and clear it in any of the following methods (for clearable alarms, refer to section 8.1)

(a) Switch power OFF, then ON.

(b) Press the "SET" button on the current alarm screen.

(c) Turn on the alarm reset (RES).

(4) Use parameter No. PC11 to clear the alarm history.

(5) When the servo-on (SON) is off after clearing the alarm history, the display shifts to the status display screen at power-on.

When the servo-on (SON) is on, the following screen is displayed on the current alarm.

(6) Press the "UP" or the "DOWN" button to move to the next history.

5 - 12


5.6 Point table mode

In the positioning mode (point table method), the position data, the servo motor speed, the acceleration time constant, the deceleration time constant, dwell, and the auxiliary function can be set.

5.6.1 Point table transition

After selecting the point table mode with the "MODE" button, pressing the "UP" or the "DOWN" button changes the display as shown below.

Point table No.1

Point table No.2

Point table No.3

Point table No.4

UP

DOWN

Point table No.5

Point table No.6

Point table No.7

5 - 13


5.6.2 Point table mode setting screen sequence

In the point table mode, pressing the "SET" button changes the screen as shown below.

Press the "UP" or the "DOWN" button to move to the next screen.

Position data

Servo motor speed


Deceleration time constant

UP

DOWN

Dwell

Auxiliary function

5 - 14


5.6.3 Operation example

POINT

When the set value of a specified point table is changed and entered, the entered set value is displayed. The set value can be cancelled by pressing the "MODE" button for 2[s] or longer immediately after entering the value.

Then, the previous set value is displayed.

(1) Setting of 3 or less digits

The following example shows the operation procedure performed after power-on to set the auxiliary function of the point table No.1 to "1".

Press MODE three times.

The point table No. is displayed.

Press UP or DOWN to choose the point table No.1.

Press SET once.

Press UP five times.

Press SET twice.

The set value of the specified point table No. blinks.

Press UP once.

During blinking, the set value can be changed.

Set with UP or DOWN.

Press SET to enter.

To the next setting

After setting (1), to shift to other items of the same point table No., press the "UP" or the "DOWN" button.

To shift to the next point table No., press the "MODE" button.

5 - 15


(2) Setting of 4 or more digits

The following example gives the operation procedure to change the position data of the point table No.1 to

"123456".

Press MODE three times.

The point table No. is displayed.

Press UP or DOWN to choose the point table No.1.

Press SET once.

Setting of upper 3 digits

Press SET once.

Choose the setting screen of the upper 3 digits or the lower 3 digits with MODE.

Setting of lower 3 digits

(The decimal point of the first digit is lit.)

Press SET once.

Press SET once.

The set value of the specified point table No.

blinks.

Press UP or DOWN to change the setting.


Press SET once.

Enter the setting.

Press SET once.

To the next setting To the next setting

After setting (2), to shift to the setting of higher or lower 3 digits in the same point table No., press the

"MODE" button.

To shift to other items of the same point table No., press the "UP" or the "DOWN" button.

To shift to the next point table No., press the "MODE" button after shifting to other items of the same point table No. by pressing the "UP" or "DOWN" button.

5 - 16


5.7 Parameter mode

5.7.1 Parameter mode transition

After choosing the corresponding parameter mode with the "MODE" button, pressing the "UP" or the "DOWN" button changes the display as shown below.

To status display mode




MODE



Parameter No. PA01 Parameter No. PB01 Parameter No. PC01 Parameter No. PD01 Parameter No. PE01


UP

DOWN



5 - 17


5.7.2 Operation example

POINT

When the set value of a specified parameter is changed and entered, the entered set value is displayed. The set value can be cancelled by pressing the "MODE" button for 2[s] or longer immediately after entering the value. Then, the previous set value is displayed.

(1) Parameter of 3 or less digits

The following example shows the operation procedure performed after power-on to change the control mode (parameter No. PA01) to the internal speed control mode. Press "MODE" to switch to the basic setting parameter screen.

The parameter number is displayed.

Press UP or DOWN to change the number.

Press SET twice.

The set value of the specified parameter number blinks.

Press UP twice.

During blinking, the set value can be changed.

Use UP or DOWN.

( 2: Internal speed control mode)

Press SET to enter.

To shift to the next parameter, press the "UP" or the "DOWN" button.

When changing parameter No. PA01 setting, change its set value, then switch power off once and switch it on again to make the new value valid.

5 - 18


(2) Parameter of 4 or more digits

The following example gives the operation procedure to change the electronic gear numerator (command pulse multiplication numerator) (parameter No. PA06) to "12345".

Press MODE four times.

Press UP or DOWN to choose parameter No. PA06.

Press SET once.

Setting of upper

2 digits

Press MODE once.

Press SET once.

The screen blinks.


Setting of lower 3 digits

(The decimal point of the first digit is lit.)

Press SET once.


Press SET once.

Enter the setting.

Press SET once.

Press MODE once.

To the initial screen of setting for lower 3

To the initial screen of setting for upper 2

To proceed to the next parameter, press the "UP" or "DOWN" button.

Press MODE once.

5 - 19


5.8 External I/O signal display

The ON/OFF states of the digital I/O signals connected to the servo amplifier can be confirmed.

(1) Operation

Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen.

Press UP once.

External I/O signal display screen

(2) Display definition

The 7-segment LED segments and CN1 connector pins correspond as shown below.

CN1

3

CN1

23

CN1

4

CN1

5

CN1

25

CN1

6

CN1

7

CN1

8

Input signals

Always lit

Output signals

CN1

21

CN1

9

CN1

10

CN1

11

CN1

12

Lit: ON

Extinguished: OFF

The LED segment corresponding to the pin is lit to indicate ON, and is extinguished to indicate OFF.

The signals corresponding to the pins in the respective control modes are indicated below.

5 - 20

Symbol

SON

RES

PC

EM1

CR

SP2

SP3

LOP

CDP

DOG

MD0

TSTP

DI0

ST1

ST2

RS1

RS2

TL1

LSP

LSN

SP1

DI1

DI2

PI1


(a) Control modes and I/O signals

Connector Pin No.

CN1

10

11

12

21

8

9

6

7

3

4

5

23

25

Signal input/output

(Note 1) I/O

O

O

O

O

I

O

I

I

I

I

I

I

I

P

RES

SON

CR

(Note 2) Symbols of I/O signals in control modes

P/S S S/T T T/P

RES

SON

CR/SP1

RES

SON

SP1

RES

SON

SP1/SP1

RES

SON

SP1

RES

SON

SP1/CR

LSP LSP/ST1

LSN LSN/ST2

EM1

ALM

EM1

ALM

INP

RD

MBR

OP

INP/SA

RD

MBR

OP

ST1

ST2

EM1

ALM

SA

RD

MBR

OP

ST1/RS2

ST2/RS1

EM1

ALM

SA/-

RD

MBR

OP

RS2 RS2/LSP

RS1 RS1/LSN

EM1

ALM

RD

MBR

OP

EM1

ALM

-/INP

RD

MBR

OP

Note 1. I: Input signal, O: Output signal

2. P: Position control mode, S: Internal speed control mode, T: Internal torque control mode,



CP: Positioning mode (Point table method), CL: Positioning mode (Program method)

(b) Symbol and signal names

CP/CL

Related parameter

MD0 PD03 PD04

SON PD05 PD06

DI0 PD07 PD08

ST1

ST2

PD09 PD10

PD11 PD12

EM1 PD13 PD14

ALM PD15

INP

RD

MBR

OP

PD16

PD17

PD18

DI1

DOG

PD02

PD02

Signal name

Servo-on

Reset

Proportion control

Forced stop

Clear








Speed selection 1

Speed selection 2

Speed selection 3

Control change

Gain changing

Proximity dog

Automatic/Manual selection

Temporary stop/Restart

Point table No./Program No. selection 1



Program input 1

Symbol

RD

ALM

INP

SA

MBR

MEND

CP0

POT

PT0

PT1

PT2

OUT1

SOUT

TLC

VLC

WNG

ZSP

MTTR

CDPS

ZP

PUS

OP

Signal name

Ready

Trouble

In-position

Speed reached


Limiting torque

Limiting speed

Warning

Zero speed

During tough drive


Home position return completion

Temporary stop

Travel completion

Rough match

Position range output

Point table No. output 1



Program output 1

SYNC synchronous output

Encoder Z-phase pulse (open collector)

5 - 21


(3) Display data at initial values

(a) Position control mode

CR(CN1-5)

SON(CN1-4)

RES(CN1-3)

Input signals

Output signals

OP(CN1-21)

ALM(CN1-9)

(b) Internal speed control mode

SP1(CN1-5)

SON(CN1-4)

Not assigned (CN1-23)

RES(CN1-3)

Input signals

Output signals

OP(CN1-21)

ALM(CN1-9)

(c) Internal torque control mode

SP1(CN1-5)

SON(CN1-4)


RES(CN1-3)

Input signals

Output signals

OP(CN1-21)

ALM(CN1-9)

(d) Positioning mode

DI0 (CN1-5)

SON (CN1-4)

DI1 (CN1-23)

MD0 (CN1-3)

Input signals

Output signals

OP (CN1-21)

ALM (CN1-9)

LSP(CN1-6)

LSN(CN1-7)

EM1(CN1-8)

MBR(CN1-12)

RD(CN1-11)

INP(CN1-10)


ST1(CN1-6)

ST2(CN1-7)

EM1(CN1-8)

Lit: ON

Extinguished: OFF

MBR(CN1-12)

RD(CN1-11)

SA(CN1-10)

DOG (CN1-25)

ST1 (CN1-6)

ST2 (CN1-7)

EM1 (CN1-8)

MBR (CN1-12)

RD (CN1-11)

INP (CN1-10)


RS2(CN1-6)

RS1(CN1-7)

EM1(CN1-8)

Lit: ON

Extinguished: OFF

MBR(CN1-12)

RD(CN1-11)

5 - 22


5.9 Output signal (DO) forced output

POINT

When the servo system is used in a vertical lift application, turning on the electromagnetic brake interlock (MBR) with DO forced output after assigning it to connector CN1 will release the electromagnetic brake, causing a drop. Take drop preventive measures on the machine side.

The output signal can be forced on/off independently of the servo status. This function is used for output signal wiring check, etc. This operation must be performed in the servo off state by turning off the servo-on (SON).

Operation

After power-on, change the display to the diagnostic screen using the "MODE" button.

Press UP twice.

CN1-9

CN1-11

CN1-10

CN1-12

Press SET for 2s or more to shift to the output signal (DO) forced output screen.

At this time, the decimal point in the first digit blinks.

Switch on/off the signal below the lit segment.

Always lit

Indicates the ON/OFF of the output signal. The correspondences between segments and signals are as in the output signals of the external I/O signal display.

(Lit: ON, extinguished: OFF)

Press MODE once.

The segment above CN1-11 pin is lit.

Press UP once.

CN1-11 pin is switched on.

(CN1-11 pin-DOCOM conduct.)

Press DOWN once.

CN1-11 pin is switched off.

Press SET for more than 2s.

5 - 23


5.10 Test operation mode

CAUTION

The test operation mode is designed to confirm servo operation. Do not use it for actual operation.

If any abnormal operation has occurred, stop the operation using the forced stop

(EM1) signal.

POINT

MR Configurator is required to perform positioning operation.

Test operation cannot be performed if the servo-on (SON) is not turned OFF.

When the test operation is performed in the positioning mode, turn off the power of the servo amplifier once to shift to the normal operation mode.

5.10.1 Mode change

After power-on, change the display to the diagnostic screen using the "MODE" button. Select JOG operation/motor-less operation/forced tough drive operation in the following procedure.

Press UP three times.


<JOG operation standby screen>

When this screen appears, JOG operation can be performed.


Press UP seven times.


<Forced tough drive operation stand-by screen>

When this screen appears, forced tough drive operation can be performed.


Press UP five times.


<Motor-less operation standby screen>

When this screen appears, motor-less operation can be performed.


5 - 24


5.10.2 JOG operation

POINT

When performing JOG operation, turn ON the forced stop (EM1), the forward rotation stroke end (LSP) and the reverse rotation stroke end (LSN). The forward rotation stroke end (LSP) and the reverse rotation stroke end (LSN) can be set to automatic ON by setting parameter No. PD01 to " C ".

JOG operation can be performed when there is no command from the command device.

(1) Operation

The servo motor rotates while holding down the "UP" or the "DOWN" button. The servo motor stops rotating by releasing the button. The operation condition can be changed using MR Configurator. The initial setting values and setting ranges for operation are listed below.

Item Initial setting Setting range

Speed [r/min]

Acceleration/deceleration time constant [ms]

How to use the buttons is explained below.

Button Description

200

1000


0 to 50000

"UP"

Press to start CCW rotation.

Release to stop.

"DOWN"

Press to start CW rotation.

Release to stop.

If the communication cable is disconnected during the JOG operation using MR Configurator, the servo motor decelerates to a stop.

(2) Status display

Call the status display screen by pressing the "MODE" button in the JOG operation stand-by status.

When the JOG operation is performed using the "UP" or the "DOWN" button, the servo status during the

JOG operation appears on the display. The status display screen shifts to the next screen every time the

"MODE" button is pressed. The status display screen returns to the JOG operation stand-by screen after one screen cycle. For details of the status display, refer to section 5.3. Note that the status display screen cannot be changed by the "UP" or the "DOWN" button in the JOG operation mode.

(3) Termination of JOG operation

To end the JOG operation, turn the power off once or press the "MODE" button to switch to the next screen, and then hold down the "SET" button for 2[s] or longer.

5 - 25

f) g) d) e) a) b) c)


5.10.3 Positioning operation

POINT

MR Configurator is required to perform positioning operation.

Turn ON the forced stop (EM1) when performing positioning operation.

During positioning operation, the "UP" and the "DOWN" buttons are invalid.

With no command given from the command device, positioning operation can be executed once.

(1) Operation h) i) j) k) l) m) n) a) Motor speed [r/min]

Enter the servo motor speed into the "Motor speed" input field. b) Accel/decel time [ms]

Enter the acceleration/deceleration time constant into the "Accel/decel time" input field. c) Move distance [pulse]

Enter the moving distance into the "Move distance" input field. d) LSP/LSN automatically turned ON

When setting the external stroke signal to automatic ON, click the check box to make it valid. When it is not checked, turn ON LSP/LSN externally. e) Move until the initial Z-phase signal of the move distance in the move direction is turned ON.

Movement is made until the initial Z-phase signal of the move distance in the move direction is turned

ON.

5 - 26

5. DISPLAY AND OPERATION SECTIONS f) Pulse move distance unit selection/Command input pulse unit/Encoder pulse unit

Select with the option buttons whether the moving distance set in c) is in the command pulse unit or in the encoder pulse unit.

When the command input pulse unit is selected, the value, which is the set moving distance multiplied

CDV ), will be the command value. When the encoder pulse unit is selected, the moving distance is not multiplied by the electronic gear. g) Repeated operation

Click the check box of "Make the repeated operation valid" to execute a repeated operation. The following lists the initial conditions and setting ranges for the repeated operation.

Item Initial setting

Repeated pattern Forward rotation (CCW) to reverse rotation (CW)

Dwell Times

Number of repeats

(times)

2.0

1

Setting range

Forward rotation (CCW) to reverse rotation (CW)

Forward rotation (CCW) to Forward rotation (CCW)

Reverse rotation (CW) to forward rotation (CCW)

Reverse rotation (CW) to Reverse rotation (CW)

0.1 to 50.0

1 to 9999

Click the check box of "Make the aging function valid" to execute the repeated operation with the repeated pattern and the dwell time set above. h) Forward/Reverse

Click the "Forward" button to rotate the servo motor in the forward rotation direction.

Click the "Reverse" button to rotate the servo motor in the reverse rotation direction. i) Pause

Click the "Pause" button during servo motor rotation to temporarily stop the servo motor.

This button is valid during servo motor rotation. j) Restart

Click the "Restart" button during a temporary stop to restart the servo motor rotation.

This button is valid during a temporary stop of the servo motor. k) Remaining move distance clear

Click the "Remaining distance clear" button during a temporary stop to erase the remaining distance.

This button is valid during a temporary stop of the servo motor. l) Forced stop

Click the "S/W forced stop" button during servo motor rotation to make a hard stop.

This button is valid during servo motor rotation.

5 - 27

5. DISPLAY AND OPERATION SECTIONS m) Repeated operation status

Operation status, repeated pattern, the number of repeats in the repeated operation is displayed. n) Close

Click the "Close" button to cancel the positioning operation mode and close the window.

(2) Status display

The status display can be monitored during positioning operation.

5.10.4 Motor-less operation

Without a servo motor being connected, the output signals are provided and the status is displayed as if the servo motor is running in response to input device. This operation can be used to check the sequence of a host programmable controller or the like.

(1) Operation

Turn off the servo-on (SON), and then select motor-less operation. After that, perform external operation as in ordinary operation.

(2) Status display

The servo status can be checked in the motor-less operation.

Change the display to the status display screen by pressing the "MODE" button. (Refer to section 5.2.)

The status display screen can be changed by pressing the "UP" or the "Down" button. (Refer to section

5.3.)

(3) Termination of motor-less operation

To terminate the motor-less operation, turn the power off.

5 - 28


5.10.5 Forced tough drive operation

POINT

Execute forced tough drive operation after ten minutes of normal operation.

The tough drive can be checked in advance by forcing the overload tough drive, even if the servo motor is in the normal status.

(1) Operation

Press the "SET" button for 2[s] or longer in normal operation to execute the forced tough drive operation.

(2) Status display

Call the status display screen by pressing the "MODE" button in the forced tough drive operation stand-by status. The status display screen returns to the forced tough drive operation stand-by screen after one screen cycle. For details of the status display, refer to section 5.3. Note that the status display screen cannot be changed by the "UP" or the "DOWN" button in the forced tough drive operation mode.

(3) Termination of forced tough drive operation

To end the forced tough drive operation, turn the power off once, or press the "MODE" button to switch to the next screen and then hold down the "SET" button for 2[s] or longer.

5.11 One-touch tuning

POINT

For full information of the one-touch tuning, refer to section 6.1.

Press the "AUTO" button for 3[s] or longer in the position control mode, the internal speed control mode or the positioning mode, and then press it again to execute the one-touch tuning.

5 - 29


MEMO

5 - 30

6. GENERAL GAIN ADJUSTMENT


POINT

When using in the internal torque control mode, gain adjustment is not necessary.

When making gain adjustment, check that the machine is not operated at the maximum torque of the servo motor. The operation at the maximum torque or more may cause unexpected operations such as machine vibration, etc.

Consider individual machine differences, and do not adjust gain too strictly. It is recommended to keep the servo motor torque to 90% or less of the maximum torque of the servo motor during the operation.

6.1 One-touch tuning

Just by pressing the "AUTO" button on the front panel of the servo amplifier, the gain/filter is easily adjusted.

The following parameters are automatically adjusted by the one-touch tuning.

Parameter No. Symbol Name

PA08

PA09

PB03

PB07

PB12

PB13

PB14

PB15

PB16

ATU

RSP

PST

PG1

OVA

NH1

NHQ1

NH2

NHQ2

Auto tuning mode


Position command acceleration/ deceleration time constant (Position smoothing)

Model loop gain

Overshoot amount compensation

Machine resonance suppression filter 1

Notch shape selection 1


Notch shape selection 2

6 - 1


6.1.1 One-touch tuning procedure

Use the following procedure to perform the one-touch tuning.

START

Startup of system

Operation

Shift to the one-touch tuning mode

Refer to "Introduction" in this manual, and start up the system.

Rotate the servo motor by a command device, etc. (The one-touch tuning cannot be performed if the servo motor is not operating.)

Press the "AUTO" button for 3[s] or longer during the operation. The display changes to " ", and the mode shifts to the one-touch tuning mode.

Selection of the response mode

Execution of the one-touch tuning

END

Press the "UP" or the "DOWN" button while " " is displayed to select the response mode.

Start the one-touch tuning by pressing the "AUTO" button.

When the one-touch tuning is completed normally, the gain/filter is automatically adjusted.

6 - 2


6.1.2 Display transition and operation procedure of the one-touch tuning

(1) Selection of the response mode

Select the response mode of the one-touch tuning (three types) by the "UP" and the "DOWN" buttons.

Response mode selection display

Low mode Response mode for machines with low rigidity such as a belt drive.

UP DOWN

Basic mode Response mode for standard machines.

High mode Response mode for machines with high rigidity such as a ballscrew drive.

Low mode

Response mode

Basic mode High mode

Response level

Low response

Machine characteristic

Guideline of corresponding machine

Arm robot

Precision working machine

General machine tool conveyor

Inserter

Mounter

Bonder

High response

The one-touch tuning mode will be canceled in 10[s] after shifting to the one-touch tuning mode. Then, the mode returns to the status display at power-on.

6 - 3


(2) Performing the one-touch tuning

Select the response mode in (1), and press the "AUTO" button to start the one-touch tuning.

The progress of the one-touch tuning is displayed from 0 to 100%.

During the one-touch tuning, the decimal point is lit, moving from right to left.

Pressing the "MODE" button during the one-touch tuning calls the status display.

At 100%

When the progress of the one-touch tuning reaches 100%, the parameters adjusted automatically in the one-touch tuning are written into the servo amplifier.

The completion display is called 1s later.

Completion display

At completion, "Fin" blinks regardless of the item displayed.

Pressing any button calls the settling time (status display).

Settling time display

The settling time of the status display is displayed, and the value is displayed 2s later.

The "UP" and "DOWN" buttons enable to call other status displays, and the "MODE" button enables to call the diagnostic mode.

2s later

Settling time (100ms)

POINT

The settling time can also be checked in the status display mode. (Refer to section 5.3.)

6 - 4


(3) Cancelling the one-touch tuning

Cancel symbol display

In the one-touch tuning mode regardless of the item displayed, pressing "AUTO" button cancels the one-touch tuning mode.

Error code

At 2s intervals

The cancel symbol display and error code "C00" (cancel during the adjustment) are displayed alternately every 2s.

Pressing any button calls the status display at power-on.

Status display at power-on (in the position control mode).

(4) At error occurrence

Cancel symbol display

If some error occurs during the one-touch tuning, the one-touch tuning is canceled, and the cancel symbol display and error code "C01" to "C04" are displayed alternately every

2s.

Error code

At 2s intervals

Refer to the following table to remove the cause of the error.

Display

C00

Name

Cancel during the adjustment

C01 Excessive overshoot

Description

The "AUTO" button was pressed again during the adjustment to cancel the adjustment. (Refer to paragraph

(3) in this section.)

The overshoot is larger than the value set in the in-position range

(parameter No. PA10).

Action

Increase the in-position range

(parameter No. PA10).

C02 Servo-off during the adjustment

The one-touch tuning was attempted while the servo-on

(SON) was turned OFF.

Perform the one-touch tuning after turning on the servo-on

(SON).

C03 Control mode fault

C04 Time-out

The one-touch tuning was attempted while the internal torque control mode was selected from the control modes.

1. 1 cycle time during the operation is over 30s.

Select the position control mode or internal speed control mode for the control mode, and perform the one-touch tuning.

Set the 1 cycle time during the operation to 30s or less.

Set the servo motor speed to

100r/min or higher.

Set the stop time during the operation longer.

Pressing any button calls the status display at power-on.


6 - 5


(5) At alarm occurrence

During the one-touch tuning

If some alarm occurs during the one-touch tuning, the one-touch tuning is canceled, and the alarm display is called.

Alarm display

(6) At warning occurrence

During the one-touch tuning

Warning reset

Waning occurrence

Alarm display (warning)

(a) If some warning occurs during the one-touch tuning, the alarm display is called, and the warning is displayed. However, one-touch tuning continues to be performed.

(b) When the warning is reset, the alarm display is shifted to the one-touch tuning.

Completion display

One-touch tuning complete

6 - 6


(7) Clearing the one-touch tuning

POINT

The one-touch tuning result can be reset to the initial value by the clear (CLr) mode and to the value before the adjustment by the back (bAC) mode.

One-touch tuning clear mode selection

(a)

(b)

(c)

Pressing the "AUTO" and "SET" buttons for 3s or longer at the same time calls the one-touch tuning clear mode.

The symbol of the one-touch tuning clear mode blinks.

Select "CLr" (the mode to return the initial value) or "bAC" (the mode to return the value before the one-touch tuning) with the "UP" and "DOWN" buttons.

UP DOWN

Clear the one-touch tuning with the "SET" button. (If no operation is performed in 10s, the one-touch tuning clear mode is canceled. Then, it returns to the status display at power-on.)

One-touch tuning clear mode display (when returning to the initial value)

The selected one-touch tuning clear mode is performed. During the operation, the symbol of the one-touch tuning clear mode is lit for 3s.

When the one touch adjustment clear is completed, the status display at power-on is called.


6.1.3 Precautions for one-touch tuning

(1) In the internal torque control mode, the "AUTO" button is invalid.

(2) When an alarm or a warning occurs, the one-touch tuning is not available.

(3) While performing the following test operation modes, the one-touch tuning is not available.

(a) Output signal (DO) forced output

(b) Motor-less operation

(c) Forced tough drive operation

6 - 7


6.2 Gain adjustment methods

The gain adjustment in this section can be made on a single servo amplifier. For the gain adjustment, refer to

(3) in this section.

(1) One-touch tuning

Gain adjustment method

Parameter No.

PA08 setting

Estimation of load to motor inertia moment ratio

Automatically set parameters

Manually set parameters

Operation of the one-touch tuning button (AUTO) on the front panel of the servo amplifier


Automatically changes to "000", when the value before the onetouch tuning is

"000" or "001".

"003", when the value before the one-touch tuning is "003".

(No change)

Always estimated AUT (parameter No. PA08)

RSP (parameter No. PA09)

PST (parameter No. PB03)

PG1 (parameter No. PB07)

OVA (parameter No. PB12)

NH1 (parameter No. PB13)

NHQ1 (parameter No. PB14)

NH2 (parameter No. PB15)

NHQ2 (parameter No. PB16)

(2) Gain adjustment made by the auto tuning mode (parameter No. PA08)

Gain adjustment method

Parameter No.

PA08 setting

Estimation of load to motor inertia moment ratio

Automatically set parameters

Manually set parameters

Auto tuning mode 1

(initial value)


Manual mode

001

000

003

Always estimated

Always estimated

Fixed to parameter No.

PB06 value

GD2 (parameter No. PB06)



VG2 (parameter No. PB09)

VIC (parameter No. PB10)













6 - 8


(3) Adjustment sequence and mode usage

START

Operation

Yes

OK?

No

Perform the one-touch tuning?

Yes

One-touch tuning

No

Operation

Yes

OK?

No


Operation

Yes

OK?

No

Manual mode

END

Usage

This servo amplifier enables the auto tuning mode 1 in the initial status.


Use the one-touch tuning button

(AUTO) to make the adjustment.


After one-touch tuning, parameter No. PA08 (ATU: auto tuning mode) automatically changes to "000" (2-gain adjustment mode). (Refer to section 6.4.)

All gains can be adjusted manually for fast setting, etc.


6 - 9


6.3 Auto tuning mode 1

6.3.1 Overview

The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load to motor 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.

The servo amplifier is factory-set to the auto tuning mode 1.

In this mode, the load to motor 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

PB07

PB08

PB09

PB10

GD2

PG1

PG2

VG2

VIC


Model loop gain

Position loop gain

Speed loop gain


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 5[s] or less.

Speed is 150r/min or higher.

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 imposes 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 one-touch tuning, the

2-gain adjustment mode, or the manual mode to make gain adjustment.

6 - 10


6.3.2 Auto tuning mode 1 basis

The function block diagram of real-time auto tuning is shown below.

Command

Loop gains

PG1,PG2,VG2

VIC

Automatic setting

Current control

Current feedback

M

Load to motor inertia moment

Encoder

Servo motor

Gain table

Set 0 or 1 to turn on.

Real-time auto tuning section

Switch

Estimation section of load to motor inertia moment ratio

Position/speed feedback

Speed feedback

Parameter No. PA08

0 0

Parameter No. PA09

Tuning mode setting

Response setting

Parameter No. PB06

Estimation value of load to motor inertia moment ratio

When a servo motor is accelerated/decelerated, the load to motor inertia moment ratio estimation section always estimates the load to motor inertia moment ratio from the current and the speed of the servo motor. The results of estimation are written to parameter No. PB06 (load to motor inertia moment ratio). These results can be confirmed on the status display screen of the MR Configurator section.

If the value of the load to motor inertia moment ratio is already known or if the estimation cannot be made properly, select "manual mode" by setting parameter No. PA08 to "003" (the switch in the above diagram turns off) to stop the estimation of the load to motor inertia moment ratio. Then, set the load to motor inertia moment ratio manually to parameter No. PB06.

From the preset load to motor 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 an initial value.

POINT

If sudden disturbance torque is imposed during the operation, the estimation of the load to motor inertia moment ratio may malfunction temporarily. In such a case, select the "manual mode" (parameter No. PA08: 003) and set the correct load to motor inertia moment ratio in parameter No. PB06.

When any of the auto tuning mode 1 and 2-gain adjustment mode settings is changed to the manual mode setting, the current loop gains and load to motor inertia moment ratio estimation value are saved in the EEP-ROM.

6 - 11


6.3.3 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.

START

Acceleration/deceleration repeated

Load to motor inertia moment ratio estimation value stable?

Yes

Adjust the auto tuning response level (RSP: parameter No. PA09) on vibration-free level.

No

Acceleration/deceleration repeated

Requested performance satisfied?

Yes

END

No

To manual mode

6 - 12


6.3.4 Response level setting in auto tuning mode 1

Set the response (The first digit of parameter No. PA09) of the whole servo system. As the response level setting is increased, the trackability 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, adaptive tuning mode (parameter No. PB01) or machine resonance suppression filter

(parameter No. PB13 to PB16, PB38, PB39) may be used to suppress machine resonance. Suppressing machine resonance may allow the response level setting to increase.

Refer to section 7.2 for adaptive tuning mode and machine resonance suppression filter.

Setting of parameter No. PA09

Response level setting

Machine rigidity

Machine characteristic

Guideline of corresponding machine

Low

11

12

13

14

7

8

9

10

15

16

5

6

3

4

1

2

Middle

High

Arm robot

Precision working machine

General machine tool conveyor

Inserter

Mounter

Bonder

6 - 13


6.4 2-gain adjustment mode

POINT

Use this mode to improve the response level after the one-touch tuning. Use parameters No. PA09 or PB07 for fine adjustment.

Use the 2-gain adjustment mode for fine adjustment of the response level setting and the model loop gain.

(1) Parameters

(a) Automatically adjusted parameters

The following parameters are automatically adjusted by the auto tuning 1.

Parameter No.

PB06

PB08

PB09

PB10

Abbreviation

GD2

PG2

VG2

VIC


Position loop gain

Speed loop gain


Name

(b) Manually adjusted parameters

The following parameters are adjustable manually.

Parameter No.

PA09

PB07

(2) Adjustment procedure

Step

Abbreviation

RSP

PG1

Operation


Model loop gain

Name

Description

1 Set to the 2-gain adjustment mode.

Set parameter No. PA08 (auto tuning mode) to " 0".

2

During the operation, increase the response level setting (parameter No.

PA09), and reset the setting if vibration occurs.

Adjustment of the servo stability

3

During the operation, increase the model loop gain (parameter No. PB07), and reset the setting if overshoot occurs.

Adjustment of the position track ability

(3) Adjustment description

The droop pulse value is determined by the following expression.

Droop pulse value (pulse) =

Rotation speed (r/min)

60

Servo motor resolution (pulse/rev)

Model loop gain setting

6 - 14


6.5 Manual mode

If the adjustment made by the auto tuning mode 1 and 2-gain adjustment mode is not satisfactory, adjust the load to motor inertia moment and all gains in the manual mode.

POINT

Use this mode if the estimation of the load to motor inertia moment ratio is not the normal value.

Use this mode to perform the vibration suppression control tuning.

(1) For internal speed control

(a) Parameters

The following parameters are used for gain adjustment.


PB06

PB07

PB09

PB10

GD2

PG1

VG2

VIC


Model loop gain

Speed loop gain


(b) Adjustment procedure

Step

1

2

3

4

5

6

7

8

9

Operation Description

Brief-adjust with auto tuning. Refer to section 6.3.3.

Change the setting of the tuning mode to the manual mode (Parameter No.

PA08: 003)

Set an estimated value to load to motor inertia moment ratio. (If the estimate value with auto tuning is correct, setting change is not required.)

Set a small value to the model loop gain.

Set a large value to the speed integral compensation.

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.

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.

Increase the model loop gain, and return slightly if overshooting takes place. Increase the model loop gain.

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 executing steps 3 to 7 after suppressing the resonance by the adaptive tuning mode or the machine resonance suppression filter.

While checking the rotational status, fine-adjust the each gain.

Suppression of machine resonance.


Fine adjustment

6 - 15


(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)

=

Speed loop gain setting

(1 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 to motor 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.


2000 to 3000 setting(ms)

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 for the position command. Increasing the model loop gain improves the trackability to a position command. If the gain is too high; however, overshooting is likely to occur when settling.

Model loop gain guideline

Speed loop gain setting

(1+ load to motor inertia moment ratio )

(2) For position control

(a) Parameters

The following parameters are used for gain adjustment.

Parameter No. Abbreviation

(

Name

)

PB06

PB07

PB08

PB09

PB10

GD2

PG1

PG2

VG2

VIC


Model loop gain

Position loop gain

Speed loop gain


6 - 16


(b) Adjustment procedure

Step

1

2

3

4

5

6

7

8

9

10

Operation Description

Brief-adjust with auto tuning. Refer to section 6.3.3.

While checking the settling characteristic and rotational status, fine-adjust each gain.

Change the setting of the tuning mode to the manual mode (Parameter No.

PA08: 003)

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.)

Set a small value to the model loop gain and the position loop gain.

Set a large value to the speed integral compensation.

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.

Decrease the speed integral compensation within the vibration-free range, and return slightly if vibration takes place.

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 adaptive tuning mode or machine resonance suppression filter and then executing steps 3 to 8.

Decrease the time constant of the speed integral compensation.

Increase the position loop gain, and return slightly if vibration takes place. Increase the position loop gain.

Increase the model loop gain, and return slightly if overshooting takes place. Increase the model loop gain.

Suppression of machine resonance.


Fine adjustment

(c) Adjustment description

1) Speed loop gain (VG2: parameter No. PB09)

The same as for the internal speed control.

2) Speed integral compensation (VIC: parameter No. PB10)

The same as for the internal speed control.

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

Speed loop gain 2 setting

(1 load to motor inertia moment ratio)

Model loop gain guideline

Speed loop gain 2 setting

(1 load to motor inertia moment ratio)

(

(

1

1

to

to

1

8

1

8

)

)

4) Model loop gain (PG1: parameter No. PB07)

This parameter determines the response level of the model loop. Increasing position loop gain 1 improves trackability to a position command but a too high value will make overshooting liable to occur at the time of settling.

6 - 17


MEMO

6 - 18

7. SPECIAL ADJUSTMENT FUNCTIONS


7.1 Tough drive function

POINT

Enable or disable the tough drive function by parameter No. PA04 (tough drive function selection). (Refer to section 4.1.5.)

The tough drive function continues the operation not to stop a machine in such situations when normally an alarm is activated.

7.1.1 Overload tough drive function

CAUTION

When the overload tough drive activates, the operation pattern is changed. Check in advance if equipment problems due to the change of operation pattern do not occur. The operation pattern at the overload tough drive can be checked with the forced tough drive operation in the test operation mode. (Refer to section 5.10.5.)

The overload tough drive function automatically reduces the load ratio to about 70% to avoid an alarm when the effective load ratio increases to near the overload alarm level. When the overload tough drive activates, the servo amplifier delays the time for the in-position (INP) and the zero speed (ZSP) to turn on. In the position control mode, the controller holds the next command until the in-position (INP) turns on. In the positioning mode, the controller holds the output of position command until the in-position (INP) turns on.

The during tough drive (MTTR) can be output from the servo amplifier by setting parameter No. PD20 (function selection D-1) to " 1 ".

POINT

The overload tough drive function is available only in the position control mode or in the positioning mode.

The increase in the load ratio that is caused by temporary load fluctuations can be avoided by reducing the machine tact (operating time) so that the operation can be continued. An optimum in-position (INP) delay time is calculated automatically on the servo amplifier side.

The maximum delay time of the in-position (INP) can be limited by parameter No.

PC26 (detailed setting of overload tough drive) so as not to cause INP timeout error on the controller side.

Controller

Servo amplifier

MTTR (during tough drive) is detected on the controller side.

During tough drive (MTTR)

Turns on during the tough drive.

*Valid/invalid can be changed

in parameter No. PD20.

Interlock the next start command until the INP is turned on for the controller.

Command start signal

In-position (INP)

Zero speed (ZSP)


Delay the time for " ON" only for the optimum value that can avoid alarm.

7 - 1


However, the overload tough drive function is not effective in the following cases.

(1) When the effective load ratio temporarily exceeds 200%.

(2) When the load increases at a stop such as a detent torque of a vertical lift.

Load fluctuation occurs

Overload tough drive start

Overload alarm level


Load fluctuation normal status

Continuing to drive

Servo motor speed

In-position (INP)

ON

OFF


ON

OFF

Warning (WNG)

ON

OFF

Ti Ti Ti

When the load ratio reduces, automatically ends the INP delay.

Trouble (ALM) ON

OFF

Executes the optimum adjustment of the stop time

(INP delay time) Ti properly and avoids the overload1 alarm (50.1) during the overload tough drive.

When the overload tough drive activates, the number of tough drive in the display mode (alarm mode) is increased by one. (Refer to section 5.5.)

7.1.2 Vibration tough drive function

The vibration tough drive function resets the filter instantaneously and prevents vibration when a machine resonance is generated due to aging distortion or individual differences.

In order to reset the machine resonance suppression filter by the vibration tough drive function, parameters No.

PB13 (machine resonance suppression filter 1) and No. PB15 (machine resonance suppression filter 2) are required to be set in advance.

Perform either of the following to set parameters No. PB13 and No. PB15.

(1) Perform the one-touch tuning (refer to section 6.1).

(2) Set the parameters manually (refer to section 4.2.2).

7 - 2


The vibration tough drive function activates when a detected machine resonance frequency is within the range of 30% in relation to the set value of parameters No. PB13 (machine resonance suppression filter 1) and No.

PB15 (machine resonance suppression filter 2).

The detection level of the vibration tough drive function can be set by parameter No. PC27 (detailed setting of vibration tough drive).

POINT

Resetting of the parameters No. PB13 or No. PB15 by the vibration tough drive function is performed constantly. However, the number of write times to the EEP-

ROM is limited to once per hour.

The machine resonance suppression filter 3 (parameter No. PB38) is not reset by the vibration tough drive function.

The following shows the function block diagram of the vibration tough drive function.

The detected machine resonance frequency is compared with the parameters No. PB13 (machine resonance suppression filter 1) and No. PB15 (machine resonance suppression filter 2), and the parameter No. which has a set value closer to the detected machine resonance frequency is reset to the value of the detected frequency.

Updates the parameter whose setting is the closest to the machine resonance frequency.

Vibration tough drive

Load

Parameter

No. PB13

Parameter

No. PB15

Parameter

No. PB38

Encoder


Command filter

PWM M

Servo motor




Torque

Parameter No. PC27

(detailed setting of vibration tough drive)

Detects the machine resonance and reconfigures the filter automatically.

Trouble (ALM)

ON

OFF

Warning (WNG)

ON

OFF


ON

OFF

5s

During tough drive (MTTR) is not turned on in the vibration tough drive function.

When the vibration tough drive function activates, the number of tough drive in the display mode (alarm mode) is increased by one. (Refer to section 5.5.)

7 - 3


7.1.3 Instantaneous power failure tough drive function

CAUTION

During the instantaneous power failure tough drive, the torque may be limited due to the load conditions or the set value of parameter No. PC28 (detailed setting of instantaneous power failure tough drive).

The immunity to instantaneous power failures is increased by the instantaneous power failure tough drive function. However, it is not compliant with the SEMI-F47 specification.

The instantaneous power failure tough drive function avoids the instantaneous power failure alarm even when an instantaneous power failure occurs during operation. When the instantaneous power failure tough drive activates, the immunity to instantaneous power failures is increased by using the electrical energy charged in the main circuit capacitor during instantaneous power failures. The instantaneous power failure alarm judgment time for the main circuit power can be changed by parameter No. PC28 (detailed setting of instantaneous power failure tough drive).

POINT

The electromagnetic brake interlock (MBR) does not turn off during the instantaneous power failure tough drive.

When the load of instantaneous power failure is heavy, the undervoltage alarm

(10.2) caused by the bus voltage drop may occur regardless of the setting value of parameter No. PC28 (detailed setting of instantaneous power failure tough drive).

(1) When the instantaneous main circuit power failure time is shorter than the set value of parameter No. PC28

(detailed setting of instantaneous power failure tough drive)

Instantaneous power failure time of the main circuit power supply


ON

OFF

Parameter No. PC28

Bus voltage

Undervoltage level (About

160V or less)

When the power is returned within parameter No.

PC28 setting value, after disconnection of the main circuit power supply, the main circuit power supply failure (instantaneous power failure) alarm

(10.3) is not generated.

Trouble (ALM)

ON

OFF


ON

OFF


(MBR)

ON

OFF

Base circuit

ON

OFF

Electromagnetic brake interlock (MBR) is not turned off.

When the instantaneous power failure tough drive activates, the number of tough drive in the display mode

(alarm mode) is increased by one. (Refer to section 5.5.)

7 - 4


(2) When an undervoltage occurs during the instantaneous main circuit power failure

Instantaneous power failure time of the main circuit power supply


ON

OFF

Parameter No. PC28

Bus voltage

Undervoltage level (About

160V or less)

Trouble (ALM)

Ready (RD)



(MBR)

ON

OFF

ON

OFF

Base circuit

ON

OFF

ON

OFF

ON

OFF

An undervoltage al arm (10.2) is generated if the bus voltage reduces at the undervoltage level or lower.

(3) When the instantaneous main circuit power failure time is longer than the set value of parameter No. PC28

(detailed setting of instantaneous power failure tough drive)

If the instantaneous main circuit power failure time exceeds the set value of parameter No. PC28, main circuit power supply failure (instantaneous power failure) alarm (10.3) occurs even if the instantaneous power failure tough drive function is valid.

7 - 5


7.2 Machine resonance suppression function

POINT

The functions given in this section are not generally required to use. Use these functions when the machine status is not satisfactory after making adjustment in the methods given 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 and adaptive tuning can suppress the resonance of the mechanical system.

7.2.1 Function block diagram

Speed control

0

Parameter

No.PB01

0

Parameter

No.PB16

0

Parameter

No.PB39


Manual mode

2 Machine resonance suppression filter 2

1


1

Low-pass filter

Automatic setting

0

Parameter

No.PB23

Current command

Servo motor

M

Manual setting

Encoder

1

7.2.2 Adaptive filter II

(1) Function

The adaptive filter II (adaptive tuning) sets the filter characteristics automatically with the one-touch tuning, and suppresses vibrations of the mechanical system. Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of the resonance frequency of a mechanical system.

Machine resonance point Machine resonance point

Mechanical system response level

Frequency


Frequency

Notch depth

Notch depth

Notch frequency

Frequency

Notch frequency

Frequency

When machine resonance is large and frequency is low When machine resonance is small and frequency is high

7 - 6


POINT

When the one-touch tuning is performed, the adaptive tuning is performed, and the machine resonance suppression filter 1 (parameter No. PB13) and the notch shape selection 1 (parameter No. PB14) are set automatically.

The machine resonance frequency which adaptive tuning mode can respond to is about 100 to 2.25kHz. Adaptive vibration suppression control has no effect on the resonance frequency outside this range.

Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics.

(2) Parameters

Select the tuning mode of adaptive tuning mode (parameter No. PB01).

Parameter No. PB01

0 0

Selection of adaptive tuning mode

Setting Adaptive tuning mode

0 Filter OFF

Manually set parameter No.

(Note 1)

2(Note 2) Manual mode

Parameter No. PB13

Parameter No. PB14

Note 1. Parameter No. PB13 and PB14 are fixed to the initial values.

2. When an adaptive filter is set, it is automatically updated to "2".

POINT

"Filter OFF" enables a return to the factory-set initial value.

During adaptive tuning, a filter having the best notch depth at the set control gain is generated. To allow a filter margin against machine resonance, increase the notch depth in the manual mode.

7 - 7


7.2.3 Machine resonance suppression filter

(1) Function

The machine resonance suppression filter is a filter function (notch filter) which can suppress the resonance of the mechanical system by decreasing the gain of the specific frequency. You can set the gain decreasing frequency (notch frequency), gain decreasing depth and width.



Frequency

Notch characteristics

Notch width

Notch depth

Notch frequency

Frequency

The vibration of three resonance frequency can be suppressed by the machine resonance suppression filter 1, machine resonance suppression filter 2 and machine resonance suppression filter 3.



Frequency

Notch depth

Parameter No. PB01,

PB13, PB14

Frequency

Parameter No. PB38, PB39

Parameter No. PB15, PB16

7 - 8


(2) Parameters

Set the machine resonance suppression filters by the parameters indicated in the following table.

Item

Parameters to be set

Notch frequency Notch depth and width

Note


Parameter No. PB13 Parameter No. PB14

The set values are valid when "manual mode" is selected in the adaptive tuning mode

(parameter No. PB01).



Parameter No. PB15

Parameter No. PB38

Parameter No. PB16 The set values are always valid regardless of the set value of the adaptive tuning mode

Parameter No. PB39 (parameter No. PB01).

POINT

The machine resonance suppression filter is a delay factor for the servo system.

Hence, vibration may increase if an improper resonance frequency or an excessively deep notch is set.

If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower. Set the notch frequency 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 wider notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration.

7.2.4 Advanced vibration suppression control

(1) Operation

Vibration suppression control is used to further suppress load 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 end

Machine end

Vibration suppression control OFF

(Normal control)

Motor end

Machine end

Vibration suppression control ON

When the advanced vibration suppression control (vibration suppression control tuning mode (parameter

No. PB02)) is executed, the vibration frequency at load side can be automatically estimated to suppress load side vibration.

In addition, the vibration suppression control tuning mode shifts to the manual mode after positioning is performed the predetermined number of times. The manual mode enables manual setting using the vibration suppression control vibration frequency setting (parameter No. PB19) and the vibration suppression control resonance frequency setting (parameter No. PB20).

7 - 9


(2) Parameter

Select the tuning mode of the vibration suppression control tuning mode (parameter No. PB02).

Parameter No. PB02

0 0


Setting Vibration suppression control tuning mode

0 Vibration suppression control OFF


(Note)

1

2



Manual mode

Parameter No. PB19

Parameter No. PB20


POINT

When executing the vibration suppression control tuning mode (advanced vibration suppression control), follow the procedures of (3) in this section.

This function is valid when the auto tuning mode (parameter No. PA08) is set to manual mode (" 3").

The machine resonance frequency supported by the vibration suppression control tuning mode is 1.0Hz to 100.0Hz. The function is not effective for vibration outside this range.

To prevent unexpected operations, be sure to stop the servo motor before changing the vibration suppression control-related parameters (parameter No.

PB02, PB19, PB20, PB33, PB34, PB38, PB39).

For positioning operation during execution of vibration suppression control tuning, provide a stop time to ensure a stop after full vibration damping.

Vibration suppression control tuning may not make an estimation properly if the residual vibration at the motor side is small.

Vibration suppression control tuning sets the optimum parameter with the currently set control gains. When the response setting is increased, set the vibration suppression control tuning again.

7 - 10


(3) Vibration suppression control tuning mode procedure

START

Operation

Yes Is the target response reached?

No

Execute one-touch tuning

Has vibration of workpiece end/device increased?

No

Yes

Stop operation.

Set the tuning mode to the manual mode (set parameter No. PA08 to

" 3").

Execute or re-execute vibration suppression control tuning. (Set parameter No. PB02 to " 1".)

Resume operation.

Tuning ends automatically after operation is performed the predetermined number of times.

(Parameter No. PB02 turns to

" 2" or " 0".)

Has vibration of workpiece end/device been resolved?

No

Decrease the response until vibration of workpiece end/device is resolved.

Or execute the Low mode of the onetouch adjustment.

Yes

Factor

Estimation cannot be made as load side vibration has not been transmitted to the motor side.

The response of the model loop gain has increased to the load side vibration frequency (vibration suppression control limit).

END

7 - 11


(4) Vibration suppression control manual mode

Vibration suppression control can be set manually by setting the vibration suppression control vibration frequency (parameter No. PB19) and the vibration suppression control resonance frequency (parameter No.

PB20) after measuring work side vibration and device shake using an external measuring instrument.

(a) When a vibration peak can be measured using an external measuring instrument

Gain characteristic

Phase

-90deg.

1Hz 100Hz

Vibration suppression control vibration frequency setting

(Anti-resonance frequency)

Parameter No. PB19

Vibration suppression control resonance frequency setting

Parameter No. PB20

Resonance of more than 100Hz is not the target of control.

(b) When vibration can be measured using an external measuring instrument

Motor end vibration

(Droop pulses)

Position command frequency

External acceleration pick signal, etc.

Vibration cycle [Hz]

Vibration suppression control vibration frequency

Vibration suppression control resonance frequency

Set the same value.

Vibration cycle [Hz]

POINT

When the load side vibration does not travel to the motor side, setting the motor side vibration frequency does not have any effect.

When vibration frequency (anti-resonance frequency) and resonance frequency can be measured using an external measuring instrument, setting different values in parameters No. PB19 and No. 20 separately improves the vibration suppression performance better rather than setting the same value.

7 - 12


7.2.5 Low-pass filter

(1) Function

When a ballscrew 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 for a torque command is set valid. In the initial setting, the filter frequency of the low-pass filter is automatically adjusted to the value in the following expression.

Filter frequency(rad/s)

VG2

1 + GD2

10

However, when an automatically adjusted value is smaller than VG2, the filter frequency will be the VG2 value.

When parameter No. PB23 is set to " 1 ", manual setting can be made by parameter No. PB18.

(2) Parameter

Set the low-pass filter selection (parameter No. PB23.)

Parameter No. PB23

0 0

Low-pass filter selection

0: Automatic setting (initial value)

1: Manual setting (parameter No. PB18 setting)

7.3 Gain changing function

POINT

The functions given in this section are not generally required to use. Use these functions when the machine status is not satisfactory after making adjustment in the methods given in chapter 6.

This function can change the gains. Gains can be changed using an input device or gain switching conditions

(servo motor speed, etc.)

7.3.1 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 using an input device to ensure stability of the servo system since the load to motor inertia moment ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).

7 - 13


7.3.2 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 CDP (parameter No. PB26) and gain changing condition CDL (parameter

No. PB27).

CDP

Parameter No. PB26

Input device

CDP


Droop pulses

Changing

Model speed

CDL

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

Valid

GD2 value

Valid

PG2 value

Valid

VG2 value

Valid

VIC value

Valid

VRF1 value

Valid

VRF2 value

7 - 14


7.3.3 Parameters

When using the gain changing function, always set parameter No. PA08 (auto tuning mode) to " 3" to select manual mode in the tuning mode. The gain changing function cannot be used in the auto tuning mode.

Parameter No.

Abbreviation

Name Unit Description

PB06

PB07

PB08

PB09

PB10

PB29

PB30

PB31

GD2


PG1 Model loop gain

PG2 Position loop gain

VG2 Speed loop gain

VIC Speed integral compensation

GD2B

Gain changing load to motor inertia moment ratio

PG2B Gain changing position loop gain

VG2B Gain changing speed loop gain

Multiplier

( 1)

Control parameters before changing rad/s rad/s rad/s

Position and speed gains of a model used to set the response level to a command. Always valid. ms

Multiplier

( 1)

Used to set load to motor inertia moment ratio after changing. rad/s Used to set the value of the after-changing position loop gain. rad/s Used to set the value of the after-changing speed loop gain.

PB32

PB26

PB27

VICB

Gain changing speed integral compensation

CDP Gain changing

CDL Gain changing condition ms kpps pulse r/min

Used to set the value of the after-changing speed integral compensation.

Used to select the changing condition.

Used to set the changing condition values.

PB28

PB33

CDT Gain changing time constant

VRF1B

Gain changing vibration suppression control vibration frequency setting ms

Hz

Used to set the filter time constant for a gain change at changing.

Used to set the value of the after-changing vibration suppression control vibration frequency setting.

PB34 VRF2B

Gain changing vibration suppression control resonance Hz

Used to set the value of the after-changing vibration suppression control resonance frequency setting. frequency setting

(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 (parameter No. PB29)

This parameter is used to set load to motor inertia moment ratio after changing the gains. If the load to motor inertia moment ratio does not change, set the same value in this parameter as the 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).

This parameter is used to set the values of after-changing position loop gain, speed loop gain and speed integral compensation.

7 - 15


(4) Gain changing (parameter No. PB26)

This parameter is used to set the gain changing condition. Select the changing condition in the first and second digits. If "1" is set in the first digit, the gain can be changed by the gain changing (CDP) input device.

The gain changing (CDP) can be assigned to CN1-3 pin to CN1-8 pin using parameters No. PD03 to PD14.

0

Gain changing selection

Under any of the following conditions, the gains change on the basis of parameter No. PB29 to

PB34 settings.

0: Invalid

1: Input device (gain changing (CDP))

2: Command frequency (parameter No.PB27 setting)

3: Droop pulse (parameter No.PB27 setting)

4: Servo motor speed (parameter No.PB27 setting)


0: Valid when the input device (gain changing (CDP)) is ON, or

valid when the value is equal to or larger than the value set

in parameter No. PB27.

1: Valid when the input device (gain changing (CDP)) is OFF,

or valid when the value is equal to or smaller than the value

set in parameter No. PB27.

(5) Gain changing condition (parameter No. PB27)

This parameter is used to set gain changing level when "command frequency", "droop pulse" or "servo motor speed" is selected in the gain changing (parameter No. PB26).

The setting unit is as follows.

Gain changing condition Unit

Command frequency

Droop pulse

Servo motor speed kpps pulse r/min

(6) Gain changing time constant (parameter No. PB28)

In this parameter, a primary delay filter can be set to each gain at gain changing. This parameter is, for example, used to prevent unexpected operation if the gain difference is large at gain changing.

(7) Gain changing vibration suppression control

Gain changing vibration suppression control is used only when the gain is changed by on/off of the input device (gain changing (CDP)).

7 - 16


7.3.4 Gain changing procedure

The operation is explained with setting examples below:

(1) When gain changing by an input device (CDP) is selected:

(a) Setting


PB06

PB07

PB08

PB09

PB10

PB19

PB20

PB29

PB30

PB31

PB32

PB26

PB28

PB33

PB34

GD2B

PG2B

VG2B

VICB

CDP

CDT

VRF1B

GD2

PG1

PG2

VG2

VIC

VRF1

VRF2

VRF2B


Model loop gain

Position loop gain

Speed loop gain





Gain changing position loop gain

Gain changing speed loop gain


Gain changing

Gain changing time constant

Gain changing vibration suppression control vibration frequency setting

Gain changing vibration suppression control resonance frequency setting

(b) Timing chart at changing

Gain changing

(CDP)

OFF

ON

After-changing gain

Setting

4.0

100

120

3000

20

50

50

10.0

84

4000

50

001

(Changed by ON/OFF of input device)

100

60

60

OFF

Unit

Multiplier

( 1) rad/s rad/s rad/s ms

Hz

Hz

Multiplier

( 1) rad/s rad/s ms ms

Hz

Hz

Change of each gain

Before-changing gain

63.4%

CDT =100ms

Model loop gain


Position loop gain

Speed loop gain




4.0

120

3000

20

50

50

100

10.0

84

4000

50

60

60

4.0

120

3000

20

50

50

7 - 17


(2) When gain changing by droop pulses is selected:

In this case, gain changing vibration suppression control cannot be used.

(a) Setting


PB06

PB07

PB08

PB09

PB10

PB29

PB30

PB31

PB32

PB26

PB27

PB28

GD2

PG1

PG2

VG2

VIC

GD2B

PG2B

VG2B

VICB

CDP

CDL

CDT


Model loop gain

Position loop gain

Speed loop gain 2



Gain changing position loop gain

Gain changing speed loop gain


Gain changing


Gain changing time constant

Setting

4.0

100

120

3000

20

10.0

84

4000

50

003

(Changed by droop pulses)

50

100

(b) Timing chart at changing

Command pulse

Droop pulses

Droop pulses [pulses] 0

CDL

CDL

Change of each gain

Before-changing gain

Model loop gain


Position loop gain

Speed loop gain


4.0

120

3000

20

After-changing gain

63.4%

CDT = 100ms

10.0

84

4000

50

100

4.0

120

3000

20

10.0

84

4000

50

Unit

Multiplier

( 1) rad/s rad/s rad/s ms

Multiplier

( 1) rad/s rad/s ms pulse ms

7 - 18

8. TROUBLESHOOTING

8. TROUBLESHOOTING

POINT

If an alarm/warning has occurred, refer to this chapter and remove its cause.

8.1 Alarms and warning list

As soon as an alarm occurs, turn off servo-on (SON) and the main circuit power supply.

Parameter error (37. ) alarm and warnings will not be recorded in the alarm history.

When an error occurs during the operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to section 8.2 or 8.3 and take the appropriate action. When an alarm occurs, ALM turns off.

After removing the cause of the alarm, the alarm can be deactivated in any of the methods marked in the alarm deactivation column.

The warning is automatically canceled after removing the cause of occurrence.

Stop Alarm deactivation

No.

3-digit,

7-segment

LED display

Name method

(Note 3)

Power

OFF ON

Press "SET" on current alarm screen.

Alarm reset

(RES)

A.10 Undervoltage EDB

A.12

A.13

A.15

DB

DB

DB

A.16

A.17

A.19

A.1A

A.1C

A.1E

A.1F

A.20

A.21

A.24

A.30

A.31

A.32

A.33

A.35

A.37

A.39

A.45

A.46

A.50

A.51

A.52

A.61

A.8E

888

Memory error 1 (RAM)

Clock error

Memory error 2 (EEP-ROM)

Encoder initial communication error1

Board error

Memory error 3 (Flash-ROM)

Motor combination error

Software combination error

Encoder initial communication error 2

Encoder initial communication error 3

Encoder normal communication error 1

Encoder normal communication error 2

Main circuit error

Regenerative error

Overspeed

Overcurrent

Overvoltage

Command frequency error

Parameter error

Program error

Main circuit device overheat

Servo motor overheat

Overload 1

Overload 2

Error excessive

Operation alarm

USB communication error

Watchdog

8 - 1

DB

DB

DB

DB

DB

DB

DB

EDB

EDB

DB

DB

EDB

DB

EDB

EDB

DB

DB

EDB

DB

EDB

DB

EDB

DB

EDB

DB

(Note 1) (Note 1) (Note 1)





8. TROUBLESHOOTING

A.99

A.E0

A.E1

A.E6

A.E9

A.EC

A.ED

A.F0

A.90

A.91

A.96

A.97

A.98

No.

3-digit,

7-segment

LED display

Name

Home positioning incomplete warning

Servo amplifier overheat warning

Home position setting error

Program operation disabled

Software limit warning

Stroke limit warning

Excessive regeneration warning

Overload warning 1

Servo forced stop warning

Main circuit off warning

Overload warning 2

Output watt excess warning

Tough drive warning

Stop method

(Note 3)

EDB

DB

The servo motor stops

/does not stop.

Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.

2. Operation to the direction which cancels the warning can be performed.

3. The following shows two stop methods of DB and EDB.

DB: Dynamic brake stop (For a servo amplifier without the dynamic brake, the servo motor coasts)

EDB: Electronic dynamic brake stop (enabled with specified servo motors)

Refer to the following table for the specified servo motors.

For other than the specified servo motors, the stop method of DB is applied.

Series

HG-KR

Servo motors

HG-KR053G1/G5/G7

HG-KR13G1/G5/G7

HG-KR23G1/G5/G7

HG-KR43G1/G5/G7

Stops

Does not stop

Stops

Does not stop

Stops (Note 2)

Stops (Note 2)

Does not stop

Does not stop

Stops

Stops

Does not stop

Does not stop

Does not stop

8 - 2

8. TROUBLESHOOTING

8.2 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.

As soon as an alarm occurs, turn off servo-on (SON) and the main circuit power supply. Otherwise, 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.

Regenerative error (30. ) Main circuit device overheat (45.1)

Servo motor overheat (46.1) Overload 1 (50. )

Overload 2 (51. )

Parameter error (37. ) alarm and warnings are not recorded in the alarm history.

The alarm can be deactivated by switching the power off and then on, by pressing the "SET" button on the current alarm screen or by turning on the reset

(RES). For details, refer to section 8.1.

When an alarm occurs, the trouble (ALM) switches off and the dynamic brake is operated to stop the servo motor. At this time, the display indicates the alarm No.

The following shows the display example of alarm 33 (overvoltage: detail1)

Blinker display

At 2s intervals

Blinker display

Remove the cause of the alarm in accordance with this section. Use MR Configurator to refer to a factor of alarm occurrence.

8 - 3

8. TROUBLESHOOTING

Alarm No.: A.10

Description

Name: Undervoltage

Control circuit power supply voltage dropped.

Main circuit power supply voltage dropped.

Main circuit power supply is turned off.

Detailed display

10.1 Control circuit power supply voltage dropped

Detailed

Name

Cause

1) Control circuit power supply connector is disconnected. Contact failure.

Checking method

Check the control circuit power supply connector.

10.2 Main circuit power supply voltage dropped

2) Control circuit power supply voltage is low.

3) Instantaneous power failure of 10ms or longer occurred.

1) Main circuit power supply connector is disconnected.

2) Main circuit power supply voltage is low.

Check if the control circuit power supply voltage is 19VDC or less.

Check for any problem with the power supply.

Check the main circuit power supply connector.

Check if the main circuit power supply voltage is the following or less.

MR-JN- A: 140VAC

MR-JN- A1: 70VAC

3) The drop occurs during acceleration.

4) Servo amplifier fault

10.3 Main circuit power supply failure

(instantaneous power failure)

1) Main circuit power supply connector/wire is disconnected.


Result

The connector is disconnected or contact failure.

No problem.

19VDC or less.

Above 19VDC.

The connector is disconnected.

No problem.

Check 2).

Raise the control circuit power supply voltage.

Check 3).

Check 2).

Action

Connect correctly.

A problem is found. Check the power supply.

Connect correctly.

Check if the value of status display Pn (bus voltage) is "1"

(undervoltage).

Check the value of status display Pn (bus voltage) when the main circuit power is on.

Check the main circuit power connector.

MR-JN- A: 140VAC or less

MR-JN- A1: 70VAC or less

MR-JN- A: Above

140VAC

MR-JN- A1: Above

70VAC

The value is "1"

(undervoltage).

Raise the main circuit power voltage.

Check 3).

Increase the acceleration time constant or the power supply capacity.

Check 4). The value is not "1"

(undervoltage).

The value of the status display Pn

(bus voltage) is "1"

(overvoltage).

The connector is disconnected or contact failure.

No problem.

Replace the servo amplifier.

Connect correctly.

Check 2).

3) Instantaneous power failure of the main circuit power supply occurred.


MR-JN- A: 140VAC

MR-JN- A1: 70VAC


MR-JN- A1: 70VAC or less

MR-JN- A: Above

140VAC

MR-JN- A1: Above

70VAC

Check the main circuit power supply.

Raise the main circuit power supply voltage.

Check 3).

8 - 4

8. TROUBLESHOOTING

Alarm No.: A.12

Description

Detailed display

Detailed

Name

12.1 CPU built-in

RAM fault

Name: Memory error 1 (RAM)

Servo amplifier internal part (CPU) is faulty.

Cause

1) Faulty parts in the servo amplifier

Checking method

2) Fault in the surrounding environment

Remove all cables except for the control circuit power supply and check if the alarm occurs.

Check if any noise entered the power supply.

Check if any connector is shorted.

Alarm No.: A.13

Description

Name: Clock error

Printed board fault

CPU clock fault

Detailed display

Detailed

Name

13.1 Clock error

Cause

1) Printed board fault

Checking method

2) Parts fault





Alarm No.: A.15

Description

Detailed display

Detailed

Name

15.1 EEP-ROM error at power-on

Name: Memory error 2 (EEP-ROM)

Servo amplifier internal part (EEP-ROM) is faulty.

Cause

1) EEP-ROM operation fault when the power is on.

Checking method

15.2 EEP-ROM error during operation


1) EEP-ROM operation fault during the normal operation




Check if the alarm occurs when the parameter is changed during the normal operation.

Result

Alarm occurs.

Alarm does not occur.

An error is found.

Result

Alarm occurs.


An error is found.

Result

Alarm occurs.


An error is found.

No error.

Alarm occurs.

Action


Check 2).

Take the appropriate measures according to the cause.

Action


Check 3).


Action


Check 2).




8 - 5

8. TROUBLESHOOTING

Alarm No.: A.16

Description

Detailed display

Detailed

Name

16.0 Encoder transmission data error

Name: Encoder initial communication error 1

Communication error occurred between the encoder and the servo amplifier.

Cause

1) Encoder cable faulty

Checking method

Check the shield status.

Result Action

Error in the shield. Repair the cable.






Check the noise, the ambient temperature, etc.

Check if the alarm occurs again.

No error in the shield.

An error is found.

No error.

Alarm occurs.


Check 2).


Check 3).


Execute the checking methods mentioned in the alarm display "16.3".

Execute the checking methods mentioned in the alarm display "16.0". 16.1 Encoder transmission data error 1

(Servo amplifier receive error)

16.2 Encoder transmission data error 2

(Frame error)

16.3 Encoder transmission data error 3

(The servo amplifier not receiving)




1) Encoder cable is disconnected.


3) Encoder cable type (2wire, 4-wire) selection is incorrect in the parameter setting.

4) Encoder fault


Check if the encoder cable is connected correctly.

Check if the encoder cable is disconnected or shorted.


Check the set value of parameter No.PC22.

2-wire: "0 "

4-wire: "1 "

Disconnected.

Connected correctly.

An error is found.

No error.

Incorrect set value is set.

Connect correctly.

Check 2).

Repair or replace the cable.

Check 3).

Set correctly.

Check 4).

Replace the servo motor.



Check if the alarm occurs after replacing the servo motor.

Check if the alarm occurs after replacing the servo amplifier.

Check the noise, etc.

No problem.


Alarm occurs.


Alarm occurs.

An error is found.

Check 5).


Check 6).


8 - 6

8. TROUBLESHOOTING

Alarm No.: A.16

Description

Detailed display

Detailed

Name

16.5 Encoder receive data error 1

(Parity error)



Cause Checking method Result Action


(Frame error)


(Request discrepancy)

Alarm No.: A.17

Description

Detailed display

Detailed

Name

17.1 AD converter error

17.2 Current feedback data error



3) Encoder fault



3) Encoder fault



Name: Board error

Servo amplifier internal part is faulty.

Cause

1) Current detection circuit fault

Checking method Result Action

Turn off the servo-on

(SON) and check if the alarm occurs.


Alarm occurs.


An error is found.


Check 2).



17.3 Custom IC error

17.4 Servo amplifier identification signal error



3) Encoder fault





1) Servo amplifier identification signal could not be read correctly.


Error in the shield. Repair the cable.


No error in the shield.

An error is found.

Check 2).



No error.


Check 3).




Alarm occurs. Replace the servo amplifier.

8 - 7

8. TROUBLESHOOTING

Alarm No.: A.19

Description

Detailed display

Detailed

Name

19.1 Flash-ROM error1

Name: Memory error 3 (Flash ROM)

Servo amplifier internal part (Flash-ROM) is faulty.


1) Flash-ROM fault Remove all cables except for the control circuit power supply and check if the alarm occurs.


Execute the checking methods mentioned in the alarm display "19.1". 19.2 Flash-ROM error2

Alarm No.: A.1A

Description

Detailed Detailed display Name

1A.1 Motor combination error

1) Flash-ROM fault

Name: Motor combination error

Incorrect combination of servo amplifier and servo motor.

Cause Checking method Result

1) Incorrect combination of servo amplifier and servo motor is connected.

Check the model of the servo motor and the combination with the servo amplifier.

Incorrect combination.

Alarm No.: A.1C

Description


1C.1 Software combination error

Name: Software combination error

Software checksum error

Cause

1) Flash-ROM fault

Checking method


Alarm No.: A.1E

Description

Detailed display

Detailed

Name

1E.1 Encoder fault


Faulty parts in the encoder

Cause

1) Encoder fault


Checking method



Alarm No.: A.1F

Description


1F.1 Incompatible encoder


Incompatible encoder is connected.

Cause

1) Incompatible servo motor

(encoder) is connected with the servo amplifier.

Checking method

Check the model of servo motor.

Result

Alarm occurs.

Result


Alarm occurs.

An error is found.

Result

Servo motor is incompatible.

Action

Use correct combination.

Action


Action


Check 2).


Action


8 - 8

8. TROUBLESHOOTING

Alarm No.: A.20

Description

Detailed display

Detailed

Name

20.1 Encoder transmission data error

(Servo amplifier receive error)

Name: Encoder normal communication error 1


Cause

1) Encoder cable is disconnected.


3) Encoder cable shielding is faulty


Checking method


Check if the encoder cable is disconnected or shorted.

Result

Disconnected.

Connected correctly.

An error is found.

No error.


(Frame error)

20.7 Encoder receive data error2

(Request discrepancy)

Alarm No.: A.21

Description

Detailed display

Detailed

Name

21.1 Encoder data error

21.2 Encoder data updating error

21.3 Encoder waveform error




3) Encoder fault



3) Encoder fault

Name: Encoder normal communication error 2

Encoder data fault

Cause

1) Excessive acceleration is detected by oscillation, etc.


3) Encoder fault

1) Encoder fault

1) Encoder fault

Check if the alarm occurs after the loop gain is decreased.




Action

Connect correctly.

Check 2).

Repair or replace the cable.

Check 3).



Check the external noise, the ambient temperature, etc.

An error is found.

No error.


Alarm occurs.

An error is found.

Repair the cable.

Check 4).


Check 5).




An error is found.

No error.

An error is found.

Repair the cable.

Check 2).



No error.


Check 3).



Checking method



Result


Alarm occurs.

An error is found.

No error.



Action

Operate with the loop gain decreased.

Check 2).


Check 3).




8 - 9

8. TROUBLESHOOTING

Alarm No.: A.24

Description

Detailed display

Detailed

Name

24.1 Ground fault detected by the hardware detection circuit

24.2 Ground fault detected by the software detection

Name: Main circuit error

Ground fault occurred in the servo motor power cables.

Ground fault occurred in the servo motor

Cause


2) Ground fault or short of the servo motor power cables

3) Ground fault in the servo motor

4) Power supply cables and servo motor power cables are shorted.




3) Ground fault in the servo motor

4) Power supply cables and servo motor power cables are shorted.



Alarm occurs even if the power cables (U, V,

W) are disconnected.

Alarm occurs.



Check 2).

Check if the power cables themselves

(between U, V, W and

) are shorted.

Remove the power cables from the servo motor and check if short occurs in the servo motor (between

U, V, W and ).

Check if there is a contact between the power supply cables and the servo motor power cables at poweroff.


Cables are shorted. Replace the power cables.

No problem.

Servo motor is shorted.

No problem.

There is a contact.

No contact.

Check 3).


Check 4).

Connect correctly.

Check 5).

An error is found. Take the appropriate measures according to the cause.


8 - 10

8. TROUBLESHOOTING

Alarm No.: A.30

Description

Detailed display

30.1 Regenerative heat generation error

Detailed

Name

30.2

30.3

Regenerative transistor fault

Regenerative transistor feedback data error

Name: Regenerative error

Permissible regenerative power of the built-in regenerative resistor or the regenerative option is exceeded.

Regenerative transistor faulty in the servo amplifier.

Cause

1) Incorrect setting of the built-in regenerative resistor (regenerative option)

2) Built-in regenerative resistor (regenerative option) is disconnected.

3) Power supply voltage is high.

4) The regenerative load ratio is over 100%.

1) Regenerative transistor is faulty.

1) Servo amplifier detection circuit is faulty

Checking method

Check the built-in regenerative resistor

(regenerative option) being used and the set value of parameter No.

PA02.

Check if the built-in regenerative resistor

(regenerative option) is connected correctly.

Check the input power supply.

Call the status display or MR Configurator and check the regenerative load ratio at alarm occurrence.

Result

The set value is incorrect.

Set correctly.

The set value is correct.

Check 2).

Incorrect connection.

Connect correctly.

Correct connection. Check 3).

230VAC or more.

Below 230VAC.

100% or more.

Check if the built-in regenerative resistor

(regenerative option) is overheated abnormally.

Remove the wiring of P and C, and execute the operation.

Overheated abnormally.

Alarm occurs.

Decrease the power supply voltage.

Check 4).

Reduce the frequency of positioning.

Increase the deceleration time constant.

Reduce the load.

Use the regenerative option if it is not used.



Action

8 - 11

8. TROUBLESHOOTING

Alarm No.: A.31

Description

Detailed display

Detailed

Name

31.1 Motor speed error

Name: Overspeed

Servo motor speed has exceeded the instantaneous permissible speed.


1) Command speed is high. Check if the command

2) Servo motor operates with the maximum torque, and speed overshoot occurs.

3) Servo system is unstable and oscillating.

4) The overshoot of speed waveform occurs.

5) Encoder faulty. speed is at the permissible speed or higher.

Check if the acceleration torque is the maximum.

Check if the servo motor is oscillating.

Check if the overshoot occurs due to saturated torque caused by short acceleration time constant.

Check if the alarm occurs when the actual speed is under the instantaneous permissible speed.

The command speed is at the permissible speed or higher.

The command speed is lower than the permissible speed.

Performed with the maximum torque.

Check the operation pattern.

Check 2).

Increase the acceleration/deceleration time constant, or reduce the load.

Check 3). Performed with the torque lower than the maximum.

Servo motor is oscillating.

Servo motor is not oscillating.

Adjust the servo gain by the auto tuning 1 or the one-touch tuning.

Reduce the load.

Increase the acceleration time constant.

Check 4).

Overshoot occurs. Increase the acceleration/deceleration time constant.

Overshoot does not occur.

Alarm occurs.

Check 5).


Alarm No.: A.32

Description

Detailed display

Detailed

Name

32.1 Overcurrent was detected by the hardware detection circuit

(during operation)

Name: Overcurrent

The flowed current is higher than the permissible current of the servo amplifier.

Cause



3) Servo motor fault


Checking method

Check if the alarm occurs even if the power cables (U, V, W) are disconnected.

Check if the power cables themselves are shorted.

Remove the power cables from the servo motor edge and check if short occurs


).


Result

Alarm occurs.



Check 2).


No problem. Check 3).

Ground fault occurs in the servo motor.

Ground fault does not occur in the servo motor.

An error is found.


Check 4).

Action


8 - 12

8. TROUBLESHOOTING

Alarm No.: A.32

Description

Detailed display

Detailed

Name

32.2 Overcurrent was detected by the software detection

(during operation)

Name: Overcurrent

The flowed current is higher than the permissible current of the servo amplifier.

Cause

1) High servo gain






Check if the oscillation occurs.

Check if the alarm occurs even if the power cables (U, V, W) are disconnected.

Oscillation occurs. Decrease the speed loop gain.

Oscillation does not occur.

Check 2).


Check if the power cables themselves are shorted.

Remove the power cables from the servo motor edge and check if short occurs


).


No problem.

Ground fault occurs in the servo motor

Ground fault does not occur in the servo motor

Check 3).


Check 4).


Check 5).

Check the noise, etc. An error is found. Take the appropriate measures according to the cause.

Execute the checking methods mentioned in the alarm display "32.1". 32.3 Overcurrent was detected by the hardware detection circuit

(during a stop)




32.4 Overcurrent was detected by the software detection

(during a stop)


1) High servo gain






8 - 13

8. TROUBLESHOOTING

Alarm No.: A.33

Description

Detailed display

Detailed

Name

33.1 Main circuit voltage error

Name: Overvoltage

The value of the status display Pn (bus voltage) is "5" (overvoltage).

Cause Checking method

1) The regenerative option is used, but the set value of the parameter is not correct.

2) Regenerative option is not used.

Lead of the built-in regenerative resistor or the regenerative option is open or disconnected.

3) Check the built-in regenerative resistor

(regenerative option).

Check the set value of parameter No.PA02.

Check the wiring and the lead of the built-in regenerative resistor


Check the resistance value.

Result

Incorrect setting.

Correct setting.

Open or disconnected.

No problem.

4) Regenerative capacity is insufficient.

5) Main circuit power supply voltage is high.

6) Main circuit power supply voltage is high. (A servo amplifier for 1-phase

100VAC input is used in the 200VAC power supply circuit.)

Check if alarm occurs when the deceleration time constant is increased.

Check if the main circuit power supply voltage is the following or above.

MR-JN- A: 253VAC

MR-JN- A1: 132VAC

Check the model of servo amplifier.

Correct the set value.

Check 2).

Check 3).

Action

Connect correctly.

Error in the built-in regenerative resistor


No problem.


When using the built-in regenerative resistor, replace the servo amplifier.

When using the regenerative option, replace the regenerative option.

Check 4).

Use the regenerative option if it is not used.


Check 5).

Reduce the main circuit power supply voltage.

Alarm occurs.

MR-JN- A: Above

253VAC

MR-JN- A1: Above

132VAC


MR-JN- A1:

132VAC or less

The model of servo amplifier is "MR-JN-

A1".

Check 6).

The servo amplifier may malfunction due to the voltage input different from the power specification.

Replace the servo amplifier with a "MR-JN-

A" model.

8 - 14

8. TROUBLESHOOTING

Alarm No.: A.35

Description

Detailed display

Detailed

Name

35.1 Command frequency error

Name: Command frequency error

Input command frequency is too high.


1) Command frequency is 1.5 times or more of the maximum command pulse frequency.



Check the speed command.


No.PA13 (command input pulse form).

"0 ":

The command pulse frequency is

1Mpps or less.

"1 ":


500kpps or less.

"2 ":


200kpps or less.



Alarm No.: A.37

Description


37.1 Parameter setting range error

Name: Parameter error

Parameter setting is incorrect.

Cause

1) Parameter is set outside the setting range.

Checking method

Check the set value according to the parameter error No.

37.2 Parameter combination error

2) EEP-ROM fault

3) Servo amplifier fault causes the change in the parameter setting.

1) Unavailable parameter combination is set.

Write the parameter set value within the normal range, and check if the value is written correctly.


Check the set value according to the parameter error No.

Result

The set value of the speed command is within the range.

Check 2).


Alarm occurs.

An error is found.

Result

Outside the setting range.

Within the setting range.

Abnormal value is written.

Normal value is written.



Action

The set value of the speed command is high.

Check operation pattern.

Check the set value of parameter No.PA13.


Check 3).


Action

Correct the value within the setting range.

Check 2).


Check 3).


Correct the set value.

8 - 15

8. TROUBLESHOOTING

Alarm No.: A.37

Description

Detailed display

Detailed

Name

37.3 Point table setting range error

Name: Parameter error

Parameter setting is incorrect.

Cause

1) Point table is set outside the setting range.

2) EEP-ROM fault

3) Servo amplifier fault causes the change in the point table setting.

Checking method Result

Check the set value according to the point table error No.

Write the point table set value within the normal range, and check if the value is written correctly.


Outside the setting range.

Within the setting range.

Abnormal value is written.

Normal value is written.


Alarm No.: A.39

Description


39.1 Program error

Name: Program error

The program is incorrect.

Cause

1) A program command was rewritten.

Checking method Result

39.2 Command argument range error

39.3 Incompatible command

2) EEP-ROM fault by the exceeded number of program write times

3) Servo amplifier fault caused the program to be rewritten.

1) An argument of program command is out of the range.



1) A program command is incompatible.



Check the program.

Write a correct program, and check if the program is written correctly.


Check the command argument according to the step No.




Check the command according to the step

No.




The program is different.

The program is correct.

Incorrect program is written.

Correct program is written.


Outside the argument range

Within the argument range




Incompatible command

Compatible command




Action

Correct the value within the setting range.

Check 2).


Check 3).


Action

Correct the program.

Check 2).


Check 3).


Correct the argument within the range.

Check 2).


Check 3).


Correct the command to be compatible.

Check 2).


Check 3).


8 - 16

8. TROUBLESHOOTING

Alarm No.: A.45

Description

Detailed display

Detailed

Name

45.1 Board temperature error

Name: Main circuit device overheat

Overheat in servo amplifier.

Cause

1) Ambient temperature is over 55 .

Alarm No.: A.46

Description

Detailed display

Detailed

Name

46.1 Servo motor temperature error

2) Used beyond the specifications of close mounting.

3) The power was turned on and off continuously in overloaded status.

4) Heat sink and opening are clogged.


Name: Servo motor overheat

Servo motor is overheated.

Cause

Checking method

2) Servo motor is overheated. Check the effective load ratio using the status display or MR

Configurator.

3) Thermal sensor fault in the encoder.

Check the temperature of the servo motor.

Result

Check if the ambient temperature is 55 or less.

Check the specifications of close mounting.

Check if the overloaded status occurred repeatedly.

Check if the alarm occurs after cleaning the heat sink and the opening.


Ambient temperature is over

55 .

Ambient temperature is 55 or less.

Used beyond the specifications.

Satisfying the specifications.

Occurred repeatedly.

Not occurred.


Alarm occurs.


Checking method

1) Ambient temperature of the servo motor is over 40 .

Check the ambient temperature of the servo motor.

Result

Lower the ambient temperature.

Check 2).

Action

Use within the range of specifications.

Check 3).


Check 4).

Clean periodically.

Check 5).

Use the normal servo amplifier.

Action

Ambient temperature is over 40 .

Lower the ambient temperature of servo motor.

Check 2). Ambient temperature is 40 or less.

The effective load ratio is too high.

The effective load ratio is small

The temperature of the servo motor is low.

Reduce the load or take heat dissipation measures.

Check 3).


8 - 17

8. TROUBLESHOOTING

Alarm No.: A.50

Description

Detailed display

Detailed

Name

50.1 Overload thermal 1 error during operation

(Continuous operation protection)


(Short-time operation protection)

Name: Overload 1

Load exceeded overload protection characteristic of servo amplifier.

Cause

1) Electromagnetic brake operates.

2) Servo amplifier is used exceeding its continuous output current.

3) Servo system is unstable and resonating.

4) After the overload alarm occurrence, the operation is restarted without the cooling time.


1) The work collided against the structural part.

2) Power cables breakage

3) Incorrect connection with the servo motor



6) Servo system is unstable and oscillating.


8) Encoder faulty.

Checking method


Result


Action

Check if the electromagnetic brake does not operate during operation.

Check the effective load ratio using the status display or MR

Configurator.

Check if resonance occurs.

Operates.

Does not operate.

Check the wiring.

Check 2).

Effective load ratio is too high.

Reduce load.


Replace the servo motor to one that provides larger output.

Effective load ratio is small.

Resonance does not occur.

Check 3).

Resonance occurs. Execute the gain adjustment.

Check 4).

No. Reset the alarm after the sufficient time.

Check if the alarm was reset after 30 minutes had past since the alarm occurrence.

Yes. Check 5).




Check if the work collided against the structural part.

Check the power cables.

Check the wiring of U,

V and W.

Collided.

Did not collide.

An error is found.

No error.

An error is found.

No error.


Check 2).

Repair the power cables.

Check 3).

Wire correctly.

Check 4).



8 - 18

8. TROUBLESHOOTING

Alarm No.: A.50

Description

Detailed display

Detailed

Name

50.4 Overload thermal 1 error at a stop

(Continuous operation protection)


(Short-time operation protection)

Name: Overload 1

Load exceeded overload protection characteristic of servo amplifier.




3) Hunting at servo lock

4) After the overload alarm occurs, the operation is restarted without the cooling time.

Check if the electromagnetic brake does not operate during stop.

Check the effective load ratio using the status display or MR

Configurator.

Check if hunting occurs.

Check if the alarm was reset after 30 minutes had past since the alarm occurrence.

Operates.

Does not operate.


Effective load ratio is small.

Hunting occurs.

Hunting does not occur.

No.

Yes.

Check the wiring.

Check 2).

Reduce the load.



Check 3).

Execute the gain adjustment.

Check 4).

Reset the alarm after the sufficient time.

Check 5).






1) The load is large at a stop. Check if the work collided against the structural part.






V and W.

Collided.

Did not collide.

An error is found.

No error.

An error is found.

No error.


Check 2).


Check 3).

Wire correctly.

Check 4).


6) A hunting occurs at a stop.


8) Encoder faulty. Check if the alarm occurs after replacing the servo motor.



8 - 19

8. TROUBLESHOOTING

Alarm No.: A.51

Description

Detailed display

Detailed

Name


Name: Overload 2

Machine collision or the like caused continuous flow of the maximum output current for a few seconds.




3) Incorrect connection of the encoder cable



V and W.


Result

An error is found.

No error.

An error is found.

No error.

An error is found.

No error. Check 4).

Action


Check 2).

Wire correctly.

Check 3).

Correct the connection.



5) Torque is saturated.


7) Encoder faulty.





5) Torque is saturated.


7) Encoder faulty.


Collided. Check the operation pattern.

Check the torque during the operation.

Did not collide.

Torque is not saturated.

Check 5).

Torque is saturated. Check the operation pattern.

Check 6).




Alarm occurs. Check 7).





8 - 20

8. TROUBLESHOOTING

Alarm No.: A.52

Description

Detailed display

Detailed

Name

52.3 Droop pulses excessive

Name: Error excessive

The droop pulse between the command position and the current position exceeds the alarm level.


1) Servo motor power cables are not connected.

(missing phase)



6) Torque shortage

Check the wiring.


V and W.



4) Torque limit value is small. Check the torque limit value.


Check if the torque is saturated.

7) Servo motor cannot be started due to torque shortage caused by power supply voltage drop.

8) Acceleration/deceleration time constant is short.

9) Gain adjustment is not made well.

10) Estimation of the load to motor inertia moment ratio is not estimated well.

11) Position loop gain value is small.

12) Servo motor is rotated by external force.

13) Encoder faulty

Not connected

(missing phase).

Correct the wiring.

No error. Check 2).

Incorrect connection. Correct the wiring.


Incorrect connection. Correct the wiring.


Torque limit value is small.

Normal range

Collided.

Did not collide.

Saturated

Increase the torque limit value.

Check 5).


Check 6).

Reduce load.



Check 7).

Check the power supply voltage.

Check the value of status display Pn (bus voltage).

Check if the alarm occurs after the deceleration time constant is increased.

Check the load to motor inertia moment ratio.

Check if the alarm occurs after replacing with the servo operating normally.

8 - 21

Not saturated

The value is "1"

(undervoltage) or

"2" (low voltage).

The value is "4"

(high voltage) or "5"

(overvoltage).


Alarm occurs.

Load to motor inertia moment ratio is normal.

Load to motor inertia moment ratio is not normal.


Alarm occurs.

Check if the alarm occurs after changing the load to motor inertia moment ratio manually.

Check if the alarm occurs after the position loop gain is changed.

Measure the actual position on the servo lock status.


Alarm occurs.

The servo motor is rotated by an external force.

Servo motor is not rotated by an external force.


Check 8).


Check 9).

Use the manual mode to make gain adjustment.

Check 10).

Check the load to motor inertia moment ratio.

Check 11).

Check the position loop gain.

Check 12).

Check the machine.

Check 13).


8. TROUBLESHOOTING

Alarm No.: A.52

Description

Detailed display

Detailed

Name

52.4 Error excessive at torque limit value zero

52.5 Droop pulses excessive 2

Name: Error excessive

The droop pulse between the command position and current position exceeds the alarm level.

Cause

1) Torque limit value is "0".

Checking method

Check the torque limit value.

Result

Torque limit value is

"0".

Action

Increase the torque limit value.

1) Servo motor power cables are not connected.

(missing phase)



4) Torque limit value is small.



6) Torque shortage

7) Servo motor cannot be started due to torque shortage caused by power supply voltage drop.

8) Acceleration/deceleration time constant is short.

9) Gain adjustment is not made well.

10) Estimation of the load to motor inertia moment ratio is not estimated well.

11) Position loop gain value is small.

12) Servo motor is rotated by external force.

13) Encoder faulty Check if the alarm occurs after replacing with the servo operating normally.



Alarm No.: A.61

Description

Detailed display

Detailed

Name

61.1 Auxiliary function setting error

Name: Operation alarm

The point table is incorrect.

Cause

1) "1" or "3" is set to the auxiliary function of the last point table (No.7).

Checking method

Check the auxiliary function value of the last point table.

Result

"1" or "3" is set.

Action

Check the setting.

8 - 22

8. TROUBLESHOOTING

Alarm No.: A.8E

Description

Name: USB communication error

USB communication error occurred between the servo amplifier and the communication device (e.g. personal computer).

Detailed display

Detailed

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


1) Communication cable fault Check if the alarm occurs after replacing the USB cable.

2) Communication device

(e.g. personal computer) setting error


Check the communication setting of the communication device.



Alarm occurs.

Incorrect setting

Correct setting

Replace the USB cable.

Check 2).

Check the setting.

Check 3).

An error is found. Take the appropriate measures according to the cause.

No error. Check 4).

4) Servo amplifier fault Check if the alarm occurs after replacing the servo amplifier.



1) Communication cable fault Execute the checking methods mentioned in the alarm display "8E.1".




















Alarm No.: 888 (Note) Name: Watchdog

Description CPU or part is faulty.

Detailed display

Detailed

Name

Cause

1) Fault of parts in the servo amplifier

Checking method

Note. At power-on, "888" appears instantaneously, but it is not an error.

8 - 23

Result Action


8. TROUBLESHOOTING

8.3 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.

Excessive regenerative warning (E0.1)

Servo amplifier overheat warning (91.1)

Overload warning 1 (E1. )

Parameter error (37. ) alarm and warnings are not recorded in the alarm history.

When the warning "The servo motor stops." described in the following table occurs, the servo-off occurs and the servo motor stops. 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 MR Configurator to refer to a factor of warning occurrence.

Alarm No.: A.90 Name: Home positioning incomplete warning The servo motor stops.

Home position return is not performed correctly. Warning contents



90.1 Home position return incompletion

90.2 Home position return abnormal completion

1) Positioning operation was performed without home position return.

1) Home position return speed could not be decreased to the creep speed.

Check if home position return was performed.

Check the home position return speed, the creep speed and the travel distance after proximity dog.

Home position return was not performed.


Perform home position return.

Set correctly and perform home position return.

Name: Servo amplifier overheat error The servo motor does not stop.

The temperature inside of the servo amplifier exceeds the warning level.

Alarm No.: A.91

Warning contents


91.1 Servo amplifier inside overheat warning

Cause

1) The temperature in the servo amplifier is high.

2) Used beyond the specifications of close mounting.

Checking method

Check the ambient temperature of the servo amplifier.

Check the specifications of close mounting.

Result

Ambient temperature is high.

(over 55 )

Ambient temperature is low.

Used beyond the specifications.

Action

Lower the ambient temperature.

Check 2).

Use within the range of specification.

Alarm No.: A.96

Warning contents


Name: Home position setting error

Incorrectly finished after home position return operation.

The servo motor stops.


96.1 In-position not reached

1) Droop pulses remaining are greater than the inposition range setting.

Check the number of droop pulses after home position return.

In-position range or more

Remove the cause of droop pulse occurrence.

8 - 24

8. TROUBLESHOOTING

Alarm No.: A.96

Description

Detailed display

Detailed

Name

96.2 Speed command not converged

Name: Home position setting error

Incorrectly finished after home position return operation.

Cause

1) The speed command does not become "0" after home position return.

2) The creep speed is too fast.

Checking method

Check the speed command value after home position return.

Check the creep speed.


Result

Speed Command outputting

Speed Command not outputting

The creep speed is too fast.

Action

Set the speed command to "0".

Check 2).

Reduce the creep speed.

Alarm No.: A.97

Warning contents


97.1 Program operation disabled

Name: Program operation disabled The servo motor does not stop.

The program operation was performed during program operation disabled status.

Cause

1) The program was started without switching OFF/ON the power of the servo amplifier.

Checking method

Check if the power of the servo amplifier is switched OFF/ON.

Result

The power of the servo amplifier is not switched

OFF/ON.

Action

Switch OFF/ON the power of the servo amplifier.

Alarm No.: A.98

Description

Detailed display

Detailed

Name

98.1 Reached the software limit at the forward rotation

98.2 Reached the software limit at the reverse rotation side

Name: Software limit warning The servo motor stops.

The current position reached the software stroke limit (set in the parameter No. PE16 to PE19).

Cause

1) Software limit was set within the actual movable range.

2) Point table/program with the position data in excess of the software limit at the forward rotation was executed.

3) Software limit at the forward rotation side was reached during JOG operation or manual pulse generator operation.

1) Software limit was set within the actual movable range.

2) Point table/program with the position data in excess of the software limit at the reverse rotation was executed.

3) Software limit at the reverse rotation side was reached during JOG operation or manual pulse generator operation.

Checking method

Check the set value of the parameter.

1. Check the set value of the point table/program.

2. Check the operation method.

Check if the software limit at the forward rotation side is reached.

Result Action

Within the movable range

Outside the movable range

Set the parameter correctly.

Check 2).


Create the point table/ program correctly.

In manual operation Check 3).

Software limit at the forward rotation side is reached.

Perform operation within software limit range.

Check the set value of the parameter.

1. Check the set value of the point table/program.

2. Check the operation method.

Check if the software limit at the reverse rotation side is reached.


Outside the movable range

Set the parameter correctly.

Check 2).


Create the point table/ program correctly.

In manual operation Check 3).

Software limit at the reverse rotation side is reached.

Perform operation within software limit range.

8 - 25

8. TROUBLESHOOTING

Alarm No.: A.99

Warning contents

Detailed display

Detailed

Name

99.1 Forward rotation stroke end:

OFF

99.2 Reverse rotation stroke end:

OFF

Name: Stroke limit warning The servo motor stops.

Reached to the stroke limit of the moving direction (signal off).

Cause

1) The forward rotation limit switch became valid.

2) The reverse rotation limit switch became valid.

Checking method

Check if the forward rotation stroke end

(LSP) is ON or OFF in the external I/O signal display.

Check if the reverse rotation stroke end

(LSN) is ON or OFF in the external I/O signal display.

Result Action

The forward rotation stroke end (LSP) is

OFF.

Reexamine the operation pattern to turn ON the forward rotation stroke end

(LSP).

The reverse rotation stroke end (LSN) is

OFF.

Reexamine the operation pattern to turn ON the reverse rotation stroke end

(LSN).

Alarm No.: A.E0

Warning contents

Detailed display

Detailed

Name

E0.1 Excessive regenerative warning

Name: Excessive regenerative warning The servo motor does not stop.

There is a possibility that regenerative power may exceed the permissible regenerative power of the builtin regenerative resistor or the regenerative option.

Cause Checking method Result

1) Regenerative power exceeded 85% of the permissible regenerative power of the built-in regenerative resistor or the regenerative option.

Call the status display or MR Configurator and check the regenerative load ratio.

85% or more.

Action



Reduce the load.

Use the regenerative option, if it is not used.

Alarm No.: A.E1

Warning contents

Detailed display

Detailed

Name

E1.1 The overload thermal 1 warning while motor rotating



E1.5 The overload thermal 1 warning while motor not rotating

Name: Overload warning 1

The overload alarm (50. , 51. ) may occur.


The servo motor does not stop.

Result Action

1) Load exceeded 85% of the alarm level of the overload alarm (50.1).




1) Load increased to 85% or more against the alarm level of the overload alarm

(51.1).




8 - 26

8. TROUBLESHOOTING

Alarm No.: A.E1

Warning contents

Detailed display

Detailed

Name

E1.6 The overload thermal warning 2 while motor not rotating

E1.7 The overload thermal warning 3 while motor not rotating

Alarm No.: A.E6

Warning contents

Detailed display

E6.1 Servo forced stop warning

Detailed

Name

Name: Overload warning 1

The overload alarm (50. , 51. ) may occur.



Result





Name: Servo forced stop warning

The forced stop signal is turned OFF.

Cause

1) Forced stop (EM1) is turned OFF.

2) The external 24VDC power supply is not input.


Checking method


Result

Check the forced stop

(EM1).

Check if the external

24VDC power supply is input.


OFF

ON

Not input.

Input.


Action

Action

Ensure safety and turn ON the forced stop (EM1).

Check 2).

Input 24VDC.

Check 3).


8 - 27

8. TROUBLESHOOTING

Alarm No.: A.E9

Warning contents

Name: Main circuit off warning The servo motor stops.

Servo-on (SON) was switched on when the main circuit power is off.

The bus voltage decreased while the servo motor speed operates at 50r/min or slower.

Detailed display

Detailed

Name

E9.1 Servo-on

(SON) ON when the main circuit is OFF.

E9.2 Bus voltage drop at lowspeed rotation

Cause

1) Main circuit power supply is off.

2) Main circuit power supply connector is disconnected.


Check if the main circuit power supply is input.



MR-JN- A:140VAC

MR-JN- A1:70VAC

4) Servo amplifier for 1phase 200VAC input is used for 100VAC power supply circuit.

5) Faulty servo amplifier for

1-phase 100VAC input is used.

6) Bus voltage dropped.

1) When the set value of parameter No. PC29

(function selection C-5) is

" 1 ", the bus voltage decreased while the servo motor operates at 50r/min or slower.

Checking method

Check the model of servo amplifier.

Check if the charge lamp is turned on.



Result

Not input.

Input.


No problem.

MR-JN- A:140VAC or less

MR-JN- A1:70VAC or less

MR-JN- A:Above

140VAC

MR-JN- A1:Above

70VAC


A".


A1".

The charge lamp is not turned on.

The value of the status display Pn

(bus voltage) is "1"

(overvoltage) or "2"

(low voltage).

The value is "1"

(undervoltage).

Switch on the main circuit power.

Check 2).

Connect properly.

Check 3).

Raise the main circuit power supply voltage.

Check 4).

Action

Replace the servo amplifier whose model is

"MR-JN- A1".

Check 5).


Revise the wiring.

Check the power supply capacity.

Check the power supply capacity.

Increase the acceleration time constant.

8 - 28

8. TROUBLESHOOTING

Alarm No.: A.E9

Warning contents

Name: Main circuit off warning The servo motor stops.

Servo-on (SON) was switched on when the main circuit power is off.

The bus voltage decreased while the servo motor speed operates at 50r/min or slower.

Detailed display

Detailed

Name

E9.3 Main circuit power supply failure


Check if the main circuit power supply is input.

Result

Not input.

Input.

Action

Switch on the main circuit power.

Check 2).



" 1 ", the main circuit power supply turned OFF while the servo motor operates at 50r/min or slower.



" 1 ", the connector of the main circuit power supply came off when the servo motor operates at

50r/min or slower.



" 1 ", the instantaneous power failure occurred while the servo motor operates at

50r/min or slower.



No problem.

Check the main circuit power.

Connect properly.

Check 3).

Alarm No.: A.EC

Warning contents

Detailed display

Detailed

Name

EC.1 Overload warning 2

Name: Overload warning 2 The servo motor does not stop.

Operation, in which a current exceeding the rating flowed intensively in any of the U, V and W phases of the servo motor, was repeated.


1) Current flowed intensively and continuously into a specific phase of the servo motor.

Check if the alarm occurs after changing the stop position.

Result


Alarm occurs. Check 2).

Action


Alarm No.: A.ED

Warning contents

Detailed display

Detailed

Name

ED.1 Output wattage over

2) The load is large, or the capacity is insufficient.

Cause

Measure the effective load ratio during a stop by using the status display or MR

Configurator.


1) Output wattage of the servo motor (speed torque) exceeded 120% of the rated output.

Call the status display or MR Configurator and check the servo motor speed and torque.

The output wattage is 120% or more of the rate.

Reduce the load.

Replace the servo amplifier and servo motor with the ones with larger capacity.

Name: Output watt excess warning The servo motor does not stop.

The status, in which the output wattage (speed torque) of the servo motor exceeded the rated output, continued steadily.


Reduce the servo motor speed.

Reduce the load.

8 - 29

8. TROUBLESHOOTING

Alarm No.: A.F0

Warning contents

Detailed display

Detailed

Name

F0.1 Instantaneous power failure tough drive warning

F0.2 Overload tough drive warning

F0.3 Vibration tough drive warning

Name: Tough drive warning

Switched to "during tough drive" status.



Result

1) An instantaneous power failure in the main circuit power supply was detected.

1) Effective load ratio exceeded 90% the alarm level of the overload alarm.

1) The reconfiguration of machine resonance suppression filter 1 or machine resonance suppression filter 2 occurred due to the machine resonance.

Check the main circuit power supply.

Measure the effective load ratio in the continuous operation by using the status display or MR

Configurator.

Check the alarm history.

The effective load is over the overload warning level.

Vibration tough drive warning (F0.3) occurs consecutively.

Action

Reduce the load.

Adjust the servo gain by the auto tuning 1 or the one-touch tuning.

Lower the response.

8 - 30

9. DIMENSIONS

9. DIMENSIONS

9.1 Servo amplifier

(1) MR-JN-10A MR-JN-20A

MR-JN-10A1 MR-JN-20A1

5

2- 6 mounting hole

40

CNP1

CNP2

[Unit: mm]

Approx.80

The build-in regenerative resistor

(lead) is mounted only in MR-JN-20A(1).

135

5.5

6

L

1

L

2

P

C

U

V

W

Terminal assignment

CNP1 CNP2

24V

0V

Mass: 0.6[kg] (1.32[lb])

Approx.

40

2-M5 screw

Approx.5.5

Mounting hole process drawing

Mounting screw

Screw size: M5

Tightening torque: 3.24[N m] (28.7[lb in])

9 - 1

9. DIMENSIONS

(2) MR-JN-40A

5

2- 6 mounting hole 50

CNP1

CNP2

Approx.80

135

[Unit: mm]

6

6

P

C

U

V

W

L

1

L

2

Terminal assignment

CNP1 CNP2

24V

0V

Mass: 0.7[kg] (1.54[lb])

Approx.

50

2-M5 screw

Approx.6

Mounting hole process drawing

Mounting screw

Screw size: M5

Tightening torque: 3.24[N m] (28.7[lb in])

9 - 2

9. DIMENSIONS

9.2 Connector

(1) Miniature delta ribbon (MDR) system (3M)

(a) One-touch lock type

A C

E

[Unit: mm]

Logo etc, are indicated here.

B 12.7

Connector

10126-3000PE

(b) Jack screw M2.6 type

This is not available as option.

Shell kit

10326-52F0-008

A

25.8

Each type of dimension

B C D

37.2 14.0 10.0

E

12.0

[Unit: mm]

E

A C F

Logo etc, are indicated here.

Connector

10126-3000PE

B

12.7

Shell kit

10326-52A0-008

A

25.8

B

37.2

Each type of dimension

C D

14.0 10.0

E

12.0

F

27.4

9 - 3

9. DIMENSIONS

(2) SCR connector system (3M)

Receptacle : 36210-0100PL

Shell kit : 36310-3200-008

39.5

34.8

[Unit: mm]

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, servo amplifier and servo motor power lines from overloads.

Overload 1 alarm (50. ) occurs if overload operation that exceeds the electronic thermal relay protection curve shown in Figs 10.1. is performed. Overload 2 alarm (51. ) occurs if the maximum current flows continuously for several seconds due to machine collision, etc. Keep the load ratio within the area in the left side of the solid line or the dotted line.

For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machine should be kept at 70% or less of the rated torque. When closely mounting the servo amplifiers, operate them at the ambient temperature of 0 to 45 (32 to 113 ) or at 75% or smaller effective load ratio.

The servo motor overload protective function is built in MR-JN series servo amplifiers. (115% of the servo amplifier rated current is set as standard (full load current).)

1000 1000

During operation

100

During operation

100

During servo lock

10

During servo lock

10

1 1

0.1

0 50 100 150 200 250 300

0.1

0 50 100 150 200 250 300

(Note) Load ratio [%]

MR-JN-10A (1)

(Note) Load ratio [%]

MR-JN-20A (1), MR-JN-40A

Note. If operation that generates torque equal to or higher than the rating is performed with an abnormally high frequency under servo motor stop status (servo lock status) or in low-speed operation at 30r/min or less, the servo amplifier may malfunction even when the servo system is used within the electric thermal protection area.

Fig 10.1 Electronic thermal relay protection characteristics

10 - 1

10. CHARACTERISTICS

10.2 Power supply capacity and generated loss

(1) Amount of heat generated by the servo amplifier

Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. 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 operated 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.

Table 10.1 Power supply capacity and generated heat per servo amplifier at rated output


(Note 1)

Power supply capacity[kVA]

(Note 2)

Servo amplifier-generated heat[W]

At rated torque With servo off

Area required for heat dissipation

[m 2 ]

MR-JN-10A (1)

HF-KN053 13

HF-KP053G1/G5/G7

HF-KP13G1/G5/G7

HG-KR053G1/G5/G7

HG-KR13G1/G5/G7

0.3 20 10 0.5

MR-JN-20A (1)

MR-JN-40A

HF-KN23

HF-KP23G1/G5/G7

HG-KR23G1/G5/G7

HF-KN43

HF-KP43G1/G5/G7

HG-KR43G1/G5/G7

0.5

0.9

20

30

10

10

0.5

0.5

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 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.

(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

T ............................................................................................................................................ (10.1)

A : Heat dissipation area [m 2 ]

P : Loss generated in the control box [W]

T : Difference between internal and ambient temperatures [ ]

K : 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. 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.

10 - 2

10. CHARACTERISTICS

(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

The dynamic brake is operated when an alarm occurs, a servo forced stop warning occurs, or the power turns off. The dynamic brake is a function for emergency stops. Do not use this function for normal stops.

The criteria for the number of times the dynamic brake is used is 1000 times, in the condition that the machine with recommended load to motor inertia moment ratio or less, stops from the rated speed in a frequency of once per

10 minutes.

When using the forced stop (EM1) frequently for other than emergencies, be sure to turn off the forced stop (EM1) after the servo motor stops.

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 paragraph (2) in this section.)

Forced stop (EM1)

ON

OFF

Dynamic brake time constant

Machine speed

V

0 t e

Time

Fig. 10.3 Dynamic brake operation diagram

L max

= V

0

60

 t e

+



1+J

L

J

M

................................................................................................................... (10.2)

L max

: Maximum coasting distance ..................................................................................... [mm][in]

V

0

: Machine rapid feed rate .............................................................................. [mm/min][in/min]

J

M

: Servo motor inertial moment ............................................................... [× 10 -4 kg•m 2 ] [oz•in 2 ]

J

L

: Load inertia moment converted into equivalent value on servo motor shaft

............................................................................................................. [× 10 -4 kg•m t e

2 ] [oz•in 2

: Dynamic brake time constant ............................................................................................ [s]

: Delay time of control section ............................................................................................. [s]

There is internal relay delay 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 25

20

23

15

43

10

053

25

5

13

0

0 1000 2000 3000 4000

Speed [r/min]

4500

HF-KN series

20

15

23

10

053

13

5

0

0 1000 2000

43

3000 4000

Speed [r/min]

4500

HF-KP series

20

43

15

10

053

23

5

0

0 1000 2000

13

3000 4000 4500

Speed [r/min]

HG-KR series

10.3.2 The dynamic brake at the load inertia moment

Use the dynamic brake under the load to motor inertia moment ratio indicated in the following table. If the load to motor inertia moment is higher than this value, the dynamic brake may burn. If there is a possibility that the load to motor inertia moment may exceed the value, contact your local sales office.

The values of the load to motor inertia moment ratio in the table are the values at the maximum rotation speed of the servo motor.

Servo amplifier

HF-KN

Servo motor

HF-KP G1/G5/G7 HG-KR G1/G5/G7

MR-JN-10A (1)

MR-JN-20A (1)

MR-JN-40A

30

30

30

10 - 5

10. CHARACTERISTICS

10.4 Cable flexing life

The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values.

1 10 8

5 10 7 a

1 10 7

5 10 6 a : Long flex life encoder cable

Long flex life motor power cable

Long flex life motor brake cable

1 10 6

5 10 5

1 10 5

5 10 4 b : Standard encoder cable

Standard motor power cable

Standard motor brake cable

1 10 4

5 10 3 b

1 10 3

4 7 10 20 40 70 100

Flexing radius [mm]

200

10.5 Inrush currents at power-on of main circuit and control circuit

The following table indicates the inrush currents (reference data) that flow when the maximum permissible voltage (main circuit power supply: 253VAC, control circuit power supply: 26.4VDC) is applied at the power supply capacity of 2500kVA and the wiring length of 1m.

Servo amplifier

Inrush currents (A

0

-

P

)

Main circuit power supply (L

1

L

2

) Control circuit power supply (+24V 0V)

MR-JN-10A1/20A1 55A (Attenuated to approx. 15A in 10ms) 25A (Attenuated to approx. 0A in 4 to 6ms)

MR-JN-10A to 40A 130A (Attenuated to approx. 5A in 5ms) 25A (Attenuated to approx. 0A in 4 to 6ms)

Since large inrush currents flow in the main circuit power supply, always use molded-case circuit breakers and magnetic contactors. (Refer to section 11.6.)

When a circuit protector is used for the main circuit power supply, it is recommended to use the inertia delay type that will not be tripped by an inrush current.

Always use a circuit protector for the control circuit power supply. (Refer to section 11.11.)

10 - 6

11. OPTIONS AND PERIPHERAL EQUIPMENT


WARNING

Before connecting options and peripheral equipment, 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

11.1 Cable/connector sets

Use the specified auxiliary equipment and options. Unspecified ones may lead to a fault or fire.

POINT

The IP rating indicated for cables and connecters is for a cable or connector alone. When the cables and connectors are used to connect the servo amplifier and servo motor, and if the IP rating of the servo amplifier and servo motor are lower than that of the cable and connector, specifications of the servo amplifier and servo motor apply.

As the cables and connectors used with this servo, purchase the options indicated in this section.

11 - 1


11.1.1 Combinations of cable/connector sets

5)

Servo amplifier

CNP1

Operation panel

3)

CNP2

4)

CN1

Controller

CN3

CN2

1)

2)

6)

Personal computer

Direct connection type (cable length 10m or less, IP65)

19)20)21)22)

Junction type (cable length more than 10m, IP20)

25)26) 23)24)

27)

Junction type (cable length more than 10m, IP65)

30)31) 28)29)

To 24VDC power supply for electromagnetic brake

32)

17)18)

13)14)15)16)

7)8)9)10)

11)12)

Servo motor

HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7

Power supply connector

Brake connector

Encoder connector

11 - 2


No. Product

1) Servo amplifier main circuit power connector

Model Description

CNP1

Connector: FKC 2,5/9-ST-5,08

(Phoenix Contact)

Applicable cable example


2 (AWG24 to AWG12)


2) Servo amplifier control circuit power connector

3) Junction terminal block cable

MR-TBNATBL M

Cable length: 0.5 1m

(Refer to section 11.3)

CNP2

Connector: FKCT 2,5/ 2-ST-5,08

(Phoenix Contact)

Applicable cable example


2 (AWG24 to AWG12)


For junction terminal block connector

Connector: 10126-6000EL

Shell kit: 10326-3210-000

(3M or equivalent)

For servo amplifier connector

Connector: 10126-6000EL

Shell kit: 10326-3210-000

(3M or equivalent)

Application

Supplied with servo amplifiers.

Supplied with servo amplifiers.

For junction terminal block connection

4) CN1 connector set

MR-J2CMP2 Connector: 10126-3000PE

Shell kit: 10326-52F0-008

(3M or equivalent)

Refer to section 11.3. 5) Junction terminal block

6) USB cable

7) Motor power supply cable


MR-TB26A

MR-J3USBCBL3M

Cable length: 3m

MR-PWS1CBL M-A1-L

Cable length: 2 5 10m

MR-PWS1CBL M-A1-H


For CN3 connector mini-B connector (5 pins)

Refer to section 11.1.3 for details.

For personal computer connector

A connector


HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7

For connection with PC-AT compatible personal computer

IP65

Load side lead

EN standard compliant

IP65

Load side lead

Long flex life


11 - 3


No. Product





13) Motor brake cable





Model

MR-PWS1CBL M-A2-L


MR-PWS1CBL M-A2-H


MR-PWS2CBL03M-A1-L

Cable length: 0.3m

MR-PWS2CBL03M-A2-L

Cable length: 0.3m

MR-BKS1CBL M-A1-L


MR-BKS1CBL M-A1-H


MR-BKS1CBL M-A2-L


MR-BKS1CBL M-A2-H


MR-BKS2CBL03M-A1-L

Cable length: 0.3m

Description



HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7






HF-KN series

HG-KR G1/G5/G7


HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7

Brake connector

HF-KN series

HG-KR G1/G5/G7

HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7

Brake connector

Brake connector

HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7

Application

IP65

Oppositeto-load side lead


IP65


Long flex life


IP55

Load side lead


IP55



IP65

Load side lead

IP65

Load side lead

Long flex life

IP65


IP65


Long flex life

IP55

Load side lead


11 - 4


No. Product


19) Encoder cable

20) Encoder cable

21) Encoder cable

22) Encoder cable

23) Encoder cable

24) Encoder cable

25) Encoder cable

26) Encoder cable

27) Encoder connector set

28) Encoder cable

Model

MR-BKS2CBL03M-A2-L

Cable length: 0.3m

MR-J3ENCBL M-A1-L


MR-J3ENCBL M-A1-H


MR-J3ENCBL M-A2-L


MR-J3ENCBL M-A2-H


MR-J3JCBL03M-A1-L

Cable length: 0.3m

MR-J3JCBL03M-A2-L

Cable length: 0.3m

MR-EKCBL M-L

Cable length: 20 30m

MR-EKCBL M-H

Cable length:

20 30 40 50m

MR-ECNM

MR-J3JSCBL03M-A1-L

Cable length: 0.3m

Description

Brake connector

Application

IP55



Refer to section 11.1.2 (1) for details.


Encoder connector

HF-KN series

HG-KR G1/G5/G7

Encoder connector

HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7

Encoder connector

IP65

Load side lead

IP65

Load side lead

Long flex life

IP65


IP65


Long flex life

IP20

Load side lead

HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7


Encoder connector

HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7

IP20



HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7

IP20

For HF-KN series HF-KP G1/G5/G7 HG-KR G1/G5/G7


IP20

Long flex life

IP20



Encoder connector

IP65

Load side lead

HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7


11 - 5


No. Product

29) Encoder cable

Model

MR-J3JSCBL03M-A2-L

Cable length: 0.3m

30) Encoder cable

31) Encoder cable

32) Encoder connector set

MR-J3ENSCBL M-L

Cable length:

2 5 10 20 30m

MR-J3ENSCBL M-H

Cable length:

2 5 10 20 30 40

50m

MR-J3SCNS

Description

Encoder connector

HF-KN series

HG-KR G1/G5/G7






Application

IP65


IP67

Standard flex life

IP67

Long flex life

IP67

11 - 6


11.1.2 Encoder cable/connector sets

(1) MR-J3ENCBL M-A1-L/H MR-J3ENCBL M-A2-L/H

These are encoder cables for the HF-KN series HF-KP G1/G5/G7 HG-KR G1/G5/G7 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

2m 5m 10m

IP rating Flex life Application

MR-J3ENCBL M-A1-L

MR-J3ENCBL M-A1-H

MR-J3ENCBL M-A2-L

MR-J3ENCBL M-A2-H

2

2

2

2

5

5

5

5

10

10

10

10

IP65

IP65

IP65

IP65

Standard

Long flex life

Standard

Long flex life

HF-KN series HF-KP

G1/G5/G7 HG-KR G1/G5/G7 servo motor

Load side lead

HF-KN series HF-KP

G1/G5/G7 HG-KR G1/G5/G7 servo motor

Opposite-to-load side lead

(a) Connection of servo amplifier and servo motor

Servo amplifier

MR-J3ENCBL M-A1-L

MR-J3ENCBL M-A1-H 2)

1) or

Servo motor

HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7

MR-J3ENCBL M-A2-L

MR-J3ENCBL M-A2-H 2)

CN2

1)

Servo motor

HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7

Cable model

MR-J3ENCBL M-A1-L Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(3M)

MR-J3ENCBL M-A1-H

MR-J3ENCBL M-A2-L

MR-J3ENCBL M-A2-H

(Note) Signal layout

1) For CN2 connector

Connector set: 54599-1019(Molex)


2) For encoder connector

Connector: 2174053-1

Crimping tool for ground clip:

1596970-1

Crimping tool for receptacle contact: 1596847-1

(TE Connectivity)

2

LG 4

MRR

6

8

10

2

LG

4

MRR

6 8 10

1

P5 3

MR

5

7

9

View seen from wiring side.

or

1

P5

3

MR


5 7 9


9 SHD

7

5 MR

3 P5

1

8

6 LG

4 MRR

2

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. Referring to section

3.9, securely connect the external conductor of the shielded cable to the ground plate, and fix it to the connector shell.


Note. Keep open the pins shown with .

11 - 7


(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-J3ENCBL10M-A2-L/H

Servo amplifier side connector

Encoder side connector

P5

LG

MR

1

2

3

MRR 4

9

SD Plate

4

2

9

3

6

5

P5

LG

MR

MRR

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. PC22 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.



Cable model

MR-EKCBL M-L

MR-EKCBL M-H 20

Note. Four-wire type cable.

Cable length

20m 30m 40m 50m

20

(Note)

30

(Note)

30

(Note)

40

(Note)

50

IP rating Flex life

IP20

IP20

Application

Standard

Long flex life

HF-KN series HF-KP G1/

G5/G7 HG-KR G1/G5/G7 servo motor

Use in combination with

MR-J3JCBL03M-A1-L or

MR-J3JCBL03M-A2-L.

11 - 8



Servo amplifier

CN2

1)

MR-EKCBL M-L

MR-EKCBL M-H

2)

MR-J3JCBL03M-A2-L

Cable length: 0.3m

Servo motor

HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7

Cable model 1) CN2 connector 2) Junction connector

MR-EKCBL M-L

MR-EKCBL M-H

Receptacle: 36210-0100PL

Shell kit: 36310-3200-008

(3M)

2

LG

1

P5


4

MRR

3

MR

6

5

8

MDR

7

MD

10

9


or

Connector set: 54599-1019(Molex) Housing: 1-172161-9

Connector pin: 170359-1


2

LG

1

P5

4

MRR

3

MR

6

5

8

MDR

10

7 9

MD


(TE Connectivity or equivalent)

Cable clamp: MTI-0002

(Toa Electric Industrial)


1

MR

4

MD

7

P5

2

MRR

5

MDR

3

6

CONT

8 9

LG SHD

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. Referring to section 3.9, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.


Note. Keep open the pin shown with an .

11 - 9


(b) Internal wiring diagram

MR-EKCBL20M-L



P5

LG

1

2

7

8

P5

LG

P5

LG

MR-EKCBL30M-L



1

2

7

8

P5

LG

MR

MRR

3

4

9

SD Plate

(Note)

1

2

3

9

MR

MRR

SHD

P5

LG

MR-EKCBL20M-H



1

2

7

8

P5

LG

MR

MRR

MD 7

MDR 8

3

4

9

SD Plate

(Note)

1

2

4

5

3

MR

MRR

MD

MDR

6 CONT

9 SHD

P5

LG

MR-EKCBL30M-H

MR-EKCBL40M-H

MR-EKCBL50M-H



1

2

7

8

P5

LG

MR

MRR

3

4

9

SD Plate

(Note)

1

2

3

9

MR

MRR

SHD

MR

MRR

MD 7

MDR 8

3

4

9

SD Plate

(Note)

1

2

4

5

3

MR

MRR

MD

MDR

6 CONT

9 SHD

Note. When fabricating the cable, this wiring is not necessary.

When fabricating the cable, use the wiring diagram corresponding to the length indicated below.

Cable flex life

Applicable wiring diagram

Less than 30m 30m to 50m

Standard

Long flex life

MR-EKCBL20M-L

MR-EKCBL20M-H

MR-EKCBL30M-L

MR-EKCBL30M-H

MR-EKCBL40M-H

MR-EKCBL50M-H

11 - 10


(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 MR-ECNM (Option)

Description

Servo amplifier side connector Encoder side connector

Receptacle: 36210-0100PL Housing: 1-172161-9

Shell kit: 36310-3200-008 Connector pin: 170359-1

(3M) (TE Connectivity or equivalent)

Or Cable clamp: MTI-0002

Connector set: 54599-1019 (Molex) (Toa Electric Industrial)

(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


MR-J3JCBL03M-A1-L

MR-J3JCBL03M-A2-L

0.3m IP20 Standard

HF-KN series HF-KP G1/G5/G7

HG-KR G1/G5/G7 servo motor

Load side lead

Use in combination with MR-EKCBL

M-L/H.




Use in combination with MR-EKCBL

M-L/H.

11 - 11



Servo amplifier

1)

MR-J3JCBL03M-A1-L

2)

Servo motor

HF-KN series

MR-EKCBL M-L/H

CN2 or

MR-J3JCBL03M-A2-L 2)

Servo motor

HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7

1)

Cable model 1) Junction connector

MR-J3JCBL03M-A1-L Housing: 1-172169-9

Contact: 1473226-1

Cable clamp: 316454-1

Crimping tool: 91529-1

(TE Connectivity)


MR-J3JCBL03M-A2-L

3

6

CONT

9

SHD

2

MRR

5

MDR

8

LG

1

MR

4

MD

7

P5




P5

LG

MR

MRR

MD

MDR

CONT

7

2

4

8

1

5

3

6

MR-J3JCBL03M-A1-L

MR-J3JCBL03M-A2-L

Junction connector


3 P5

6

5

4

LG

MR

MRR

8 MD

7 MDR

2

1 CONT

SHD 9 9 SHD



Crimping tool for ground clip: 1596970-1


(TE Connectivity)


9 SHD

7 MDR

5 MR

3 P5

1 CONT

8 MD

6 LG

4 MRR

2



11 - 12


(4) MR-J3ENSCBL M-L MR-J3ENSCBL M-H

The servo amplifier and servo motor cannot be connected with these cables only. The servo motor side encoder cable (MR-J3JSCBL03M-A1-L or MR-J3JSCBL03M-A2-L) is required. 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 40m 50m

MR-J3ENSCBL M-L

MR-J3ENSCBL M-H

2

2

5

5

10

10

20

20

30

30 40 50

IP67

IP67

Standard

Long flex life

HF-KN series HF-KP

G1/G5/G7 HG-KR

G1/G5/G7 servo motor

Use in combination with

MR-J3JSCBL03M-A1-L or

MR-J3JSCBL03M-A2-L.


Servo amplifier

CN2

1)

MR-J3ENSCBL M-L

MR-J3ENSCBL M-H

2) MR-J3JSCBL03M-A2-L

Cable length:0.3m

Servo motor

HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7

11 - 13


Cable model

MR-J3ENSCBL

M-L

MR-J3ENSCBL

M-H


Shell kit: 36310-3200-008

(3M)


1) For CN2 connector

Connector set: 54599-1019

(Molex)


2

LG

1

P5

4

MRR

3

MR

6

5

8

7

10

9 or

2

LG

1

P5

4

MRR

3

MR

6

5

8

7

10

9


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. Referring to section 3.9, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.

2) Junction connector

In case of 10m or shorter cables

Straight plug: CM10-SP10S-M(D6)

Socket contact: CM10-#22SC(C1)

(D8)-100

Crimping tool: 357J-50446

(DDK)

Applicable cable AWG20 to 22

In case of 20m or longer cables


Socket contact: CM10-#22SC(C2)

(D8)-100

Crimping tool: 357J-50447

(DDK)

Applicable cable AWG23 to 28


3 2

MRR

1

MR

7 6 5

LG

4



P5

LG

MR

MRR

9

SD Plate

3

4

1

2

MR-J3ENSCBL2M-L/H

MR-J3ENSCBL5M-L/H

MR-J3ENSCBL10M-L/H

(Note)


8

5

1

2

4

10

P5

LG

MR

MRR

SHD

MR-J3ENSCBL20M-L

MR-J3ENSCBL30M-L

P5

LG


1

2


8

5

P5

LG

MR

MRR

3

4

9

SD Plate

(Note)

1

2

4

10

MR

MRR

SHD

MR

MRR

3

4

9

SD Plate

10

SHD

9 8

P5



MR-J3ENSCBL20M-H

MR-J3ENSCBL30M-H

MR-J3ENSCBL40M-H

MR-J3ENSCBL50M-H

P5

LG


1

2


8

5

P5

LG

(Note)

1

2

4

10

MR

MRR

SHD

Note. When fabricating, this wiring is not necessary.

11 - 14


(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)

MR-J3SCNS

Description





Shell kit: 36310-3200-008

Socket contact:

(3M)

CM10-#22SC(S1)(D8)-100

Or

Applicable wire size: AWG20 or less

Connector set: 54599-1019

(DDK)

(Molex)

(5) MR-J3JSCBL03M-A1-L MR-J3JSCBL03M-A2-L

The servo amplifier and servo motor cannot be connected with these cables only. The servo motor side encoder cable (MR-J3ENSCBL M-L/H) is required.

Cable model

Cable length


MR-J3JSCBL03M-A1-L

MR-J3JSCBL03M-A2-L

0.3m IP65 Standard



Load side lead

Use in combination with MR-J3ENSCBL

M-L/H.




Use in combination with MR-J3ENSCBL

M-L/H.

11 - 15



Servo amplifier

CN2

MR-J3ENSCBL M-L/H

MR-J3JSCBL03M-A1-L

1)

2)

Servo motor

HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7 or

MR-J3JSCBL03M-A2-L

2)

Servo motor

HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7

1)

Cable model

MR-J3JSCBL03M-

A1-L

1) Junction connector

Receptacle: CM10-CR10P-M

(DDK)

Applicable cable AWG 20 or less


MR-J3JSCBL03M-

A2-L

7

3

CONT

2

MRR

6 5

LG

1

MR

4

10

SHD

9 8

P5




P5

LG

MR

MRR

CONT

SHD

MR-J3JSCBL03M-A1-L

MR-J3JSCBL03M-A2-L

Junction connector


4

3

6

7

1

2

8

5

3

6

5

4

2

1

8

7

P5

LG

MR

MRR

CONT

10 9 SHD



Crimping tool for ground clip: 1596970-1


(TE Connectivity)

Note) Signal layout

9 SHD

7

5 MR

3 P5

1 CONT

8

6 LG

4 MRR

2



11 - 16


11.1.3 Motor power supply cables

These are motor power supply cables for the HF-KN series HF-KP G1/G5/G7 HG-KR G1/G5/G7 servo motors.



Refer to section 3.10.2 when wiring.

Cable model

Cable length

0.3m 2m 5m 10m


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

03

03

2

2

2

2

5

5

5

5

10

10

10

10

IP65

IP65

IP65

IP65

IP55

IP55

Standard

Standard

Long flex life

Long flex life

Standard

Standard



Load side lead






Load side lead






Load side lead




11 - 17


(1) Connection of servo amplifier and servo motor

MR-PWS1CBL M-A1-L

MR-PWS1CBL M-A1-H

MR-PWS2CBL03M-A1-L

Servo amplifier

CNP1

CNP1 connector supplied with servo amplifier

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

(2) Internal wiring diagram

1) or

Servo motor

HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7

MR-PWS1CBL M-A2-L

MR-PWS1CBL M-A2-H

MR-PWS2CBL03M-A2-L

1)

Servo motor

HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7

1) For motor power supply connector

Connector: KN4FT04SJ1-R

Signal layout

Hood, socket insulator

Bushing, ground nut

Contact: ST-TMH-S-C1B-100-(A534G)

Crimping tool: CT170-14-TMH5B

1

2

3

U

V

(Japan Aviation Electronics Industry)



Bushing, ground nut




4 W


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)

AWG 19 (White)

(Note)

AWG 19 (Black)

AWG 19 (Green/yellow)

U

V

W

Note. These are not shielded cables.

11 - 18


11.1.4 Motor brake cables

These are motor brake cables for the HF-KN series HF-KP G1/G5/G7 HG-KR G1/G5/G7 servo motors.



Refer to section 3.11.4 when wiring.

Cable model

Cable length

0.3m 2m 5m 10m


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

03

03

2

2

2

2

5

5

5

5

10

10

10

10

IP65

IP65

IP65

IP65

IP55

IP55

Standard

Standard

Long flex life

Long flex life

Standard

Standard

HF-KN series HF-KP G1/G5/G7 HG-KR


Load side lead






Load side lead






Load side lead




11 - 19


(1) Connection of power supply for electromagnetic brake and servo motor

24VDC power supply for electromagnetic brake or

1)

Servo motor

HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7

1)

Servo motor

HF-KN series

HF-KP G1/G5/G7

HG-KR G1/G5/G7

Cable model 1) For motor brake connector

MR-BKS1CBL M-A1-L Connector: JN4FT02SJ1-R

MR-BKS1CBL M-A2-L

MR-BKS1CBL M-A1-H

MR-BKS1CBL M-A2-H

MR-BKS2CBL03M-A2-L


Bushing, ground nut




MR-BKS2CBL03M-A1-L Connector: JN4FT02SJ2-R


Bushing, ground nut




Signal layout

1

2

B1

B2


(2) Internal wiring diagram

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

AWG 20 (Note)

B1

AWG 20

B2

Note. These are not shielded cables.

11 - 20


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 Built-in regenerative resistor

MR-RB032

[40 ]

MR-RB12

[40 ]

MR-JN-10A(1)

MR-JN-20A(1) 10

30

30 100

MR-JN-40A 10

(2) Selection of the regenerative option

30 100

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

M

Friction torque

T

F

Up tf(1 cycle)

No t

1 t

2

Down t

3 t

4

Time

( )

T psa1

T psd1

T psa2

T psd2

1)

(Driving)

2) 4)

5)

8)

T

U

6)

7)

( )

Formulas for calculating torque and energy in operation

Regenerative power Torque applied to servo motor [N٠m] Energy [J]

1) T

1

= (J

L

J

M

) N

0

9.55 x 10 4

1

T psa1

T U

T

F

E

1

= 0.1047 N

0

T

1

T psa1

2)

3)

4), 8)

5)

6)

7)

T

2

= T

U

+ T

F

T

3

= (J

L

J

M

) N

0

9.55 x 10 4

T

4

= T

U

T

5

= (J

L

J

M

) N

0

9.55 x 10 4

T

6

= T

U

T

F

T

7

= (J

L

J

M

) N

0

9.55 x 10 4

E

2

= 0.1047 N

0

T

2 t

1

1

T psa1

T

U

T

F

E

3

= 0.1047 N

0

T

3

E

4

0(No regeneration)

T psd1

1

T psa2

T

U

T

F

E

5

= 0.1047 N

0

T

5

T psa2

E

6

= 0.1047 N

0

T

6 t

3

1

T

U

T

F

E

7

2

N

0

T

7

T psd2

From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies.

11 - 21


(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.

Servo amplifier Inverse efficiency[%] Capacitor charging[J]

MR-JN-10A 55 9

MR-JN-10A1

MR-JN-20A

MR-JN-20A1

55

70

70

4

9

4

MR-JN-40A 85 11

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.

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

Calculate the power consumption of the regenerative option on the basis of single-cycle operation period tf [s] to select the necessary regenerative option.

PR [W] ER/tf


Set parameter No. PA02 according to the regenerative option to be used.

Parameter No. PA02

0


00: Regenerative option is not used



02: MR-RB032

03: MR-RB12

11 - 22


(4) Connection of the regenerative option

POINT

When using a regenerative option, remove the built-in regenerative resistor and its wirings from the servo amplifier.

For the sizes of wires used for wiring, refer to section 11.5.

Avoid installing and removing the built-in regenerative resistor frequently, as much as possible.

When reinstalling the removed built-in regenerative resistor, check if there is no damage on the lead of the built-in regenerative resistor.

The regenerative option causes a temperature rise of 100 relative to the ambient temperature. Fully examine heat dissipation, installation position and used wires, etc. before installing the option. For wiring, use flame-resistant wire and keep them clear of the regenerative option body. Always use twisted cables of max. 5m length for connection with the servo amplifier.

When using a regenerative option for MR-JN-20A(1) MR-JN-40A, disconnect the wiring to P and C, remove the built-in regenerative resistor from the servo amplifier, and then connect the regenerative option to P and C. G3 and G4 are thermal sensor output terminals. G3-G4 is disconnected when the regenerative option overheats abnormally.

Servo amplifier

Always remove wiring (across P-C) of servo amplifier built-in regenerative resistor.

Regenerative option

P

P

(Note 1)

C

C

G3

(Note 2)

G4

5m or less


2. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal heating occurs.

G3-G4 contact specifications

Maximum voltage: 120V AC/DC

Maximum current: 0.5A/4.8VDC

Maximum capacity: 2.4VA

Remove the built-in regenerative resistor in the procedures of 1) to 3), referring to the following diagram.

1) Disconnect the wires of the built-in regenerative resistor from the main circuit power supply connector

(CNP1). (Refer to (3) in section 3.3.3)

2) Remove the wires of the built-in regenerative resistor from the servo amplifier, starting from the closest to the main circuit power supply connector (CNP1). At this time, be careful so as not to break the wires.

11 - 23


3) Remove the screw which fixes the built-in regenerative resistor, and then remove the built-in regenerative resistor.

1)

2)

(Note)

3)

Note. Screw size: M3

Tightening torque: 0.72 [N m]

(5) Outline dimension drawings

(a) MR-RB12

15

36

6 mounting hole

TE1

6

Approx.20

5

149

169

[Unit: mm]

2

TE1 terminal block

G3

G4

P

C

Applicable wire size: 0.2 to 2.5 [mm 2 ]

(AWG24 to AWG12)

Tightening torque: 0.5 to 0.6 [N m]

(4 to 5 [lb in])

Mounting screw

Screw: M5

Tightening torque: 3.24 [N m] (28.7 [lb in])

Mass: 1.1[kg] (2.4[lb])

11 - 24


(b) MR-RB032

6 mounting hole

[Unit: mm]

15

30

5

TE1 terminal block

G3

G4

P

C

Applicable wire size: 0.2 to 2.5 [mm 2 ]

(AWG24 to AWG12)

Tightening torque: 0.5 to 0.6 [N m]

(4 to 5 [lb in])

Mounting screw

Screw: M5

Tightening torque: 3.24 [N m] (28.7 [lb in])

TE1

6

Approx.20

119

99

1.6

Mass: 0.5[kg] (1.1[lb])

11.3 Junction terminal block MR-TB26A

(1) How to use the junction terminal block

Always use the junction terminal block (MR-TB26A) with the junction terminal block cable (MR-TBNATBL

M) as a set.

Use the junction terminal block by mounting it onto the DIN rail.

MR-TBNATBL M

Cable length:

05: 0.5m

1 : 1m

The terminal numbers described on the junction terminal block match the pin numbers of the servo amplifier's CN1 connector. S in the terminal number means a shield.

Servo amplifier


MR-TB26A

CN1

Junction terminal block cable

(MR-TBNATBL M)

Ground the junction terminal block cable using the S terminal on the junction terminal block.

11 - 25


(2) Specifications


Item

Rating

Applicable wires

Twisted wire

Single wire

Wire insulator outer diameter

MR-TB26A

32VAC/DC 0.5A

0.08 to 1.5mm

2 (AWG28 to AWG14)

0.32 to 1.2mm

Wires with 3.4 mm or less

Operation tools

Equivalent to 210-619 (manufactured by WAGO JAPAN)

Equivalent to 210-119SB (manufactured by WAGO JAPAN)

5 to 6 mm Length of the removed coating

(3) Outline drawing

[Unit: mm]

1

1

14

14

Approx. 35

57

Approx. 7.5

Note. The measure in ( ) is applicable when a DIN 35mm rail is installed.

11 - 26


11.4 MR Configurator/MR Configurator2

11.4.1 About engineering software

The following engineering software can be used for this servo amplifier.

Engineering software Installation Guide

MR Configurator MRZJW3-SETUP221 MR Configurator MRZJW3-SETUP221E INSTALLATION GUIDE (IB (NA) 0300082)

MR Configurator2 SW1DNC-MRC2-E

MR Configurator2 Version1 SW1DNC-MRC2-_ INSTALLATION GUIDE (IB (NA)

0300163ENG)

For specifications of the engineering software and system configuration, please refer to each installation guide.

(1) How to update parameter setting range

When expanding the setting range of the parameter is required, please update the parameter setting range as follows.

(a) MR Configurator

Connect to MR-JN- A, and check "Reading setting range of parameters."

(b) MR Configurator2

Refer to the technical news (How to use the Update Parameter Setting Range Function on MR

Configurator2 (SV-A-0001)).

11 - 27


11.4.2 Precautions for using USB communication function

Note the following to prevent an electric shock and malfunction of the servo amplifier.

(1) Power connection of personal computers

Connect your personal computer with the following procedures.

(a) When you use a personal computer with AC power supply

1) When using a personal computer with a three-core power plug or power plug with grounding wire, use a three-pin socket or ground the grounding wire.

2) When your personal computer has two-core plug and has no grounding wire, connect the personal computer to the servo amplifier with the following procedures. a) Disconnect the power plug of the personal computer from an AC power socket. b) Check that the power plug was disconnected and connect the device to the servo amplifier. c) Connect the power plug of the personal computer to the AC power socket.

(b) When you use a personal computer with battery

You can use as it is.

(2) Connection with other devices using servo amplifier communication function

When the servo amplifier is charged with electricity due to connection with a personal computer and the charged servo amplifier is connected with other devices, the servo amplifier or the connected devices may malfunction. Connect the servo amplifier and other devices with the following procedures.

(a) Shut off the power of the device for connecting with the servo amplifier.

(b) Shut off the power of the servo amplifier which was connected with the personal computer and check the charge lamp is off.

(c) Connect the device with the servo amplifier.

(d) Turn on the power of the servo amplifier and the device.

11 - 28


11.5 Selection example of wires

POINT

Wires indicated in this section are separated wires. When using a cable for power line (U, V, and W) between the servo amplifier and servo motor, use a

600V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT).

When complying with the UL/CSA standard, use the wires shown in App. 8 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

(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

Power supply


L

1

L

2

U

V

W

U

V

W

Motor

2) Control power supply lead

0V

24V

5) Electromagnetic

brake lead

B1

B2


Regenerative option

P

C

Encoder

Encoder cable

4) Regenerative option lead

11 - 29


(a) When using the 600V Polyvinyl chloride insulated wire (IV wire)

Selection example of wire size when using IV wires is indicated below.

Table 11.1 Wire size selection example 1 (IV wire)

Servo amplifier

1) L

1

L

2

Wires [mm 2 ] (Note)

2) 24V 0V 3) U V W 4) P C

MR-JN-10A(1)

MR-JN-20A(1)

MR-JN-40A

2(AWG14) 2(AWG14) 2(AWG14) 2(AWG14)

Note. Wires are selected based on the highest rated current among combining servo motors.

5) B1 B2

1.25(AWG16)

(b) When using the 600V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire)

Selection example of wire size when using HIV wires is indicated below.

Table 11.2 Wire size selection example 2 (HIV wire)

Servo amplifier

1) L

1

L

2

Wires [mm 2 ] (Note 1)

2) 24V 0V 3) U V W 4) P C 5) B1 B2

MR-JN-10A(1)

MR-JN-20A(1)

MR-JN-40A

2(AWG14)

(Note 2)

2(AWG14)

(Note 2)

2(AWG14)

(Note 2)

2(AWG14) 1.25(AWG16)

Note 1. Wires are selected based on the highest rated current among combining servo motors.

2. If compliance with the National Electrical Code is not required, a wire size of 1.25mm

2 (AWG16) can be used.

11 - 30


(2) Wires for cables

When fabricating a cable, use the wire models given in the following table or equivalent.

Table 11.3 Wires for option cables

Type Model

Length

[m]

Characteristics of one core

Structure

[Wires/mm]

Conductor resistance

[ /km]

Insulation coating

OD d [mm]

(Note 1)

(Note 2)

Finishing

OD [mm]

MR-J3ENCBL M-A1-L

MR-J3ENCBL M-A2-L

2 to 10 AWG22

6

(3 pairs)

7/0.26

53 or less

1.2 7.1 0.3

Wire model

(Note 3)

VSVP 7/0.26 (AWG#22 or equivalent)-3P

Ban-gi-shi-16823

MR-J3ENCBL M-A1-H

MR-J3ENCBL M-A2-H

2 to 10 AWG22

6

(3 pairs)

70/0.08

56 or less

1.2 7.1 0.3

(Note 3)

ETFE SVP 70/0.08 (AWG#22 or equivalent)-3P

Ban-gi-shi-16824

MR-J3JCBL03M-A1-L

0.3 AWG26

8

(4 pairs)

30/0.08

233 or less

1.2 7.1 0.3

(Note 5)

T/2464-1061/ A-SB 4P

26AWG

MR-J3JCBL03M-A2-L

MR-EKCBL M-L

Encoder cable

MR-EKCBL M-H

Motor power supply cable

MR-J3JSCBL03M-A1-L

MR-J3JSCBL03M-A2-L

MR-J3ENSCBL M-L

2 to 10

20 30

20

0.3mm

0.3mm

0.2mm

2

2

2

0.08mm

2

30 to 50 0.2mm

2

4

(2 pairs)

4

(2 pairs)

12

(6 pairs)

12

(6 pairs)

14

(7 pairs)

0.3 AWG26

8

(4 pairs)

2 to 10 AWG22

6

(3 pairs)

20 30 AWG23

12

(6 pairs)

2 to 10 AWG22

6

(3 pairs)

MR-J3ENSCBL M-H

20 to 50 AWG24

MR-PWS1CBL M-A1-L 2 to 10

MR-PWS1CBL M-A2-L 2 to 10

MR-PWS1CBL M-A1-H 2 to 10

AWG18

(Note 6)

AWG19

(0.75mm

2 ) MR-PWS1CBL M-A2-H 2 to 10

MR-PWS2CBL03M-A1-L

MR-PWS2CBL03M-A2-L

0.3

0.3

AWG19

12

(6 pairs)

4

4

4

12/0.18

7/0.127

12/0.18

40/0.08

40/0.08

7/0.16

7/0.26

12/0.18

70/0.08

40/0.08

34/0.18

150/0.08

30/0.18

65.7

or less

234 or less

63.6

or less

105 or less

105 or less

146 or less

53 or less

63.3

or less

56 or less

105 or less

21.8

or less

29.1

or less

25.8

or less

1.3

0.67

1.2

0.88

0.88

1.0

1.2

1.2

1.2

0.88

1.71

1.63

1.64

7.3

8.2

7.2

8.0

7.1 0.3

7.1 0.3

8.2 0.3

7.1 0.3

7.2

5.7 0.5

(Note 3)

20276 composite 4-pair shielded cable (A-TYPE)

UL 20276 AWG#23

6pair(BLACK)

(Note 3)A14B2343 6P

(Note 3)J14B0238(0.2*7P)

(Note 3)

VSVP 7/0.16(AWG#26 or equivalent)-4P

Ban-gi-shi-16822

(Note 3)

VSVP 7/0.26(AWG#22 or equivalent)-3P

Ban-gi-shi-16823

(Note 3)

20276 VSVCAWG#23×6P

Ban-gi-shi-15038

(Note 3)

ETFE SVP 70/0.08(AWG#22 or equivalent)-3P Ban-gi-shi-

16824

(Note 3)

ETFE SVP 40/0.08mm 6P

Ban-gi-shi-15266

(Note 4)

RMFES-A(CL3X) AWG19

4 cores

(Note 3, 7)

J11B2330 UL 10125

11 - 31


Type Model

MR-BKS1CBL M-A1-L

MR-BKS1CBL M-A2-L

Motor brake cable

MR-BKS1CBL M-A1-H

MR-BKS1CBL M-A2-H

MR-BKS2CBL03M-A1-L

MR-BKS2CBL03M-A2-L

Note 1. d is as shown below. d

Length

[m]

2 to 10

2 to 10

2 to 10

2 to 10

0.3

0.3

AWG20

(Note 6)

AWG20

AWG20

2

2

2

Characteristics of one core

Structure

[Wires/mm]

Conductor resistance

[ /km]

Insulation coating

OD d [mm]

(Note 1)

(Note 2)

Finishing

OD [mm]

21/0.18

34.6 or less

1.35 4.7 0.1

Wire model

HRZFEV-A(CL3) AWG20

2 cores

110/0.08

39.0 or less

1.37 4.5 0.3

(Note 4)

RMFES-A(CL3X) AWG20

2 cores

19/0.203

32.0 or less

1.42

(Note 3, 7)

J11B331 UL 10125

Conductor Insulation sheath

2. Standard OD. Max. OD is about 10% greater.

3. Purchase from Toa Electric Industrial

4. Purchase from Taisei

5. Taiyo Cabletec

6. These wire sizes assume that the UL-compliant wires are used at the wiring length of 10m.

7. This model is for a single wire. The color must be specified separately.

11.6 Molded-case circuit 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.

Molded-case circuit breaker

Current [A]

Fuse

Servo amplifier Not using power factor improving reactor

Using power factor improving reactor

Voltage

AC [V]

(Note 1)

Class

Current [A]

Voltage

AC [V]

(Note 2)

Magnetic contactor

MR-JN-10A

MR-JN-20A/10A1

MR-JN-40A/20A1

30A frame 5A

30A frame 10A

30A frame 15A

30A frame 5A

30A frame 10A

30A frame 10A

240V T

10A

15A

20A

300V S-N10

Note 1. When not using the servo amplifier as a UL/CSA Standard compliant product, K5 class fuse can be used.

2. Be sure to use a magnetic contactor (MC) 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 - 32


11.7 Power factor improving AC reactor FR-HAL

The power factor improving AC reactor FR-HAL increases the form factor of the servo amplifier's input current to improve the power factor. It can reduce the power capacity. The input power factor is improved to be about

88%.

When using the power factor improving AC reactors FR-HAL for two or more servo amplifiers, be sure to connect a power factor improving AC reactor FR-HAL to each servo amplifier. If using one power factor improving AC reactor FR-HAL for multiple servo amplifiers, enough improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated.

W1

Terminal assignment

R X S Y T Z

Mounting hole for 4-d (front right side, varnish removal) (Note1)

MAX D

1-phase

200 to 230VAC or

1-phase

100 to 120VAC

MCCB MC

R

Servo amplifier

MR-JN- A(1)

FR-HAL

X

L

1

Y

L

2

Z

MAX W (Note3) D1 2

Servo amplifier

MR-JN-10A/20A/10A1

MR-JN-40A/20A1

Power factor improving

AC reactor (FR-HAL)

FR-HAL-0.75K

FR-HAL-1.5K

W

104

104

W1

84

84

H

Dimensions [mm]

D

(Note 2)

D1

99 74 56

99 77 61

D2

44

50 d

M5

M5

Note 1. Use any of the mounting holes for grounding.

2. Maximum dimension (The dimension varies depending on the bending degree of the I/O line.)

3. W 2

11.8 Relays (recommended)

Terminal screw size

Crimping terminal

M4

M4

2-4

2-4

Mass

[kg (lb)]

0.8 (1.76)

1.1 (2.43)

The following relays should be used with the interfaces.

Interface

Digital input signal (interface DI-1)

Relay used for open/close signals

Digital output signal (interface DO-1)

Relay used for signals

Selection example

To prevent defective contacts use a relay for small signal

(twin contacts).

(Ex.) Omron : type G2A , MY

Small relay with 12VDC or 24VDC of rated current 40mA or less

(Ex.) Omron : type MY

11 - 33


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.

(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)

Magnetic induction noise

Static induction noise

Noises transmitted through electric channels

Noise radiated from servo motor cable

Route 4) and 5)

Route 6)

Route 3)

Noise transmitted through power supply cable

Noise sneaking from grounding cable due to leakage current

Route 7)

Route 8)

11 - 34


5)

Instrument

7)

Receiver

7)

2)

3)

1)

Servo amplifier

4)

6)

2)

7)

Sensor power supply

8)

Sensor

3)

Servo motor M

Noise transmission route

1) 2) 3)

4) 5) 6)

7)

8)

Suppression techniques

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.

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.

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.

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 - 35


(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.

These impedances are reference values and not guaranteed values.

Impedance [ ]

[Unit: mm]

10 to 100MHz

80

100 to 500MHz

150

39 1

34 1

Loop for fixing the cable band

TDK

Product name

Lot number

Outline drawing (ZCAT3035-1330)

(b) Surge killer (Recommended)

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

Relay

Surge killer

Surge killer

This distance should be short

(within 20cm).

(Ex.) CR-50500

(OKAYA Electric Industries Co., Ltd.)

Rated voltage

AC [V]

C

[ F 20 ] [

250 0.5

R

30 ]

50

(1/2W)

Test voltage AC [V]

Between terminals:

625VAC 50/60Hz 60s

Between terminal and case: 2,000VAC

Soldered

6 1

Band (clear)

300 or more

CR-50500

Outline drawing [Unit: mm]

15 1

48 1.5

AWG18 Twisted wire

6 1

300 or more

50/60Hz 60s

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

Diode

16 1

3.6

(18.5 5) or less

11 - 36


(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.

Outline drawing

Cable clamp

(A, B)

Cable

Earth plate

Strip the cable sheath of the clamped area.

cutter cable

External conductor

Clamp section diagram

Earth plate

2- 5 hole installation hole

17.5

[Unit: mm]

Cable clamp

L or less 10

(Note)M4 screw 6

35

22

0 0

C A

Note. Screw hole for grounding. Connect it to the earth plate of the control box.

Type A

AERSBAN-DSET 100

AERSBAN-ESET 70

B

86

56

C Accessory fittings

30 Cable clamp A: 2pcs.

Cable clamp B: 1pc.

Cable clamp

A

B

L

70

45

11 - 37


(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

The line noise filter can be mounted on the lines the main circuit power supply (L1/L2) and of the servo motor power supply

(U/V/W). Pass each of 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.

Example 1

MCCB

Power supply

MC

Line noise filter

Servo amplifier

L

1

L

2

Outline drawing [Unit: mm]

FR-BSF01 (for wire size 3.5mm

2 (AWG12) or less)

Approx.110

95 0.5

Approx.65

33

2- 5

Example 2

MCCB

Power supply

(Number of passes: 4)

MC

Servo amplifier

L

1

L

2

Two filters are used

(Total number of passes: 4)

11 - 38


(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

Make the connection wires as short as possible.

Grounding is always required.

Make sure to insulate the wires that are not used for wiring.

Outline drawing (Unit: mm)

RedWhiteBlue Green

Leakage current: 4mA

Terminal block

Servo amplifier

MCCB MC

L

1

Power supply

L

2 29

5 hole

58 29

44

7

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

100V class

200V class

Varistor

TND20V-471K

Permissible circuit voltage

AC[V rms

] DC[V]

TND20V-431K 275 350

300 385

Surge current immunity

8/20 s[A]

10000/1 time

7000/2 time

Energy immunity

2ms[J]

195

215

Rated pulse power

[W]

1.0

Maximum

Static capacity limit voltage (reference value)

[A] [V] [pF]

710 1300

100

775 1200

Varistor voltage rating

(range)

V1mA

[V]

430(387 to 473)

470(423 to 517)

D T Model

TND20V-431K

TND20V-471K

D

Max.

21.5

H

Max.

24.5

T

Max.

6.4

6.6

E

1.0

3.3

3.5

(Note)L min.

20 d

0.05

0.8

Note. For special purpose items for lead length (L), contact the manufacturer.

[Unit: mm]

W

1.0

10.0

W d

E

11 - 39


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 {Igl Ign Iga K (Ig2 Igm)} [mA] ................... (11.1)

Earth-leakage current breaker

NV Noise filter

Servo amplifier

Ig1 Ign Iga

Cable

Ig2

M

Igm

Type

Models provided with harmonic and surge reduction techniques

Mitsubishi

Electric products

NV-SP

NV-SW

NV-CP

NV-CW

NV-HW

K

1

BV-C1

General models 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 Fig. 11.5.)

Igm: Leakage current of the servo motor (Found from Fig. 11.4.)

[mA]

120

100

80

60

40

20

0

2 5.5

3.5

8

14

22

38

30

100

60

80

150

Cable size[mm 2 ]

Fig. 11.1 Leakage current example (Ig1, Ig2) for CV cable run in metal conduit

11 - 40


Table 11.4 Servo motor’s leakage current example (Igm)

Servo motor power [kW] Leakage current [mA]

0.05 to 0.4 0.1

Table 11.5 Servo amplifier's leakage current example (Iga)

Servo amplifier capacity [kW] Leakage current [mA]

0.1 to 0.4 0.1

Table 11.6 Earth-leakage current breaker selection example

Servo amplifier

Rated sensitivity current of the earthleakage current breaker [mA]

MR-JN-10A(1)/20A(1)/40A 15

(2) Selection example

Indicated below is an example of selecting an earth-leakage current breaker under the following conditions.

2mm 2 5m 2mm 2 5m

NV

Servo amplifier

MR-JN-40A

M

Servo motor

HF-KN43

Ig1 Iga Ig2 Igm

Use an earth-leakage current breaker designed for suppressing harmonics/surges.

Find the terms of Equation (11.1) from the diagram.

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)}

4.0 [mA]

According to the result of calculation, use an earth-leakage current breaker having the rated sensitivity current (Ig) of 4.0[mA] or more. An earth-leakage current breaker having Ig of 15[mA] is used with the NV-

SP/SW/CP/CW/HW series.

11 - 41


11.11 Circuit protector

Use the circuit protector for the control circuit power supply (+24V, 0V).

Servo amplifier Circuit protector

MR-JN-10A(1)

MR-JN-20A(1) CP30-BA2P1M3A

MR-JN-40A

11.12 EMC filter (recommended)

For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter. Some

EMC filters are large in leakage current.

(1) Combination with the servo amplifier

Recommended filter (Soshin Electric)

Servo amplifier

Model

Rated current

[A]

Rated voltage

[VAC]

Leakage current

[mA]

Mass [kg]([lb])

MR-JN-10A(1)

MR-JN-20A(1)

MR-JN-40A

Note. A surge protector is separately required to use any of these EMC filters. (Refer to section 11.13.)

(2) Connection example

(Note)

HF3010A-UN

10 Max. 250 5 3.5 (7.72)

EMC filter Servo amplifier

MCCB

1 4

MC

L

1 (Note 1)


2 5 L

2

3 6

E

1

2

3

(Note 2)

Surge protector 1

(RAV-781BYZ-2)

(OKAYA Electric

Industries Co., Ltd.)

1 2 3

(Note 2)

Surge protector 2

(RAV-781BXZ-4)

(OKAYA Electric

Industries Co., Ltd.)

Note 1. Refer to section 1.3 for the power supply specification.

2. The example is when a surge protector is connected.

11 - 42


(3) Outline drawing

HF3010A-UN

3-M4 4-5.5 7 3-M4 M4

[Unit: mm]

IN

258 4

273 2

288 4

300 5

65 4

Approx.41

11.13 Surge protector (recommended)

To avoid damages caused by surges (such as lightning and sparking) applied on AC power line, connecting the following surge protectors to the main circuit power (L

1

L

2

) is recommended.

(1) Specifications

Surge protector model

Circuit voltage

50/60Hz

Maximum permissible circuit voltage

Clamp voltage

Surge immunity

8/20μs

Surge compression

1.2/50μs

Static capacity

Operating temperature

RAV-781BYZ-2

RAV-781BXZ-4

3AC 250V

3AC 250V

300V

300V

783V±10%

1700V±10%

2500A

2500A

20kV

2kV

75pF

75pF

20 to 70

20 to 70

11 - 43


(2) Outline drawing

RAV-781BYZ-2

4.2 0.2

[Unit: mm]

1)

Black

2) 3)

Black Black

30 0

UL-1015AWG16

1 2 3

41 1.0

RAV-781BXZ-4

4.2 0.2

[Unit: mm]

1) 2) 3) 4)

30 0

UL-1015AWG16

1 2 3

41 1.0

11 - 44


11.14 MR-HDP01 manual pulse generator

POINT

For the positioning mode, PP and NP are not assigned in the initial status.

Assign PP or NP in parameter No. PD02. (Refer to section 4.4.2.)

In the positioning mode, MR-HDP01 manual pulse generator can be used to operate the servo motor. The manual pulse generator input multiplication can be set in parameter No. PE02.

(1) Specifications

Item Specifications

Power

Voltage

Current consumption

Interface

4.5VDC to 13.2VDC

60mA or lower

Output current max. 20mA for open collector output

Pulse signal form

Pulse resolution

A-phase, B-phase, 2 signals of 90 phase difference

100 pulse/rev

Max. speed 600r/min moment, 200r/min normally

Operating temperature range -10 to 60 (14 to 140 )

Storage temperature range -30 to 80 (-22 to 176 )

(2) Connection example

24VDC

OPC

DICOM

Servo amplifier

CN1

2

1


MR-HDP01

5 to

12V

A

0V

B

5VDC power supply

DOCOM

PP

13

23

NP

SD

25

Plate

11 - 45


MEMO

11 - 46

12. SERVO MOTOR

12. SERVO MOTOR

12.1 Introduction

12.1.1 Rating plate

The following shows an example of the rating plate for explanation of each item.

Model

Input power, rated current, rated output

Mass, insulation class

Rated speed

Induced voltage constant, maximum ambient temperature

Power factor, IP rating

Serial number (Note 1)

Country of origin, conforming standards

Manufacturer

(Note 2)

MSIP-REI-MEK-BSM0010000000A

Note 1 Production year and month of the servo motor are indicated in a serial number on the rating plate.

The year and month are indicated by the last two digits of the year and one digit of the month [1 to 9, X (10), Y (11), and Z

(12)].

For January 2012, the Serial No. is like, "SER. _ _ _ _ _ _ _ _ _ 121".

2 Products approved by Certification Bodies are marked. The marks depends on the Certification Bodies.

12.1.2 Parts identification

Refer to section 11.1 for details of the cables and connectors.

Power cable (Note 1,2)

Power lead (U, V, W)

Earth lead

Encoder cable (Note 1)

Encoder

Servo motor shaft

Note 1. The encoder cable and the power supply cable are options.

2. An electromagnetic brake cable is separately required for the servo motor with an electromagnetic brake.

12 - 1

12. SERVO MOTOR

12.1.3 Electromagnetic brake

The electromagnetic brake is provided for preventing a drop at power failure or at servo alarm occurrence during vertical drive, or for holding a shaft at stop. Do not use it for normal braking (including braking at servo lock).

CAUTION

The brake has a time lag. Use the brake so that servo motor control is started after the brake has completely opened.

Configure the electromagnetic brake operation circuit which interlocks with an external emergency stop switch.

Refer to section 3.11 for details of the circuit configuration and the timing chart.

The servo motor with an electromagnetic brake can be used to prevent a drop in vertical lift applications or to ensure double safety at an emergency stop, for example. When performing servo motor operation, supply power to the electromagnetic brake to release the brake. Switching power off makes the brake effective.

(1) Electromagnetic brake power supply

Prepare the following power supply exclusively used for the electromagnetic brake. The electromagnetic brake terminals (B1, B2) do not have polarity.

B1 B1

Switch Switch


VAR

U

B or


VAR

U

B

B2 B2

A surge absorber (VAR) must be installed between B1 and B2. Refer to (3) in this section for the selection method of surge absorber, and to "Electromagnetic brake characteristics" in section of each servo motor series for selecting surge absorbers.

(2) Noise generation

Though the brake lining may rattle during operation in the low-speed area, it poses no functional problem.

If braking noise occurs, it may be improved by setting the machine resonance suppression filter or adaptive vibration suppression control in the servo amplifier parameters. Refer to section 7.2 for details.

(3) Selection of surge absorbers for electromagnetic brake circuit

(a) Selection condition

Item Conditions

Relay

Electromagnetic brake R[ ] : Resistance specification L[H] : Inductance

Vb[V] : Power supply voltage

24VDC

U

Varistor Brake coil

Vs[V] or less Desired suppressed voltage

Durable surge application time

N times

12 - 2

12. SERVO MOTOR

(b) Tentative selection and verification of surge absorber

1) Maximum permissible circuit voltage of varistor

Tentatively select a varistor whose maximum allowable voltage is larger than Vb [V].

2) Brake current (Ib)

3) Energy (E) generated in the brake coil

E = L Ib

2

2 [J]

4) Varistor limit voltage (Vi)

From the energy (E) generated in the brake coil and the varistor characteristic diagram, calculate the varistor limit voltage (Vi) when the brake current (Ib) flows into the tentatively selected varistor during opening of the circuit.

Vi is favorable when the varistor limit voltage (Vi)[V] is smaller than the desired suppressed voltage

(Vs)[V].

If Vi is not smaller than Vs, reselect a varistor or improve the withstand voltage of devices.

5) Surge current width ( )

Given that the varistor absorbs all energies, the surge current width ( ) is as follows.

6) Inspection of surge life of varistor

From the varistor characteristic diagram, calculate the guaranteed current value (Ip) in which the number of the surge application life is N at the surge current width ( ). Calculate the ratio (Ip/Ib) of the guaranteed current value (Ip) to the brake current (Ib).

(4) Others

If an enough margin is ensured for Ip/Ib, the number of the surge application life N [Time] can be considered as favorable.

A leakage magnetic flux occurs at the shaft end of the servo motor with an electromagnetic brake. Note that chips, screws and other magnetic substances are attracted.

12 - 3

12. SERVO MOTOR

12.1.4 Servo motor shaft shapes

In addition to the straight shaft, keyway shaft and D cut shaft are available as the servo motor shafts.

The keyway shaft and the D cut shaft cannot be used in frequent start/stop applications. Since we cannot warrant the servo motor against fracture and similar accidents attributable to a loose key, use a friction coupling, etc. when coupling the shaft with a machine.

The shaft shape of the standard servo motor varies depending on the capacity. Refer to sections 12.5.4 and

12.6.4.

The keyway shaft (with single pointed key) is available only with the HF-KP G7 HG-KR G7 servo motor.

Keyway shaft (with key)

Shaft section view

Keyway shaft (without key)

Shaft section view

D cut shaft

Shaft section view

Shaft section view

Keyway shaft (with single pointed key)

Straight shaft

12 - 4

12. SERVO MOTOR

12.2 Installation

WARNING

Be sure to ground the servo motor to prevent an electric shock.

CAUTION

Do not stack the product packages exceeding the maximum number specified on the package.

Install the equipment to incombustibles. Installing it directly or close to combustibles may cause a fire.

Install the equipment on a weight-bearing place in accordance with this Instruction

Manual.

Do not get on or place heavy objects on the equipment as it may cause injury.

Use the equipment within the specified environmental condition range. Refer to sections 12.5.2 (1) and 12.6.2 (1).

Do not drop or shock the servo motor as it is precision equipment.

Do not install or operate a servo motor which is damaged or has any part missing.

Do not hold the cable, the shaft or the encoder when carrying the servo motor as it may cause malfunction or injury.

Couple the servo motor to a machine securely. Insecure coupling may cause the servo motor to come off, resulting in injury.

Be sure to measure the motor vibration level with the servo motor mounted to the machine when checking the vibration level. A great vibration may cause the early damage of a bearing, encoder, brake, and reduction gear. The great vibration may also cause the poor connector connection or bolt looseness.

For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform by using a measurement device, and then check that no vibration occurs. If the vibration occurs due to high gain, the vibration may cause the early damage of the servo motor.

Never hit the shaft end of the servo motor, especially when coupling the servo motor to a machine as it may damage the encoder.

When coupling a load to the servo motor, do not use a rigid coupling as it may break the shaft.

Balance the load to the extent possible. Failure to do so can cause vibration during servo motor operation or damage the bearings and the encoder.

Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation.

Do not apply load exceeding the permissible load as it may break the shaft, causing injury.

When the equipment has been stored for an extended period of time, consult your local sales office.

When handling the servo motor, be careful with the edged parts such as the corners of the servo motor.

12 - 5

12. SERVO MOTOR

12.2.1 Installation direction

(1) Standard servo motor

The following table indicates the installation direction of the standard servo motor.

Servo motor series Installation direction Remark

HF-KN Any directions

For installation in the horizontal direction, it is recommended to set the connector section downward.

When installing the servo motor in horizontal direction, it is recommended to set the connector section downward. When installing it vertically or obliquely, provide a cable trap for the cable.

Cable trap

(2) Servo motor with an electromagnetic brake

The servo motor with an electromagnetic brake can also be installed in the same direction as the standard servo motor. When the servo motor with an electromagnetic brake is installed with the shaft upward, the brake plate may generate a sliding sound, but it is not a fault.

(3) Servo motor with a reduction gear (HF-KP G1/G5/G7 HG-KR G1/G5/G7)

Installation direction of the servo motor with a reduction gear varies depending on the reduction gear type.

Be sure to install it in the specified direction. Refer to section 12.6.4 and 12.7.4 for details.

12 - 6

12. SERVO MOTOR

12.2.2 Precautions for load remove

POINT

During assembling, never hit the shaft end of the servo motor by a hammer, etc. It may damage the encoder.

(1) When mounting a pulley to the servo motor shaft with a keyway, use the screw hole on the shaft end. To fit the pulley, first insert a double-end stud into the screw hole on the shaft, put a washer against the end face of the coupling, and insert and tighten a nut to force the pulley in.

Servo motor

Double-end stud

Nut

Washer

Pulley

(2) For the shaft without a keyway, use a friction coupling or the like.

(3) When removing the pulley, use a pulley remover to protect the shaft from hard load or impact.

(4) To ensure safety, fit a protective cover or the like on the rotating part, such as the pulley, mounted to the shaft.

(5) When a threaded shaft end part is needed to mount a pulley on the shaft, please contact your local sales office.

(6) The direction of the encoder on the servo motor cannot be changed.

(7) For installation of the servo motor, use spring washers, etc. and fully tighten the bolts so that they do not become loose due to vibration.

12 - 7

12. SERVO MOTOR

12.2.3 Permissible load for the shaft

POINT

Do not use a rigid coupling as it may apply excessive bending load to the shaft, leading to shaft breakage.

For the permissible shaft load specific to the servo motor, refer to sections 12.5.2 (1), 12.6.4 (1) (c), 12.6.4 (2)

(c).

(1) Use a flexible coupling and make sure that the misalignment of the shaft is less than the permissible radial load.

(2) When using a pulley, sprocket or timing belt, select a diameter that will fit into the permissible radial load.

(3) Excess of the permissible load can shorten the bearing life and damage the shaft.

(4) The load indicated in this section is static load in a single direction and does not include eccentric load.

Make eccentric load as small as possible. Not doing so may damage the servo motor.

12.2.4 Protection from oil and water

Provide adequate protection to prevent foreign matter such as oil from entering the servo motor shaft. When installing the servo motor, consider the following in this section.

(1) Do not use the servo motor with its cable soaked in oil or water.

Cover

Servo motor

Oil/water pool

<Incorrect> Capillary phenomenon

(2) When the servo motor is installed with the shaft upward, provide measures to prevent the servo motor being exposed to oil or water from a machine side, gear box, etc.

Gear

Lubricating oil

Servo motor

12 - 8

12. SERVO MOTOR

(3) If the servo motor is exposed to oil such as coolant, the sealant, packing, cable and others may be affected depending on the oil type.

(4) In the environment where the servo motor is exposed to oil mist, oil, water and/or grease, a standard specification servo motor may not be usable. Contact your local sales office for more details.

12.2.5 Cable

The power supply and encoder cables routed from the servo motor should be fixed to the servo motor to keep them unmovable. Otherwise, the cables may break. In addition, do not modify the connectors on the cable ends.

12.2.6 Inspection

WARNING

Before wiring, be sure to turn off the power, wait for 15 minutes or longer, and then make sure that the charge lamp is off to prevent an electric shock. In addition, always confirm if the charge lamp is off or not from the front of the servo amplifier.

Due to a risk of an electric shock, only qualified personnel should attempt inspection. For repair and parts replacement, contact your local sales office.

POINT

Do not disassemble and/or repair the equipment.

It is recommended to make the following checks periodically.

(a) Check the bearings, the brake section, etc. for unusual noise.

(b) Check the cables and the like for scratches and cracks. Especially when the junction cable is movable, perform periodic inspection according to operating conditions.

(c) Check the servo motor shaft and coupling for misalignment.

(d) Check the power supply connector, brake connector, and encoder connector tightening screws for looseness.

12 - 9

12. SERVO MOTOR

12.2.7 Life

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 live. For parts replacement, please contact your local sales office.

Part name Life guideline Remark

Bearing

Encoder

20,000 to 30,000 hours The Life guideline field gives the reference time.

20,000 to 30,000 hours

If any fault is found before this time is reached, the part must be changed.

When the servo motor is operated at the rated speed under the rated load, replace the bearings in 20,000 to

30,000 hours as a guideline. However, this service life varies depending on the operating conditions. The bearings must be replaced if unusual noise or vibration is found during inspection.

12.2.8 Machine accuracies

The following table indicates the machine accuracies of the servo motor around the output shaft and mounting

(except the special purpose products).

Accuracy [mm] Measuring position

Flange size

Less than 100 a) 0.05 Runout of flange surface about output shaft

Runout of fitting outer diameter of flange surface

Runout of output shaft end b) c)

0.04

0.02

Reference diagram b) c) a)

12 - 10

12. SERVO MOTOR

12.3 Connectors used for servo motor wiring

POINT

The IP rating indicated for connectors indicates the dust and water proofing levels when the connectors are installed to a servo amplifier or servo motor. If the IP rating of the connector and the servo amplifier/servo motor differs, the overall IP rating depends on the lowest of all.

12.3.1 Selection of connectors

Use the connector configuration products given in the table as the connectors for connection with the servo motor. Refer to section 12.3.2 for the compatible connector configuration products.

HF-KN series HF-KP G1/G5/G7 HG-KR G1/G5/G7

Encoder connector Brake connector Power supply connector

Servo motor

HF-KN(B)

HF-KP(B)G1/G5/G7

HG-KR(B)G1/G5/G7

For encoder

Connector configuration A

Wiring connector

For power supply

Connector configuration B

For brake

Connector configuration C

12 - 11

12. SERVO MOTOR

12.3.2 Wiring connectors (Connector configurations A B C)

These connectors comply with the EN and UL/CSA standards.

Connector configuration

A


(TE Connectivity)

Configuration product

Connector (IP rating: IP65) Crimping tool

For Ground clip: 1596970-1

For receptacle contact: 1596847-1

(TE Connectivity)

Servo motor encoder connector

1674339-1

(TE Connectivity)


B


Connector (IP rating: IP65)


Hood, socket insulator, bushing, ground nut


(JAE)

Crimping tool

CT170-14-TMH5B

(JAE)

Servo motor power supply connector

JN4AT04NJ1

(JAE)


C


Connector (IP rating: IP65)

Connector: JN4FT02SJ1-R

Hood, socket insulator, bushing, ground nut


(JAE)

Crimping tool

CT170-14-TMH5B

(JAE)

Servo motor brake connector

JN4AT02PJ1

(JAE)

12 - 12

12. SERVO MOTOR

12.4 Connector dimensions

The connector dimensions for wiring the servo motor are shown below.

(1) TE Connectivity

2174053-1

13.6

24.6

22

19

(Note)

[Unit: mm]

Note. The recommended screw tightening torque is 0.1 N m.

Crimping tool: 1596970-1 (for ground clip)

1596847-1 (for receptacle contact)

(2) JAE

JN4FT02SJ1-R

[Unit: mm]

17

26.6

12.3

19 14.3

(Note)



12 - 13

12. SERVO MOTOR

KN4FT04SJ1-R

Approx. 29

16 ± 0.3

11.7 ± 0.2

R6

12.2 ± 0.3

(Note)

Main key

[Unit: mm]



12 - 14

12. SERVO MOTOR

12.5 HF-KN series servo motor

This section provides information on the servo motor specifications and characteristics. When using the HF-KN series servo motor, always read the Safety Instructions in the beginning of this manual and sections 12.1 to

12.4, in addition to this section.

12.5.1 Model definition

The following describes what each block of a model name indicates. Note that not all the combinations of the symbols exist.

H F - K N 3

Appearance

Series name Shaft type

Symbol

None

K

D

Shaft shape

Standard

(Straight shaft)

With keyway

(With key)

D cut shaft


Symbol Electromagnetic brake

None None

B With

HF-KN

053 to 43

23 43

053 13

Rated speed

3000 [r/min]

Rated output

Symbol Rated output [W]

05

1

50

100

2

4

200

400

12 - 15

12. SERVO MOTOR

12.5.2 Standard specifications

(1) Standard specifications

Item

Speed/position encoder

Accessory

Insulation class

Structure


(Note 5)

Ambient temperature

Ambient humidity

Ambience

Servo motor

Applicable servo amplifier

Continuous running duty

(Note 1)

MR-JN- A

MR-JN- A1

Rated output

Rated torque

Rated speed (Note 1)

[kW]

[N m]

[oz in]

[r/min]

Maximum speed

Instantaneous permissible speed

Maximum torque

Power rate at continuous rated torque

Standard

With an electromagnetic brake

[r/min]

[r/min]

[N m]

[oz in]

[kW/s]

[kW/s]

Inertia moment (Note 3)

J [ 10 -4 kg m 2 ]

WK 2 [oz in 2 ]

Recommended load to motor inertia moment ratio (Note 2)


Rated current

Maximum current

[A]

[A]

In operation

In storage

In operation

In storage

Altitude

Vibration resistance (Note 6)

Vibration rank (Note 7)

L

Permissible load to the shaft

(Note 8)

Mass (Note 3)

Radial

Thrust

[mm]

[N]

[lb]

[N]

[lb]

[kg]

[lb]

053

0.05

0.16

22.7

0.48

68.0

4.87

4.69

0.052

0.284

0.9

2.7

0.4

0.88

HF-KN series (Low inertia, small capacity)

10

10

15 times or less

13

0.1

0.32

45.3

0.95

135

11.5

11.3

0.088

0.481

0.5

1.10

3000

4500

5175

23

20

20

0.2

0.64

90.6

1.9

269

16.9

13.1

0.24

1.31

24 times or less

43

40

0.4

1.3

184

3.8

538

38.6

0.42

2.30

22 times or less


0.8 1.4

2.4 4.2

Incremental 17 bits encoder

(Resolution per servo motor 1 rotation: 131072pulses/rev)

Class B

Totally-enclosed, self-cooled (IP rating: IP65 (Note 4))

0 to +40 (32 to 104 ) (non-freezing)

-15 to +70 (5 to 158 ) (non-freezing)





Max. 1000m

X, Y : 49m/s 2

V-10

25

88

19.8

59

13.3

30

245

55.1

98

22.0

1.0

2.21

32.5

2.7

8.1

1.4

3.09

Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed.

2. If the load to motor inertia moment ratio exceeds the indicated value, please contact your local sales office.

3. Refer to the dimensions for the servo motors with an electromagnetic brake.

4. Except for the shaft-through portion.

5. In the environment where the servo motor is exposed to oil mist, oil and/or water, a standard specification servo motor may not be usable. Contact your local sales office.

12 - 16

12. SERVO MOTOR

6. The vibration direction is as shown in the figure. The value is the one at the part that indicates the maximum value (normally the opposite-to-load side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress the vibration to about half of the permissible value.

Servo motor 1000

100

X

Y

Vibration 10

0 1000 2000 3000 4000 5000 6000 7000

Speed [r/min]

7. V-10 indicates that the amplitude of a servo motor alone is 10 m or less. The following figure shows the servo motor installation position for measurement and the measuring position.

Servo motor

Top

Measuring position

Bottom

8. For the symbols in the table, refer to the following diagram. Do not subject the shaft to load greater than these values in the table. These values are applicable when the loads are applied independently.

L

Radial load

Thrust load

L : Distance from flange mounting surface to load center

(2) Torque characteristics

POINT

For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machine should be kept at 70% or less of the rated torque.

When the input power supply specifications of the servo amplifier are 1-phase 230VAC, the torque characteristics are indicated by heavy lines. Part of the torque characteristics are indicated by broken lines for the 1-phase 100VAC power supply and by thin lines for the 1-phase 200VAC power supply.

[HF-KN053]

[HF-KN13] [HF-KN23]

[HF-KN43]

0.6

1.2

2.5

0.5

0.4

0.3

0.2

0.1

0

0

Short-duration running region

Continuous running region

1000 2000 3000 4000 4500

Speed [r/min]

1

0.8

0.6

0.4


0.2


0

0 1000 2000 3000 4000 4500

Speed [r/min]

2

1.5

1

0.5

0

0



1000 2000 3000 4000 4500

Speed [r/min]

1

0.5

0

0

4.5

4

3.5

3

2.5

2

1.5



1000 2000 3000 4000 4500

Speed [r/min]

12 - 17

12. SERVO MOTOR

12.5.3 Electromagnetic brake characteristics


CAUTION


The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake are indicated below.

Servo motor HF-KN series

Item 053B 13B 23B 43B

Type (Note 1)

Rated voltage (Note 4)

Power consumption

Coil resistance (Note 6)

Inductance (Note 6)

Brake static friction torque

[W]at20

[ ]

[H]

[N m]

[oz in]

[s]

[J]

[J]

Spring-loaded safety brake

24VDC

0

-10%

6.3

91.0

0.088

0.32

45.3

0.03

0.01

5.6

7.9

73.0

0.10

1.3

184

0.03

0.02

22

Release delay time (Note 2)

Braking delay time (Note 2)

Permissible braking work

[s] DC off

Per braking

Per hour

Brake looseness at servo motor shaft (Note 5)

Brake life (Note 3)

Number of braking cycles

Work per braking

Selection example of surge absorbers to be used (Note 7, 8)

[degrees]

For the suppressed voltage 125V


[times]

[J]

56

2.5

20000

5.6

TND20V-680KB

TND10V-221KB

220

1.2

20000

22

Note 1. There is no manual release mechanism. Use a 24VDC power supply to release the brake electrically.

2. The value for initial ON gap at 20 (68 ).

3. Brake gap increases as the brake lining wears, but the gap is not adjustable. Therefore, the brake life is indicated as the number of braking cycles available before the gap adjustment is required.

4. Always prepare the power supply exclusively used for the electromagnetic brake.

5. The above values are typical initial values and not guaranteed values.

6. These values are measured values and not guaranteed values.

7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake and surge absorber.

8. Manufactured by Nippon Chemi-Con Corporation.

12 - 18

12. SERVO MOTOR

12.5.4 Servo motors with special shafts

The servo motors with special shafts indicated by the symbols (K and D) in the table are available. K and D are the symbols attached to the servo motor model names.

Servo motor

Shaft shape

Keyway shaft (with key) D cut shaft

HF-KN053 13

HF-KN23 43 K

D

(1) Keyway shaft (with key)

R

Q

Servo motor

[Unit: mm]

Variable dimensions

S R Q W QK QL U T Y

QK

A

QL

U HF-KN23K 43K 14h6 30 27 5 20 3 3 5

M4

Depth

15

A

T

Section

A-A

Y

(2) D cut shaft

[Unit: mm]

25

21.5

20.5

8h6

12 - 19

12. SERVO MOTOR

12.5.5 Connector installation

If the connector is not fixed securely, it may come off or may not produce a splash-proof effect during operation.

To achieve the IP rating of IP65, pay attention to the following points and install the connectors.

(1) When screwing the connector, hold the connector still and gradually tighten the screws in a crisscross pattern.

1) 3)

Tightening sequence

1) 2) 3) 4)

2) Tightening order

1) 2)

4) 2)

1)

For power supply and encoder connectors

(2) Tighten the screws evenly. Tightening torques are as indicated below.

For encoder connector

Screw size: M2

Tightening torque: 0.1 N m

For brake connector

Screw size: M2


For power supply connector

Screw size: M2


For brake connector

(3) The servo motor fitting part of each connector is provided with a splash-proof seal (O ring). When installing the connector, take care to prevent the seal (O ring) from dropping and being pinched. If the seal (O ring) has dropped or is pinched, a splash-proof effect is not produced.

12 - 20

12. SERVO MOTOR

12.5.6 Outline drawings

The actual dimensions may be 1 to 3mm larger than the drawing dimensions. Design the machine side with allowances.

When running the cables to the load side, take care to avoid interference with the machine. The dimensions in the drawings without tolerances are the reference dimensions.

The inertia moments in the table are the value calculated by converting the total value of inertia moment for servo motor and electromagnetic brake to the servo motor shaft.

(1) Standard (without an electromagnetic brake)

Model Output [W]

Inertia moment

J [×10 -4 kg m 2 ] (WK 2 [oz in 2 ])

Mass

[kg] ([lb])

HF-KN053 50 0.052 (0.284)

0.4

(0.882)

[Unit: mm]

20.5

20.7

Caution plate

72

Motor plate

(Opposite side)

Caution plate

5 2.5

25

21.5

2- 4.5 mounting hole

Use the hexagon socket head cap screw.

45

40

Motor plate

Caution plate

Bottom

Bottom

46

Bottom Top

Top

Top

13.7

27.4

4.9

Encoder connector 10.1

11.7

11.7

21.5

7

9.9

19.2

25.4

9


13.9

Power supply connector pin configurations

27.5

3

4

1

2

Pin No.

1

2

3

4

Signal name

(Earth)

U

V

W

6.4


21.5

11.7

19.2

Opposite-to-load side

9.9


BC36750A

12 - 21

12. SERVO MOTOR

Motor plate

Caution plate

20.5

20.7

Caution plate

87

Motor plate

(Opposite side)

Caution plate

Model Output [W]

HF-KN13 100

Inertia moment

J [×10 -4 kg m 2 ] (WK 2 [oz in 2 ])

0.088 (0.481)

Mass

[kg] ([lb])

0.5 (1.10)

40

[Unit: mm]

5 2.5

25

21.5



45

46

Bottom

Bottom

Top

Top

Bottom

Top

Motor plate

13.7

27.4

4.9


11.7

11.7

21.5

7

9.9

19.2

40.4


3

4

1

2

13.9


27.5

Pin No.

1

2

3

4

Signal name

(Earth)

U

V

W

9

6.4

Bottom

Top

Caution plate

Caution plate


21.5

11.7

19.2


9.9


BC36751B

Motor plate

(Opposite side)

88.2

Caution plate

Model Output [W]

HF-KN23 200

Inertia moment

J [×10 -4 kg m 2 ] (WK 2 [oz in 2 ])

0.24 (1.31)

Mass

[kg] ([lb])

1.0 (2.21)

[Unit: mm]

7 3

30



45

60

70

Bottom

Bottom

Top

Top

1

2

3

4

13.7 10

28.4

Encoder connector

10.1

11.8

11.7

21.5


Pin No.

1

2

3

4

Signal name

(Earth)

U

V

W

9.5

19.2

40

9

7


Encoder connector

13.9

27.8

5.9

19.2

11.8 11.7

21.5


9.5


BC36752A

12 - 22

12. SERVO MOTOR

Motor plate

Bottom

Top

Caution plate

Caution plate

Motor plate

(Opposite side)

110.2

Caution plate

Model Output [W]

HF-KN43 400

J [×10 -4

Inertia moment kg m 2 ] (WK 2 [oz in 2 ])

0.42 (2.30)

Mass

[kg] ([lb])

1.4 (3.09)

[Unit: mm]



7 3

30

45

60

70

Bottom

Bottom

Top

Top

1

2

4

3

13.7 10

28.4

Encoder connector

10.1

11.8

11.7

21.5


Pin No.

1

2

3

4

Signal name

(Earth)

U

V

W

9.5

19.2

9


62

7

Encoder connector

13.9

27.8

5.9


19.2

9.5

11.8 11.7

21.5


BC36753A

(2) With an electromagnetic brake

Model Output [W] Brake static friction torque [N m]

HF-KN053B 50 0.32

J [×10 -4

Inertia moment kg m 2 ] (WK 2 [oz in 2 ])

0.054 (0.295)

Mass

[kg] ([lb])

0.6 (1.32)

[Unit: mm]

20.5

20.7

Caution plate

108.9

Motor plate

(Opposite side)

Caution plate

5 2.5

25

21.5



45

40

Motor plate

Caution plate

Bottom

Bottom

46

Bottom

Top

Top

Top

Encoder connector

13.7

27.4

4.9

Brake connector pin configurations

1

2

10.1

11.7

11.7

21.5

58.8

Pin No.

1

2

Signal name

B1

B2

18.4

7

9.9

19.2

25.4

Brake connector


13

2

1

3

4

13.9

27.5

6.4


Pin No.

1

2

3

4

Signal name

(Earth)

U

V

W


11.7

21.5

18.4

58.8



19.2

9.9

Brake connector

BC36754A

12 - 23

12. SERVO MOTOR

Motor plate

Caution plate

20.5

20.7

Bottom

Top

Model Output [W]

HF-KN13B

Caution plate

100


[N m] ([oz in])

0.32 (45.3)

123.9

Motor plate

(Opposite side)

Caution plate

5

Bottom

Bottom

Top

Top

Inertia moment

J [×10 -4 kg m 2 ] (WK 2 [oz in 2 ])

0.09 (0.492)

Mass

[kg] ([lb])

0.7

(1.54)

[Unit: mm]

40

2.5

25

21.5



45

46

Encoder connector

13.7

27.4

4.9


1

2

10.1

11.7

11.7

21.5

58.8

Pin No.

1

2

Signal name

B1

B2

18.4

7

9.9

19.2


40.4

Brake connector

3

4

1

2

13

13.9

27.5

6.4


Pin No.

1

2

3

4

Signal name

(Earth)

U

V

W


11.7

21.5

18.4

58.8



19.2

9.9

Brake connector

BC36755A

12 - 24

12. SERVO MOTOR

Model

HF-KN23B

Output [W]

200


[N m] ([oz in])

1.3 (184)

Motor plate

(Opposite side)

116.8

Caution plate 7 3

30

Inertia moment

J [×10 -4 kg m 2 ] (WK 2 [oz in 2 ])

0.31 (1.70)

Mass

[kg] ([lb])

1.4

(3.09)

[Unit: mm]



45

60

70

Motor plate

Bottom

Top

Caution plate

Caution plate

Bottom

Bottom

Top

Top

13.7 10

28.4


1

Encoder connector

10.1

11.8

11.7

21.5

57.8

2

Pin No.

1

2

Signal name

B1

B2

9

9.5

19.2

40

Brake connector

13.5

7


1

2

3

4

13.9

27.8

5.9


Pin No.

1

2

3

4

Signal name

(Earth)

U

V

W

Encoder connector

9.5


11.8 11.7

57.8

21.5

18.3


Brake connector

BC36756B

12 - 25

12. SERVO MOTOR

Model Output [W]

HF-KN43B 400


[N m] ([oz in])

1.3 (184)

Motor plate

(Opposite side)

138.8

Caution plate 7

Inertia moment

J [×10 -4 kg m 2 ] (WK 2 [oz in 2 ])

0.50 (2.73)

Mass

[kg] ([lb])

1.8

(3.97)

[Unit: mm]

3

30



45

60

70

Motor plate

Bottom

Top

Caution plate

Caution plate

Bottom

Bottom

Top

Top

13.7 10

28.4


1

Encoder connector

10.1

11.8

11.7

21.5

57.8

2

9.5


19.2

Brake connector

62

4

3

1

2

13.9

27.8

5.9


Pin No.

1

2

3

4

Signal name

(Earth)

U

V

W Pin No.

1

2

Signal name

B1

B2

9

13.5

7

Encoder connector

11.8 11.7

57.8

21.5

18.3



9.5

Brake connector

BC36757B

12.5.7 USA/Canada compliance

Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat dissipation effect.

Flange size Servo motor

[mm] HF-KN

250×250×6

250×250×12

For others, please refer to appendix 5.

053 13 23

43

12 - 26

12. SERVO MOTOR

12.6 HF-KP series servo motor (Order accepted until May 31, 2019)

POINT

For the dimensions of the HF-KP G1/G5/G7servo motor, refer to sections

6.8.3 to 6.8.8 in the Servo Motor INSTRUCTION MANUAL (Vol.2).

This section provides information on the servo motor specifications and characteristics. When using the HF-KP series servo motor, always read the Safety Instructions in the beginning of this manual and sections 12.1 to

12.4, in addition to this section.


The following describes what each block of a model name indicates. Note that not all the combinations of the symbols exist.

Appearance

Series name Shaft type

Symbol

None

K

Shaft shape

Standard

(Straight shaft)

With keyway

(With key)

Reduction gear

Symbol

G1

G5

G7

Reduction gear

For general industrial machine

Flange-mounting flange output type for precision application

Flange-mounting shaft output type for precision application



None

B

None

With

Rated speed

3000 [r/min]

Rated output

Symbol Rated output [W]

2

4

05

1

50

100

200

400

12 - 27

12. SERVO MOTOR

12.6.2 Specifications

(1) Specifications list (When combined with an MR-JN- A series servo amplifier.)

Servo motor HF-KP series (Low inertia, small capacity)

Item 053G1/G5/G7 13G1/G5/G7 23G1/G5/G7

Applicable servo amplifier

MR-JN- A

MR-JN- A1


(Note 1)

Rated output

Rated torque

(Note 8)

Rated speed (Note 1, 3)

[kW]

[N m]

[oz in]

[r/min]

Maximum speed (Note 3)

Instantaneous permissible speed

Maximum torque (Note 8)

[r/min]

[r/min]

[N m]

[oz in]

Power rate at continuous rated torque

(Note 8)

Inertia moment

[kW/s]

J [×10 -4 kg m 2 ]

WK 2 [oz in 2 ]

Recommended load to motor inertia moment ratio (Note 2)

0.05

0.16

22.7

0.48

68.0

4.87

10

10

0.1

0.32

45.3

0.95

135

11.5

3000

4500

4500

20

20

0.2

0.64

90.6

1.9

269

16.9

43G1/G5/G7

40

0.4

1.3

184

3.8

538

38.6

Refer to sections 6.8.3 to 6.8.8 in the Servo Motor INSTRUCTION MANUAL

(Vol.2).

Refer to section 12.6.4


Rated current

Maximum current

Speed/position encoder

Accessory

Insulation class

Structure


(Note 5)

Ambient temperature

Ambient humidity

Ambient

Altitude

In operation

In storage

In operation

In storage

Vibration resistance (Note 6)

Vibration rank (Note 7)

Permissible load for the shaft

[A]

[A]

0.9

2.7

0.8

2.4


1.4

4.2

2.7

8.1

Incremental 18-bit encoder

(Resolution per servo motor 1 rotation: 262144pulses/rev)

Class B

Totally-enclosed, self-cooled (IP rating: IP44 (Note 4))

0 to +40 (32 to 104 ) (non-freezing)

-15 to +70 (5 to 158 ) (non-freezing)





Max. 1000m

X, Y : 49m/s 2

V-10

Refer to section 12.6.4.

Mass [kg] ([lb])

Refer to sections 6.8.3 to 6.8.8 in the Servo Motor INSTRUCTION MANUAL

(Vol.2).


2. If the load to motor inertia moment ratio exceeds the indicated value, please contact your local sales office.

3. The above values are in the reduction gear input shaft.

4. Except for the shaft-through portion.

5. In the environment where the servo motor is exposed to oil mist, oil and/or water, a standard specification servo motor may not be usable. Contact your local sales office.

12 - 28

12. SERVO MOTOR

6. For the servo motor alone. The vibration direction is as shown in the figure. The value is the one at the part that indicates the maximum value (normally the opposite-to-load side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress the vibration to about half of the permissible value. Note that this does not apply to the servo motor with a reduction gear.

Servo motor

1000

X

Y

100

Vibration

10

0 1000 2000 3000 4000 5000 6000 7000

Speed [r/min]

7. V-10 indicates that the amplitude of a servo motor alone is 10 m or less. The following figure shows the servo motor installation position for measurement and the measuring position.

Servo motor

Top

Measuring position

Bottom

8. For the servo motor alone.


POINT

For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machine should be kept at 70% or less of the rated torque.

The torque characteristics shown in the following graph are for the servo motor itself. When the input power supply specifications of the servo amplifier are 1-phase 230VAC, the torque characteristics are indicated by heavy lines. Part of the torque characteristics are indicated by broken lines for the 1-phase 100VAC power supply and by thin lines for the 1-phase 200VAC power supply.

[HF-KP053G1/G5/G7] [HF-KP13G1/G5/G7] [HF-KP23G1/G5/G7] [HF-KP43G1/G5/G7]

0.6

0.5

0.4

0.3

0.2

0.1


0

0


1000 2000 3000 4000 4500

Speed [r/min]

1.2

0.8

0.6

0.4

0.2

1


0

0


1000 2000 3000 4000 4500

Speed [r/min]

2.5

2

1.5

1

0.5


0

0


1000 2000 3000 4000 4500

Speed [r/min]

4.5

4

3.5

3

2.5

2

1.5

1

0.5

0

0



1000 2000 3000 4000 4500

Speed [r/min]

12 - 29

12. SERVO MOTOR

12.6.3 Electromagnetic brake characteristics


CAUTION


The operation time of the electromagnetic brake varies depending on the power supply circuit being used. Be sure to check the operation delay time with an actual machine.


Item

Servo motor

053B

G1/G5/G7

HF-KP series

13B

G1/G5/G7

23B

G1/G5/G7

43B

G1/G5/G7

Type (Note 1)


Power consumption


Inductance (Note 6)

[W]at20

[ ]

[H]

[N m]



Braking delay time (Note 2) [s] DC off

Per braking


Per hour


Brake life (Note 3)


Work per braking

[oz in]

[s]

[J]

[J]

[degrees]

[times]

[J]

Spring-loaded safety brake

24VDC

0

-10%

6.3

91.0

0.088

0.32

45.3

0.03

0.01

5.6

56

2.5

20000

7.9

73.0

0.10

1.3

184

0.03

0.02

22

220

1.2

20000

5.6 22

Selection example of surge


TND20V-680KB absorbers to be used (Note 7, 8) For the suppressed voltage 350V

TND10V-221KB

Note 1. There is no manual release mechanism. Use a 24VDC power supply to release the brake electrically.

2. The value for initial ON gap at 20 (68 ).

3. Brake gap increases as the brake lining wears, but the gap is not adjustable. Therefore, the brake life is indicated as the number of braking cycles available before the gap adjustment is required.

4. Always prepare the power supply exclusively used for the electromagnetic brake.

5. The above values are typical initial values and not guaranteed values.

6. These values are measured values and not guaranteed values.

7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake and surge absorber. When a diode is used as surge absorber, the electromagnetic braking time will be longer.


12 - 30

12. SERVO MOTOR

12.6.4 Servo motor with a reduction gear

The servo motor with a reduction gear must be installed in the specified direction.

Otherwise, it can leak oil, leading to a fire or fault.

CAUTION

Install the servo motor with a reduction gear in the specified direction. Improper installation causes oil leakage, leading to a fire and malfunction.

Servo motors are available with a reduction gear designed for general industrial machines compliant and precision applications compliant.

Servo motors with an electromagnetic brake are also available.

(1) For general industrial machines compliant (G1)

(a) Manufacturing range

The following table indicates the reduction ratios and actual reduction ratios of the servo motors with a reduction gear for general industrial machines compliant. The servo motors with a reduction gear of the following reduction ratios are available.

Servo motor

HF-KP053G1

HF-KP13G1

HF-KP23G1

HF-KP43G1

Nominal reduction ratio

1/5

1/12

1/20

1/5

1/12

1/20

1/5

1/12

1/20

1/5

1/12

1/20

Actual reduction ratio

9/44

49/576

25/484

9/44

49/576

25/484

19/96

25/288

253/5000

19/96

25/288

253/5000

12 - 31

12. SERVO MOTOR

(b) Specifications

Item

Servo motor

Mounting method

Mounting direction

Lubrication method

Packed with

Description

HF-KP G1

Flange mounting

In any directions

Grease lubrication (Already packed) (Note 1)

50 100W

Mobilplex 46

Exxon Mobil

Corporation

200W 400W

1/12 1/20

Molynoc AP2

Nippon Oil

Corporation

200W 400W

1/5

Mobil Grease SP

Exxon Mobil

Corporation

Output shaft rotating direction


Backlash

Permissible load to motor inertia moment ratio

(converting into the servo motor shaft)

(Note 2)

Reduction gear efficiency

(Note 3)

Same as the servo motor output shaft direction.

Available

60 minutes or less at reduction gear output shaft

For 50W, 100W: 5 times or less


45 to 75%

Note 1. Already packed with the grease.

2. If the above indicated value is exceeded, please contact your local sales office.

3. The reduction gear efficiency differs depending on the reduction ratio. Also, it varies depending on the use conditions such as the output torque, speed, temperature, etc. The numerical value in the table is a typical value in the rated torque, rated speed and typical temperature, and not a guaranteed value.

12 - 32

12. SERVO MOTOR

(c) Permissible loads of servo motor shaft

The permissible radial load in the table is the value measured at the center of the reduction gear output shaft.

Q/2

Q: Length of axis

(Refer to section 6.8.3, 6.8.4 in the Servo Motor

INSTRUCTION MANUAL (Vol.2).)

Q

Servo motor

HF-KP053G1

Reduction ratio

1/5

1/12

1/20

1/5

Permissible load (Note)

Permissible radial load

[N] [Ib]

Permissible thrust

[N] load

[Ib]

150

240

370

150

33.7

54.0

83.2

33.7

200

320

450

200

45.0

71.9

101

45.0

HF-KP13G1

HF-KP23G1

1/12

1/20

1/5

1/12

240

370

330

710

54.0

83.2

74.2

160

320

450

350

720

71.9

101

78.7

162

1/20

1/5

780

330

175

74.2

780

350

175

78.7

HF-KP43G1 1/12 710 160 720 162

1/20 760

Note. Do not subject the shaft to load greater than this value.

171 760 171

The values in the table are applicable when the loads are applied independently.

12 - 33

12. SERVO MOTOR

(2) For precision applications compliant (G5, G7)

(a) Manufacturing range

The symbols (14A, 20A, 32A) in the following table indicate the model numbers of the reduction gears assembled to the servo motors. Servo motors with a reduction gear having the indicated reduction gear model numbers are available. The reduction gear model number indicates of the reduction number model name HPG- -05...

Servo motor

1/5 1/11

Reduction ratio

1/21 1/33 1/45

HF-KP053G5, HF-KP053G7




14A

20A

32A

(b) Specifications

Item

Servo motor

Mounting method

Mounting direction

Lubrication method

Packed with

Output shaft rotating direction


Backlash

Permissible load to motor inertia moment ratio

(converting into the servo motor shaft)

(Note 2)

Reduction gear efficiency

(Note 3)

Description

HF-KP G5, HF-KP G7

Flange mounting

In any directions

Grease lubrication (Already packed) (Note 1)

Harmonic grease SK-2

(Harmonic Drive Systems)


Available

3 minutes or less at reduction gear output shaft



58 to 87 % (Note 4)

Note 1. Already packed with the grease.

2. If the above indicated value is exceeded, please contact your local sales office.

3. The reduction gear efficiency differs depending on the reduction ratio. Also, it varies depending on the use conditions such as the output torque, speed, temperature, etc. The numerical value in the table is a typical value in the rated torque, rated speed and typical temperature, and not a guaranteed value.

4. The reduction gear efficiency of the HF-KP053 is 22 to 41%.

12 - 34

12. SERVO MOTOR

(c) Permissible loads to servo motor shaft

The radial load point of a precision reduction gear is as shown below.

L Q/2

Q: Length of axis

(Refer to section 6.8.7, 6.8.8 in the Servo Motor

INSTRUCTION MANUAL (Vol.2).)

L: Distance between reduction

gear end face and load center

Q

Flange-mounting flange output type for precision application compliant (G5)

Flange-mounting shaft output type for precision application compliant (G7)

Servo motor Reduction ratio

Radial load point

L [mm]



1/5

1/11

1/21

1/33

1/45

1/5

1/11

1/21

1/5

1/11

1/21

1/33

1/45

32

23

23

32

23

23

23

32

23

23

23

23

23



1/33

1/45

1/5

1/11

1/21

1/33

1/45

32

57

57

32

32

23

32

733

804

177

527

640

1252

1374

Note. Do not subject the shaft to load greater than this value.

The values in the table assume that the loads are applied independently.

177

224

272

733

804

177

224

640

177

224

272

311

342



[N] [Ib]

Permissible thrust

[N] load

[Ib]

39.8

50.4

61.1

165

181

39.8

50.4

144

39.8

50.4

61.1

69.9

76.9

165

181

39.8

118

309

281

309

706

895

1087

1244

1366

706

895

1087

2581

2833

706

895

2254

2581

2833

706

1856

2254

4992

5478

570

637

159

4170

1230

1120

1230

159

201

224

570

637

159

201

507

159

201

224

280

307

12 - 35

12. SERVO MOTOR

(d) Special shaft servo motors

Servo motors with a special shaft having keyway (with single pointed keys) are available for the flange mounting shaft output type for precision applications compliant (G7).

[Unit: mm]

Servo motor

HF-KP G7K

Reduction gear model number

14A

20A

32A

Q S W

28 16h7

42 25h7

5

8

82 40h7 12

T

5

7

8

QK

25

36

70

U

3

4

5

Y

M4 Depth 8

M6 Depth 12

M10 Depth 20

Y

(Q)

QK

U

T

12.6.5 Connector installation


To achieve the IP rating of IP65, pay attention to the following points and install the connectors.


1) 3)

Tightening sequence

1) 2) 3) 4)

2) Tightening sequence

1) 2)

4) 2)

1)

For power supply and encoder connectors For brake connector

12 - 36

12. SERVO MOTOR


For encoder connector

Screw size: M2


For brake connector

Screw size: M2


For power supply connector

Screw size: M2


(3) The servo motor fitting part of each connector is provided with a splash-proof seal (O ring). When installing the connector, take care to prevent the seal (O ring) from dropping and being pinched. If the seal (O ring) has dropped or is pinched, a splash-proof effect is not produced.

12 - 37

12. SERVO MOTOR

12.7 HG-KR series servo motor

POINT

For the dimensions of the HG-KR G1/G5/G7 servo motor, refer to section

6.8.3 to 6.8.8 of the Servo Motor Instruction Manual (Vol.3).

This is available with servo amplifiers with software version B2 or later.

This chapter provides information on the servo motor specifications and characteristics. When using the HG-

KR series servo motor, always read the Safety Instructions in the beginning of this manual and sections 12.1 to

12.4, in addition to this chapter.


The following describes model designation. Not all combinations of the symbols are available.

Appearance

Series

Rated output

Symbol Rated output [kW]

05 0.05

1

2

0.1

0.2

4 0.4

Shaft type

Symbol

None

K

Shaft shape

Standard

(Straight shaft)

Key shaft

(With key)

Rated speed

3000 [r/min]



None None

B With

Gear reducer

Symbol

G1

G5

G7

Gear reducer

For general industrial machine (flange-mounting)

Flange-mounting flange output type for high precision application

Flange-mounting shaft output type for high precision application

12 - 38

12. SERVO MOTOR

12.7.2 Standard specifications

(1) Standard specifications list (when combined with MR-JN- A servo amplifier.)

Servo motor HG-KR series (low inertia/small capacity)

Item 053(B)G1/G5/G7 13(B)G1/G5/G7 23(B)G1/G5/G7



(Note 1)

Rated output

Rated torque

(Note 8)

Maximum torque (Note 8)

Rated speed (Note 1, 3)

Maximum speed (Note 3)

Permissible instantaneous speed

[kW]

[N m]

[N m]

[r/min]

[r/min]

[r/min]

0.05

0.16

0.48


0.1 0.2

0.32

0.96

3000

4500

4500

0.64

1.9

5.63 13.0 18.3

Power rate at continuous rated torque (Note 8)

Rated current

Maximum current

Standard


Standard

Moment of inertia J

[kW/s]

[kW/s]

[×10 － 4 kg m 2 ]


[A]

[A]

[×10 － 4 kg m 2 ]

Recommended load to motor inertia ratio

(Note 2)

5.37

0.9

2.7

12.1

0.8

2.4

16.7

1.3

3.9


43(B)G1/G5/G7

0.4

1.3

3.9

43.7

41.3

2.6

7.8

Refer to section 6.8.3 to 6.8.8 of the Servo Motor Instruction Manual (Vol.3).

Speed/position detector

Insulation class

Structure

Ambient temperature

Ambient humidity


(Note 5)

Ambience

Altitude


(Note 6)

Vibration rank

(Note 7)

Permissible load for the shaft

Mass

Operation

Storage

Operation

Storage

[kg]

Incremental 18-bit encoder system

(resolution per servo motor revolution: 262144 pulses/rev)

130 (B)

Totally enclosed, natural cooling (IP rating: IP44 (Note 4))

0 ˚C to 40 ˚C (non-freezing)

-15 ˚C to 70 ˚C (non-freezing)

10 %RH to 80 %RH (non-condensing)

10 %RH to 90 %RH (non-condensing)

Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt

1000m or less

X, Y: 49m/s 2

V10


Refer to section 6.8.3 to 6.8.8 of the Servo Motor Instruction Manual (Vol.3).

12 - 39

12. SERVO MOTOR


2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office.

3. The value on the gear reducer input axis.

4. Except for the shaft-through portion. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures.

5. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications may not be usable. Please contact your local sales office.

6. The servo motor alone. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress the vibration to about half of the permissible value. Note that this does not apply to the geared servo motor.

1000

Servo motor

100

X

Y

Vibration

10

0 1000 2000 3000 4000 5000 6000 7000

Speed [r/min]

7. V10 indicates that the amplitude of a servo motor alone is 10 μm or less. The following figure shows the servo motor mounting position for measurement and the measuring position.

Servo motor

Top

Bottom

Measuring position

8. The servo motor alone.

12 - 40

12. SERVO MOTOR


POINT

For the system where the unbalanced torque occurs, such as a vertical axis, the unbalanced torque of the machine should be kept at 70% or lower of the motor's rated torque.

The torque characteristics shown in the following diagrams are for the servo motor alone. When the input power supply specification of the servo amplifier is 1-phase 230 V AC, the torque characteristic is indicated by the heavy line. For 1-phase AC 100 V, part of the torque characteristics is indicated by a broken line, and for 1-phase 200 V AC part of the torque characteristics is indicated by a continuous line.

[HG-KR053G1/G5/G7]

0.6

[HG-KR13G1/G5/G7]

1.2

[HG-KR23G1/G5/G7]

2.5

[HG-KR43G1/G5/G7]

4.5

0.5

0.4

0.3

0.2

0.1

0

0

Short-duration running range

Continuous running range

1000 2000 3000 4000 4500

Speed [r/min]

1

0.8

0.6

0.4

0.2

0

0



1000 2000 3000

Speed [r/min]

4000 4500

1.5

0.5

2

1

0

0



1000 2000 3000 4000 4500

Speed [r/min]

4

3.5

3

2.5

2

1.5

1

0.5

0

0



1000 2000 3000 4000 4500

Speed [r/min]

12 - 41

12. SERVO MOTOR

12.7.3 Electromagnetic brake

The electromagnetic brake is provided to prevent a drop at a power failure or servo alarm occurrence during vertical drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock).

Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly.

CAUTION

The operation time of the electromagnetic brake varies depending on the power supply circuit you use. Be sure to check the operation delay time with an actual machine.


Servo motor

HG-KR series

Item

053B

G1/G5/G7

13B

G1/G5/G7

23B

G1/G5/G7

43B

G1/G5/G7

Type (Note 1)


Power consumption


Inductance (Note 6)



[W]at20

[ ]

[H]

[N m]

[s]

Braking delay time (Note 2) [s] DC off

Per braking


Per hour


Brake life (Note 3)


Work per braking

[J]

[J]

[degree]

[times]

[J]

Spring actuated type safety brake

24VDC 0

-10%

6.3

91.0

0.15

0.32

0.03

0.01

5.6

56

2.5

20000

7.9

73.0

0.18

1.3

0.03

0.02

22

220

1.2

5.6 22

Selection example of surge


TND20V-680KB absorbers to be used (Note 7, 8) For the suppressed voltage 350V

TND10V-221KB

Note 1. It does not have a manual release mechanism. Use a 24 VDC power supply to release the brake electrically.

2. The value for initial on gap at 20 .

3. The brake gap will increase as the brake lining wears, but the gap is not adjustable.

The brake life indicated is the number of braking cycles after which adjustment will be required.

4. Be sure to prepare a power supply exclusively used for the electromagnetic brake.

5. These are design values. These are not guaranteed values.

6. These are measured values. These are not guaranteed values.

7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake and surge absorber. When a diode is used as surge absorber, the electromagnetic braking time will be longer.


12 - 42

12. SERVO MOTOR

12.7.4 Geared servo motors

Do not disassemble, repair, or modify the geared servo motor.

CAUTION

Do not remove the gear reducer from the geared servo motor to install it to a nongeared servo motor. To repair the geared servo motor, contact your local sales office.

Geared servo motors are available for general industrial machines and high precision applications.

Servo motors with an electromagnetic brake are also available.

(1) For general industrial machines (G1)

(a) Reduction ratio

The following table indicates the reduction ratios and actual reduction ratios of the geared servo motor for general industrial machines.

(b) Specifications

Servo motor

HG-KR053(B)G1

HG-KR13(B)G1

HG-KR23(B)G1

HG-KR43(B)G1

Nominal reduction ratio

1/5

1/12

1/20

1/5

1/12

1/20

1/5

1/12

1/20

1/5

1/12

1/20

Actual reduction ratio

9/44

49/576

25/484

9/44

49/576

25/484

19/96

961/11664

513/9984

19/96

961/11664

7/135

Item Description

Mounting method

Mounting direction

Lubrication method

Output shaft rotation direction

Backlash

(Note 3)

Permissible load to motor inertia ratio

(converted into the servo motor shaft)

(Note 1)

Gear reducer efficiency

(Note 2)

Flange-mounting

In any directions

Grease lubrication (already packed)


60 minutes or less at gear reducer output shaft

50W/100W: 5 times or less


40% to 85%

Note 1. If the above indicated value is exceeded, please contact your local sales office.

2. The gear reducer efficiency differs depending on the reduction ratio. Also, the gear reducer efficiency changes depending on the operating conditions such as the output torque, speed and rotation, temperature, etc. The numerical value in the table is a typical value in the rated torque, rated speed and rotation and typical temperature, and not a guaranteed value.

3. The backlash can be converted. 1 min = 0.0167˚

12 - 43

12. SERVO MOTOR

(c) Permissible loads of servo motor shaft

The permissible radial load in the table is the value measured at the center of the gear reducer output shaft.

Q/2

Q: Length of axis (Refer to section 6.8.3 and 6.8.8 of the Servo Motor Instruction Manual (Vol. 3))

Q

Servo motor

HG-KR053(B)G1

HG-KR13(B)G1

HG-KR23(B)G1

HG-KR43(B)G1

Reduction ratio

1/5

1/12

1/20

1/5

1/12

1/20

1/5

1/12

1/20

1/5

1/12



[N]

Permissible thrust load

[N]

150

240

370

200

320

450

150

240

370

330

710

780

330

710

200

320

450

350

720

780

350

720

1/20 760

Note. Do not subject the shaft to load greater than the value.

760

The value in the table assumes that the load is applied independently.

(2) For high precision application

(a) Reduction ratio

The symbols (11B, 14A, 20A, and 32A) in the following table indicate the model number of the gear reducer assembled to the servo motors. Geared servo motors having the indicated gear reduction model numbers are available. The gear reducer model number indicates of the gear reducer model HPG-05.

Servo motor

1/5 1/9

Reduction ratio

1/11 1/21 1/33 1/45

HG-KR053(B)G5

HG-KR053(B)G7

HG-KR13(B)G5

HG-KR13(B)G7

HG-KR23(B)G5

HG-KR23(B)G7

11B/14A

11B/14A

14A

11B

14A

14A

14A

20A

20A

HG-KR43(B)G5

HG-KR43(B)G7

14A 20A 32A

12 - 44

12. SERVO MOTOR

(b) Specifications

Item Description

Mounting method

Mounting direction

Lubrication method

Output shaft rotation direction

Backlash (Note 3)

Permissible load to motor inertia ratio

(converted into the servo motor shaft)

(Note 1)

Gear reducer efficiency

(Note 2)

Flange-mounting

In any directions

Grease lubrication (already packed)


3 minutes or less at reducer output shaft



50W (Gear reducer model No. 14A): 1/5, 12%; 1/11 to 1/45, 22% to 34%

50W (Gear reducer model No. 11B)/100W/200W/400W/750 W: 48% to 84%

Note 1. If the above indicated value is exceeded, please contact your local sales office.

2. The gear reducer efficiency differs depending on the reduction ratio. Also, the gear reducer efficiency changes depending on the operating conditions such as the output torque, speed and rotation, temperature, etc. The numerical value in the table is a typical value in the rated torque, rated speed and rotation and typical temperature, and not a guaranteed value.

3. The backlash can be converted: 1 min = 0.0167˚

Permissible loads of servo motor shaft

The radial load point of a high precision gear reducer is as shown below.

L

Q/2

L: Distance between gear reducer end face and load center

Q

Q: Length of axis (Refer to section 6.8.7 and 6.8.8

of the Servo Motor Instruction Manual (Vol. 3))

Flange-mounting flange output type for high precision application (G5)

Flange-mounting shaft output type for high precision application (G7)

12 - 45

12. SERVO MOTOR

Servo motor Reduction ratio

Gear reducer model number

HG-KR053(B)G5

HG-KR053(B)G7

HG-KR13(B)G5

HG-KR13(B)G7

HG-KR23(B)G5

HG-KR23(B)G7

HG-KR43(B)G5

HG-KR43(B)G7

1/11

1/21

1/33

1/45

1/5

1/11

1/21

1/33

1/5

1/5

1/9

1/11

1/21

1/33

1/45

1/5

1/5

1/45

1/5

1/11

1/21

1/33

1/45

11B

14A

11B

14A

11B

14A

20A

14A

20A

14A

20A

32A

Note. Do not subject the shaft to load greater than the value.

The value in the table assumes that the load is applied independently.

Radial load point

L [mm]

23

23

32

32

23

23

32

32

23

23

23

17

23

17

23

17

23

32

23

32

32

57

57



[N]

224

272

733

804

177

224

640

733

93

177

111

224

272

311

342

93

177

804

177

527

640

1252

1374

(d) Special shaft servo motors

Servo motors with special shafts having keyway (with single pointed keys) are available for the flangemounting shaft output type for high precision applications (G7).

[Unit: mm]

Servo motor

Gear reducer model number

Q φS W T QK U Y

HG-KR_(B)G7K

11B

14A

20A

32A

20

28

42

82

10h7

16h7

25h7

40h7

4

5

8

12

4

5

7

8

15

25

36

70

2.5

3

4

5

M3 screw hole depth 6




Permissible thrust load

[N]

895

1087

2581

2833

706

895

2254

2581

431

706

514

895

1087

1244

1366

431

706

2833

706

1856

2254

4992

5478

Q

QK

U

Y

T

12 - 46

12. SERVO MOTOR

12.7.5 Mounting connectors


To achieve the IP rating IP65, pay attention to the following points and install the connectors.


1) 3)

Tightening order

1) 2) 3) 4)

2) Tightening order

1) 2)

4) 2)

1)

Connector for power, connector for encoder Connector for electromagnetic brake


Connector for encoder

Screw size: M2

Tightening torque: 0.1 [N•m]

Connector for electromagnetic brake

Screw size: M2


Connector for power supply

Screw size: M2


(3) The servo motor fitting part of each connector is provided with a splash-proof seal (O ring). When mounting a connector, use care to prevent the seal (O ring) from dropping and being pinched. If the seal (O ring) has dropped or is pinched, a splash-proof effect is not produced.

12 - 47

12. SERVO MOTOR

MEMO

12 - 48

13. POSITIONING MODE


13.1 Selection method of each operation mode

This section provides the selection method of each operation mode.

(1) Point table method

Operation mode

Selection item of operation mode Parameter

No. PA01 setting

Automatic operation mode for point table method

Manual operation mode

One-time positioning operation

Automatic continuous operation

Varied speed operation


JOG operation

Manual pulse generator operation

Home position return mode

Dog type

Count type

Data set type

Stopper type




Dog cradle type

Note. MD0: Automatic/manual selection

DI0 to DI2: Point table No./Program No. selection 1 to 3

(2) Program method

6

Input device setting

(Note)

MD0 DI0 to DI2

ON Option

Refer to

Section 13.3.2 (1)

Section 13.3.2 (2) (b)

Section 13.3.2 (2) (c)

OFF

ON All OFF

Section 13.5.1

Section 13.5.2

Section 13.6.3

Section 13.6.4

Section 13.6.5

Section 13.6.6

Section 13.6.7

Section 13.6.8

Section 13.6.9

Section 13.6.10

Operation mode


Selection item of operation mode Parameter

No. PA01 setting

Automatic operation mode for program method

Manual operation mode

JOG operation

Manual pulse generator operation

Dog type

Count type

Data set type

Stopper type




Dog cradle type

Note 1. MD0: Automatic/manual selection

DI0 to DI2: Point table No./Program No. selection 1 to 3

2. Select a program that has the home position return "ZRT" command.

7

Input device setting

(Note 1) Refer to

MD0 DI0 to DI2

ON Option Section 13.4

OFF

Section 13.5.1

Section 13.5.2

Section 13.6.3

Section 13.6.4

Section 13.6.5

Section 13.6.6

ON

(Note 2)

Option Section 13.6.7

Section 13.6.8

Section 13.6.9

Section 13.6.10

13 - 1


13.2 Signals

13.2.1 I/O signal connection example

(Note 9,

10, 12)


Servo-on

Automatic/manual selection

Proximity dog





(Note 8)

MR Configurator

+

Personal computer

24VDC (Note 4, 9)

10m max.

USB cable

(option)

Servo amplifier

OPC

DICOM

DOCOM

EM1

SON

MD0

DOG

(Note 7)

CN1

2

1

13

3

25

8

4

(Note 7)

CN1

9

10

11

12

ALM

MEND

RD

MBR

DI0

DI1

ST1

ST2

5

23

6

7

CN3

(Note 2)

RA1

RA2

RA3

RA4

Trouble (Note 6)

Travel completion

(Note 13)

Ready


(Note 9, 11)

19

20

15

LZ

LZR

LA

16 LAR

17 LB

18 LBR

14 LG

21 OP

Plate SD

CNP1

2m max.

(Note 1)

10m max.







Control common

Control common


(open collector)

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the (terminal marked ) servo amplifier to the protective earth (PE) of the control box.



4. Supply 24VDC±10% 200mA current for interfaces from the outside. 200mA 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 3.8.2 (1) that gives the current value necessary for the interface.

5. When starting operation, always turn on the forced stop (EM1). (Normally closed contact)



8. Use MRZJW3-SETUP221E (Software version C4 or later).

9. For sink I/O interface. For source I/O interface, refer to section 3.8.3. However, pin 23 and pin 25 cannot be used at the source interface.

10. The assigned signals can be changed using parameter No. PD02, PD04, PD06, PD08, PD10, PD12, or PD14.

11. The assigned signals can be changed using parameter No.PD15 to PD18.

12. The forward rotation stroke end (LSP) and the reverse rotation stroke end (LSN) automatically switch ON if not assigned to the external input signals.

13. Set " 24 " in parameter No. PD16 to assign travel completion (MEND).

13 - 2


13.2.2 Connectors and signal arrangements

POINT

The pin configurations of the connectors are as viewed from the cable connector wiring section.

The front view shown below is that of MR-JN-20A(1) or smaller. Refer to chapter 9 DIMENSIONS for the appearances and connector layouts of the other servo amplifiers.

AUTO

CN3 (USB connector)


MODE SET

CNP2

CN3

2

LG 4

MRR

1

P5 3

MR

CN2

6

5

8

MDR

10

9

7

MD

The 3M make connector is shown.

When using any other connector, refer to section 11.1.2.

The frames of the CN1 connectors are connected to the PE (earth) terminal in the amplifier.

Note. Set " 24 " in parameter No. PD16 to assign travel completion (MEND).

CN1

1

2

DICOM

15

OPC

3

LA

4

MD0

17

SON

5

LB

6

ST1

8

EM1

DI0 19

7

LZ

ST2

21

9

OP

10

(Note)

MEND

12

MBR

ALM 23

11

DI1

RD

25

13

DOG

14

LG

16

LAR

18

LBR

20

LZR

22

PG

24

NG

26

DOCOM

13 - 3


13.2.3 Signal explanations

For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.2. In the positioning mode field of the table

CP : Point table method CL: Program method

: Denotes that the signal may be used in the initial setting status.

: Denotes that the signal may be used by setting parameter No. PD02, PD04, PD06, PD08, PD10, PD12, and PD14 to PD18.

The pin No.s in the connector pin No. column are those in the initial status.

(1) I/O devices

(a) Input devices

Device Symbol

Connector pin No.


I/O division

Positioning mode

CP CL

Forced stop EM1 DI-1

Proximity dog DOG

CN1-8 When EMG is turned off (contact between commons is opened), the servo amplifier falls in a forced stop state in which the base circuit is shut off, and the dynamic brake activates.

When EM1 is turned on (contact between commons is shorted) in the forced stop state, the state can be reset.

CN1-25 When DOG is turned OFF, the proximity dog is detected. The polarity of dog detection can be changed using parameter No. PE03.

Parameter No. PE03

Proximity dog (DOG) detection polarity

DI-1



LSP

LSN

0 (initial value) OFF

1 ON

To start operation, turn LSP/LSN on. Turn it off to bring the motor to a sudden stop and make it servo-locked.

(Note) Device

LSP

1

0

1

0

LSN

1

1

0

0

Operation

CCW direction CW direction

Note. 0: off

1: on

A stopping method can be changed by parameter No. PD20.

Set parameter No. PD01 as indicated below to switch on the signals

(keep terminals shorted) automatically in the servo amplifier.

Parameter No. PD01

4

8

C

LSP

Status

Automatic ON

LSN

Automatic ON

Automatic ON Automatic ON

If LSP and LSN are not assigned to the external input signals, they turn ON automatically regardless of the value set in parameter No.

PD01.

When LSP or LSN turns OFF, an external stroke limit warning (99. ) occurs, and warning (WNG) turns OFF. However, when using WNG, set parameter No. PD15 to PD18 to make it usable.

DI-1

DI-1

13 - 4


Device

Servo-on

Reset

Automatic

/manual selection


Symbol

SON

RES

MD0

Connector pin No.


CN1-4 When SON is turned on, the power is supplied to the base circuit and the servo amplifier is ready to operate (servo-on).

When SON is turned off, the power to the base circuit is shut off and the servo motor coasts.

Set parameter No. PD01 to " 4 " to switch this signal on (keep terminals connected) automatically in the servo amplifier.

When RES is turned on for 50ms or longer, an alarm can be deactivated.

Some alarms cannot be deactivated by the reset (RES). Refer to section 8.1.

Turning RES on in an alarm-free status shuts off the base circuit. The base circuit is not shut off when " 1 " is set in parameter No.

PD20.

This device is not designed to make a stop. Do not turn it ON during operation.

CN1-3 Turning MD0 ON selects the automatic operation mode, and turning it OFF selects the manual operation mode.

I/O division

DI-1

DI-1

DI-1

Positioning mode

CP CL

TL1

Temporary stop/Restart

TSTP

The internal torque limit 2 (parameter No. PC14) becomes valid by turning TL1 on.

The forward torque limit (parameter No. PA11) and the reverse torque limit (parameter No. PA12) are always valid.

The smallest torque limit among the valid forward and reverse torque limits is the actual torque limit value.

(Note)

Input device

TL1

Comparison between limit values

Valid torque limit value

Forward rotation

Reverse rotation

0

Parameter

No. PA11

Parameter

No. PA12

1

Parameter

No. PC14

Parameter

No. PC14

>

<

Parameter

No. PA11

Parameter

No. PA12

Parameter

No. PA11

Parameter

No. PA12

Parameter

No. PA11

Parameter

No. PC14

Parameter

No. PA12

Parameter

No. PC14

Note. 0: off

1: on

Refer to section 3.6.1(4).

Turning TSTP ON during automatic operation makes a temporary stop.

Turning TSTP ON again makes a restart.

Forward rotation start (ST1) or Reverse rotation start (ST2) is ignored if it is turned ON during a temporary stop.

When the automatic operation mode is changed to the manual operation mode during a temporary stop, the movement remaining distance is erased.

During a home position return or during JOG operation, Temporary stop/ Restart input is ignored.

13 - 5

DI-1

DI-1


Device

Proportion control





Symbol

PC

ST1

ST2

ST1

ST2

Gain changing CDP

Connector pin No.


When PC is turned on, the type of the speed loop switches from the proportional integral type to the proportional type.

If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift.

If locking the axis mechanically after the travel completion (MEND) is turned on, turn on the proportional control (PC) simultaneously with the travel completion (MEND). This way suppresses unnecessary torque to be generated to compensate for the position shift.

In case of locking the servo motor shaft for a long time, turn on the internal torque limit selection (TL1) simultaneously with the proportion control (PC). Then, set the internal torque limit 2 (parameter No.

PC14) in order to make the torque lower than the rating.

CN1-6 1. In absolute value command system

Turning ST1 ON for automatic operation executes positioning once on the basis of the position data set to the point table.

Turning ST1 ON for a home position return immediately starts a home position return.

Keeping ST1 ON for JOG operation performs rotation in the forward rotation direction.

Forward rotation indicates the address increasing direction.

2. In incremental value command system

Turning ST1 ON for automatic operation executes positioning once in the forward rotation direction on the basis of the position data set to the point table.

Turning ST1 ON for a home position return immediately starts a home position return.

Keeping ST1 ON for JOG operation performs rotation in the forward rotation direction.

Forward rotation indicates the address increasing direction.

CN1-7 Use this device in the incremental value command system.

Turning ST2 ON for automatic operation executes positioning once in the reverse rotation direction on the basis of the position data set to the point table.

Keeping ST2 ON for JOG operation performs rotation in the reverse rotation direction.

Reverse rotation indicates the address decreasing direction.

CN1-6 1. For automatic operation mode

Turning ST1 ON executes the program operation selected in DI0 to DI2.

2. For JOG operation in manual operation mode

Keeping ST1 ON performs rotation in the forward rotation direction. Forward rotation indicates the address increasing direction.

CN1-7 Keeping ST2 ON in JOG operation in manual operation mode performs rotation in the reverse rotation direction. Reverse rotation indicates the address decreasing direction.

ST2 is invalid in other operation modes.

The values of the load to motor inertia moment ratio and the gains are changed to the value set in parameter No. PB29 to PB34 by turning CDP on.

I/O division

DI-1

DI-1

DI-1

DI-1

DI-1

DI-1

Positioning mode

CP CL

13 - 6


Device

Point table No.

/Program No. selection 1

Symbol

DI0

Connector pin No.


CN1-5 <In point table method>

The point table No. and the home position return mode are selected by DI0 to DI2.

<In program method>

The program No. is selected by DI0 to DI2.

I/O division

DI-1

Positioning mode

CP CL

Point table No.


Point table No.


DI1

DI2

Program PI1 input 1

(b) Output devices

(Note) Device

CN1-23 DI2 DI1 DI0

Selection description

Point table method Program method DI-1

0 0 0 Home position return mode Program No. 1

0 0 1 Point table No. 1 Program No. 2

0 1 0

0 1 1

Point table No. 2

Point table No. 3

Program No. 3

Program No. 4

1 0 0

1 0 1

Point table No. 4

Point table No. 5

Program No. 5

Program No. 6 DI-1

1 1 0

1 1 1

Point table No. 6

Point table No. 7

Program No. 7

Program No. 8

Note. 0: off

1: on

Turn PI1 on to resume the step stopped by the SYNC (1) command in the program.

DI-1

Device Symbol

Connector pin No.


I/O division

Trouble ALM

Positioning mode

CP CL

Ready

In-position


MBR

Home position return completion

RD

INP

ZP

CN1-9 ALM turns off when power is switched off or the protective circuit is activated to shut off the base circuit.

When there is no alarm, ALM turns on approximately 1s after poweron.

CN1-11 RD turns on when the servo motor is ready for the operation after turning on the servo-on (SON).

CN1-10 INP 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, may be kept connected during low-speed rotation.

INP turns on when servo-on turns on.

If parameter No. PA04 is set to " 1 " and the overload tough drive function is enabled, the INP ON time during the overload tough drive is delayed. The delay time can be limited by parameter No. PC26.

CN1-12 MBR turns off when the servo is switched off or an alarm occurs.

At an alarm occurrence, MBR turns off regardless of the base circuit status.

ZP turns ON when operation is ready to start, but turns OFF in any of the following cases.

1) Home position return has not been made.

2) While a home position return is being made.

When any of 1) or 2) has not occurred and a home position return is already completed at least once, Home position return completion

(ZP) turns to the same output status as Ready (RD).

DO-1

DO-1

DO-1

DO-1

DO-1

13 - 7


Device

Temporary stop

Travel completion

Rough match

Zero speed

Symbol

Connector pin No.

PUS

MEND

CPO

ZSP


PUS turns ON when deceleration is started to make a stop by

Temporary stop/Restart (TSTP). When Temporary stop/Restart

(TSTP) is made valid again to resume operation, PUS turns OFF.

MEND turns ON when In-position (INP) turns ON and the command remaining distance is "0".

MEND turns ON when servo-on turns ON.

If parameter No. PA04 is set to " 1 " and the overload tough drive function is enabled, the INP ON time during the overload tough drive is delayed. ON time of MEND is also delayed interlocked with this.

CP0 turns ON when the command remaining distance becomes less than the rough match output range set in the parameter. CP0 is not output while the base circuit is off.

CP0 turns ON at servo-on.

ZSP turns on when the servo motor speed is zero speed (50r/min) or less. Zero speed can be changed using parameter No. PC10.

Example Zero speed is 50r/min

I/O division

DO-1

DO-1

DO-1

DO-1

Positioning mode

CP CL rotation direction

OFF level

70r/min

ON level

50r/min

Servo motor speed

0r/min

Reverse rotation direction

Zero speed

(ZSP)

ON level

50r/min

OFF level

70r/min

ON

OFF

1)

2)

3)

4)

20r/min

(Hysteresis width)

Parameter

No. PC10

Parameter

No. PC10

20r/min

(Hysteresis width)

Limiting torque TLC

Warning


WNG

CDPS

ZSP turns on 1) when the servo motor is decelerated to 50r/min, and

ZSP turns off 2) when the servo motor is accelerated to 70r/min again.

ZSP 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 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 MR-JN-A servo amplifier.

If parameter No. PA04 is set to " 1 " and the overload tough drive function is enabled, the ZSP ON time during the overload tough drive is delayed. The delay time can be limited by parameter No. PC26.

TLC turns ON when the generated torque reaches the value set to the forward torque limit (parameter No. PA11), the reverse torque limit

(parameter No. PA12) or the internal torque limit 2 (parameter No.

PC14). (Refer to section 3.6.1(4).)

When a warning occurs, WNG turns on. When there is no warning,

WNG turns off approximately 1s after power-on.

DO-1

DO-1

DO-1

CDPS is on during gain changing.

13 - 8


Device

During tough drive

Position range POT




Program output 1

Symbol

Connector pin No.

MTTR

PT0

SYNC synchronous

SOUT output

(c) Input signals

PT1

PT2

OUT1


I/O division

If the instantaneous power failure tough drive function selection is enabled, MTTR turns on when the instantaneous tough drive activates.

If parameter No.PD20 is set to " 1 ", MTTR also turns on when the overload tough drive activates.

POT turns ON when the actual current position falls within the range set in the parameter.

It is OFF when a home position return is not yet completed or while the base circuit is shut off. output in 3-bit code.

As soon as travel completion (MEND) turns ON, the point table No. is

(Note) Device

PT2 PT1 PT0

Description

0

0

0

0

1

1

1 Point table No. 1

0 Point table No. 2

1 Point table No. 3

1

1

1

0

0

1

0 Point table No. 4

1 Point table No. 5

0 Point table No. 6

1 1 1 Point table No. 7

OUT1 turns on when the OUTON (1) command in the program is given. OUT1 turns off when the OUTOF command is given.

By setting parameter No. PE14, the time to turn it off can be set.

Waiting for input of program SYNC (1).

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

Positioning mode

CP CL

Signal



Symbol

Connector pin No.

PP

NP

PG

NG

CN1-22

CN1-24


Used to connect the manual pulse generator (MR-HDP01). (Refer to sections 11.14 and 13.5.2.)

When using PP or NP, set parameter No. PD02 to make it usable.

This function is not enabled only with the input of PG or NG.

I/O division

DI-2

Positioning mode

CP CL

13 - 9


(3) Output signals

Signal Symbol

Connector pin No.


I/O division

DO-2 Encoder

Z-phase pulse

(Open collector)

OP

Encoder

A-phase pulse


Encoder

B-phase pulse


LA

LAR

LB

LBR

Encoder

Z-phase pulse


LZ

LZR

(4) Power supply

Signal

CN1-19

CN1-20

Symbol

Connector pin No.

CN1-21 Outputs the zero-point signal of the encoder. One pulse is output per servo motor revolution. OP turns on when the zero-point position is reached. (Negative logic)

The minimum pulse width is about 400μs. For home position return using this pulse, set the creep speed to 100r/min. or less.

CN1-15

CN1-16

CN1-17

CN1-18

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.

PC13.

The same signal as OP is output in the differential line driver type.


DO-2

DO-2



Digital I/F common

DICOM CN1-1 Used to input 24VDC (24VDC±10% 200mA) for I/O interface.

The power supply capacity changes depending on the number of I/O interface points to be used.

For a sink interface, connect the positive terminal of the 24VDC external power supply to DICOM.

For a source interface, connect the negative terminal of the 24VDC external power supply to DICOM.

OPC CN1-2 When inputting a pulse train in the open-collector system, supply this terminal with the positive (+) power of 24VDC.

DOCOM CN1-13 Common terminal for input signals such as SON and EM1. Separated from LG.

For a sink interface, connect the negative terminal of the 24VDC external power supply to DOCOM.

For a source interface, connect the positive terminal of the 24VDC external power supply to DOCOM.

LG CN1-14 Common terminal for OP. Control common

Shield SD Plate Connect the external conductor of the shielded wire.

I/O division

Positioning mode

CP CL

Positioning mode

CP CL

13 - 10


13.2.4 Detailed description of the signals

(1) Forward rotation start, reverse rotation start, temporary stop/restart

(a) A forward rotation start (ST1) or a reverse rotation start (ST2) should make the sequence which can be used after the main circuit has been established. These signals are invalid if it is switched on before the main circuit is established. Normally, it is interlocked with the ready (RD).

(b) A start in the servo amplifier is made when a forward rotation start (ST1) or a reverse rotation start (ST2) changes from OFF to ON. The delay time of the servo amplifier's internal processing is max. 3ms. The delay time of other devices is max. 10ms.

3ms or less 3ms or less

Servo motor speed

Forward rotation

0r/min


(ST1) or reverse rotation start (ST2)

Temporary stop/restart

(TSTP)

6ms or more

10ms or less

(c) When a programmable controller is used, the ON time of a forward rotation start (ST1), a reverse rotation start (ST2) or temporary start/stop (TSTP) signal should be 6ms or longer to prevent a malfunction.

(d) During operation, the forward rotation start (ST1) or reverse rotation start (ST2) is not accepted. The next operation should always be started after the rough match (CPO) is output with the rough match output range set to "0" or after the travel completion (MEND) is output.

13 - 11


(2) Travel completion, rough match, in-position

POINT

If an alarm cause, etc. are removed and servo-on occurs after a stop is made by servo-off, alarm occurrence or forced stop (EM1) ON during automatic operation, travel completion (MEND), rough-match, (CPO) and in-position (INP) are turned on. To resume operation, confirm the current position and the selected point table No. and program No. for preventing unexpected operation.

(a) Travel completion

The following timing charts show the output timing relationships between the position command generated in the servo amplifier and the travel completion (MEND). This timing can be changed using parameter No. PA10 (in-position range). MEND turns ON in the servo-on status. MEND does not turn

ON during automatic operation.



ON

OFF

3ms or less

Position command and servo motor speed

Forward rotation

0r/min

Travel completion

(MEND)

ON

OFF

Position command

Servo motor speed

In-position range

When parameter No. PA10 is small



ON

OFF

3ms or less

Position command and servo motor speed

Forward rotation

0r/min

Travel completion

(MEND)

ON

OFF

Position command

Servo motor speed

In-position range

When parameter No. PA10 is large

13 - 12


(b) Rough match

The following timing charts show the relationships between the signal and the position command generated in the servo amplifier. This timing can be changed using parameter No. PE12 (rough match output range). CPO turns ON in the servo-on status. CPO does not turn ON during automatic operation.



ON

OFF

3ms or less

Position command

Forward rotation

0r/min

ON

Rough match (CPO)

OFF

When parameter No. PE12 is set to "0"



ON

OFF

3ms or less

Position command

Forward rotation

0r/min

ON

Rough match (CPO)

OFF

Rough match output range

When parameter No. PE12 is set to more than "0"

13 - 13


(3) In-position

The following timing charts show the relationships between the signal and the feedback pulse of the servo motor. This timing can be changed using parameter No.PA10 (in-position range). INP turns ON in the servo-on status.



ON

OFF

3ms or less

Servo motor speed

In-position (INP)

Forward rotation

0r/min

ON

OFF

In-position range

When positioning operation is performed once



ON

OFF

3ms or less

Servo motor speed

Forward rotation

0r/min

Reverse rotation

In-position range

In-position (INP)

ON

OFF

When servo motor reverses rotation direction during automatic continuous operation

13 - 14


13.3 Automatic operation mode for point table method

13.3.1 What is automatic operation mode?

(1) Concept of automatic operation

Automatic operation is a positioning function to automatically start and stop at a target position with onetime start signal. The data required for positioning is set in the point table.

Servo motor speed

Forward rotation

0r/min

Start (Note) Positioning

(2) Automatic operation types

Note. For the start, use the forward rotation start (ST1) or reverse rotation start (ST2).

With this servo, the following automatic operations are available.

One positioning operation

Automatic operation using point table

(Refer to section 13.3.2)




There are two types of command systems; the absolute value command system which requires specifying the positioning addresses to move to for each automatic operation and the incremental value command system which requires specifying the travel distance from the current position to the target position.

13 - 15


(3) Command system

Make selection with the input signals from among the point tables that have been set in advance, and perform operation with Forward rotation start (ST1) or Reverse rotation start (ST2). Automatic operation has the absolute value command system and incremental value command system.

(a) Absolute value command system

As position data, set the target address to be reached.

Setting range: -999999 to 999999 [×10 STM μm] (STM = feed length multiplication parameter No. PE02)

-999999 999999

Position data setting range

[ 10

STM

m]

(b) Incremental value command system

As position data, set the travel distance from the current address to the target address.

Setting range: 0 to 999999 ×10 STM μm] (STM = feed length multiplication parameter No. PE02)

Current address Target address

Position data = |target address - current address|

13 - 16


13.3.2 Automatic operation using point table

(1) One-time positioning operation

(a) Absolute value command system

1) Point table

Set the point table values by using MR Configurator or the operation section.

Set the position data, servo motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function in the point table.

Setting "0" or "1" in the auxiliary function sets the point table to the absolute value command system.

Setting "2" or "3" in the auxiliary function sets the point table to the incremental value command system.

Item Setting range Unit Description

Position data

Servo motor speed

-999999 to 999999 ×10 STM μm

0 to permissible speed r/min

(1) When using this point table as absolute value command system, set the target address (absolute value).

(2) When using this point table as incremental value command system, set the travel distance. A "-" sign indicates a reverse rotation command.

Set the command speed of the servo motor for execution of positioning.

The setting should be equal to or less than the instantaneous permissible speed of the servo motor.



0 to 20000

0 to 20000 ms ms

Set the time until the servo motor reaches to the rated speed.

Set the time until the servo motor stops from the rated speed.

Dwell 0 to 20000

Auxiliary function 0 to 3 ms

When dwell is set and the set dwell has passed after the position command of the selected point table is completed, the position command of the next point table is started.

Set "0" in the auxiliary function to make the dwell invalid.

Set "1" in the auxiliary function and 0 in the dwell to perform varied speed operation.

(1) When using this point table in the absolute value command system

0: Automatic operation is performed in accordance with a single point table chosen.

1: Operation is performed in accordance with consecutive point tables without a stop.

(2) When using this point table in the incremental value command system



When a different rotation direction is set, smoothing zero (command output) is confirmed and the rotation direction is then reversed.

Setting "1" in point table No. 7 results in an error.

(Refer to paragraph (2) in this section.)

13 - 17


2) Parameter setting

Set the following parameters to perform automatic operation.

Select the absolute value command system with parameter No. PE01 (Command mode selection).

Parameter No. PE01

0

Absolute value command system (initial value)

By using parameter No. PA14 (Rotation direction selection), select servo motor rotation direction at the time when the forward rotation start (ST1) turns ON.

0

1

CCW rotation with + position data

CW rotation with - position data

CW rotation with + position data

CCW rotation with - position data

CCW

CW

Set the feed length multiplication (STM) of position data in parameter No. PE02 (Feeding function selection).

Parameter No. PE02 setting

0

1

2

3

Feed unit

[μm]

1

10

100

1000

Position data input range

[mm]

-999.999 to +999.999

-9999.99 to +9999.99

-99999.9 to +99999.9

-999999 to +999999

3) Operation

Choosing the point table using DI0 to DI2 and turning ST1 ON starts positioning to the position data at the preset speed, acceleration time constant and deceleration time constant. At this time, reverse rotation start (ST2) is invalid.

Item Device/Parameter used

Automatic operation mode selection Automatic/manual selection (MD0)

Point table selection

Start




Forward rotation start (ST1)

Description

Turn MD0 ON.

Refer to the text.

Turn ST1 ON to start.

13 - 18


Select a point table using the point table No./program No. selection 1 (DI0) to point table No./program

No. selection 3 (DI2) as shown in the following table.

1

1

1

1

DI2

0

0

0

Input device

DI1

0

1

1

0

0

1

1

0

1

0

1

DI0

1

0

1

Selected point table No.

5

6

7

1

2

3

4

(b) Incremental value command system

1) Point table

Set the point table values by using MR Configurator or the operation section.

Set the position data, servo motor speed, acceleration time constant, deceleration time constant, dwell and auxiliary function in the point table.

Item Setting range Unit

Position data

Servo motor speed

0 to 999999

0 to permissible speed

×10 STM μm r/min

Description

Set the travel distance.

The unit can be changed using feed length multiplication selection of parameter No. PE02.

Set the command speed of the servo motor for execution of positioning.

The setting should be equal to or less than the instantaneous permissible speed of the servo motor.



0 to 20000

0 to 20000 ms ms

Set the time until the servo motor reaches to the rated speed.

Set the time until stops from the rated speed.

Dwell 0 to 20000

Auxiliary function 0, 1 ms

When dwell is set and the set dwell has passed after the position command of the selected point table is completed, the position command of the next point table is started.

Set "0" in the auxiliary function to make the dwell invalid.

Set "1" in the auxiliary function and 0 in the dwell to perform varied speed operation.



When a different rotation direction is set, smoothing zero (command output) is confirmed and the rotation direction is then reversed.

Setting "1" in point table No. 7 results in an error.

(Refer to (2) in this section.)

13 - 19


2) Parameter setting

Set the following parameters to perform automatic operation.

Select the incremental value command system with parameter No. PE01 (command mode selection) as shown below.

Parameter No. PE01

1

Incremental value command system

By using parameter No. PA14 (Rotation direction selection), select servo motor rotation direction at the time when the forward rotation start (ST1) or reverse rotation start (ST2) is turns ON.


0

1


Forward rotation start (ST1) ON Reverse rotation start (ST2) ON

CCW rotation

(address incremented)

CW rotation


CW rotation

(address decremented)

CCW rotation


ST1: ON

CCW

ST2: ON

CCW

CW

ST2: ON

Parameter No. PA14: 0

CW

ST1: ON


Set the feed length multiplication (STM) of position data with parameter No. PE02 (Feeding function selection).


0

1

2

3

Feed unit

[μm]

1

10

100

1000

Position data input range

[mm]

0 to +999.999

0 to +9999.99

0 to +99999.9

0 to +999999

13 - 20


3) Operation

Choosing the point table using DI0 to DI2 and turning ST1 ON starts a motion in the forward rotation direction over the travel distance of the position data at the preset speed and acceleration time constant.

Turning ST2 ON starts a motion in the reverse rotation direction according to the values set to the selected point table.


Automatic operation mode selection Automatic/manual selection (MD0)

Point table selection




Description

Turn MD0 ON.

Refer to (1) (a) 3) in this section.

Start


Reverse rotation start (ST2)

Turn ST1 ON to start motion in forward rotation direction.

Turn ST2 ON to start motion in reverse rotation direction.

(c) Automatic operation timing chart

The timing chart is shown below.


Servo-on (SON)

ON

OFF

ON

OFF

Point table No.

1

6ms or more (Note 2)

2


(ST1)


(ST2) (Note1)

ON

OFF

ON

OFF

6ms or more

3ms or less

Point table

No. 1

6ms or more (Note 2)

6ms or more

Servo motor speed

In-position (INP)

Rough match (CPO)

(Note 3)

Travel completion

(MEND)

Point table No. output

(PT0 to PT2)

Forward rotation

0r/min

Reverse rotation

ON

OFF

ON

OFF

ON

OFF

Ready (RD)

Trouble (ALM)

ON

OFF

ON

OFF

1

Point table

No. 2

2

Note 1. Reverse rotation start (ST2) is invalid in the absolute value command system.

2. External input signal detection delays by the input filter setting time of parameter No. PD19. Additionally, make up a sequence that changes the point table selection ahead of time by considering delays in output signal sequence from the controller and variations of a signal change due to hardware.

3. If the over load tough drive function is enabled by setting parameter No. PA04 to " 1", INP turn-on delays during the overload tough drive. MEND turn-on also delays together with INP.

13 - 21


(2) Automatic continuous operation

(a) What is Automatic continuous operation?

By merely choosing one point table and turning ON the forward rotation start (ST1) or the reverse rotation start (ST2), operation can be performed in accordance with the point tables having consecutive numbers.

Automatic continuous operation is available in two types: varied speed operation and automatic continuous positioning operation.

Either type may be selected as follows.

1) In absolute value command system

Point table setting

Auxiliary function




Dwell When position data is in absolute value

When position data is in incremental value

2) In incremental value command system

0

1 or more

1

1

3

3

Point table setting




Dwell

0

1 or more

Auxiliary function

1

1

(b) Varied speed operation

When "1" or "3" is set to the auxiliary function in the point tables up to No.6, varied speed operation can be performed at a maximum of 7 speeds. Set "0" to the auxiliary function in the last point table.

When performing varied speed operation, always set "0" to the dwell. If "1" or more is set, automatic continuous positioning operation is made valid.

The following table gives a setting example.

Point table No.

Dwell

[ms] (Note 1)

Auxiliary function Variable speed operation

5

6

7

3

4

1

2

0

0

0

0

0

0

0

1

1

0 (Note 2)

1

1

1

0 (Note 2)

Consecutive point table data

Consecutive point table data

Note 1. Always set "0".

2. Always set "0" or "2" to the auxiliary function in the last point table among the consecutive point tables.

13 - 22


1) Absolute value command system

This system is an auxiliary function for point tables to perform automatic continuous operation by specifying the absolute value command or incremental value command.

Positioning in single direction

The operation pattern given below assumes that the setting values are as indicated in the following table. Here, the point table No.1 uses the absolute value command system, the point table No.2 the incremental value command system, the point table No.3 the absolute value command system, and the point table No.4 the incremental value command system.

Point table No.

Position data

[×10 STM μm]



[ms]


[ms]

(Note 1)

Dwell

[ms]

Auxiliary function

3

4

1

2

5.00

3.00

10.00

6.00

3000

2000

1000

500

100

Invalid

Invalid

Invalid

150

Invalid

Invalid

Invalid

0

0

0

0



0: When point table is used in absolute value command system

2: When point table is used in incremental value command system

1

3

1

2 (Note 2)

Servo motor speed

Forward rotation

0r/min

Acceleration time constant in the point table No.1 (100)

Speed

(3000) Speed

(2000)

Deceleration time constant in the point table No.1 (150)

Speed

(1000)

Speed

(500)

3.00

6.00

Position address

0 5.00

8.00

10.00

16.00

Selected point

table No.



(PT0 to PT2)

ON

OFF

In-position (INP)

Travel completion

(MEND)

ON

OFF

ON

OFF

1

1

13 - 23


Positioning that reverses the direction midway

The operation pattern given below assumes that the setting values are as indicated in the following table. Here, the point table No.1 uses the absolute value command system, the point table No.2 the incremental value command system, and the point table No.3 the absolute value system.

Point table No.

1

2

Position data

[×10 STM μm]

5.00

7.00


3000

2000


[ms]

100

Invalid


[ms]

150

Invalid

(Note 1)

Dwell

[ms]

0

0

Auxiliary function

1

3

3 8.00 1000 Invalid Invalid 0 0 (Note 2)







Servo motor speed

Position address

Forward rotation

0r/min

Reverse rotation

0

Speed

(3000)

5.00

Speed

(2000)


7.00

12.00

Speed

(1000)

8.00



ON

OFF


(PT0 to PT2)

In-position (INP)

Travel completion

(MEND)

ON

OFF

ON

OFF

1

1

13 - 24


2) Incremental value command system

The position data of the incremental value command system is the sum of the position data of the consecutive point tables.

The operation pattern given below assumes that the setting values are as indicated in the following table.

Point table No.

1

2

3

Position data

[×10 STM μm]

5.00

6.00

3.00


3000

2000

1000


[ms]

100

Invalid

Invalid


[ms]

150

Invalid

Invalid

(Note 1)

Dwell

[ms]

0

0

0


2. Always set "0" to the auxiliary function in the last point table among the consecutive point tables.

Auxiliary function

1

1

0 (Note 2)



Servo motor speed Forward rotation

0r/min

Speed

(3000) Speed

(2000) Speed

(1000)

5.00

6.00

3.00

Position address

0 5.00

11.00

14.00



(ST1) (Note)

ON

OFF


(PT0 to PT2)

ON

In-position (INP)

Travel completion

(MEND)

OFF

ON

OFF

1

Note. Turning on reverse rotation start (ST2) starts positioning in the reverse rotation direction.

1

13 - 25


(c) Automatic continuous positioning operation

When "1" or "3" is set to the auxiliary function in the point table, positioning of the next point table No. is executed continuously.

When "1" or "3" is set to the auxiliary function in the point tables up to No.6, a maximum of 7 points of automatic continuous positionings are possible. Set "0" to the auxiliary function in the last point table.

As an example, the operation in the absolute value command system is shown using the set values in the following table. Here, the point table No.1 uses the absolute value command system, the point table

No.2 the incremental value command system, and the point table No.3 the absolute value command system.

Point table No.

1

2

3

Position data

[×10 STM μm]

5.00

-6.00

3.00


3000

2000

3000


[ms]

100

100

50


[ms]

150

100

50

Dwell

[ms]

100

0

0

Auxiliary function

Note. Always set "0" or "2" to the auxiliary function in the last point table among the consecutive point tables.



1

3

0 (Note)


Servo-on (SON)


(ST1)

ON

OFF

ON

OFF

ON

OFF

(Note 1)

6ms or more 6ms or more

Point table No.

3ms or less

1

Point table

No.1

Point table

No.3

Servo motor speed

In-position (INP)

Rough match (CPO)

(Note 2)

Travel completion

(MEND)


(PT0 to PT2)

Ready (RD)

Trouble (ALM)

Forward rotation

0r/min

Reverse rotation

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Point table

No.2

1

Note 1. External input signal detection delays by the input filter setting time of parameter No. PD19. Additionally, make up a sequence that changes the point table selection ahead of time by considering delays in output signal sequence from the controller and variations of a signal change due to hardware.

2. If the over load tough drive function is enabled by setting parameter No. PA04 to " 1", INP turn-on delays during the overload tough drive. MEND turn-on also delays together with INP. However, MEND does not turn ON during automatic continuous positioning operation.

13 - 26


(3) Temporary stop/restart during automatic operation

When TSTP is turned ON during automatic operation, the motor is decelerated to a temporary stop at the deceleration time constant in the point table being executed. When TSTP is turned ON again, the remaining distance is executed.

Forward rotation start (ST1) or reverse rotation start (ST2) is ignored if it is turned ON during a temporary stop.

The remaining moving distance is cleared when the operation mode is changed from the automatic mode to the manual mode during a temporary stop.

The temporary stop/restart input is ignored during a home position return or during JOG operation.

(a) When the servo motor is rotating

Acceleration time constant in the point table No. n

Deceleration time constant in the point table No. n

Servo motor speed

Forward rotation

0r/min

Point table




(TSTP)

Temporary stop (PUS)

Rough match (CPO)

In-position (INP)

Travel completion

(MEND)


(PT0 to PT2)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

No. n

Remaining distance

No. n

(b) During dwell

Forward rotation

0r/min

Point table No. n Point table No. n + 1 ta

Dwell = ta + tbs tb

Servo motor speed

Point table




(TSTP)


Rough match (CPO)

In-position (INP)

Travel completion (MEND)


(PT0 to PT2)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

No. n

No. n

13 - 27


13.4 Automatic operation mode for program method

13.4.1 What is automatic operation mode for program method?

Make selection with the input signals from among the programs that have been created in advance using MR

Configurator, and perform operation with Forward rotation start (ST1).

This servo amplifier is factory-set to the absolute value command system.

As the position data, the absolute move command ("MOV" command) used to specify the target address or the incremental move command ("MOVI" command) used to specify the travel distance can be set. Note that the movable range is -999999 to 999999 [×10

Setting range: -999999 to 999999 [×10 STM

STM μm]. Positioning is enabled within this range.

μm] (STM = feed length multiplication parameter No. PE02)

-999999 999999

Position data setting range

[ 10 STM m]

13 - 28


13.4.2 Programming language

The maximum number of program steps is 120. Though up to 8 programs can be created, the total number of each program steps is up to 120.

The set program can be selected using point table No./program No. selection 1 (DI0) to point table

No./program No. selection 3 (DI2).

(1) Command list

Command Name Setting Setting range Unit Description

SPN

(Note 2)

Speed (Motor speed)

SPN

(Setting value)

0 to instantaneous permissible speed r/min

Used to set the command speed of the servo motor for positioning.

The set value should be equal to or less than the instantaneous permissible speed of the servo motor.

STA

(Note 2)

STB

(Note 2)

STC

(Note 2)

STD

(Note

2, 5)

MOV



Acceleration/ deceleration time constant

S-pattern acceleration/de celeration time constant

Absolute move command

STA

(Setting value)

STB

(Setting value)

STC

(Setting value)

STD

(Setting value)

MOV

(Setting value)

0 to 20000

0 to 20000

0 to 20000

0 to 100

-999999 to

999999 ms ms ms ms

×10 STM μm

Used to set the acceleration time constant.

The set value is the time in which the servo motor reaches the rated speed from a stop.

It cannot be changed during command output.

Used to set the deceleration time constant.

The set value is the time in which the servo motor stops from the rated speed.


Used to set the acceleration/deceleration time constants.

The set value is the time in which the servo motor reaches the rated speed from a stop or stops from the rated speed.

When this command is used, the acceleration time constant and deceleration time constant are equal.

"STA" and "STB" commands can set the acceleration time constant and deceleration time constant individually.


Used to set the S-pattern acceleration/deceleration time constant.

Set this command when inserting an S-pattern acceleration/deceleration time constant for the acceleration/deceleration time constant of the program.

The set value is regarded as an absolute value for movement.

MOVA

MOVI

MOVIA

SYNC

(Note 1)

OUTON

(Note

1, 3)

Absolute continuous move command

Incremental move command

Incremental continuous move command

Waiting external signal to switch on

External signal

ON output

MOVA

(Setting value)

MOVI

(Setting value)

MOVIA

(Setting value)

SYNC

(Setting value)

OUTON

(Setting value)

-999999 to

999999

-999999 to

999999

-999999 to

999999

1

1

×10 STM μm

×10 STM μm

×10 STM μm

The set value is regarded as an absolute value for continuous movement. Use it with a "MOV" command in order of "MOV" and

"MOVA". Writing this command before "MOV" causes an error.

The set value is regarded as an incremental value for movement.

The set value is regarded as an incremental value for movement.

Use it with a "MOVI" command in order of "MOVI" and "MOVIA".

Writing this command before "MOVI" causes an error.

Stops the next step until program input 1 (PI1) turns ON after the output of SYNC synchronous output (SOUT).

Turns ON program output 1 (OUT1).

By setting the ON time with parameter No. PE14, the signal can also be turned OFF in the preset time.

13 - 29


Command Name Setting Setting range Unit Description

OUTOF

(Note 1)

External signal

OFF output

OUTOF

(Setting value)

1

Turns OFF program output 1 (OUT1) to that has been turned ON by the "OUTON" command.

TRIP

(Note 1)

TRIPI

(Note 1)

ITP

(Note

1, 4)

Absolute trip point

Incremental trip point

Interrupt positioning command

TRIP

(Setting value)

TRIPI

(Setting value)

ITP

(Setting value)

-999999 to

999999

-999999 to

999999

×10 STM μm

×10 STM μm

0 to 999999 ×10 STM μm

When the trip point is reached, the next step will be executed. Use it with a "MOV" or "MOVA" command in order of "MOV" or "MOVA" and then "TRIP". Writing this command before "MOV" or "MOVA" causes an error.

Executes the next step when the travel distance set to the "TRIPI" command is traveled from when "MOVI" and "MOVIA" started during the movement executed by the "MOV" and "MOVIA" commands.

Use it with a "MOVI" or "MOVIA" command in order of "MOVI" or

"MOVIA" and then "TRIPI". Writing this command before "MOVI" or

"MOVIA" causes an error.

Makes a stop using the interrupt signal when the preset travel distance is reached. Use it with a "SYNC" command in order of

"SYNC" and "ITP". Writing this command before "SYNC" causes an error.

Executes the next step when the pulse counter value becomes greater than the count value set to the "COUNT" command.

"COUNT (0)" clears the pulse counter.

Repeats the steps located between the "FOR (setting value)" command and "NEXT" command by the preset number of times.

Set "0" to select endless repetition.

COUNT

(Note 1)

FOR

NEXT

TIM

External pulse counter

Step repeat instruction

Dwell command time

COUNT

(Setting value)

FOR

(Setting value)

NEXT

TIM

(Setting value)

ZRT

-999999 to

999999

0, 1 to 10000

1 to 20000 pulse times ms

Holds the next step until the preset time elapses.

ZRT

TIMES

STOP

Zeroing

Program repeat command

TIMES

(Setting value)

Program end STOP

0, 1 to 10000 times

Executes a home position return.

Place the "TIMES (setting value)" command at the beginning of the program and set the number of program execution times. When executing the program only once, this setting is not required. Set "0" to select endless repetition.

Stops the executing program.

Always describe this command on the last line.

Note 1. "SYNC", "OUTON", "OUTOF", "TRIP", "TRIPI", "COUNT" and "ITP" commands are available to be validated during command outputting.

2. The "SPN" command is valid when the "MOV", "MOVA", "MOVI" or "MOVIA" command is executed. The "STA", "STB", "STC" and "STD" commands are valid when the "MOV" or "MOVI" command is executed.

3. When the ON time has been set in parameter No. PE14, the next command is executed after the preset time has elapsed.

4. The remaining moving distance by "ITP" command is lower than setting value, the command would be ignored and skip to the next program command.

5. S-pattern acceleration/deceleration time constant of this command is valid during the time from this command start to the program end. For other than that, S-pattern acceleration/deceleration time constant of parameter No. PC03 is valid.

13 - 30


(2) Detailed description of commands

(a) Positioning conditions (SPN, STA, STB, STC, STD)

The "SPN", "STA", "STB", "STC" and "STD" commands are valid when the "MOV" and "MOVA" commands are executed. The set values remain valid until they are reset.

1) Program example 1

When operation is to be performed in two patterns that have the same servo motor speed, acceleration time constant and deceleration time constant but different move commands.

Program Description

SPN(1000)

STA(200)

STB(300)

MOV(1000)

TIM(100)

MOV(2000)

STOP

Speed (Motor speed)




Dwell command time


Program end

1000[r/min]

200[ms]

300[ms]

1000[×10 STM μm]

100[ms]

2000[×10 STM μm] a) b) c) d) e) f) b) Acceleration

time constant

(200ms) c) Deceleration

time constant

(300ms) b) Acceleration

time constant

(200ms) c) Deceleration

time constant

(300ms)

Forward rotation

Servo motor speed

0r/min a) Servo motor

speed

(1000r/min) a) Servo motor

speed

(1000r/min) d) Absolute

move command

(1000 10 STM m) e) Dwell command

time (100ms) f) Absolute

move command

(2000 10 STM m)


When operation is to be performed in two patterns that have different servo motor speeds, acceleration time constants, deceleration time constants and move commands.

Program

SPN(1000)

STA(200)

STB(300)

MOV(1000)

TIM(100)

SPN(500)

STC(200)

MOV(1500)

STOP

Speed (Motor speed)




Dwell command time

Speed (Motor Speed)

Acceleration/deceleration time constant


Program end

Description

1000[r/min]

200[ms]

300[ms]

1000[×10 STM μm]

100[ms]

500[r/min]

200[ms]

1500[×10 STM μm] e) f) g) h) a) b) c) d)

Servo motor speed

Forward rotation b) Acceleration

time constant

(200ms)

0r/min a) Servo motor

speed

(1000r/min) d) Absolute

move command

(1000 10 STM m) c) Deceleration

time constant

(300ms) g) Acceleration

time constant

(200ms) f) Servo motor

speed (500r/min) e) Dwell command

time (100ms) h) Absolute move

command

(1500 10 STM m)

13 - 31



Use of an S-pattern acceleration/deceleration time constant allows sudden operation to be eased at the time of acceleration/deceleration. When the "STD" command is used, parameter No. PC03 (Spattern acceleration/deceleration time constant) is ignored.

Program

SPN(1000)

STC(100)

STD(10)

MOV(2000)

STOP

Speed (Motor speed)


S-pattern acceleration/deceleration time constant


Program end

Description

1000[r/min]

1000[ms]

10[ms]

2000[×10 STM μm] a) b) c) d) c) c) b) Acceleration/deceleration

time constant

(1000ms)

Forward rotation a) Servo motor speed

(1000r/min) b) Acceleration/deceleration

time constant

(1000ms) d) Absolute move

command

(2000 10 STM m)

Servo motor speed

0r/min c) S-pattern acceleration/

deceleration time constant c)

(b) Continuous move command (MOVA, MOVIA)

POINT

"MOV" cannot be used with "MOVIA", and "MOVI" cannot be used with

"MOVA".

The "MOVA" command is a continuous move command for the "MOV" command. After execution of the movement by the "MOV" command, the movement of the "MOVA" command can be executed continuously without a stop.

The speed changing point of the "MOVA" command is the deceleration starting position of the operation performed by the preceding "MOV" and "MOVA" commands.

The acceleration/deceleration time constant of the "MOVA" command is the value at execution of the preceding "MOV" command.

The "MOVIA" command is a continuous move command for the "MOVI" command. After execution of the movement by the "MOVI" command, the movement of the "MOVIA" command can be executed continuously without a stop.

The speed changing point of the "MOVIA" command is the deceleration starting position of the operation performed by the preceding "MOVI" and "MOVIA" commands.

The acceleration/deceleration time constant of the "MOVIA" command is the value at execution of the preceding "MOVI" command.

Command

MOVIA

Name Setting

MOVIA (Setting value) ×10

Unit

STM μm

Description

MOV Absolute move command MOV (Setting value) ×10 STM μm Absolute move command

MOVA Absolute continuous move command MOVA (Setting value) ×10 STM μm Absolute continuous move command

MOVI Incremental move command MOVI (Setting value) ×10 STM μm Incremental move command



13 - 32



For the absolute move command in the absolute value command system

Program

SPN(500)

STA(200)

STB(300)

MOV(500)

SPN(1000)

MOVA(1000)

MOVA(0)

STOP

Speed (Motor speed)




Speed (Motor speed)



Program end

Description

500[r/min]

200[ms]

300[ms]

500[×10 STM μm]

1000[r/min]

1000[×10 STM μm]

0[×10 STM μm] e) f) g) a) b) c) d)

Forward rotation

Servo motor speed

0r/min

Reverse rotation b) Acceleration

time constant

(200ms) a) Servo motor

speed (500r/min) d) Absolute move

command

(500 10 STM m) e) Servo motor

speed

(1000r/min) c) Deceleration

time constant

(300ms) f) Absolute continuous

move command

(1000 10 STM m) b) Acceleration time

constant e) Servo motor

speed

(1000r/min) g) Absolute

continuous

move command

(0 10 STM m)

2) Program example 2 (Wrong usage)

In continuous operation, the acceleration or deceleration time constant cannot be changed at each speed change. Hence, the "STA", "STB" or "STD" command is ignored if it is inserted for a speed change.

Program

SPN(500)

STA(200)

STB(300)

MOV(500)

SPN(1000)

STC(500)

MOVA(1000)

SPN(1500)

STC(100)

MOVA(0)

STOP

Speed (Motor speed)




Speed (Motor speed)



Speed (Motor speed)



Program end

Description

500[r/min]

200[ms]

300[ms]

500[×10 STM μm]

1000[r/min]

500[ms]

1000[×10 STM μm]

1500[r/min]

100[ms]

0[×10 STM μm] i) j) e) f) g) h) a) b) c) d)

Ignored.

Ignored.

Forward rotation

Servo motor speed

0r/min

Reverse rotation b) Acceleration

time constant

(200ms) a) Servo motor

speed (500r/min) d) Absolute move

command

(500 10 STM m) e) Servo motor

speed

(1000r/min) g) Absolute continuous

move command

(1000 10 STM m) c) Deceleration

time constant

(300ms) h) Servo motor

speed

(1500r/min) j) Absolute

continuous

move command

13 - 33


(c) Input/output command (OUTON, OUTOF), trip point command (TRIP, TRIPI)


As soon as the program is executed, program output 1 (OUT1) is turned ON. When the program ends, program output 1 (OUT1) turns OFF.

Program

SPN(1000)

STA(200)

STB(300)

MOV(500)

OUTON(1)

TIM(100)

MOV(250)

TIM(50)

STOP

Speed (Motor speed)




Program output 1 (OUT 1) is turned ON.

Dwell command time


Dwell command time

Program end

Description

1000[r/min]

200[ms]

300[ms]

500[×10 STM μm]

100[ms]

250[×10 STM μm]

50[ms] a) b)

Forward rotation

Servo motor speed

0r/min

Program output 1

(OUT1)

ON

OFF

Dwell command time

(100ms)

Dwell command time

(50ms) a) b)


Using parameter No. PE14, program output 1 (OUT1) can be turned off automatically.

Parameter No.

PE14

Name

OUT1 output time selection

Setting Description

200 OUT1 is turned off in 200 [ms]. a)

Program

SPN(500)

STA(200)

STB(300)

MOV(1000)

OUTON(1)

STOP

Speed (Motor speed)





Program end

Description

500[r/min]

200[ms]

300[ms]

1000[×10 STM μm]

Forward rotation

Servo motor speed

0r/min

Program output 1

(OUT1)

ON

OFF a) 200ms

13 - 34



When the "TRIP" and "TRIPI" commands are used to set the position addresses where the "OUTON" and "OUTOF" commands will be executed.

Program

SPN(1000)

STA(200)

STB(300)

MOV(500)

TRIP(250)

OUTON(1)

TRIP(400)

OUTOF(1)

TIM(100)

MOVI(500)

TRIPI(300)

OUTON(1)

STOP

Speed (Motor speed)




Absolute trip point


Absolute trip point

Program output 1 (OUT 1) is turned OFF.

Dwell command time




Program end

Description

1000[r/min]

200[ms]

300[ms]

500[×10 STM μm]

250[×10 STM μm]

400[×10 STM μm]

100[ms]

500[×10 STM μm]

300[×10 STM μm] a) b) c) d) e) f) g) a) 250 10 STM m c) 400 10 STM m e) 300 10 STM m

Forward rotation

Servo motor speed

0r/min

Program output 1

(OUT1)

ON

OFF

100ms b) d) f) g)

13 - 35



POINT

"MOV" cannot be used with "TRIPI".

Note that the "TRIP" and "TRIPI" commands do not execute the next step unless the axis passes the preset address or travels the preset travel distance.

Program

SPN(500)

STA(200)

STB(300)

MOVI(600)

TRIPI(300)

OUTON(1)

SPN(700)

MOVIA(700)

TRIPI(300)

OUTOF(1)

STOP

Speed (Motor speed)






Speed (Motor speed)



Program output 1 (OUT 1) is turned OFF.

Program end

Description

500[r/min]

200[ms]

300[ms]

600[×10 STM μm]

300[×10 STM μm]

700[r/min]

700[×10 STM μm]

300[×10 STM μm] b) c) d) a) e) f) a) Incremental move

command

(600 10 STM m)

Forward rotation b) 300 10 STM m

Servo motor speed

0r/min

900 10 STM m

(a) MOVI (600) +e) TRIPI (300)) d) Incremental

continuous move

command

(700 10 STM m)

Program output 1

(OUT1)

ON

OFF c) f)

13 - 36


(d) Dwell (TIM)

To the "TIM (setting value)" command, set the time from when the command remaining distance is "0" until the next step is executed.

For reference, the following examples show the operations performed when this command is used with the other commands.


Program

TIM(200)

SPN(1000)

STC(20)

MOV(1000)

STOP

Dwell command time

Speed (Motor speed)



Program end

Description

200[ms]

1000[r/min]

20[ms]

1000[×10 STM μm] a)

Servo motor speed

Forward rotation

0r/min a) 200ms


(ST1)

ON

OFF


Program

SPN(1000)

STC(20)

MOVI(1000)

TIM(200)

OUTON(1)

MOVI(500)

STOP

Speed (Motor speed)



Dwell command time



Program end

Description

1000[r/min]

20[ms]

1000[×10 STM μm]

200[ms]

500[×10 STM μm] a) b)

Servo motor speed

Forward rotation

0r/min

Program output 1

(OUT1)

ON

OFF a) 200ms b)

13 - 37



Program

SPN(1000)

STC(20)

MOVI(1000)

OUTON(1)

TIM(200)

MOVI(500)

STOP

Speed (Motor speed)




Dwell command time


Program end

Servo motor speed

Forward rotation

0r/min

Program output 1

(OUT1)

ON

OFF a)


Program

SPN(1000)

STC(20)

MOVI(1000)

TIM(200)

OUTON(1)

TIM(300)

MOVI(500)

STOP

Speed (Motor speed)



Dwell command time


Dwell command time


Program end

Servo motor speed

Forward rotation

0r/min

Program output 1

(OUT1)

ON

OFF

Description

1000[r/min]

20[ms]

1000[×10 STM μm]

200[ms]

500[×10 STM μm] b) 200ms

Description

1000[r/min]

20[ms]

1000[×10 STM μm]

200[ms]

300[ms]

500[×10 STM μm] a) 200ms c) 300ms b) b) c) a) a) b)

13 - 38



Program

SPN(1000)

STC(20)

MOVI(1000)

TIM(200)

SYNC(1)

MOVI(500)

STOP

Description

Speed (Motor speed)



Program end

1000[r/min]

20[ms]


Dwell command time

1000[×10

200[ms]

Step is suspended until program input (PI1) turns ON.

STM μm]

500[×10 STM μm]

Servo motor speed

Forward rotation

0r/min

Program input 1

(PI1)

ON

OFF a) PI1 is accepted in 200ms or later.


Program

SPN(1000)

STC(20)

MOVI(1000)

SYNC(1)

TIM(200)

MOVI(500)

STOP

Description

Speed (Motor speed)


1000[r/min]

20[ms]

Incremental move command 1000[×10


STM μm]

Dwell command time


Program end

200[ms]

500[×10 STM μm] a) a)

Servo motor speed

Forward rotation

0r/min a) 200ms

Program input 1

(PI1)

ON

OFF

13 - 39


(e) Interrupt positioning command (ITP)

POINT

When interrupt positioning command (ITP) is used for positioning, a stop position differs depending on the servo motor speed provided when the "ITP" command is enabled.

In the following cases, the program does not execute the "ITP" command and proceeds to the step.

When the remaining distance is equal to or less than the travel distance specified by the "ITP" command

While the servo motor is decelerating

When the "ITP" command is used in a program, the axis stops at the position by the set value farther from the position where any of program input 1 (PI1) turned ON.

When using the "ITP" command, always place the "SYNC" command immediately before the "ITP" command.


Program

SPN(500)

STA(200)

STB(300)

MOV(600)

SPN(100)

MOVA(600)

SYNC(1)

ITP(200)

STOP

Description

Speed (Motor speed)




Speed (Motor speed)

Continuous move command

500[r/min]

200[ms]

300[ms]

600[×10 STM μm]

100[r/min]


Interrupt positioning command 200[×10 STM μm]

Program end

600[×10 STM μm] a) b)

Servo motor speed

Forward rotation

0r/min

P1

P1 + b) (200 10 STM m)

Program input 1

(PI1)

ON

OFF

Waiting for PI1 to be turned

ON by SYNC (1) (a))

13 - 40



If the travel distance of the "ITP" command is less than the travel distance necessary for deceleration, the actual deceleration time constant becomes less than the set value of the "STB" command.

Program

SPN(500)

STA(200)

STB(300)

MOV(1000)

SYNC(1)

ITP(50)

STOP

Description

Speed (Motor speed)




500[r/min]

200[ms]

300[ms]

1000[×10 STM μm]


Interrupt positioning command 50[×10 STM μm]

Program end a) b)

P1

Servo motor speed

Forward rotation

0r/min

P1 + b) (50 10 STM m)

Program input 1

(PI1)

ON

OFF

Waiting for PI1 to be turned

ON by SYNC (1) (a)).

(f) External pulse counter (COUNT)

When the number of input pulses of the manual pulse generator becomes greater than the value set with the "COUNT" command, the next step is started. Set "0" to erase the accumulated input pulses.

Program Description

COUNT(500) The next step is held until the number of input pulses of the manual pulse generator reaches 500 [pulses]. a)

SPN(500) Speed (Motor speed) 500[r/min]

STA(200)

STB(300)



200[ms]

300[ms]

MOV(1000)

TRIP(500)

COUNT(0)

STOP


Trip point

Cumulative input pulses are cleared.

Program end

1000[×10 STM μm]

500[×10 STM μm] b) c) b) 500[ 10 STM m]

0r/min

ON


Cumulative input pulses a) 500[pulse] c) Accumulated input pulses are erased.

13 - 41


(g) Step repeat instruction (FOR ... NEXT)

POINT

"FOR ... NEXT" cannot be placed within "FOR ... NEXT".

The steps located between the "FOR (setting value)" command and "NEXT" command is repeated by the preset number of times.

Program

SPN(1000)

STC(20)

MOV(1000)

TIM(100)

FOR(3)

MOVI(100)

TIM(100)

NEXT

FOR(2)

MOVI(200)

TIM(100)

NEXT

STOP

Speed (Motor speed)



Dwell command time

Step repeat instruction start


Dwell command time

Step repeat instruction end

Step repeat instruction start


Dwell command time

Step repeat instruction end

Program end

Description

1000[r/min]

20[ms]

1000[×10 STM μm]

100[ms]

3 [times]

100[×10 STM μm]

100[ms]

2 [times]

200[×10 STM μm]

100[ms] a) b) c) d) e) f) b) Incremental move command

(100 10 STM m) d) Incremental move command

(200 10 STM m)

Forward rotation

Servo motor speed

0r/min

1000 1100 1200 a) c)

1300 1500 e) f)

1700

13 - 42


(h) Program repeat command (TIMES)

By setting the number of times to the "TIMES (setting value)" command placed at the beginning of a program, the program can be executed repeatedly. When the program is to be executed once, the

"TIMES (setting value)" command is not necessary. Set "0" to select endless repetition.

Program

TIMES(2)

SPN(1000)

STC(20)

MOVI(1000)

TIM(100)

STOP

Program repeat command

Speed (Motor speed)



Dwell command time

Program end

Description

2 [times]

1000[r/min]

20[ms]

1000[×10 STM μm]

100[ms] a) b) b) Incremental move command

(100 10 STM m)

Servo motor speed

Forward rotation

0r/min

1000 a)

2000

13 - 43


13.4.3 Basic setting of signals and parameters

Create programs in advance using MR Configurator. (Refer to sections 13.4.2, and 13.9.)

(1) Parameter

(a) Command mode selection (parameter No. PE01)

Make sure that the absolute value command system has been selected as shown below.

Parameter No. PE01

0

Absolute value command system (initial value)

(b) ST1 coordinate system selection (parameter No. PA14)

Select the servo motor rotation direction at the time when the forward rotation start (ST1) turns ON.


0

(initial value)

1

Servo motor rotation direction when forward rotation start (ST1) is turned on

CCW rotation with + position data

CW rotation with - position data

CW rotation with + position data

CCW rotation with - position data

CCW

CW

(c) Feed length multiplication (parameter No. PE02)

Set the feed length multiplication (STM) of position data.


0 (initial value)

1

2

Position data input range [mm]

-999.999 to +999.999

-9999.99 to +9999.99

-99999.9 to +99999.9

3 -999999 to +999999

(2) Signals

Choosing the program using DI0 to DI2 and turning ON ST1 performs positioning operation according to the set program. At this time, reverse rotation start (ST2) is invalid.

Item Setting method Description

Turn MD0 ON. Selection of program operation mode Automatic/manual selection (MD0)

Program selection




Refer to section 13.2.3.(1).

Start Forward rotation start (ST1)

Turn ON ST1 to start the program operation

13 - 44


13.4.4 Program operation timing chart

(1) Operation conditions

The timing chart shown below assumes that the following program is executed in the absolute value command system where a home position return is completed.

Program No. 1 Description

SPN(1000)

STC(100)

MOV(5000)

SYNC(1)

STC(50)

MOV(7500)

STOP

Speed (Motor speed)


1000[r/min]

100[ms]

Absolute move command 5000[×10


STM μm]



Program end

50[ms]

7500[×10 STM μm]

Move command 1

Move command 2

Program No. 2

SPN(1000)

STC(100)

MOV(2500)

SYNC(1)

STC(50)

MOV(5000)

STOP

(2) Timing chart

Description

Speed (Motor speed)


1000[r/min]

100[ms]

Absolute move command 2500[×10


STM μm]



Program end

50[ms]

5000[×10 STM μm]

Move command 3

Move command 4


Servo-on (SON)


Program input 1

(PI1)

Program No.

ON

OFF

ON

OFF

ON

OFF

ON

OFF

(Note 1)

6ms or more

6ms or more

1

3ms or less

6ms or more

(Note 1) more

6ms or more

2

3ms or less

6ms or more

Move command 1

3ms or less

Move command 2

3ms or less

Move command 4

Servo motor speed

(Note 2)

(MEND)

Ready (RD)

Trouble (ALM)

Forward rotation

0r/min

Reverse rotation

In-position (INP)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Move command

3

Note 1. External input signal detection delays by the input filter setting time of parameter No. PD19. Additionally, make up a sequence that changes the program selection ahead of time by considering delays in output signal sequence from the controller and variations of a signal change due to hardware.

2. If the over load tough drive function is enabled by setting parameter No. PA04 to " 1", INP turn-on delays during the overload tough drive. MEND turn-on also delays together with INP.

13 - 45


13.5 Manual operation mode

For machine adjustment, home position matching, etc., JOG operation or a manual pulse generator may be used to make a motion to any position.

13.5.1 JOG operation

(1) Setting

Set the input device and parameters as follows according to the purpose of use. In this case, the point table

No./program No. selection 1 to 3 (DI0 to DI2) are invalid.

Item Device/Parameter used Description

Manual operation mode selection


JOG speed



Parameter No. PA14

Parameter No. PE13

Parameter No. PE07

Turn MD0 OFF.


Set the speed of the servo motor.

Set the acceleration/deceleration time constants.

S-pattern acceleration/deceleration time constant

(2) Servo motor rotation direction


Parameter No. PC03

Set the S-pattern acceleration/deceleration time constant.



0

1

CCW rotation

CW rotation

CW rotation

CCW rotation

ST1: ON

CCW

ST2: ON

CCW

CW

ST2: ON


CW

ST1: ON


(3) Operation

By turning ST1 ON, operation is performed under the conditions of the JOG speed set in the parameter and the acceleration and deceleration time constants in set parameter No. PE07. For the rotation direction, refer to (2) in this section. By turning ST2 ON, the servo motor rotates in the reverse direction to forward rotation start (ST1).

13 - 46


(4) Timing chart


(MD0)

Servo-on (SON)

ON

OFF

ON

OFF

100ms


(ST1)


(ST2)

Servo motor speed

Forward rotation

0r/min

Reverse rotation

ON

OFF

ON

OFF

(Note)

Rough match (CPO)


Ready (RD)

Trouble (ALM)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Forward rotation JOG

Reverse rotation JOG

Note. For the point table method. For the program method, it is always OFF.

13.5.2 Manual pulse generator operation

POINT

For the positioning mode, PP or NP is not assigned in the initial status. When using the manual pulse generator, assign PP to CN1-23 pin and NP to CN1-

25 pin by parameter No. PD02. (Refer to sections 4.4.2 and 11.14.)

When the manual pulse generator is used during JOG operation, pulses of the manual pulse generator are added.

(1) Setting

Set the input device and parameters as follows according to the purpose of use. In this case, the point table

No./program No. selection 1 to 3 (DI0 to DI2) are invalid.


Manual operation mode selection Automatic/manual selection (MD0)

Manual pulse generator multiplication Parameter No. PE02

Servo motor rotation direction Parameter No. PA14

Turn MD0 OFF.

Set the multiplication ratio for generated pulses of the manual pulse generator.

For more information, refer to (3) in this section.


13 - 47


(2) Servo motor rotation direction



Manual pulse generator: forward rotation Manual pulse generator: reverse rotation

0

1

CCW rotation

CW rotation

CW rotation

CCW rotation

CCW

Forward rotation

CW

(3) Manual pulse generator multiplication

Use parameter No.PA05 to set the multiplication ratio of the servo motor rotation to the manual pulse generator rotation.


Multiplication ratio of servo motor rotation to manual pulse generator rotation

Travel distance

0

1

1 time

10 times

1[μm]

10[μm]

2 100 times 100[μm]

(4) Operation

Turn the manual pulse generator to rotate the servo motor. For the rotation direction of servo motor, refer to

(2) in this section.

13 - 48


13.6 Home position return mode

13.6.1 Outline of home position return

Home position return is performed to match the command coordinates with the machine coordinates. Be sure to execute home position return at power-on.

This servo amplifier has the home position return methods given in this section. Choose the most appropriate method for your machine structure and application.

This servo amplifier has the home position return automatic return function which executes home position return by making an automatic return to a proper position if the machine has stopped beyond or on the proximity dog. Manual motion by JOG operation or the like is not required.

(1) Home position return types

Choose the optimum home position return according to the machine type, etc.

Type Home position return method Features

Dog type

Count type

Data set type

With deceleration started at the front end of a proximity dog, the position where the first Zphase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Zphase signal is defined as a home position.

(Note)

With deceleration started at the front end of a proximity dog, the position where the first Zphase signal is given after advancement over the preset moving distance after the proximity dog or a motion has been made over the home position shift distance starting from the Zphase signal is defined as a home position.

An arbitrary position is defined as a home position.

The position where the machine stops when its part is pressed against a machine stopper is defined as a home position.

General home position return method using a proximity dog.

Repeatability of home position return is excellent.

The machine is less burdened.

Used when the width of the proximity dog can be set greater than the deceleration distance of the servo motor.

Home position return method using a proximity dog.

Used when it is desired to minimize the length of the proximity dog.

No proximity dog required.

Stopper type

Since the machine part collides with the machine be fully lowered.

The machine and stopper strength must be increased.

Home position ignorance

(Servo-on position as home position)

The position where servo is switched on is defined as a home position.



Dog cradle type

The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the after-proximity dog moving distance and home position shift distance after it passed the rear end is defined as a home position.

The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the after-proximity dog moving distance and home position shift distance is defined as a home position.

The position where the first Z-phase signal is issued after detection of the proximity dog front end is defined as a home position.

The Z-phase signal is not needed.

The Z-phase signal is not needed.

Note. The Z-phase signal is a signal recognized in the servo amplifier once per servo motor revolution. It cannot be used as an output signal.

13 - 49


(2) Home position return parameter

When performing home position return, set parameter No. PE03 (home position return type) as follows.

Parameter No. PE03

0

Home position return type .......................(a)

0: Dog type

1: Count type

2: Data set type

3: Stopper type

4: Home position ignorance


5: Dog type rear end reference

6: Count type front end reference

7: Dog cradle type

Home position return direction ..................................(b)

0: Address increasing direction

1: Address decreasing direction

Proximity dog input polarity ..................................(c)

0: OFF indicates detection of the dog

1: ON indicates detection of the dog

(a) Choose the home position return type.

(b) Choose the starting direction of home position return. Set "0" to start home position return in the direction in which the address is incremented from the current position, or "1" to start home position return in the direction in which the address is decremented.

(c) Choose the polarity at which the proximity dog is detected. Set "0" to detect the dog when the proximity dog device (DOG) is OFF, or "1" to detect the dog when the device is ON.

(3) Instructions

(a) Before starting home position return, always make sure that the limit switch operates.

(b) Confirm the home position return direction. Incorrect setting will cause the machine to run reversely.

(c) Confirm the proximity dog input polarity. Not doing so may cause unexpected operation.

13.6.2 Selection of home position return mode

Set the input device as shown in the following table to select the home position return mode.

Input device

Point table method

Device setting

Program method

Automatic/manual selection (MD0) OFF OFF




All OFF

(The home position return mode is selected.)

Select a program that has the home position return "ZRT" command.

The explanations in the following sections apply when the home position return mode is selected by MD0, MI0,

DI1, and DI2.

13 - 50


13.6.3 Dog type home position return

This is a home position return method using the proximity dog. With deceleration started at the front end of the proximity dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been made over the home position shift distance starting from the Z-phase signal is defined as a home position.

(1) Devices and parameters

Set the input devices and parameters as follows.



(MD0)

Turn MD0 ON.

Home position return mode selection

Dog type home position return

Home position return direction

Point table No./Program No. selection 1 to 3

(DI0 to DI2)

Parameter No. PE03

Parameter No. PE03

Point table method: Select the home position return mode by turning OFF DI0, DI1 and DI2.

Program method: Select a program that has the home position return "ZRT" command.

0: Dog type home position return is selected.

Refer to section 13.6.1 (2) and select the home position return direction.

Dog input polarity

Home position return speed

Creep speed

Home position shift distance

Parameter No. PE03

Parameter No. PE04

Parameter No. PE05

Parameter No. PE06

Refer to section 13.6.1 (2) and select the proximity dog input polarity.

Set the speed till the dog is detected.

Set the speed after the dog is detected.

Set when shifting the home position starting at the first Zphase signal after passage of proximity dog rear end.

Set the acceleration/deceleration time constants during a home position return.

Home position return acceleration

/deceleration time constants

Parameter No. PE07

Home position return position data Parameter No. PE08 Set the current position at home position return completion.

(2) Length of proximity dog

To ensure that the Z-phase signal of the servo motor is generated during detection of the proximity dog

(DOG), the proximity dog should have the length which satisfies formulas (13.1) and (13.2).

L

1

V

60 td

2

                                         (13.1)

L

1

: Proximity dog length [mm]

V : Home position return speed [mm/min]

Td : Deceleration time [s]

L

2

2 ΔS                                            (13.2)

L

2

: Proximity dog length [mm]

ΔS : Travel distance per servo motor revolution [mm]

13 - 51


(3) Timing chart


ON

OFF

DI0, DI1, and DI2


(ST1)

ON

OFF

(Note 1)

6ms or more


(ST2)

ON

OFF

6ms or more

Acceleration time constant parameter No. PE07

Home position return speed parameter No.

PE04

Servo motor speed

Forward rotation

0r/min

3ms or less td

(Note 2)

Deceleration time constant parameter No. PE07

Creep speed

Home position shift distance parameter No. PE06 parameter No. PE05

Home position

Home position address parameter No. PE08

Proximity dog

Z-phase

Proximity dog (DOG)

Rough match (CPO)

Travel completion

(MEND)

Home position return completion (ZP)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Note 1. External input signal detection delays by the input filter setting time of parameter No. PD19. Additionally, make up a sequence that changes DI0, DI1 and DI2 ahead of time by considering delays in output signal sequence from the controller and variations of a signal change due to hardware.

2. Point table method: Select the home position return mode by turning OFF DI0, DI1 and DI2.


The set value in parameter No. PE08 (home position return position data) is applied as position address at the time of the home position return being completed.

13 - 52


(4) Adjustment

In dog type home position return, adjust to ensure that the Z-phase signal is generated during dog detection.

Locate the rear end of the proximity dog (DOG) at approximately the center of two consecutive Z-phase signals.

The position where the Z-phase signal is generated can be monitored in "Within one-revolution position" of

"Status display" of MR Configurator.

0 65536 (Note) 0

Servo motor Z-phase

Proximity dog

Proximity dog

(DOG)

ON

OFF

Note. When using the HF-KN series servo motor.

13 - 53


13.6.4 Count type home position return

In count type home position return, a motion is made over the distance set in parameter No. PE09 (moving distance after proximity dog) after detection of the proximity dog front end. The position where the first Z-phase signal is given after that is defined as a home position. Hence, if the proximity dog (DOG) is 10ms or longer, there is no restriction on the dog length. This home position return method is used when the required proximity dog length cannot be reserved to use dog type home position return or when the proximity dog (DOG) is entered electrically from a controller or the like.




Manual home position return mode selection

Count type home position return Parameter No. PE03


Automatic/manual selection (MD0) Turn MD0 ON.

Point table No./Program No. selection 1 to 3 (DI0 to DI2)

Point table method: Select the home position return mode by turning OFF DI0, DI1 and

DI2.


Parameter No. PE03

1: Count type home position return is selected.


Dog input polarity


Creep speed


Parameter No. PE03

Parameter No. PE04

Parameter No. PE05

Parameter No. PE06

Parameter No. PE09

Refer to section 13.6.1 (2) and select the dog input polarity.



Set when shifting the home position, starting at the first

Z-phase signal given after passage of the proximity dog front end and movement over the travel distance.

Set the travel distance after passage of proximity dog front end.

Travel distance after proximity dog

Home position return acceleration/deceleration time constants

Home position return position data

Parameter No. PE07

Parameter No. PE08


Set the current position at home position return completion.

13 - 54


(2) Timing chart


ON

OFF

DI0, DI1, and DI2 (Note 2)


(ST1)

ON

OFF

(Note 1)



(ST2)

Servo motor speed

ON

OFF



PE04

Forward rotation

0r/min

3ms or less

Deceleration time constant parameter No. PE07

Creep speed

Home position shift distance parameter No. PE06 parameter No. PE05

Home position

Travel distance after proximity dog parameter

No. PE09 Proximity dog


Z-phase

Proximity dog (DOG)

Rough match (CPO)

Travel completion

(MEND)


ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF





13 - 55


13.6.5 Data set type home position return

Data set type home position return is used when it is desired to determine any position as a home position.

JOG operation can be used for movement.








DI2.


Data set type home position return


(2) Timing chart

Parameter No. PE03

Parameter No. PE08

2: Data set type home position return is selected.



ON

OFF

DI0, DI1, and DI2


(ST1)

ON

OFF


(ST2)

ON

OFF

(Note 1) more

(Note 2)

6ms or more

Home position address parameter

No. PE08 Servo motor speed

Forward rotation

0r/min

3ms or less

Rough match

(CPO)

Travel completion

(MEND)


ON

OFF

ON

OFF

ON

OFF

Movement to the home position Execution of data set type home position return





13 - 56


13.6.6 Stopper type home position return

In stopper type home position return, a machine part is pressed against a stopper or the like by JOG operation to make a home position return and that position is defined as a home position.








DI2.


Stopper type home position return

Parameter No. PE03 3: Stopper type home position return is selected.



Stopper time

Stopper type home position return torque limit value

Home position return acceleration time constant


Parameter No. PE03

Parameter No. PE04

Parameter No. PE10

Parameter No. PE11

Parameter No. PE07

Parameter No. PE08


Set the speed till contact with the stopper.

Time from when the part makes contact with the stopper to when home position return data is obtained to output home position return completion (ZP).

Set the servo motor torque limit value for execution of stopper type home position return.

Set the acceleration time constant during a home position return.


13 - 57


(2) Timing chart


DI0, DI1, and DI2


(ST1)

ON

OFF


(ST2)

ON

OFF

Torque limit value

ON

OFF

Servo motor speed

Forward rotation

0r/min

(Note 1)


(Note 4)

Parameter No. PC14 (Note 3) Parameter No. PE 11 Parameter No. PC14

Acceleration time constant parameter

No. PE07

Home position return speed parameter No. PE04

Home position address parameter

No. PE08

3ms or less

Stopper time parameter No. PE10

Stopper

Limiting torque (TLC)

Rough match (CPO)

Travel completion

(MEND)


ON

OFF

ON

OFF

ON

OFF

ON

OFF

(Note 2)


2. TLC turns ON when the torque reaches the value set in forward torque limit (parameter No. PA11), reverse torque limit

(parameter No. PA12) or internal torque limit (parameter No. PC14).

3. The torque limit that is enabled at this point is as follows.

(Note)

Input device

TL1

0

1

Note. 0: off

1: on

Limit value status

Parameter No. PC14 > Parameter No. PE11

Parameter No. PC14 < Parameter No. PE11

Validated torque limit values

Parameter No. PE11

Parameter No. PE11

Parameter No. PC14


Program method: Select the program that has the home position return "ZRT" command.


13 - 58


13.6.7 Home position ignorance (Servo-on position as home position)

The position where servo is switched on is defined as a home position.





Home position ignorance


(2) Timing chart

Description




DI2.


Parameter No. PE03

Parameter No. PE08

4: Home position ignorance is selected.



Servo-on (SON)

ON

OFF

ON

OFF


Servo motor speed

0r/min

Rough match (CPO)

Travel completion

(MEND)


Ready (RD)

ON

OFF

ON

OFF

ON

OFF

ON

OFF


13 - 59


13.6.8 Dog type rear end reference home position return

POINT

This home position return method depends on the timing of reading proximity dog (DOG) that has detected the rear end of a proximity dog. Hence, if a home position return is made at the creep speed of 100r/min, an error of

400 pulses will occur in the home position. The error of the home position is larger as the creep speed is higher.

The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the after-proximity dog moving distance and home position shift distance after it passed the rear end is defined as a home position. A home position return that does not depend on the Z-phase signal can be made.








DI2.


Dog type rear end reference home position return

Parameter No. PE03 5: Select the dog type rear end reference.


Dog input polarity

Parameter No. PE03

Parameter No. PE03

Parameter No. PE04

Parameter No. PE05

Parameter No. PE06






Creep speed





Parameter No. PE09

Parameter No. PE07

Parameter No. PE08

Set when the home position is moved from where the axis has passed the proximity dog front end.



13 - 60


(2) Timing chart


ON

OFF

DI0, DI1, and DI2


(ST1)

ON

OFF

(Note 1) more 6ms or more

(Note 2)


(ST2)

Servo motor speed

ON

OFF

Forward rotation

0r/min



PE04

Deceleration time constant parameter

No. PE07

Creep speed parameter No. PE05

3ms or less

Travel distance after proximity dog parameter No. PE09

+ parameter No. PE06


Proximity dog

Proximity dog (DOG)

Rough match (CPO)

Travel completion

(MEND)


ON

OFF

ON

OFF

ON

OFF

ON

OFF





13 - 61


13.6.9 Count type front end reference home position return

POINT

This home position return method depends on the timing of reading the proximity dog (DOG) that has detected the front end of a proximity dog.

Hence, if a home position return is made at the home position return speed of

100r/min, an error of 400 pulses will occur in the home position. The error of the home position is larger as the home position return speed is higher.

The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the after-proximity dog travel distance and home position shift distance is defined as a home position. A home position return that does not depend on the Z-phase signal can be made. The home position may change if the home position return speed varies.


Set the input devices and parameters as indicated below.






DI2.


Count type dog front end reference home position return

Parameter No. PE03 6: Select the count type dog front end reference.


Dog input polarity

Parameter No. PE03

Parameter No. PE03

Parameter No. PE04

Parameter No. PE05

Parameter No. PE06






Creep speed





Parameter No. PE09

Parameter No. PE07

Parameter No. PE08

Set when the home position is moved from where the axis has passed the proximity dog front end.



13 - 62


(2) Timing chart


ON

OFF

DI0, DI1, and DI2


(ST1)

ON

OFF

(Note 1) more


(ST2)

ON

OFF

6ms or more


Home position return speed parameter

No. PE04

Servo motor speed

Forward rotation

0r/min

3ms or less

(Note 2)


No. PE07

Creep speed parameter No. PE05

Travel distance after proximity dog parameter No. PE09

+ parameter No. PE06


Proximity dog

Proximity dog (DOG)

Rough match (CPO)

Travel completion

(MEND)


ON

OFF

ON

OFF

ON

OFF

ON

OFF





13 - 63


13.6.10 Dog cradle type home position return

The position where the first Z-phase signal is issued after detection of the proximity dog front end can be defined as a home position.


Set the input devices and parameters as indicated below.






DI2.


Dog cradle type home position return

Parameter No. PE03 7: Select the dog cradle type.


Dog input polarity


Creep speed


Parameter No. PE03

Parameter No. PE03

Parameter No. PE04

Parameter No. PE05

Parameter No. PE06





Set when the home position is moved from the Z-phase signal position.



Parameter No. PE07

Parameter No. PE08



13 - 64


(2) Timing chart


ON

OFF

DI0, DI1, and DI2


(ST1)


(ST2)

Servo motor speed

Forward rotation

0r/min

Reverse rotation

ON

(Note 1) more

OFF

ON

OFF

6ms or more

3ms or less

(Note 2)


Home position return speed parameter

No. PE04


No. PE07 Home position shift distance parameter No. PE06

Creep speed


Proximity dog

Z-phase

Proximity dog (DOG)

Rough match (CPO)

Travel completion

(MEND)


ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF





13 - 65


13.6.11 Home position return automatic return function

If the current position is on or beyond the proximity dog in the home position return using the proximity dog, this function starts home position return after making a return to the position where the home position return can be made.

(1) When the current position is on the proximity dog

When the current position is on the proximity dog, an automatic return is made before home position return.

Home position return direction Proximity dog

Servo motor speed

0r/min

Reverse rotation

Makes an automatic return to a position before the proximity dog, then executes home position return from this position.

Home position return start position

(2) When the current position is beyond the proximity dog

The current position moves in the home return direction at a start. When the stroke end (LSP or LSN) is detected, the position moves in the opposite direction. The motion stops when the position passes the front end of the proximity dog. Then, a home position return is resumed from this position. If the proximity dog is not detected, the motion stops where the opposite side of the stroke end is detected, and home position return incomplete warning (90.2) occurs.

Stroke end

(LSP or LSN)


Proximity dog

Servo motor speed

Forward rotation

0r/min

Reverse rotation

Home position return start position

Makes an automatic return to a position before the proximity dog, then executes home position return from this position.

Software limit cannot be used with these functions.

13 - 66


13.7 Parameters

CAUTION

Never adjust or change the parameter values extremely as it will make operation unstable.

If a fixed value is indicated in a digit of a parameter, do not change the fixed value.

POINT

This chapter describes the parameters exclusively used for positioning mode.

Refer to chapter 4 for other parameters.

In this servo amplifier, the parameters are classified into the following groups on a function basis.

Parameter group Main description


(No. PA )

Gain/Filter parameters

(No. PB )


(No. PC )


(No. PD )


(No. PE )

Make basic setting with these parameters when using this servo amplifier in the position control mode.

Use these parameters when making gain adjustment manually.

Use these parameters mainly when using this servo amplifier in the internal speed control mode or in the internal torque control mode.

Use these parameters when changing the I/O signals of the servo amplifier.

Use these parameters only for the positioning mode.

13 - 67


13.7.1 Basic setting parameters (No. PA )

POINT



(1) Parameter list

No. Symbol Name Initial value Unit





PA05 *FBP Number of virtual pulses per revolution

000h

000h

000h

000h

100 ×100 pulse/rev

PA06 *CMX Electronic gear numerator (Virtual pulse multiplying factor numerator)

PA07 *CDV Electronic gear denominator (Virtual pulse multiplying factor denominator)






PA13 This parameter is not used. Do not change this value by any means.





PA18

1

1

001h

6

100

100

100

000h

0

4000

0

000h

000h

PA19 *BLK Parameter writing inhibit 00Eh

Note. The setting range is the same although the unit differs from that of the position control mode.

μm (Note)

%

% pulse/rev

Reference

Section 4.1.3

Section 4.1.4

Section 4.1.5

(2) in this section

(3) in this section

Section 4.1.8

Section 4.1.8

Section 4.1.9

Section 4.1.10

Section 4.1.10

(4) in this section

Section 4.1.13

Section 4.1.13

Section 4.1.2

13 - 68


(2) Number of virtual pulses per servo motor revolution

Parameter

No. Symbol Name


CAUTION

Initial value Setting range

100

Unit

0, 100 to 500 × 100 pulse/rev

When this parameter is changed, turn off and on the power before starting the operation. Otherwise, the set value will not be validated, causing an unexpected operation.

POINT


Set the number of virtual pulses necessary to rotate the servo motor one turn.

When parameter No. PA05 is set to "100 (10000[pulse/rev])" (initial value), the number of pulses necessary to rotate the servo motor one turn is 10000 pulses. When parameter No. PA05 is set to "0", the number of pulses necessary to rotate the servo motor one turn equals to the encoder resolution of the servo motor.


0

100 to 500

Description

Servo motor encoder resolution [pulse/rev]

Number of virtual pulses necessary to rotate the servo motor one turn [× 100 pulse/rev]

Travel distance

Parameter No. PA05

FBP conversion

(Note)

Parameter No. PA06 and PA07

CMX

CDV

+

-

Deviation counter

Servo motor

M

Value converted to the number of virtual pulses (FBP) per revolution

Encoder

Note. This process converts the number of the virtual pulses required to rotate the servo motor one turn to the value set in parameter No. PA05.

13 - 69


(3) Electronic gear

Parameter

No. Symbol Name

PA06 *CMX Electronic gear numerator (Virtual pulse multiplying factor numerator)

PA07 *CDV Electronic gear denominator (Virtual pulse multiplying factor denominator)

CAUTION

Initial value

1

1

Setting range Unit

1 to 65535

1 to 65535

Incorrect setting may cause unexpectedly fast rotation, resulting injury.

POINT

In the positioning mode, this parameter is made valid when power is switched off, then on after setting.

The setting range of the electronic gear is as follows. If you set any value outside this range, a parameter error (37.1) occurs.

Parameter No. PA05

100 (10000[pulse/rev])

200 (20000[pulse/rev])

300 (30000[pulse/rev])

360 (36000[pulse/rev])

400 (40000[pulse/rev])

500 (50000[pulse/rev])

0 (servo motor encoder resolution)

Min. value

1/131

1/65

1/43

1/36

1/32

1/26

1/10

Max. value

76

152

228

274

305

381

1000

13 - 70


(a) Concept of electronic gear

Adjust the electronic gear (parameters No. PA06 and PA07) to make the servo amplifier setting match the travel distance of the machine. Also, by changing the electronic gear value, the machine can be moved at any multiplication ratio to the travel distance set in the servo amplifier.

Travel distance

Parameter No. PA05

FBP conversion

(Note)

Parameter No. PA06 and PA07

CMX

CDV

+

-

Deviation counter

Servo motor

M

Value converted to the number of virtual pulses (FBP) per revolution

Encoder

Note. This process converts the number of the virtual pulses required to rotate the servo motor one turn to the value set in parameter No. PA05.

CMX

CDV

=

Parameter No.

PA06

Parameter No.

PA07

The following setting examples are used to explain how to calculate the electronic gear.

POINT

The following specification symbols are required to calculate the electronic gear

Pb : Ballscrew lead [mm]

1/n : Reduction ratio

S : Travel distance per servo motor revolution [μm/rev]

: Angle per revolution [0.001 /rev]

(b) Setting example

1) Ballscrew setting example


Ballscrew lead Pb = 10 [mm]

Reduction ratio: 1/n = Z

1

/Z

2

= 1/2

Z

1

: Number of gear cogs on servo motor side

Z

2

: Number of gear cogs on load side

Number of virtual pulses per revolution: 10000 [pulse/rev]

CMX

CDV

=

10000

 S

=

1/ n

10000

 Pb  1000

=

1/2 

10000

10  1000

=

2

1


1/n=Z

1

/Z

2

=1/2

Z

2

1/n

Z

1

Pb=10[mm]

Number of virtual pulses per revolution of servo motor

10000[pulse/rev]

13 - 71


2) Conveyor setting example

0.001 is set to be 1 μm.


Table : 360 /rev

Reduction ratio : 1/n=P

1

/P

2

=625/12544

P

1

: Pulley diameter on servo motor side

P

2

: Pulley diameter on load side

Number of virtual pulses per revolution: 36000 [pulse/rev]

Number of virtual pulses per revolution of servo motor

36000[pulse/rev]

Table

CMX

=

36000

=

36000

Timing belt: 625/12544

CDV   625/12544  360  1000

=

6272

3125

POINT

In the linear or rotary operation, setting the following values in the number of virtual pulses per revolution (parameter No. PA05) simplifies the setting values of the electronic gear (parameter No. PA06, PA07).

Liner operation: 100 (10000[pulse/rev])

Rotary operation: 360 (36000[pulse/rev])

(4) Selection of servo motor rotation direction

Parameter

No. Symbol Name

Initial value Setting range Unit

PA14 *POL Rotation direction selection 0 0, 1

POINT


In program method, ST2 can be used only for JOG operation in the test mode.

Select the servo motor rotation direction when the forward rotation start (ST1) or reverse rotation direction

(ST2) is turned ON.


0

1



CCW rotation


CW rotation

(address incremented.)

CW rotation


CCW rotation


ST1: ON

CCW

CW

ST2: ON


ST2: ON

CCW

CW

ST1: ON


13 - 72


13.7.2 Gain/filter parameters (No. PB )

POINT




No. Symbol Name


PB02 VRFT Vibration suppression control tuning mode (Advanced vibration suppression control)

PB03 This parameter is not used. Do not change this value by any means.
















PB19 VRF1 Vibration suppression control vibration frequency setting

PB20 VRF2 Vibration suppression control resonance frequency setting


PB22







PB29 GD2B Gain changing load to motor inertia moment ratio




PB33 VRF1B Gain changing vibration suppression control vibration frequency setting

PB34 VRF2B Gain changing vibration suppression control resonance frequency setting


PB36

PB37



13 - 73

Initial value

000h

000h

Unit Reference

Section 4.2.2

[Applied]

37

823

33.7

[Applied] 980

[Applied] 0

4500

000h

4500

0 %

500

7.0 Multiplier Section 4.2.2

24 rad/s

Section 4.2.2 rad/s rad/s ms

%

Hz

Hz

000h

[Applied] 3141

[Applied] 100.0

[Applied] 100.0

0

0

[Applied] 000h

[Applied] 33.7

[Applied] 100.0

[Applied] 100.0

0

0

100

4500

000h

Hz rad/s

Hz

Hz

000h

[Applied] 000h

[Applied] 000h

[Applied] 10

[Applied] 1 ms

[Applied] 7.0 Multiplier

[Applied] 37

[Applied] 823 rad/s rad/s ms

Hz

Hz

Section 4.2.2

Section 4.2.2

Section 4.2.2

Section 4.2.2


No. Symbol

PB40

PB41

PB42

PB43

PB44

PB45

PB46

PB47

PB48

PB49

PB50


Name

Initial value

111h

20

000h

000h

000h

000h

000h

000h

000h

000h

000h

Unit Reference

13 - 74


13.7.3 Extension setting parameters (No. PC )

POINT




(1) Parameter list

No. Symbol Name

PC01 This parameter is not used. Do not change this value by any means.

PC02


PC04

PC05

This parameter is not used. Do not change this value by any means.

PC06

PC07

PC08


PC10 ZSP Zero speed









PC19

PC20

PC21










PC31

PC32

PC33

PC34

Initial value

0

0

0

0

000h

[Applied] 100

3.0

3.0

0

1000

0

0

0

100

500

1000

100

50

000h

000h

001h

[Applied] 000h

000h

[Applied] 000h

[Applied] 000h

[Applied] 200

[Applied] 50

[Applied] 3

[Applied] 000h

000h

200

300

500

800

Unit ms

×10ms

%

×10ms ms r/min

% rev r/min

Reference

(2) in this section

Section 4.3.2

Section 4.3.2

Section 4.3.2

Section 4.3.2

Section 4.3.2

13 - 75


No. Symbol Name

PC50

PC51

PC52

PC53

PC54

PC55

PC56

PC57

PC35

PC36

PC37

PC38

PC39

PC40

PC41


PC42

PC43


PC45

PC46


PC47

PC48

PC49




PC61

PC62

PC63

PC64

Initial value

Unit

0

000h

000h

000h

000h

000h

000h

000h

000h

0

0

0

0

0

000h

000h

000h

000h

000h

000h

000h

000h

000h

[Applied] 000h

[Applied] 000h × 10ms

000h

000h

000h

000h

000h

Reference

Section 4.3.2

Section 4.3.2

Section 4.3.2

13 - 76


(2) List of details

No. Symbol

PC03

Name and functon

STC S-pattern acceleration/deceleration time constant

In servo operation, linear acceleration/deceleration is usually made. By setting the S-pattern acceleration/deceleration time constant (parameter

No.PC03), a smooth start/stop can be made. When the S-pattern time constant is set, smooth positioning is executed as shown below. Note that the time equivalent to the S-pattern time constant setting increases until the travel completion (MEND).



Rated speed

Initial value

0

Setting range

0 to

100

101 to

1000

Unit ms

Preset speed

Servo motor speed

0 [r/min]

Ta

Ta+Ts

Tb+Ts

Tb

Ta: Time until preset speed is reached

Tb: Time until stop

Ts: S-pattern acceleration/deceleration time constant (parameter No. PC03)

Setting range 0 to 100ms (S-pattern acceleration/deceleration time constant at setting value 101 to 1000 is 100ms)

In the program method, S-pattern acceleration/deceleration time constant of

STD command is valid during the time from the STD command start to the program end. For other than that, S-pattern acceleration/deceleration time constant of parameter No. PC03 is valid.

13 - 77


13.7.4 I/O setting parameters (No. PD )

POINT



(1) Parameter list

No. Symbol Name


PD02 *DI0 Input signal device selection 0 (CN1-23, CN1-25)
























PD26

Initial value

0002h

0005h

0002h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

070Ah

0707h

080Bh

0808h

0505h

0505h

0003h

0004h

0000h

262Dh

0303h

2003h

0202h

0202h

0D06h

2C0Dh

Unit Reference

Section 4.4.2

(2) in this section

Section 4.4.2

Section 4.4.2

13 - 78


(2) List of details



Select the stop processing at LSP/LSN OFF or when the software limit is detected, the base circuit status at reset (RES) ON and the operation during tough drive (MTTR).

Initial value

Setting range

0000h Refer to the name and function filed.

0

Stop processing at LSP/LSN OFF or when the software limit is detected

0: Sudden stop (Home position is not erased.)

1: Slow stop (Home position is not erased.)

Selection of base circuit status at reset (RES) ON

0: Base circuit switched off

1: Base circuit not switched off

Operation selection during tough drive (MTTR)

0: MTTR turns ON during the instantaneous

power failure tough drive

1: MTTR turns ON during the overload tough drive

or the instantaneous power failure tough drive

Unit

13 - 79


13.7.5 Positioning setting parameters (No. PE )

POINT



(1) Parameter list

No. Symbol Name

PE01 *CTY Command mode selection

PE02 *FTY Feeding function selection

PE03 *ZTY Home position return type

PE04 ZRF Home position return speed

PE05 CRF Creep speed

PE06 ZST Home position shift distance

PE07 FTS Home position return/JOG operation acceleration/deceleration time constants

PE08 *ZPS Home position return position data

PE09 DCT Travel distance after proximity dog

PE10 ZTM Stopper type home position return stopper time

PE11 ZTT Stopper type home position return torque limit value

PE12 CRP Rough match output range

PE13 JOG JOG speed

PE14 OUT1 OUT1 output time selection

This parameter is used only for the program method. This is not used in the point table method.

PE15 *BKC Backlash compensation

PE16 *LMPL Software limit +

PE17 *LMPH

PE18 *LMNL Software limit -

PE19 *LMNH

PE20 *LPPL Position range output address +

PE21 *LPPH

PE22 *LNPL Position range output address -

PE23 *LNPH

PE24 *EOP1 Function selection E-1

PE25

PE26


PE27

PE28

Initial value

Unit

0000h

0000h

0010h

500

10

0

100

0 r/min r/min

μm ms

×10 STM μm

1000 ×10 STM μm

100

15 ms

%

0

100

0

×10 STM μm r/min ms

Reference

(2) in this section

0

0

0

0

0

0

0

0

0

0000h

10

100

0000h

0000h pulse

×10 STM μm

×10 STM μm

×10 STM μm

×10 STM μm

13 - 80


(2) List of details

No. Symbol


Select the command system.

Name and function

0 0 0

Selection of command system

(Refer to section 13.3 and 13.4)

0: Absolute value command system

1: Incremental value command system


Select the feed length multiplication and the manual pulse generator input multiplication.

0 0

Initial value

Setting range



Unit

Set value

Feed length multiplication

(STM)

[Multiplier]

Feed unit

[ m]

1

10

1

10

100 100

1000 1000

Position data input range [mm]

Absolute value command system

0

1

2

3

Manual pulse generator multiplication

0: 1 time

1: 10 times

2: 100 times

Incremental value command system

-999.999 to +999.999 0 to +999.999

-9999.99 to +9999.99 0 to +9999.99

-99999.9 to +99999.9 0 to +99999.9

-999999 to +999999 0 to +999999


Select the home position return type, home position return direction and proximity dog input polarity. (Refer to section 13.6.)

0

Home position return type

0: Dog type

1: Count type

2: Data set type

3: Stopper type

4: Home position ignorance


5: Dog type rear end reference

6: Count type front end reference

7: Dog cradle type


0: Address increasing direction

1: Address decreasing direction

Proximity dog input polarity

0: OFF indicates detection of the dog

1: ON indicates detection of the dog


Used to set the servo motor speed for home position return. (Refer to section 13.6.)


500 0 to permissible speed r/min

13 - 81




Used to set the creep speed after proximity dog detection. (Refer to section

13.6.)


Used to set the travel distance from the home position. (Refer to section

13.6.)

PE07 FTS Home position return/JOG operation acceleration/deceleration time constants

Used to set the acceleration/deceleration time constants during a home position return or JOG operation.


Used to set the current position on completion of home position return.



Used to set the travel distance after proximity dog detection. (Refer to section 13.6.)


In stopper type home position return, used to set the time from when the machine part is pressed against the stopper and the torque limit set in parameter No. PE11 is reached to when the home position is set. (Refer to section 13.6.6.)

However, the stopper type home position return stopper time for the setting value 0 to 4 is 5ms.


Used to set the torque limit value relative to the max. torque in [%] in stopper type home position return. (Refer to section 13.6.6.)

However, the stopper type home position return torque limit value for the setting value 0 is 1%.


Used to set the command remaining distance range where the rough match

(CPO) is output.

PE13 JOG JOG speed

Used to set the JOG speed command.


This parameter is used only for the program method. It is not used in the point table method.

Used to set the output time of OUT1. The OUT1 is turned on by OUTON program command.

If "0" is set, it keeps ON.


Used to set the backlash compensation made when the command direction is reversed.

This function compensates for the number of backlash pulses in the opposite direction to the home position return direction.

For the home position ignorance (servo-on position as home position), this function compensates for the number of backlash pulses in the opposite direction to the first rotating direction after establishing the home position by switching ON the servo-on (SON).

Initial value

10

0

100

Setting range


0 to

65535

0 to

20000

0

1000

100

15

0

100

0

0

-32768 to

32767

0 to

65535

0 to 4

5 to

1000

0

1 to

100

0 to

65535


0 to

20000

0 to

32000

Unit r/min

×10

×10

μm ms

STM

STM ms

% ms

μm

μm

×10 STM μm r/min pulse

13 - 82



PE16 *LMPL Software limit +

Used to set the address increment side software stroke limit. The software limit is made invalid if this value is the same as in "software limit -". (Refer to

(4) in this section.)

Set the same sign to parameters No. PE16 and No. PE17. Setting of different signs will result in a parameter error.

PE17 *LMPH

Set address:

Upper three digits Lower three digits

Parameter No. PE16

Parameter No. PE17

Initial value

0

Setting range

-999999 to

999999

Unit

×10 STM μm

The software limit + is a set of upper digits and lower digits. To change the value, set in the order of lower digits to upper digits.

PE18 *LMNL Software limit -

Used to set the address decrement side software stroke limit. The software limit is made invalid if this value is the same as in "software limit +". (Refer to (4) in this section.)


PE19 *LMNH

Set address:


Parameter No. PE18

Parameter No. PE19

The software limit - is a set of upper digits and lower digits. To change the value, set in the order of lower digits to upper digits.


Used to set the address increment side position range output address.


In parameters No. PE20 to PE23, set the range where position range (POT) turns on.

PE21 *LPPH

Set address:


Parameter No. PE20

Parameter No. PE21

Position range output address + is a set of upper digits and lower digits. To change the value, set in the order of lower digits to upper digits.

0

0

-999999 to

999999

×10 STM μm

-999999 to

999999

×10 STM μm

13 - 83




Used to set the address decrement side position range output address.


PE23 *LNPH

Set address:


Parameter No. PE22

Parameter No. PE23

Initial value

0

Setting range

-999999 to

999999

Unit

×10 STM μm

Position range output address - is a set of upper digits and lower digits. To change the value, set in the order of lower digits to upper digits.


Used to permit/inhibit editing the point table/program or to select the polarity of program input 1 (PI1).

0 0


Point table/program edit

0: Permit

1: Inhibit

Polarity selection of program input 1 (PI1)

This setting is used only for the program method.

It is not used in the point table method.

0: Positive logic

1: Negative logic

PE25

PE26



10

4100

PE27 0000h

PE28

(3) Rough match output

0000h

Rough match (CPO) is output when the command remaining distance reaches the value set in parameter

No. PE12 (rough match output range). The setting range is 0 to 65535 [×10 STM μm].

Command remaining distance

( 10 STM m) set in parameter No. PE12

Actual servo motor speed

Servo motor speed

Rough match

(CPO)

Travel completion

(MEND)

Forward rotation

0r/min

ON

OFF

ON

OFF

Travel distance

13 - 84


(4) Software limit

A limit stop using a software limit (parameter No. PE16 to PE19) is made as in stroke end operation. When a motion goes beyond the setting range, the motor is stopped and servo-locked. This function is made valid at power-on but made invalid during home position return. This function is made invalid when the software limit + setting is the same as the software limit - setting. A parameter error (37.1) will occur if the software limit + setting is less than the software limit - setting.

Inhibited area

Unmovable

Movable area

Movable

Current position

Software limit

13 - 85


13.8 Point table setting method

This section provides the method for setting the point table by using MR Configurator.

POINT

Positioning mode is supported by MR Configurator with software version C4 or later.

The value of the parameter No. PE02 set on the parameter setting screen is not interlocked with the STM (feed length multiplication) value on the point table list screen. Set the STM (feed length multiplication) value to the same as set in the parameter No. PE02 on the point table list screen.

Click "Positioning-data" on the menu bar, and click "Point table" on the menu.

When the above choices are made, the following window appears. g) f) e) c) a) b) d) h)

(1) Writing point table data ( a) )

Click the point table data changed, and click the "Write" button to write the new point table data to the servo amplifier.

(2) Verifying point table data ( b) )

Click the "Verify" button to verify all data being displayed and the data of the servo amplifier.

(3) Batch-reading point table data ( c) )

Click the "Read All" button to read and display all point table data from the servo amplifier.

(4) Batch-writing point table data ( d) )

Click the "Write All" button to write all point table data to the servo amplifier.

13 - 86


(5) Inserting point table data ( e) )

Click the "Insert" button to insert one row just above the selected point table No. The rows of the selected table No. and below are shifted down.

(6) Deleting point table data ( f) )

Click the "Delete" button to delete all data in the selected point table No. The rows below the selected table No. are shifted up.

(7) Changing point table data ( g) )

Click the data to be changed, enter a new value into the input field, and press the enter key.

(8) Reading point table data

Point table data in a file can be read and displayed. Click "Project" on the menu bar to read the point table data.

(9) Saving point table data

All displayed point table data on the window can be saved. Click "Project" on the menu bar to save the point table data.

(10) Printing point table data

All displayed point table data on the window can be printed. Click "Project" on the menu bar to print the point table data.

(11) Closing point table data ( h) )

Click the "Close" button to close the window.

13 - 87


13.9 Program setting method

This section provides the method for setting programs using MR Configurator.

POINT

Positioning mode is supported by MR Configurator with software version C4 or later.

(1) How to open the setting screen

Click "Positioning-data" on the menu bar, and click "Program" on the menu.

(2) Explanation of Program window d) a) b) c) e) f) g)

(a) Reading the program ( a) )

Click the "Read All" button to read the program stored in the servo amplifier.

(b) Writing the program ( b) )

Click the "Write All" button to write the program, whose setting has been changed, to the servo amplifier.

(c) Verifying the programs ( c) )

Click the "Verify" button to verify the program contents on the personal computer and the program contents of the servo amplifier.

(d) Selecting the program No. ( d) )

Used to select the program No. to be edited.

(e) Editing the program ( e) )

Used to edit the program selected in d). Click the "Edit" button to open the Program Edit window. Refer to (3) in this section for the edit screen.

(f) Reading and saving the program file

A program can be saved/read as a file. Click "Project" on the menu bar to save or read the project.

13 - 88


(g) Printing the program

The read and edited program can be printed. Click "Project" on the menu bar to print the program.

(h) Referring to the number of steps ( f) )

The numbers of steps used and remaining steps in all programs are displayed.

(i) Closing the Program Data window ( g) )

Click the "Close" button to close the window.

(3) Explanation of Program Edit window

Create a program in the Program Edit window. a) b) c) d) e) f) g)

(a) Editing the program ( a) )

Enter commands into the program edit area ( a) ) in a text format.

(b) Copying the text ( b) )

Select the text of the program edit area and click the "Copy" button to store the selected text into the clipboard.

(c) Pasting the text ( c) )

Click the "Paste" button to paste the text stored in the clipboard to the specified position of the program edit area.

(d) Deleting the text ( d) )

Select the text of the program edit area and click the "Cut" button to delete the selected text.

(e) Closing the Program Data window ( e) )

Click the "OK" button to execute the edit check. If the check is completed without any problem, editing will be terminated and Program Data window will close. If any problem is found, an error will be displayed.

13 - 89


(f) Canceling the Program Edit window ( f) )

Click the "Cancel" button to discard the program being edited and close the Program Edit window.

(g) Error display ( g) )

If a problem is found when the edit check is executed in (e), the line number and content of the error will be displayed. Click the error content to move the cursor to the corresponding line in the program.

13 - 90


13.10 Single-step feed usage in the test operation mode

This section provides the usage of single-step feed using MR Configurator.

POINT

The single-step feed is supported by servo amplifier with software version B0 or later, and MR Configurator with software version C4 or later.

The servo motor will not operate if the forced stop (EM1), forward rotation stroke end (LSP) and reverse rotation stroke end (LSN) are off. Make automatic ON setting to turn on these devices or turn on between DOCOM.


Operation is performed in accordance with the preset point table No./program No.

Click "Test" on the menu bar and click "Single-step Feed" on the menu.

Clicking displays the confirmation window for switching to the test operation mode.

13 - 91


Click the "OK" button to display the setting screen of the single-step feed.

During the servo-on, the following window is displayed to confirm that the operation is in a stop status.

After confirming that the operation is in the stop status, click the "OK" button. a) e) f) c) d) g) h) b)

<In point table operation> <In program operation>

(a) Point table No. setting ( a) )

Enter the point table No. into the "Point table No." input field and press the enter key.

(b) Program No. setting ( b) )

Enter the program No. into the "Program No." input field and press the enter key.

(c) Servo motor start ( c) )

Click the "Start" button to rotate the servo motor.

(d) Temporary stop of servo motor ( d) )

Click the "Pause" button to stop the servo motor temporarily.

(e) Servo motor stop ( e) )

Click the "Pause" button again during a temporary stop of the servo motor to clear the travel remaining distance.

(f) Servo motor restart ( f) )

Click the "Restart" button during the temporary stop to restart the rotations for the travel remaining distance.

(g) Travel distance clear ( g) )

Click the "Remaining distance clear" during the temporary stop to clear the travel remaining distance.

13 - 92 c) d) e) f) g) h)


(h) Servo motor software forced stop ( h) )

Click the "Software forced stop" button to stop the servo motor rotation immediately. When the

"Software forced stop" button is enabled, the "Start" button cannot be used. Click the "Software forced stop" button again to make the "Start" button enabled.

(i) Single-step feed window closing ( i) )

Click the "Close" button to cancel the single-step feed mode and close the window.

(j) Switching to normal operation mode

To switch from the test operation mode to the normal operation mode, turn OFF the power of the servo amplifier.

13 - 93


MEMO

13 - 94

APPENDIX

APPENDIX

App. 1 Parameter list

POINT



App. - 1

APPENDIX


Basic setting parameters (PA ) Gain/filter parameters (PB

No. Symbol Name





PA05 *FBP Number of command input pulses per revolution

PA06 CMX Electronic gear numerator

(Command input pulse multiplying factor numerator)

)

Control mode

No. Symbol Name

P S T PB01 FILT Adaptive tuning mode

P S T

P S

P

(Adaptive filter II)

PB02 VRFT Vibration suppression control filter tuning mode


PB03 PST Position command acceleration/

P deceleration time constant

(Position smoothing)

PA07 CDV Electronic gear denominator

(Command input pulse multiplying factor denominator)






PA13 *PLSS Command input pulse form




P PB05 For manufacturer setting


P S PB08 PG2 Position loop gain

P S PB09 VG2 Speed loop gain

P PB10 VIC Speed integral compensation

P S T PB11 VDC Speed differential compensation

P S T PB12 OVA Overshoot amount compensation

P

P



P S T PB15 NH2 Machine resonance suppression filter 2

PA16 *ENR2 Encoder output pulse electronic gear P S T PB16 NHQ2 Notch shape selection 2

PA17

PA18

For manufacturer setting PB17 Automatic setting parameter


PA19 *BLK Parameter writing inhibit PB19 VRF1 Vibration suppression control vibration frequency setting

PB21 frequency setting


PB22







Control mode

P S

P

P

P

P S

P

P S

P S

P S

P S



P

P S

PB32 VICB Gain changing speed integral compensation P S

P

P

P S

P S

P

P S

P S

P S

P

P S

P S

P S

P S

P S

P

P

PB35 to


PB37



PB40 to

PB50


P S

P S

App. - 2

APPENDIX

Extension setting parameters (PC

No. Symbol Name



PC03 STC S-pattern acceleration/deceleration

PC10 ZSP Zero speed




P S T PD16 *DO2 Output signal device selection 2 (CN1-10) P S T

P S T PD17 *DO3 Output signal device selection 3 (CN1-11) P S T

T PD18 *DO4 Output signal device selection 4 (CN1-12) P S T

P S T PD19 *DIF Input filter setting P S T

PC14 TL2 Internal torque limit 2 P S T PD20 *DOP1 Function selection D-1

PC15 ERZL Error excessive alarm detection level P S T PD21 For manufacturer setting

P S T

PC16


PC18

PC19

PC20




P S T PD23 For manufacturer setting


PD25

PD26


P

P S T

PC21
















PC35 to

PC43 time constant














)


PC45 For manufacturer setting to

PC57



PC60 to

PC64


Control mode

T

S

No. Symbol

I/O setting parameters (PD

Name

)

Control mode

S T PD01 *DIA1 Input signal automatic ON selection 1 P S T

S T PD02 *DI0 Input signal device selection 0 (CN1-23, CN1-25) S T

S T PD03 *DI1-1 Input signal device selection 1L (CN1-3) P S T

PD04 *DI1-2 Input signal device selection 1H (CN1-3) P S T

P S T

P S T

T

S

T

S

T

S

T

P S T












P S T

P S T

P S T

P S T

P S T

P S T

P S T

P S T

P S T

P S T

S

S

P S

P

P S

P S

P S T

S

S

T

S

T

S

T

S

T

P S T

P S T

P S T

App. - 3

APPENDIX


Basic setting parameters (PA ) Gain/filter parameters (PB )

No. Symbol


Name



No. Symbol Name

PB01 FILT Adaptive tuning mode

(Adaptive filter II)



PA06 *CMX Electronic gear numerator

(Virtual pulse multiplying factor numerator)


PB03 This parameter is not used.


PA07 *CDV Electronic gear denominator PB05 For manufacturer setting

(Virtual pulse multiplying factor denominator) PB06 GD2 Load to motor inertia moment ratio






PA13 This parameter is not used.




PA17

PA18


PA19 *BLK Parameter writing inhibit













PB21

PB22











PB35 to

PB37




PB40 to

PB50


App. - 4

APPENDIX

Extension setting parameters (PC )

No. Symbol

PC01

Name

This parameter is not used.

PC02


PC04 to

PC08



PC10 ZSP Zero speed


PC12 This parameter is not used.







PC19

PC20

PC21


PC23 This parameter is not used.







PC30 to

PC34


PC35 to

PC43


PC44 RECT Drive recorder alarm designation

PC45 to

PC64


I/O setting parameters (PD )

No. Symbol Name


PD02 *DI0 Input signal device selection 0 (CN1-23,

CN1-25)























PD25

PD26


App. - 5

APPENDIX

Positioning setting parameters (PE

No. Symbol Name







)

PE07 FTS Home position return/JOG operation






PE13 JOG JOG speed


This parameter is used only for the program method.

It is not used in the point table method.


PE16 *LMPL Software limit -

PE17 *LMPH

PE18 *LMNL Position range output address +

PE19 *LMNH


PE21 *LPPH


PE23 *LNPH


PE25 to

PE28


App. - 6

APPENDIX

App. 2 Servo motor ID codes

Servo motor series ID

0F

16

0111

App. 3 Signal layout recording paper

Servo motor type ID

F053

FF13

FF23

FF43

F053

FF13

FF23

FF43

F053

FF13

FF23

FF43


Servo motor encoder ID

0049

0044

CN1

Servo motor

HF-KN053

HF-KN13

HF-KN23

HF-KN43

HF-KP053G1/G5/G7

HF-KP13G1/G5/G7

HF-KP23G1/G5/G7

HF-KP43G1/G5/G7

HG-KR053G1/G5/G7

HG-KR13G1/G5/G7

HG-KR23G1/G5/G7

HG-KR43G1/G5/G7



Positioning mode

CN1

2

OPC

4

6

8

10

12

1

DICOM

3

5

7

9

11

13

DOCOM

19

LZ

21

OP

15

LA

17

LB

23

PP

25

NP

18

LBR

20

LZR

14

LG

16

LAR

22

PG

24

NG

26

1

2

OPC

DICOM

3

4

6

8

10

5

7

9

19

LZ

21

OP

23

15

LA

17

LB

18

LBR

20

LZR

22

14

LG

16

LAR

11 24

12 25

13

DOCOM

26

App. - 7

APPENDIX

App. 4 Status display block diagram


Servo motor

Effective load ratio low hi

Current control

Speed control

Speed feedback

Within one- revolution position

Current position calculation

Differ- ential

Position control

App. - 8

APPENDIX


Effective load ratio low high

Current control

Speed control

Speed feedback

Within one- revolution position

Current position calculation

Differ- ential

Position control

Command position distance creation

Multiplica- tion factor position Sp Manual pul

App. - 9

Home position

APPENDIX

App. 5 Compliance with global standards

App. 5.1 About safety

This section explains safety of users and machine operators. Please read the section carefully before mounting the equipment.

App. 5.1.1 Professional engineer

Only professional engineers should mount MR-JN servo amplifiers.

Here, professional engineers should meet all the conditions below.

(1) Persons who took a proper training of related work of electrical equipment or persons who can avoid risk based on past experience.

(2) Persons who have read and familiarized himself/herself with this installation guide.

App. 5.1.2 Applications of the device

MR-JN servo amplifiers comply with the following standards.

IEC/EN 61800-5-1/GB 12668.501, IEC/EN/KN 61800-3/GB 12668.3

App. 5.1.3 Correct use

Use the MR-JN servo amplifiers within specifications. Refer to section 1.3 for specifications such as voltage, temperature, etc. Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other way or if modifications are made to the device, even in the context of mounting and installation.

WARNING

If you need to get close to the moving parts of the machine for inspection or others, ensure safety by confirming the power off, etc. Otherwise, it may cause an accident.

It takes 15 minutes maximum for capacitor discharging. Do not touch the unit and terminals immediately after power off.

App. - 10

APPENDIX

(1) Selection of peripheral equipment and wire

The followings are selected based on IEC/EN 61800-5-1, UL 508C, and CSA C22.2 No. 274.

(a) Local wiring

The following table shows the stranded wires [AWG] rated at 75 °C/60 °C.

Recommended wire

Servo amplifier L1/L2/

(Note 2)

75 °C/60 °C stranded wires [AWG]

24V/0V

U/V/W/

(Note 1, 2)

P/C B1/B2

MR-JN-10A(1)/MR-JN-20A(1)/MR-JN-40A 14/14 14/14 14/14 (Note 3) 14/14 16/16

Note 1. Select wire sizes depending on the rated output of the servo motors. The values in the table are sizes based on the rated output of the servo amplifiers.

2. The following shows the PE terminal specifications of the servo amplifier.

Screw size: M4


Recommended crimp terminal: R2-4 (JST)

Crimping tool: YPT-60-21 (JST)

3. To wire with the servo motor, use MR-PWS1CBL (option). To extend the wiring, use the AWG 14 wire size.

(b) Selection example of MCCB and fuse

Use a fuse (T class) or the molded-case circuit breaker (UL 489 Listed MCCB) indicated in the table below. The T class fuses and molded-case circuit breakers in the table are selected examples based on rated I/O of the servo amplifiers. When you select a smaller capacity servo motor to connect it to the servo amplifier, you can also use smaller capacity T class fuses or molded-case circuit breaker than ones in the table. For selecting ones other than Class T fuses and molded-case circuit breakers below, refer to section 11.6.

Servo amplifier Molded-case circuit breaker (240 VAC) Fuse (300 V)

MR-JN-10A

MR-JN-20A/MR-JN-10A1

MR-JN-40A/MR-JN-20A1

NF50-SVFU-5A (50 A frame 5 A)



10 A

15 A

20 A

(c) Power supply

This servo amplifier can be supplied from star-connected supply with grounded neutral point of overvoltage category set forth in IEC/EN 60664-1 and shown in the table of App. 5.7.1. However, when you use the neutral point for single phase supply, a reinforced insulating transformer is required in the power input section. For the interface power supply, use an external 24 VDC power supply with reinforced insulation on I/O terminals.

App. - 11

APPENDIX

(d) Grounding

To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. Do not connect two grounding cables to the same protective earth (PE) terminal. Always connect cables to the terminals one-to-one.

If using an earth-leakage current breaker, always ground the protective earth (PE) terminal of the servo amplifier to prevent an electric shock. This product can cause a DC current in the protective earthing conductor. To protect direct/indirect contact using an earth-leakage current breaker (RCD), only an RCD of type B can be used for the power supply side of the product.

PE terminals

PE terminals

(2) EU compliance

The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. The CE marking proves the compliance of the manufacturer with the EC directives, and this marking also applies to machines and equipment incorporating servos.

(a) EMC requirement

MR-JN servo amplifiers comply with category C3 in accordance with IEC/EN 61800-3. Install an

EMC filter and surge protector on the primary side of the servo amplifier. As for I/O signal wires

(max. length 10 m) and encoder cables (max. length 50 m), use shielded wires and ground the shields. The following shows recommended products.

EMC filter: Soshin Electric HF3000A-UN series

Surge protector: Okaya Electric Industries RSPD series

MR-JN servo amplifiers are not intended to be used on a low-voltage public network which supplies domestic premises; Radio frequency interference is expected if it is used on such a network. The installer shall provide a guide for installation and use, including recommended mitigation devices. To avoid the risk of crosstalk to signal cables, the installation instructions shall either recommend that the power interface cable be segregated from signal cables.

(b) For Declaration of Conformity (DoC)

MITSUBISHI ELECTRIC EUROPE B.V. hereby declares that the servo amplifiers are in compliance with EC directives (EMC directive (2014/30/EU), Low voltage directive (2014/35/EU), and RoHS directive (2011/65/EU)). For the copy of Declaration of Conformity, contact your local sales office.

App. - 12

APPENDIX

(3) USA/Canada compliance

This servo amplifier is designed in compliance with UL 508C and CSA C22.2 No. 274.

(a) Installation

The minimum cabinet size is 150% of the MR-JN servo amplifier's volume. Also, design the cabinet so that the ambient temperature in the cabinet is 55 °C or less. The servo amplifier must be installed in a metal cabinet. Additionally, mount the servo amplifier on a cabinet that the protective earth based on the standard of IEC/EN 60204-1 is correctly connected. For environment, the units should be used in open type (UL 50) and overvoltage category shown in table in App. 5.7.1. The servo amplifier needs to be installed at or below of pollution degree 2. For connection, use only copper wires.

(b) Short-circuit current rating (SCCR)

Suitable For Use On A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical

Amperes, 500 Volts Maximum.

(c) Overload protection characteristics

The MR-JN servo amplifiers have servo motor overload protective function. (It is set on the basis (full load current) of 120% rated current of the servo amplifier.)

(d) Over-temperature protection for motor

Motor Over temperature sensing is not provided by the drive.

Integral thermal protection(s) is necessary for motor. Refer to App. 5.3 for details of the proper connections.

(e) Branch circuit protection

For installation in the United States, branch circuit protection must be provided, in accordance with the National Electrical Code and any applicable local codes.

For installation in Canada, branch circuit protection must be provided, in accordance with the

Canada Electrical Code and any applicable provincial codes.

(4) South Korea compliance

This product complies with the Radio Wave Law (KC mark). Please note the following to use the product.

이 기기는 업무용 (A 급 ) 전자파적합기기로서 판매자 또는 사용자는 이 점을 주의하시기 바라며 , 가정외의

지역에서 사용하는 것을 목적으로 합니다 .

(The product is for business use (Class A) and meets the electromagnetic compatibility requirements.

The seller and the user must note the above point, and use the product in a place except for home.)

App. - 13

APPENDIX

App. 5.1.4 General cautions for safety protection and protective measures

Observe the following items to ensure proper use of the MELSERVO MR-JN servo amplifiers.

(1) Only qualified personnel and professional engineers should perform system installation.

(2) When mounting, installing, and using the MELSERVO MR-JN servo amplifier, always observe applicable standards and directives in the country.

App. 5.1.5 Disposal

Disposal of unusable or irreparable devices should always occur in accordance with the applicable countryspecific waste disposal regulations. (Example: European Waste 16 02 14)

App. 5.2 Mounting/dismounting

Installation direction and clearances

CAUTION

The devices must be installed in the specified direction. Not doing so may cause a malfunction.

Mount the servo amplifier on a cabinet which meets IP54 in the correct vertical direction to maintain pollution degree 2.

Cabinet Top Cabinet

10 mm or more

40 mm or more

10 mm or more

80 mm or longer for wiring

Servo amplifier

40 mm or more

Bottom

App. - 14

APPENDIX

App. 5.3 Electrical Installation and configuration diagram

WARNING Turn off the molded-case circuit breaker (MCCB) to avoid electrical shocks or damages to the product before starting the installation or wiring.

CAUTION

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

Securely connect the cables in the specified method and tighten them with the specified torque. Otherwise, the servo motor may operate unexpectedly.

The following shows representative configuration examples to conform to the IEC/EN/UL/CSA standards.

Power supply

MCCB or fuse

Servo amplifier

L1/L2

To protective equipment

(Thermal signal) (Note)

CN3

AC/DC converter

24 V

0 V

U/V/W/PE

Servo motor

CN1

Controller

CN2

Encoder

Encoder cable

Cabinet side

Machine side

Note. Please use a thermal sensor, etc. for thermal protection of the servo motor.

The connectors described by rectangles are safely separated from the main circuits described by circles.

The connected motors will be limited as follows.

HF-KN/HF-KP/HG-KR series servo motors (Mfg.: Mitsubishi Electric)

App. - 15

APPENDIX

App. 5.4 Signals

The following shows CN1 connector signals as a typical example.

CN1

1

2

OPC

DICOM

3

15

LA

4

RES

17

SON

5

LB

6

LSP

CR

7

19

LZ

8

EM1

LSN

9

21

OP

10

INP

12

MBR

ALM 23

11

PP

RD

25

13

NP

DOCOM

18

LBR

20

LZR

22

14

LG

16

LAR

PG

24

NG

26

This is in position control mode.

App. - 16

APPENDIX

App. 5.5 Maintenance and service

WARNING To avoid an electric shock, only qualified personnel should attempt inspections.

For repair and parts replacement, contact your local sales office.

App. 5.5.1 Inspection items

It is recommended that the following points periodically be checked.

(1) Check servo motor bearings, brake section, etc. for unusual noise.

(2) Check the cables and the like for scratches or cracks. Perform periodic inspection according to operating conditions.

(3) Check that the connectors are securely connected to the servo motor.

(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.

(7) Check the servo motor shaft and coupling for connection.

(8) Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch.

App. 5.5.2 Parts having service life

Service life of the following parts is listed below. However, the service life varies depending on operating methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service life. For parts replacement, please contact your local sales office.

Part name Life guideline

Smoothing capacitor 10 years (Note)

Relay Number of power-on times and forced stop times: 100,000 in total

Note. The characteristic of smoothing capacitor is deteriorated due to ripple currents, etc. 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 when operated continuously in an air-conditioned environment (ambient temperature of 40 °C or less).

App. - 17

APPENDIX

App. 5.6 Transportation and storage

CAUTION

Transport the products correctly according to their mass.

Stacking in excess of the limited number of product packages is not allowed.

Install the product in a load-bearing place of servo amplifier and servo motor in accordance with the instruction manual.

Do not put excessive load on the machine.


When you keep or use the product, please fulfill the following environment.

Item Environment

Ambient temperature

Ambient humidity

Operation [°C]

Transportation (Note) [°C]

Storage (Note) [°C]

Operation, transportation, storage

0 to 55 Class 3K3 (IEC/EN 60721-3-3)

-20 to 65 Class 2K4 (IEC/EN 60721-3-2)

-20 to 65 Class 1K4 (IEC/EN 60721-3-1)

5 %RH to 90 %RH

Vibration resistance Operation

Transportation (Note)

Storage

Pollution degree

IP rating

Altitude

Test condition

Operation, storage

Transportation

Note. In regular transport packaging

10 Hz to 57 Hz with constant amplitude of 0.075 mm

57 Hz to 150 Hz with constant acceleration of 9.8 m/s 2 to IEC/EN 61800-5-1

(Test Fc of IEC 60068-2-6)

5.9 m/s 2

Class 2M3 (IEC/EN 60721-3-2)

Class 1M2 (IEC/EN 60721-3-2)

2

IP20 (IEC/EN 60529)

Open type (UL 50)

1000 m or less

10000 m or less

App. - 18

APPENDIX

App. 5.7 Technical data

App. 5.7.1 MR-JN servo amplifier

Power supply

Item MR-JN-10A/MR-JN-20A/MR-JN-40A

Main circuit (line voltage) 1-phase 200 VAC to 230 VAC, 50 Hz/60 Hz

Control circuit

Interface (SELV)

24 VDC

24 VDC

MR-JN-10A1/MR-JN-20A1

1-phase 100 VAC to 120 VAC, 50 Hz/60 Hz

Control method

Pollution degree

Overvoltage category

Protective class

Short-circuit current rating (SCCR)

Sine-wave PWM control, current control method

2 (IEC/EN 60664-1)

III (IEC/EN 60664-1)

I (IEC/EN 61800-5-1)

100 kA

App. 5.7.2 Dimensions/mounting hole process drawing

H Front Side

Servo amplifier

MR-JN-10A(1)/MR-JN-20A(1)

MR-JN-40A

W

40

50

Variable dimensions [mm]

H

130

130

D

135

135

Mass [kg]

0.6

0.7

W D c b c a a1 d

Servo amplifier

MR-JN-10A(1)/MR-JN-20A(1)

MR-JN-40A a

5.5

6

Variable dimensions [mm] a1 b

5.5

6

120 ± 0.5

120 ± 0.5 c

5

5

Screw size d

M5

M5

App. - 19

REVISION

*The manual number is given on the bottom left of the back cover.

Revision Date *Manual Number Revision

Sept., 2010 SH(NA)030086ENG-A First edition

Feb., 2011 SH(NA)030086ENG-B 1-phase 100VAC to 120VAC input is added.

Positioning mode is added.

"Protective structure" is changed to "IP rating".

"Control power supply" is changed to "control circuit power supply".

Safety Instructions


About processing of waste

Partially changed.

2. To prevent fire, note the following Partially added.

Partially added and changed.

Partially changed.

EEP-ROM life

About the manuals

Introduction

Introduction 1.(2)

Introduction 2.

Introduction 2.(1)

Introduction 2.(2)(a)3)

Introduction 2.(3)

Partially added.

Partially changed.

Caution is partially changed.

Partially added.

Partially changed.

Diagram is partially changed.

Partially changed.

Partially changed.

Introduction 2.(4)

Introduction 2.(5)

Introduction 2.(7)

Introduction 3.(1)

Introduction 3.(2)

Introduction 4.

Section 1.1

Section 1.1 (4)

Section 1.2 (2)

Section 1.2 (3)

Section 1.3

Section 1.4

POINT is partially added.

"6" and "7" are added to the set value in the first digit of

PA01.

PA05 is partially changed.

PA13 POINT is partially changed.

Partially changed.



Partially changed.

Caution is added.

Partially changed.


The overview of "Positioning mode" is added.

Function block diagram of "Positioning mode (Point table method)" is added.

Function block diagram of "Positioning mode (Program method)" is added.

Contents of MR-JN-10A1/20A1 are added.

Output is added.

Rated current is added to main circuit power supply.

Rated current is added to control circuit power supply.

"Input" is changed to "power consumption".

Power supply capacity for the interface power supply "200mA" is changed to "0.2A".

Items of the positioning mode are added.

Following functions are added.

Positioning mode (point table method)

Positioning mode (program method)


Limit switch

Software limit

Drive recorder function

Revision Date *Manual Number

Feb., 2011 SH(NA)030086ENG-B Section 1.4

Section 1.5 (1)

Section 1.5 (2)

Section 1.6

Section 1.7

Section 2.3

Section 2.4

Chapter 3

Section 3.1

Section 3.2.1

Section 3.2.2

Section 3.2.3

Section 3.3.1

Section 3.3.2 (1)

Section 3.3.2 (3)

Section 3.3.3 (1)

Section 3.3.3 (2) (b) 2)

Section 3.3.3 (3) (b)

Section 3.4

Section 3.4 (1)

Section 3.5

Section 3.5 (1) (a)

Section 3.5 (1) (b)

Section 3.5 (2)

Section 3.6

Section 3.6.1

Section 3.6.1 (1) (b) 1)

Section 3.6.1 (1) (b) 2)

Section 3.6.1 (2)

Section 3.6.2 (1) (a)

Section 3.6.3 (1)

Section 3.7

Revision

Contents of the following items are partially added and changed.

Gain changing function

Electronic gear

Input signal selection

Output signal selection

Test operation mode

Tough drive function

Explanation of serial number is added.

Power supply symbol is added.

Partially changed.

Partially added.

Partially changed.

Partially changed.


Caution is partially added.


Note 1 is partially changed.


Diagram is all changed.









Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.


Partially changed.


Partially changed.

Partially changed.

Partially changed.

Note is added.

POINT is newly added.


Note is partially changed.


Partially changed.

POINT is partially changed.

Partially changed.

Partially changed.


Feb., 2011 SH(NA)030086ENG-B Section 3.8.1

Section 3.8.2 (1)

Section 3.8.2 (2)

Section 3.8.2 (3) (a) 1)

Section 3.8.2 (3) (b) 1)

Section 3.8.3 (2)

Section 3.10

Section 3.10.1

Section 3.11.1

Section 3.11.2

Section 3.11.3 (1) to (5)

Section 3.11.4 (1)

Section 3.11.4 (2)

Chapter 4

Section 4.1

Section 4.1.1

Section 4.1.2

Section 4.1.3

Section 4.1.5

Section 4.1.6

Section 4.1.7 (1)

Section 4.1.7 (1) (b)

Section 4.1.7 (2)

Section 4.1.8 (1)

Section 4.1.9

Section 4.1.11

Section 4.1.13

Section 4.1.13 (3)

Section 4.1.13 (4)

Section 4.2.1

Revision




Note 4 is added.

Partially added.

Partially added.



Partially changed.




Partially changed.

Partially changed.

Partially changed.


Note 4 and Note 5 are added.



Caution is partially added and changed.


Positioning parameters (No. PE ) is added.


Partially changed.

Reference and writing for positioning parameters (No. PE

) are added.

"00Ch" and "10Eh" are added to setting.

"6" and "7" are added to the set value in the first digit.


Setting item name of each digit is changed.



Partially changed.

Partially changed.


Unit of each control mode is added as Note.

Partially changed.


Initial value of PA16 is changed from "1" to "0".

Setting range of PA16 is changed from "1 to 65535" to "0 to

65535".

Partially changed.

Partially changed.

Initial values and units of the following parameters are changed.

PB06

Initial value "70" to "7.0"

Unit " 0.1" to "Multiplier"

PB10


Unit " 0.1ms" to "ms"



Section 4.2.2

Revision

PB19


Unit " 0.1Hz" to "Hz"

PB20



PB27

Unit is changed to "Refer to section 4.2.2.".

PB29


Unit " 0.1" to "multiplier"

PB32



PB33



PB34



PB02 Partially changed.

PB06 is changed as follows.


Setting range "0 to 3000" to "0.0 to 300.0"






PB12 The following sentence is added to the end.

"Executing one-touch tuning automatically changes this

parameter."



parameter."



parameter."















Section 4.2.3

Section 4.3.1

Section 4.3.2

Section 4.3.3

Section 4.3.4

Section 4.4

Section 4.4.1

Revision













Partially changed.

Initial values and units of the following parameters are changed.

PC12


Unit " 0.1%" to "%"

PC15


Unit " 0.1rev" to "rev"

PC44 "Drive recorder alarm specifying" is newly added.

PC11 is partially changed.

PC12 is changed as follows.



Unit " 0.1%" to "%"

PC13 "Encoder output pulse cycle setting" is added to the third digit.

PC15 is changed as follows.



Unit " 0.1rev" to "rev"







PC44 "Drive recorder alarm specifying" is newly added.

Partially changed.

"Drive recorder function" is newly added.


PD02 "Input signal device selection 0 (CN1-23, CN1-25)" is newly added.



Section 4.4.3

Chapter 5

Section 5.1

Section 5.2

Section 5.3

Section 5.3.1

Revision

PD01 0 bit "Automatic/manual selection (MD0)" in the

first digit is added.

0 bit "Point table No./Program No. selection 1

(DI0)" in the third digit is newly added.






PD02 "Input signal device selection 0 (CN1-23, CN1-

25)" is newly added.

PD03 Control mode "CP/CL" is added.


PD04 "Positioning mode" is added to the upper two

digits.


digits.


digits.


digits.


digits.

PD13 The following sentence is added to the end.

"If a value other than the initial value is set,

EM1 cannot be used."


digits.

The following sentence is added to the end.

"If a value other than the initial value is set,

EM1 cannot be used."

PD15 Control mode "CP/CL" is added.


PD20 Partially changed.

Partially changed.



"Point table" and "Positioning setting parameters" are added to the display mode transition.


Following contents are added as a status display for the positioning mode.

Current position

Command position



Step No.




Section 5.4

Section 5.5

Section 5.6

Section 5.6.1

Section 5.6.2

Section 5.6.3

Section 5.6 to 5.10

Section 5.7

Section 5.7.1

Section 5.8 (2)

Section 5.8 (2) (a)

Section 5.8 (2) (b)

Section 5.8 (3) (b)

Section 5.8 (3) (c)

Section 5.8 (3) (d)

Section 5.9

Section 5.10

Section 5.10.1

Revision

Following contents are added as a status display for the positioning mode.

Current position

Command position



Step No.


"Drive recorder valid/invalid display" is added.

"Single-step feed" is added to the test operation mode.


"The number of drive recorder record times" is added.

"Point table error" is added to the parameter errors.


"Point table mode" is newly added.

"Point table transition" is newly added.

"Point table mode setting screen sequence" is newly added.

"Operation example" of point table is newly added.

Changed to section 5.7 to 5.11.

POINT is deleted.

"Positioning setting parameters" is added.

"CN1-23" and "CN1-25" are added to the display definition.

Control mode "CP/CL" is added.

Pin No. 23 and 25 are added.

The followings are added.

Proximity dog (DOG)


Temporary stop/restart (TSTP)




Program input 1 (PI1)




Rough match (CPO)

Position range output (POT)

Point table No. output 1 (PT0)



Program output 1 (OUT1)

SYNC synchronous output (SOUT)

Partially added.

Partially added.

"Positioning mode" is newly added.

Partially changed.



Partially changed.


Feb., 2011 SH(NA)030086ENG-B Section 5.10.2 (2)

Section 5.10.3 (1) (d)

Section 5.10.4 (2)

Section 5.10.5

Section 5.11

Chapter 6

Section 6.1

Section 6.1.1

Section 6.1.2

Section 6.2

Section 6.3

Section 6.3.1

Section 6.3.2

Section 6.5

Section 7.1

Section 7.1.1

Section 7.1.2

Section 7.1.3

Section 7.2.2 (2)

Section 7.2.3 (1)

Section 7.2.3 (2)

Section 7.2.4

Section 7.2.5

Section 7.3

Section 7.3.2

Section 7.3.3

Section 7.3.4

Section 8.1

Revision

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.


Partially changed.

Partially changed.

Partially changed.

"(1) Gain adjustment made by the auto tuning mode

(parameter No. PA08)" is changed to "(1) One-touch tuning".

"(2) One-touch tuning" is changed to "(2) Gain adjustment made by the auto tuning mode (parameter No. PA08)".

Title is changed.

"Auto tuning" is changed to "Auto tuning mode 1".

Title is changed.

"Auto tuning mode 1" is changed to "Overview".


Title is changed.

"Auto tuning mode 1 operation" is changed to "Auto tuning mode 1 basis".



Partially changed.

POINT is added.

Partially changed.

Caution is added.


Partially changed.

Caution is added.

Partially changed.

Partially changed.

Partially changed.

Changed to a table format.

Partially changed.

Partially changed.

POINT is added.

Partially changed.

Partially changed.

Partially changed.

Title is changed.

"Gain changing operation" is changed to "Gain changing procedure".

Partially changed.

Partially changed.

"LED display" is changed to "3-digit, 7-segment LED".

Following alarms and warnings are added.

A.39 Program error

A.61 Operation alarm


Feb., 2011 SH(NA)030086ENG-B Section 8.1

Section 8.2

Section 8.3

Section 9.1 (1)

Section 9.1 (2)

Section 10.1

Section 10.2

Section 10.3

Section 10.3.1

Section 10.3.2

Section 10.5

Section 11.1.1

Section 11.1.2

Section 11.2

Section 11.2 (5)

Section 11.3

Section 11.4

Section 11.5 (1)

Section 11.5 (2)

Section 11.6

Section 11.7

Revision

A.90 Home position return incomplete warning

A.96 Home position setting warning

A.97 Program operation disabled

A.98 Software limit warning

Warning list is partially changed.

Partially changed.

Following alarm contents are added.

Detailed display 32.1 Overcurrent was detected by the

hardware detection circuit (during operation)

Detailed display 37.3 Point table setting range error

Detailed display 39.1 Program error

Detailed display 39.2 Command argument range error

Detailed display 39.3 Incompatible command

Detailed display 61.1 Auxiliary function setting error

Partially changed.

Following warning contents are added.

Detailed display 90.1 Home position return incompletion

Detailed display 90.2 Home position return abnormal

completion

Detailed display 96.1 In-position not reached

Detailed display 96.2 Speed command not converged

Detailed display 97.1 Program operation disabled

Detailed display 98.1 Reached the software limit at the

forward rotation

Detailed display 98.2 Reached the software limit at the

reverse rotation side

MR-JN-10A1 and MR-JN-20A1 are added.

Partially changed.


Partially changed.


Partially changed.


Partially changed.


Partially changed.

Inrush current of MR-JN-10A1/20A1 is added.

Partially changed.

Partially changed.


Outline dimension drawings of MR-RB12 and MR-RB032 are changed.

Partially changed.

POINT is added.



Partially changed.




Feb., 2011 SH(NA)030086ENG-B Section 11.9 (2) (a)

Section 11.9 (2) (d)

Section 11.9 (2) (e)

Section 11.9 (2) (f)

Section 11.10 (1)

Table 11.6

Section 11.11

Section 11.12 (1)

Section 11.14

Section 12.1.1

Section 12.1.3

Section 12.1.3 (1)

Section 12.1.4

Section 12.2

Section 12.2.2

Section 12.2.5

Section 12.2.6

Section 12.3.2

Section 12.5.1

Section 12.5.2 (1)

Section 12.5.2 (2)

Section 12.5.3

Section 12.6

Section 12.6.1

Section 12.6.2 (1)

Section 12.6.2 (2)

Section 12.6.3

Section 12.6.3 (1) (b)

Section 12.6.3 (2) (b)

Chapter 13

App. 1

App. 3

App. 4

App. 5

App. 6

App. 7

App. 8

Revision

Partially changed.

Partially changed.

Partially changed.

Partially changed.




"MR-HDP01 manual pulse generator" is newly added.

Partially changed.

Title is changed.

"Electromagnetic brake" is changed to "Electromagnetic brake characteristics".



Partially changed.


Partially changed.

Partially changed.

Partially changed.

Partially changed.

Note is deleted.


Torque characteristics for MR-JN-10A1 and MR-JN-20A1 are added.


Partially changed.

Note is deleted.


Torque characteristics for MR-JN-10A1 and MR-JN-20A1 are added.


Partially changed.

Partially changed.

"Positioning mode" is newly added.


Parameter list in the positioning mode is added.

Partially changed.

Status display block diagram in the positioning mode is added.

Partially changed.






Revision Date *Manual Number Revision

Feb., 2017 SH(NA)030086ENG-C Section 3.8.3

App. 5

App. 6

Partially changed.

The contents are entirely changed.

Deleted.

Jun., 2019 SH(NA)030086ENG-D Safety Instructions

1. To prevent electric shock, note the following

2. To prevent fire, note the following


FOR MAXIMUM SAFETY

Precautions for Choosing

Partially changed.

Partially added.

Partially changed.


Partially changed.

Partially changed. the Products

About the manuals

Introduction

Chapter 1

Section 1

Section 1.2

Section 1.3

Section 1.5

Section 1.6

Section 1.8

Chapter 2

Section 2.1

Section 2.4

Section 2.5

Chapter 3

Partially added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially added.

HG-KR G1/G5/G7 is added

Partially changed.




Partially changed.

Warning is partially added.

Section 3.1

Section 3.2.1


Partially changed.



Section 3.2.2

Section 3.2.3

Section 3.3.1

Section 3.4.2

Section 3.5.1

Section 3.6.1 (4)

Note 16 changed to 15.



Signal explanations are partially changed.

Partially changed.

Partially changed.


Section 3.6.2 (1) (a) and (b) Parameters No. PD03 are changed to PD02.

Section 3.6.3 (3) (a) and (b) Parameters No. PD03 are changed to PD02.

Section 3.10 Caution is partially changed.

Section 3.10.1

Section 3.10.2 (1)

Section 3.10.2 (1) (b)

Section 3.11.1

Section 3.11.4

Section 3.12

Chapter 4

Section 4.1.13 (4)

Warning is partially changed.

HG-KR G1/G5/G7 is added.

Connector and Cord clamps are partially changed.






Section 4.2.2

Section 4.3.1

Section 4.3.2

Section 4.4.1

Section 4.4.2

Detail list is partially changed.

Extension setting parameters.

Parameter list is partially changed.

List of details is partially added and changed.


Parameter list is partially changed.

List of details is partially changed.


Jun., 2019 SH(NA)030086ENG-D Chapter 5

Section 5.3.3

Section 5.8 (1)

Section 5.10.2

Section 5.10.3

Chapter 6

Section 6.1.1

Section 6.5 (1) (b)

Section 6.5 (2) (b)

Section 6.5 (2) (c) (3)

Chapter 7

Section 7.2.3 (1)

Section 7.2.5 (1)

Section 7.3.4 (2) (b)

Chapter 8

Section 8.1

Section 8.2

Section 8.3

Chapter 10

Section 10.1

Section 10.2 (1)

Section 10.3.1

Section 10.3.2

Section 10.5

Chapter 11

Section 11.1.1

Section 11.1.2

Section 11.1.3

Section 11.1.4

Section 11.2

Section 11.4

Section 11.5

Section 11.6

Section 11.7

Section 11.9

Section 11.10

Section 11.12

Section 11.14

Chapter 12

Section 12.1.1

Section 12.1.4

Section 12.2

Section 12.2.1 (3)

Section 12.3.1

Section 12.3.2

Section 12.4

Section 12.5.2

Section 12.5.4

Section 12.5.5

Section 12.6

Revision

Status display list is partially changed.

Display screen is partially changed.

Partially changed.

Partially changed.

Partially changed.

Adjustment procedure is partially changed.

Adjustment procedure is partially changed.

Position loop gain is partially changed.

Notch depth is changed to Notch characteristics.

Function is partially changed.



Alarms and warning list table is partially changed.


Alarm table is partially changed.


Alarm table is partially changed.


Table 10.1 is partially added.

Partially changed.


Partially changed.


Table is partially added and changed.




Partially changed.

Partially changed.


Partially changed.

Partially changed.

Partially changed.

Partially changed.


Partially added.

Rating plate is partially changed.

HG-KR G7 is added.


HG-KR G1/G5/G7 and section 12.7.4 are added.

HG-KR G1/G5/G7 are added.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.

Partially changed.


Jun., 2019 SH(NA)030086ENG-D Section 12.6.2 (1)

Section 12.6.2 (1)

Section 12.6.2 (2)

Section 12.6.3

Chapter 13

Section 13.2.1

Section 13.2.3

Section 13.4.2

Section 13.6.1

Section 13.7.3 (1)

Section 13.7.3 (2)

App. 2

App. 4 (1)

App. 4 (2)

App. 5

App. 5.1.3

App. 5.3

App. 5.5.2

App. 5.6

Revision

Specifications list table is partially changed.





Table is partially changed.

Command list table is partially changed.

Partially changed.

Parameter list table is partially changed.

Symbol is partially changed.

Partially added.




Partially changed.

HG-KR is added.

Partially changed.


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.

 2011 MITSUBISHI ELECTRIC CORPORATION

MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.

All other product names and company names are trademarks or registered trademarks of their respective companies.

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]

For terms of warranty, please contact your local FA center.

[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) 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

(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced

(v) 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 loss in opportunity and secondary loss from warranty liability

Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:

(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.

(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.

(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.

(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.

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 AC Servo, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in AC Servo, and a backup or fail-safe function should operate on an external system to AC Servo when any failure or malfunction occurs.

(2) Our 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)030086ENG-D

MODEL

MODEL

CODE

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310

SH(NA)030086ENG-D(1906)MEE Printed in Japan Specifications are subject to change without notice.

General-Purpose AC Servo

JN Series

General-Purpose Interface Servo Amplifier

MODEL (Servo Amplifier)

MR-JN□ A

MODEL (Servo Motor)

HF-KN □

HF-KP □ G1/G5/G7

HG-KR □ G1/G5/G7

INSTRUCTION MANUAL

D

Mitsubishi Electric MR-JN-_A HF-KN_ HF-KP_G1/G5/G7 HG-KR_G1/G5/G7 Instruction Manual

General-Purpose AC Servo

JN Series

General-Purpose Interface Servo Amplifier

MODEL (Servo Amplifier)

MODEL (Servo Motor)

INSTRUCTION MANUAL

WARNING

CAUTION

1. To prevent electric shock, note the following

2. To prevent fire, note the following

3. To prevent injury, note the following

4. Additional instructions

(1) Transportation and installation

(2) Wiring

(3) Test run adjustment

(4) Usage

(5) Corrective actions

(6) Storing of servo motor

(7) Maintenance, inspection and parts replacement

(8) General instruction

FOR MAXIMUM SAFETY

EEP-ROM life

Precautions for Choosing the Products

COMPLIANCE WITH EC DIRECTIVES

CONFORMANCE WITH UL/CSA STANDARD

Introduction

1. FUNCTIONS AND CONFIGURATION

2. INSTALLATION

3. SIGNALS AND WIRING

4. PARAMETERS

5. DISPLAY AND OPERATION

6. GENERAL GAIN ADJUSTMENT

7. SPECIAL ADJUSTMENT FUNCTIONS

8. TROUBLESHOOTING

9. DIMENSIONS

10. CHARACTERISTICS

11. OPTIONS AND PERIPHERAL EQUIPMENT

13. POSITIONING MODE

0

CAUTION

CAUTION

CAUTION

APPENDIX

App. 1 Parameter list

App. 2 Servo motor ID codes

App. 3 Signal layout recording paper

App. 4 Status display block diagram

App. 5 Compliance with global standards

General-Purpose AC Servo

JN Series

General-Purpose Interface Servo Amplifier

MODEL (Servo Amplifier)

MODEL (Servo Motor)

INSTRUCTION MANUAL

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