Mitsubishi Electric MR-J3W-44B, MR-J3W-77B Instruction Manual

MODEL

MODEL

CODE

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

SH (NA) 030073-C (1211) MEE Printed in Japan

This Instruction Manual uses recycled paper.

Specifications subject to change without notice.

General-Purpose AC Servo

J3W

Series

SSCNET interface 2-axis AC Servo Amplifier

MODEL

MR-J3W-0303BN6

MR-J3W- B

SERVO AMPLIFIER

INSTRUCTION MANUAL

The following servo motors will be available in the future. All specifications of followings may be changed without notice.

HG-AK0136B

HG-AK0236B

HG-AK0336B

For situations of conformity with UL/CSA standard of the MR-J3W-0303BN6 servo amplifier, contact your local sales office.

C

Safety Instructions

Always read these instructions before using the equipment.

Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read through this Instruction Manual, Installation guide, Servo motor Instruction Manual (Vol.2) and appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment, safety information and instructions.

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

WARNING

Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION

Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage.

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety.

What must not be done and what must be done are indicated by the following diagrammatic symbols.

: Indicates what must not be done. For example, "No Fire" is indicated by .

: Indicates what must be done. For example, grounding is indicated by .

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT".

After reading this Instruction Manual, always keep it accessible to the operator.

A - 1

1. To prevent electric shock, note the following

WARNING

Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the charge lamp is off or not.

Connect the servo amplifier and servo motor to ground.

Any person who is involved in wiring and inspection should be fully competent to do the work.

Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock.

Operate the switches with dry hand to prevent an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock.

To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier with the protective earth (PE) of the control box.

When using an earth-leakage current breaker (RCD), select the type B.

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

2. To prevent fire, note the following

CAUTION

Install the servo amplifier, servo motor and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to a fire.

Always connect a magnetic contactor between the power supply and the main circuit power supply (L1, L2, and L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions.

Always connect a circuit protector between the power supply and power supply voltage input terminals (24,

0, and M) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier's power supply. If a circuit protector is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions.

When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.

Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor.

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

A - 2

3. To prevent injury, note the following

CAUTION

Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst, damage, etc. may occur.

Connect the terminals correctly to prevent a burst, damage, etc.

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

Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged.

During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc.

(1) Transportation and installation

CAUTION

Transport the products correctly according to their mass.

Stacking in excess of the specified number of products is not allowed.

Do not carry the servo motor by the cables, shaft or encoder.

Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.

Do not climb or stand on servo equipment. Do not put heavy objects on equipment.

The servo amplifier and servo motor must be installed in the specified direction.

Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.

Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts missing.

Do not block the intake and exhaust areas of the servo amplifier. Doing so may cause faults.

Do not drop or strike servo amplifier or servo motor. Isolate from all impact loads.

Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation.

The geared servo motor must be installed in the specified direction to prevent oil leakage.

Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation.

Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty.

Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.

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

When treating the servo amplifier be careful about the edged parts such as the corners of the servo amplifier.

The servo amplifier must be installed in the metal cabinet.

A - 3

CAUTION

When you keep or use it, please fulfill the following environmental conditions.

Ambient temperature

Ambient humidity

Ambience

Altitude

Item

Operation

Storage

[ ]

Servo amplifier

[ ] 0 to 55 (non-freezing)



4 to 149 (non-freezing)

Operation 90 RH or less (non-condensing)

Storage 90 RH or less (non-condensing)

Environment

Servo motor





80 RH or less (non-condensing)

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

Max. 1000m above sea level

HF-MP series

X, Y: 49 m/s 2

HF-KP series

5.9 m/s

2

at 10 to 55Hz

(directions of X, Y and Z axes)

HF-SP51 52

HC-UP72

HF-JP53 73 103

X, Y: 24.5 m/s

2

(Note)

Vibration resistance

HC-LP52

X: 9.8 m/s 2

Y: 24.5 m/s 2

X, Y: 49 m/s

2

Note. Except the servo motor with a reduction gear.

HG-AK series

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.

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

Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.

Not doing so may cause unexpected operation.

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

Servo amplifier

U

U

Servo motor Servo amplifier

U

U

Servo motor

V

W

V

W

M V

W

V

W

M

A - 4

(2) Wiring

CAUTION

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

The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

Servo amplifier Servo amplifier

24VDC 24VDC

DOCOM DOCOM

Control output signal

DICOM

RA

For the sink output interface


DICOM

RA

For the source output interface

When the cable is not tightened enough to the terminal block (connector), the cable or terminal block

(connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified torque.

Connecting an encoder for different axis to the CN2A or CN2B connector may cause a malfunction.

Connecting a servo motor for different axis to the CNP3A or CNP3B connector may cause a malfunction.

(3) Test run adjustment

CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation.

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

(4) Usage

CAUTION

Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately.

Any person who is involved in disassembly and repair should be fully competent to do the work.

Before resetting an alarm, make sure that the run signal of the servo amplifier is off to prevent an accident.

A sudden restart is made if an alarm is reset with the run signal on.

Do not modify the equipment.

Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near the servo amplifier.

Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.

Use the servo amplifier with the specified servo motor.

The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking.

For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.

A - 5

(5) Corrective actions

CAUTION

When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with an electromagnetic brake or an external brake mechanism for the purpose of prevention.

Configure a electromagnetic brake circuit so that it is activated also by an external emergency stop switch.

Contacts must be opened when a malfunction (ALM-A/ALM-B) and when an electromagnetic brake interlock (MBR-A/

MBR-B).

Contacts must be opened with the emergency stop switch.

Servo motor

RA

B 24VDC

U

Electromagnetic brake

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation.

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

(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment.

Please contact your local sales office.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Specifications and Instruction Manual.

A - 6

DISPOSAL OF WASTE

Please dispose a converter unit, servo amplifier (drive unit), battery (primary battery) and other options according to your local laws and regulations.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the servo amplifier may fail when the EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes

Write to the EEP-ROM due to device changes

Precautions for Choosing the Products

Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi; machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage, accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other than

Mitsubishi products; and to other duties.

A - 7

COMPLIANCE WITH CE MARKING

Refer to Appendix 3 for the compliance with CE marking.

COMPLIANCE WITH UL/CSA STANDARD

Refer to Appendix 4 for the compliance with UL/CSA standard.

<<About the manuals>>

This Instruction Manual and the following Servo Amplifier/Servo Motor Instruction Manuals (Vol.2) are required if you use the General-Purpose AC servo MR-J3W- B for the first time. Always purchase them and use the MR-J3W- B safely.

Refer to chapter 15 for using MR-J3W-0303BN6.

Relevant manuals

Manual name

MELSERVO-J3W Series Instructions and Cautions for Safe Use of AC Servos

MELSERVO Servo Motor Instruction Manual (Vol.2)(Note 1)

EMC Installation Guidelines

SSCNET III Interface Linear Servo MR-J3- B-RJ004 INSTRUCTION MANUAL (Note 2)

SSCNET III Interface Direct drive servo MR-J3- B-RJ004 INSTRUCTION MANUAL (Note 3)

Note 1. Required to use the rotary servo motor.

2. Required to use the linear servo motor.

3. Required to use the direct drive motor.

<<Wiring>>

Manual No.

IB(NA)0300148

SH(NA)030041

IB(NA)67310

SH(NA)030054

In production

Wires mentioned in this instruction manual are selected based on the ambient temperature of 40 (104 ).

A - 8

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 - 10

1.1 Summary .................................................................................................................................................. 1 - 1

1.2 Function block diagram............................................................................................................................ 1 - 2

1.3 Servo amplifier standard specifications................................................................................................... 1 - 3

1.4 Function list .............................................................................................................................................. 1 - 5

1.5 Model code definition ............................................................................................................................... 1 - 6

1.6 Combination with servo motor ................................................................................................................. 1 - 7

1.7 Parts identification.................................................................................................................................... 1 - 8

1.8 Configuration including auxiliary equipment ........................................................................................... 1 - 9

2. INSTALLATION 2 - 1 to 2 - 6

2.1 Installation direction and clearances ....................................................................................................... 2 - 1

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

2.3 Cable stress ............................................................................................................................................. 2 - 3

2.4 SSCNET cable laying........................................................................................................................... 2 - 3

2.5 Inspection items ....................................................................................................................................... 2 - 5

2.6 Parts having service lives ........................................................................................................................ 2 - 6

3. SIGNALS AND WIRING 3 - 1 to 3 -40

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

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

3.3 Explanation of power supply system....................................................................................................... 3 - 6

3.3.1 Signal explanations ........................................................................................................................... 3 - 6

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

3.3.3 CNP1, CNP2, CNP3A, CNP3B wiring method ................................................................................ 3 - 9

3.4 Connectors and signal arrangements .................................................................................................... 3 -12

3.5 Signal (device) explanations................................................................................................................... 3 -13

3.6 Alarm occurrence timing chart................................................................................................................ 3 -17

3.6.1 Timing chart...................................................................................................................................... 3 -17

3.6.2 Supplementary information.............................................................................................................. 3 -18

3.7 Interfaces................................................................................................................................................. 3 -19

3.7.1 Internal connection diagram ............................................................................................................ 3 -19

3.7.2 Detailed description of interfaces..................................................................................................... 3 -20

3.7.3 Source I/O interfaces ....................................................................................................................... 3 -22

3.8 Treatment of cable shield external conductor ........................................................................................ 3 -23

3.9 SSCNET cable connection ................................................................................................................. 3 -24

3.10 Connection of servo amplifier and servo motor ................................................................................... 3 -26

3.10.1 Connection instructions.................................................................................................................. 3 -26

3.10.2 Power supply cable wiring diagrams ............................................................................................. 3 -27

3.11 Servo motor with an electromagnetic brake......................................................................................... 3 -31

3.11.1 Safety precautions ......................................................................................................................... 3 -31

3.11.2 Timing charts .................................................................................................................................. 3 -33

3.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor)..................................................... 3 -36

3.12 Grounding.............................................................................................................................................. 3 -38

1

3.13 Control axis selection............................................................................................................................ 3 -39

3.14 Servo motor selection switch (SW3) .................................................................................................... 3 -40

4. STARTUP 4 - 1 to 4 -14

4.1 Switching power on for the first time ....................................................................................................... 4 - 2

4.1.1 Startup procedure.............................................................................................................................. 4 - 2

4.1.2 Wiring check ...................................................................................................................................... 4 - 3

4.1.3 Surrounding environment.................................................................................................................. 4 - 4

4.2 Startup ...................................................................................................................................................... 4 - 4

4.3 Servo amplifier display............................................................................................................................. 4 - 6

4.3.1 Scrolling display................................................................................................................................. 4 - 6

4.3.2 Status display of an axis ................................................................................................................... 4 - 7

4.4 Test operation .......................................................................................................................................... 4 - 9

4.5 Test operation mode ............................................................................................................................... 4 -10

4.5.1 Test operation mode in MR Configurator ........................................................................................ 4 -10

4.5.2 Motor-less operation in controller .................................................................................................... 4 -12

5. PARAMETERS 5 - 1 to 5 -30

5.1 Basic setting parameters (No.PA

) ................................................................................................... 5 - 1

5.1.1 Parameter list .................................................................................................................................... 5 - 2

5.1.2 Parameter write inhibit ...................................................................................................................... 5 - 3

5.1.3 Selection of control mode ................................................................................................................. 5 - 4

5.1.4 Selection of regenerative option ....................................................................................................... 5 - 4

5.1.5 Using absolute position detection system ........................................................................................ 5 - 5

5.1.6 Forced stop input selection ............................................................................................................... 5 - 5

5.1.7 Auto tuning ........................................................................................................................................ 5 - 6

5.1.8 In-position range................................................................................................................................ 5 - 7

5.1.9 Selection of servo motor rotation direction....................................................................................... 5 - 8

5.1.10 Encoder output pulse ...................................................................................................................... 5 - 8

5.2 Gain/filter parameters (No.PB

)........................................................................................................ 5 -10

5.2.1 Parameter list ................................................................................................................................... 5 -10

5.2.2 List of details..................................................................................................................................... 5 -11

5.3 Extension setting parameters (No.PC

) ........................................................................................... 5 -17

5.3.1 Parameter list ................................................................................................................................... 5 -17

5.3.2 List of details..................................................................................................................................... 5 -18

5.3.3 Analog monitor ................................................................................................................................. 5 -21

5.3.4 Alarm history clear............................................................................................................................ 5 -23

5.4 I/O setting parameters (No.PD

) ...................................................................................................... 5 -24

5.4.1 Parameter list ................................................................................................................................... 5 -24

5.4.2 List of details..................................................................................................................................... 5 -25

5.5 Option setting parameters (No.Po

) ................................................................................................. 5 -27

5.5.1 List of parameters............................................................................................................................. 5 -27

5.5.2 List of details..................................................................................................................................... 5 -28

6. GENERAL GAIN ADJUSTMENT 6 - 1 to 6 -12

6.1 Different adjustment methods.................................................................................................................. 6 - 1

6.1.1 Adjustment on a single servo amplifier............................................................................................. 6 - 1

2

6.1.2 Adjustment using MR Configurator................................................................................................... 6 - 2

6.2 Auto tuning ............................................................................................................................................... 6 - 3

6.2.1 Auto tuning mode .............................................................................................................................. 6 - 3

6.2.2 Auto tuning mode basis .................................................................................................................... 6 - 4

6.2.3 Adjustment procedure by auto tuning............................................................................................... 6 - 5

6.2.4 Response level setting in auto tuning mode .................................................................................... 6 - 6

6.3 Manual mode 1 (simple manual adjustment).......................................................................................... 6 - 7

6.4 Interpolation mode .................................................................................................................................. 6 -11

7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 1 to 7 -10

7.1 Function block diagram............................................................................................................................ 7 - 1

7.2 Machine resonance suppression filter..................................................................................................... 7 - 1

7.3 Vibration suppression control manual mode........................................................................................... 7 - 3

7.4 Low-pass filter .......................................................................................................................................... 7 - 5

7.5 Gain changing function ............................................................................................................................ 7 - 5

7.5.1 Applications ....................................................................................................................................... 7 - 5

7.5.2 Function block diagram..................................................................................................................... 7 - 6

7.5.3 Parameters ........................................................................................................................................ 7 - 7

7.5.4 Gain changing procedure.................................................................................................................. 7 - 9

8. TROUBLESHOOTING 8 - 1 to 8 -34

8.1 Alarms and warning list............................................................................................................................ 8 - 1

8.2 Troubleshooting at power on ................................................................................................................... 8 - 3

8.3 Remedies for alarms................................................................................................................................ 8 - 4

8.4 Remedies for warnings ........................................................................................................................... 8 -29

9. OUTLINE DRAWINGS 9 - 1 to 9 - 4

9.1 Servo amplifier ......................................................................................................................................... 9 - 1

9.2 Connector................................................................................................................................................. 9 - 3

10. CHARACTERISTICS 10- 1 to 10- 8

10.1 Overload protection characteristics ...................................................................................................... 10- 1

10.2 Power supply equipment capacity and generated loss ....................................................................... 10- 2

10.3 Dynamic brake characteristics.............................................................................................................. 10- 4

10.3.1 Dynamic brake operation............................................................................................................... 10- 4

10.3.2 The dynamic brake at the load inertia moment............................................................................. 10- 6

10.4 Cable bending life ................................................................................................................................. 10- 6

10.5 Inrush currents at power-on of main circuit and control circuit............................................................ 10- 7

11. OPTIONS AND AUXILIARY EQUIPMENT 11- 1 to 11-56

11.1 Cable/connector sets ............................................................................................................................ 11- 1

11.1.1 Combinations of cable/connector sets .......................................................................................... 11- 1

11.1.2 Encoder cable/connector sets ....................................................................................................... 11- 9

11.1.3 Motor power supply cables ........................................................................................................... 11-20

11.1.4 Motor brake cables........................................................................................................................ 11-21

3

11.1.5 SSCNET cable .......................................................................................................................... 11-22

11.1.6 Battery cable.................................................................................................................................. 11-24

11.2 Regenerative options ........................................................................................................................... 11-25

11.3 MR-BTCASE battery case and MR-BAT battery................................................................................ 11-30

11.4 MR Configurator................................................................................................................................... 11-31

11.5 Selection example of wires.................................................................................................................. 11-36

11.6 No-fuse breakers, fuses, magnetic contactors ................................................................................... 11-40

11.7 Power factor improving AC reactors ................................................................................................... 11-41

11.8 Relays (recommended) ....................................................................................................................... 11-42

11.9 Noise reduction techniques ................................................................................................................. 11-42

11.10 Earth-leakage current breaker........................................................................................................... 11-49

11.11 EMC filter (recommended) ................................................................................................................ 11-52

11.12 Junction terminal block MR-TB26A................................................................................................... 11-54

11.13 Surge absorbers (recommended) ..................................................................................................... 11-55

12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 8

12.1 Features ............................................................................................................................................... 12-.1

12.2 Specifications ........................................................................................................................................ 12- 2

12.3 Assembling a battery unit ..................................................................................................................... 12- 5

12.3.1 Required items ............................................................................................................................... 12- 5

12.3.2 Disassembly and assembly of the battery case MR-BTCASE..................................................... 12- 5

12.3.3 Battery transportation..................................................................................................................... 12- 7

12.4 Confirmation of absolute position detection data................................................................................. 12- 8

13. USING A LINEAR SERVO MOTOR 13- 1 to 13-84

13.1 Functions and configuration ................................................................................................................. 13- 1

13.1.1 Summary ........................................................................................................................................ 13- 1

13.1.2 Combinations of Servo Amplifiers and Linear Servo Motors........................................................ 13- 2

13.1.3 Configuration including auxiliary equipment.................................................................................. 13- 4

13.2 Connection of servo amplifier and linear servo motor ......................................................................... 13- 5

13.2.1 Connection instructions.................................................................................................................. 13- 5

13.2.2 Power supply cable wiring diagrams ............................................................................................. 13- 6

13.3 Linear encoder ...................................................................................................................................... 13- 7

13.3.1 Compatible linear encoder list ....................................................................................................... 13- 7

13.3.2 Linear encoder and branch cable.................................................................................................. 13- 8

13.4 Signals and wiring................................................................................................................................. 13- 9

13.4.1 Precautions on this chapter .......................................................................................................... 13-10

13.4.2 Power supply system circuit connection example ....................................................................... 13-10

13.4.3 Internal connection diagram ......................................................................................................... 13-13

13.5 Operation and functions....................................................................................................................... 13-14

13.5.1 Startup ........................................................................................................................................... 13-14

13.5.2 Magnetic pole detection ................................................................................................................ 13-17

13.5.3 Home position return..................................................................................................................... 13-26

13.5.4 Test operation mode in MR Configurator ..................................................................................... 13-29

13.5.5 Operation from the controller ........................................................................................................ 13-30

13.5.6 Functions ....................................................................................................................................... 13-33

13.5.7 Absolute position detection system .............................................................................................. 13-35

13.6 Parameters........................................................................................................................................... 13-36

4

13.6.1 Parameter write inhibit (Parameter No.PA19).............................................................................. 13-37

13.6.2 Basic setting parameters (No.PA

13.6.3 Gain/Filter parameters (No.PB

)......................................................................................... 13-38

)............................................................................................. 13-42

13.6.4 Extension setting parameters (No.PC

) ................................................................................. 13-45

13.6.5 I/O setting parameters (No.PD

13.6.6 Special setting parameters (No.PS

)............................................................................................. 13-51

)...................................................................................... 13-52

13.6.7 Option setting parameter .............................................................................................................. 13-57

13.7 Troubleshooting ................................................................................................................................... 13-58

13.7.1 Alarms and warning list................................................................................................................. 13-58

13.7.2 Remedies for alarms..................................................................................................................... 13-60

13.7.3 Remedies for warnings ................................................................................................................. 13-80

13.7.4 Detailed explanation of linear encoder error 1 (2A. ) ................................................................ 13-84

14. USING A DIRECT DRIVE MOTOR 14- 1 to 14-72


14.1.1 Summary ........................................................................................................................................ 14- 1

14.1.2 Combinations of servo amplifier and direct drive motor ............................................................... 14- 2

14.1.3 Configuration including peripheral equipment............................................................................... 14- 3

14.2 Connection of servo amplifier and direct drive motor .......................................................................... 14- 4

14.3 Signals and wiring................................................................................................................................. 14- 5

14.3.1 Notes of this chapter ...................................................................................................................... 14- 6

14.3.2 Input power supply circuit .............................................................................................................. 14- 7

14.3.3 Internal connection diagram ......................................................................................................... 14-10

14.4 Operation and functions....................................................................................................................... 14-11

14.4.1 Startup procedure ......................................................................................................................... 14-12

14.4.2 Magnetic pole detection ................................................................................................................ 14-13

14.4.3 Operation from controller .............................................................................................................. 14-20

14.4.4 Function......................................................................................................................................... 14-25

14.5 Parameters........................................................................................................................................... 14-27

14.5.1 Parameter writing inhibit (parameter No.PA19) ........................................................................... 14-28


14.5.3 Gain/filter parameters (No.PB

)......................................................................................... 14-29

).............................................................................................. 14-32



) ................................................................................. 14-34

)............................................................................................. 14-35


14.5.7 Option setting parameters (No.Po

)...................................................................................... 14-36

) ....................................................................................... 14-40


14.6.1 Alarm and warning list................................................................................................................... 14-41

14.6.2 Remedies for alarms..................................................................................................................... 14-43

14.6.3 Remedies for warnings ................................................................................................................. 14-56

14.7 Characteristics ..................................................................................................................................... 14-61

14.7.1 Overload protection characteristics .............................................................................................. 14-61

14.7.2 Dynamic brake characteristics...................................................................................................... 14-62

14.8 Options for direct drive motor .............................................................................................................. 14-64

14.8.1 Cable/connector sets .................................................................................................................... 14-64

14.8.2 Absolute position storage unit MR-BTAS01................................................................................. 14-71

5

15. MR-J3W-0303BN6 SERVO AMPLIFIER 15- 1 to 15-72


15.1.1 Function block diagram.................................................................................................................. 15- 2

15.1.2 Servo amplifier standard specifications......................................................................................... 15- 3

15.1.3 Model designation .......................................................................................................................... 15- 5

15.1.4 Combination with servo motor ....................................................................................................... 15- 5

15.1.5 Parts identification .......................................................................................................................... 15- 6

15.1.6 Configuration including peripheral equipment............................................................................... 15- 7

15.2 Installation (direction and clearances).................................................................................................. 15- 8

15.3 Signals and wiring................................................................................................................................ 15-10

15.3.1 Input power supply circuit ............................................................................................................. 15-11

15.3.2 I/O signal connection example...................................................................................................... 15-13

15.3.3 Explanation of power supply system ............................................................................................ 15-15

15.3.4 Connectors and pin assignment ................................................................................................... 15-19

15.3.5 Alarm occurrence timing chart...................................................................................................... 15-20

15.3.6 Connection of servo amplifier and HG-AK series servo motor.................................................... 15-23

15.3.7 Servo motor with an electromagnetic brake................................................................................. 15-26

15.3.8 Grounding...................................................................................................................................... 15-31

15.4 Startup .................................................................................................................................................. 15-32

15.4.1 Startup procedure ......................................................................................................................... 15-33

15.4.2 Troubleshooting during "24V ERROR" lamp on. ......................................................................... 15-33

15.4.3 Wiring check .................................................................................................................................. 15-34

15.4.4 Surrounding environment ............................................................................................................. 15-35

15.5 Parameters........................................................................................................................................... 15-36


)......................................................................................... 15-36


15.5.3 Manufacturer setting parameters (No.PE

15.5.4 Other function parameters (No.PF


) ................................................................................. 15-38

)............................................................................ 15-42

)....................................................................................... 15-43

) ....................................................................................... 15-43


15.7 Dimensions........................................................................................................................................... 15-52

15.8 Characteristics ..................................................................................................................................... 15-53

15.8.1 Overload protection characteristics .............................................................................................. 15-53

15.8.2 Power supply capacity and generated loss.................................................................................. 15-54

15.8.3 Dynamic brake characteristics...................................................................................................... 15-54

15.8.4 Inrush currents at power-on of main circuit and control circuit .................................................... 15-56

15.9 Options and peripheral equipment ...................................................................................................... 15-57

15.9.1 Cable/connector sets .................................................................................................................... 15-57

15.9.2 Selection example of wires ........................................................................................................... 15-64

15.9.3 Circuit protector ............................................................................................................................. 15-65

15.10 Absolute position detection system................................................................................................... 15-66

15.10.1 Features ...................................................................................................................................... 15-66

15.10.2 Specifications .............................................................................................................................. 15-67

15.10.3 Battery replacement procedure .................................................................................................. 15-69

15.10.4 Battery mounting/removing procedure ....................................................................................... 15-70

15.10.5 Procedure to replace battery with the control circuit power off.................................................. 15-71

6

APPENDIX App.- 1 to App.-17

App. 1 Difference between MR-J3-B and MR-J3W-B ..............................................................................App.- 1

App. 2 Signal layout recording paper ........................................................................................................App.- 5

App. 3 COMPLIANCE WITH CE MARKING.............................................................................................App.- 6

App. 4 COMPLIANCE WITH UL/CSA STANDARD .................................................................................App.- 9

App. 5 Handling of AC servo amplifier batteries for the United Nations

Recommendations on the Transport of Dangerous Goods.........................................................App.-14

App. 6 Symbol for the new EU Battery Directive .....................................................................................App.-15

App. 7 Recommended cable for servo amplifier power supply ...............................................................App.-16

7

MEMO

8

1. FUNCTIONS AND CONFIGURATION


1.1 Summary

The Mitsubishi AC servo amplifier MELSERVO-J3W series is an AC servo that requires less space, less wiring, and less energy while it maintains high performance, functionality and usability of MELSERVO-J3-B.

Two servo motors can be driven by this MR-J3W servo amplifier. Driving two servo motors by one MR-J3W servo amplifier cuts down the installation area compared to the area required for two MR-J3 servo amplifiers.

Side-by-side installation is also available, making the system more compact.

Integrated 2-axis structure allows two axes to share the same SSCNET cable, control circuit power cable, and main circuit power cable, cutting down the wiring area.

The capacitor in the MELSERVO-J3W series is re-charged, doubling the reusable energy compared to it of the

MELSERVO-J3 series. Regenerative energy is generated during deceleration of a servo motor. By reusing that energy, much energy is saved. Depending on the operating condition, the regenerative option may be disabled.

The MR-J3W-77B servo amplifier has a 100W regenerative resistor built in, making the regenerative option unnecessary even for a large regenerative load.

By simply shifting the switch, a rotary servo motor, a linear servo motor or a direct drive motor can be used for each axis for the MR-J3W servo amplifier. A rotary servo motor, a linear servo motor and a direct drive motor with different capacities can be connected to the MR-J3W-22B and MR-J3W-44B servo amplifier axes.

Using MELSERVO-J3W makes the linear servo motor and the direct drive motor structure simple and the equipment compact with high performance. Using MELSERVO-J3W also saves the space.

As explained above, integrated 2-axis structure, multi-function, and improved regeneration efficiency reduce the required parts for a servo system.

1 - 1


1.2 Function block diagram

The function block diagram of this servo is shown below.

Regenerative option

(Note 2)

Power supply

MCCB MC

Servo amplifier

L

1

Diode stack Relay

L

2

L

3

L

L

11

21

P C

CNP2

CHARGE lamp

Regenerative

TR

Cooling fan

(Note 1)

Control circuit power supply

D

Built-in regenerative resistor

TRM(A)

Current detector

Dynamic brake circuit

(A)

TRM(B)

Current detector

Base amplifier

Regenerative brake

Overcurrent

A

Current detection

A

Overvoltage

Dynamic brake circuit

(B)

Overcurrent

B

Current detection

B

Control (A)

Model position control (A)

Model speed control (A)

Virtual motor

Virtual encoder

Control (B)

Model position control (B)

Model speed control (B)

Virtual motor

Virtual encoder

Actual position control (A)

Actual speed control (A)

Current control (A)

Actual position control (B)

Actual speed control (B)

Current control (B)

MR

-

BTCASE

Optional battery

Case Battey

(for absolute position detection system)

A-axis Servo motor

U

V

W

U

V

W

M

RA

24VDC

B1

B


B2

Encoder

U

B-axis Servo motor

U

V V

M

W W

RA

24VDC

B1

B


B2

Encoder

I/F

Control

USB D/A

CN1A CN1B CN5 CN3

Controller or servo amplifier

Servo amplifier or cap

Personal computer

USB

1 - 2

Analog monitor

(2 channels)

Digital I/O control


Note 1. MR-J3W-22B dose not have a cooling fan.

2. For 1-phase 200 to 230VAC, connect the power supply to L

1

, L

2

and leave L

3

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

1.3 Servo amplifier standard specifications

Servo amplifier

MR-J3W-

Item

Rated output capacity

Rated voltage

A-axis

200W

B-axis

200W

A-axis

400W

B-axis

400W

A-axis

750W

3-phase 170VAC

B-axis

750W

A-axis

1kW

B-axis

1kW

Voltage, frequency

Rated current

Permissible voltage fluctuation

Permissible frequency fluctuation

Power supply capacity

Inrush current

Voltage, frequency

Rated current [A]

[A]

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

3.5 6.1

3-phase or 1-phase 200 to 230VAC:

170 to 253VAC

Within 5

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

10.4

Refer to section 10.2


13.9

3-phase 170 to 253VAC

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

0.4


Interface power supply


Permissible frequency fluctuation

1-phase 170 to 253VAC

Within 5

Power consumption


[W]

Inrush current Refer to section 10.5

Voltage 24VDC 10

[A]

55

(Note 1) 0.25

1 - 3


Servo amplifier

MR-J3W-

Item

Capacitor regenerative

Reusable regenerative energy

(Note 3) [J]

Rotary servo motor’s inertia moment equivalent to permissible charging amount (Note 4)

[ 10

-4 kg m

2

]

Linear servo motor’s mass equivalent to permissible charging amount (Note 5) [kg]

17

3.45

8.5

22 46

4.46 9.32

11.0 23.0

Control system


Protective functions

Structure

[W]

Sine-wave PWM control, current control system

10 100

Built-in

Overcurrent regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection, magnetic pole detection protection, Linear servo control error detection protection open

(IP rating: IP00)

Force-cooling, open (IP rating: IP00)

Side-by-side installation

Ambient temperature

Ambient humidity

[ ]

Storage

Operation

[ ]

[ ]

Storage

[ ]

Operation

Ambient

Altitude


(Note 2)






Indoors (no direct sunlight)

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

Max. 1000m above sea level

5.9 m/s

2

at 10 to 55Hz (X, Y and Z directions)

Mass

Note 1. 0.25A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points.

2. When closely mounting MR-J3W-44B, operate them at 90 or smaller effective load ratio.

3. The regenerative energy is generated under the following conditions.

Rotary servo motor: The energy is generated when a machine with the inertia moment equivalent to permissible charging amount decelerates from the rated speed to stop.

Linear servo motor: The energy is generated when a machine with the mass equivalent to permissible charging amount decelerates from the maximum speed to stop.

Direct drive motor: The energy is generated when a machine with the inertia moment equivalent to permissible charging amount decelerates from the rated speed to stop.

4. This value is inertia moment when decelerating rotary servo motor from the rated speed to a stop. When decelerating two axes simultaneously, the inertia moment is a total of two axes. When not decelerating two axes simultaneously, the inertia moment is for one axis. This note also applies to the direct drive motor.

5. This value is mass when decelerating linear servo motor from the rated speed to a stop. The mass includes a mass of primary side

(coil). When decelerating two axes simultaneously, the mass is a total of two axes. When not decelerating two axes simultaneously, the mass is for one axis.

1 - 4


1.4 Function list

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

High-resolution encoder

Absolute position detection system

Gain changing function

Low-pass filter

Machine analyzer function

Machine simulation

Gain search function

Slight vibration suppression control

Auto tuning

Regenerative option

Alarm history clear

Output signal (DO) forced output

Test operation mode

Analog monitor output

MR Configurator

High-resolution encoder of 262144 pulses/rev is used as a rotary servo motor encoder.

Merely setting a home position once makes home position return unnecessary at every power-on.

Switches gains by using input devices or gain switching conditions (including the servo motor speed).

Suppresses high-frequency resonance which occurs as servo system response is increased.

Analyzes the frequency characteristic of the mechanical system by simply connecting an MR Configurator installed personal computer and servo amplifier.

MR Configurator is necessary for this function.

Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results.


Personal computer with MR Configurator changes gains automatically and searches for overshoot-free gains in a short time.


Chapter 12

Section 7.5

Section 7.4

Suppresses vibration of 1 pulse produced at a servo motor stop. Parameters No.PB24

Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies.

Used when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capability for the regenerative power generated.

Alarm history is cleared.

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 DO forced output

However, MR Configurator is necessary for positioning operation.

Servo status is output in terms of voltage in real time.

Using a personal computer, parameter setting, test operation, status display, etc. can be performed.

Chapter 6

Section 11.2

Parameter No.PC21

Section 4.5.1 (1) (d)

Section 4.5

Parameter No.PC09

Section 11.4

1 - 5


1.5 Model code definition

(1) Rating plate

MITSUBISHI

MODEL MR-J3W-44B

AC SERVO

DATE 2011-08

POWER:

INPUT:

400W(A)+400W(B)

6.1A 3PH+1PH200-230V 50Hz

3PH+1PH200-230V 60Hz

OUTPUT: 170V 0-360Hz 2.8A(A)+2.8A(B)

SERIAL: A99001050

KCC-REI-MEK-TC300A***G51

PASSED

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN

(2) Model

Series

SSCNET interface

Rated output

Symbol

Rated outpur[W]

A-axis B-axis

22

44

77

1010

200

400

750

1k

200

400

750

1k

The year and month of manufacture

Model

Capacity

Applicable power supply

Rated output current

Serial number

KC mark number

Country of origin

Rating plate

1 - 6


1.6 Combination with servo motor

POINT

Refer to section 13.1.2 for the combinations with linear servo motors.

Refer to section 14.1.2 for the combinations with direct drive motors.

The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with an electromagnetic brake and the models with a reduction gear.

With the servo amplifier whose software version is B3 or later, the following servo motors can be used without parameter change.

A-axis B-axis A-axis B-axis A-axis B-axis A-axis B-axis

HF-MP053

HF-MP13

HF-MP23

HF-MP43

HF-MP73

HF-KP053

HF-KP13

HF-KP23

HF-KP43

HF-KP73

HF-SP51

HF-SP81

HF-SP52

HF-SP102

HC-LP52

HC-LP102

HC-UP72

HF-JP53

HF-JP73

HF-JP103

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 1)

(Note 2)

(Note 2)

(Note 1)

(Note 1)

(Note 2, 3)

(Note 2)

(Note 2)

Note 1. With the servo amplifier whose software version is B2 or earlier, this servo motor can be used by setting parameter No.Po04 to

" 1 ". With the servo amplifier whose software version is B3 or later, no parameter setting is required.

2. This servo motor can be used with the servo amplifier whose software version is B3 or later.

3. With this combination, the maximum torque of the HF-JP53 servo motor increases to 400 of the rated torque.

1 - 7


1.7 Parts identification

Side view

5

6

7

8 9

A

B

1

0

E

F

SW1

TEST

SW2

ON 4E

1 2

Name/Application

Display

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

Rotary axis setting switch (SW1)

SW1 Used to set the axis No. of servo amplifier.

3

5

6

7 8 9

A

B

D

1

2 F

0

E

Detailed explanation

Section 4.3

Section 3.13

SW2

Test operation select switch (SW2-1)

Used to perform the test operation mode by using MR Configurator.

1 2

For manufacturer setting (Be sure to set to the "Down" position).

Charge lamp

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

Main circuit power supply connector (CNP1)

Connect the input power supply.

USB communication connector (CN5)

Connect the personal computer.

Section 3.1

Section 3.3

Section 11.4

I/O signal connector (CN3)

Used to connect digital I/O signals.

More over an analog monitor is output.

Control circuit connector (CNP2)

Connect the control circuit power supply/regenerative option.

SSCNET cable connector (CN1A)

Used to connect the servo system controller or the front axis servo amplifier.

A-axis servo motor power output connector (CNP3A)

Connect the A-axis servo motor.

SSCNET cable connector (CN1B)

Used to connect the rear axis servo amplifier. For the final axis, puts a cap.

A-axis servo motor encoder connector (CN2A)

Used to connect the A-axis servo motor encoder.

B-axis servo motor encoder connector (CN2B)

Used to connect the B-axis servo motor encoder.

Battery connector (CN4)

Used to connect the battery for absolute position data backup. Battery is not required in fully closed control.

B-axis servo motor power output connector (CNP3B)

Connect the B-axis servo motor.

Protective earth (PE) terminal ( )

Ground terminal.

Rating plate

Section 3.2

Section 3.4

Section 3.1

Section 3.3

Section 3.9

Section 3.1

Section 3.3

Section 3.9

Section 3.4

Section 11.1

Section 11.3

Chapter 12

Section 3.1

Section 3.3

Section 1.5

Servo motor selection switch (SW3)

NO

A-axis

Used to select the servo motor to be used.

B-axis

OFF: Rotary servo motor

ON : Linear servo motor and

Section 3.14

Bottom

1 - 8


1.8 Configuration including auxiliary equipment

CAUTION


POINT

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

To use a rotary servo motor, turn SW3 off (factory setting).

(Note 2)

Power supply

R S T

Servo amplifier

Personal computer

MR Configurator

CN5

Molded-case circuit breaker

(MCCB) or fuse

L

1

L

2

L

3

CNP1

Magnetic contactor

(MC)

Power factor improving AC reactor

(FR-BAL)

Line noise filter

(FR-BSF01)

(Note 2) Regenerative option

P

C

(Note 3)

D

V

U

W

W

V

U

CNP2

CNP3A

CNP3B

CN3

CN1A

CN1B

CN2A

I/O signal

Servo system controller or Front axis servo amplifier CN1B

Rear servo amplifier

CN1A or Cap

CN2B

L

21

L

11

CN4

(Note 1)

Battery unit

B-axis servo motor A-axis servo motor

SW3

ON

A-axis

B-axis

Note 1. A battery unit consists of one MR-BTCASE battery case and eight MR-BAT batteries. Use the battery unit in the absolute position detection system of the position control mode. (Refer to section 12.3.)

2. For 1-phase 200V to 230VAC, connect the power supply to L

1

L

2

and leave L

3


3. Make sure to connect the P terminal to the D terminal. When using the regenerative option, refer to section 11.2.

1 - 9


MEMO

1 - 10

2. INSTALLATION

2. INSTALLATION

WARNING To prevent electric shock, ground each equipment securely.

CAUTION

Stacking in excess of the limited number of products is not allowed.

Install the equipment on incombustible material. Installing it directly or close to combustibles will lead to a fire.

Install the equipment in a load-bearing place in accordance with this Instruction

Manual.

Do not get on or put heavy load on the equipment to prevent injury.

Use the equipment within the specified environmental condition range. (For the environmental conditions, refer to section 1.3.)

Provide an adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier.

Do not block the intake and exhaust areas of the servo amplifier. Doing so may cause faults.

Do not drop or strike the servo amplifier. Isolate from all impact loads.

Do not install or operate the servo amplifier which has been damaged or has any parts missing.

Do not install or operate a faulty servo amplifier.

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

When treating the servo amplifier, be careful about the edged parts such as the corners of the servo amplifier.

The servo amplifier must be installed in the metal cabinet.

2.1 Installation direction and clearances

The equipment must be installed in the specified direction. Otherwise, a fault may occur.

CAUTION

Leave specified clearances between the servo amplifier and control box inside walls or other equipment. Doing so may cause faults.

When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the servo amplifier is not affected.

Install the servo amplifier on a perpendicular wall in the correct vertical direction.

2 - 1

2. INSTALLATION

(1) Installation of one servo amplifier

Control box

40mm or more

Servo amplifier

10mm or more

10mm or more

Wiring allowance

80mm

Control box

Top

Bottom

40mm or more

(2) Installation of two or more servo amplifiers

POINT

MR-J3W- B can be installed side-by-side.

However, use MR-J3W-44B with the effective load ratio of 90 or less.

Leave a large clearance between the inner surface of a control box and the servo amplifier to circulate air above and below the servo amplifier.

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

Control box Control box

100mm or more

10mm or more 1mm

100mm or more

1mm

30mm or more

30mm or more

30mm or more

Top

30mm or more

Bottom

40mm or more

40mm or more

Leaving clearance Mounting closely

2 - 2

2. INSTALLATION

2.2 Keep out foreign materials

(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the servo amplifier.

(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control box or a cooling fan installed on the ceiling.

(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an air purge (force clean air into the control box from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the control box.

2.3 Cable stress

(1) The way of clamping the cable must be fully examined so that bending stress and cable's own weight stress are not applied to the cable connection.

(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) with having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part. Use the optional encoder cable within the bending life range. Use the power supply and brake wiring cables within the bending life of the cables.

(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or stamped by workers or vehicles.

(4) For installation on a machine where the servo motor will move, the bending radius should be made as large as possible. Refer to section 10.4 for the bending life.

2.4 SSCNET cable laying

SSCNET cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available. Especially, as optical fiber for MR-J3BUS M MR-J3BUS M-A is made of synthetic resin, it melts down if being left near the fire or high temperature. Therefore, do not make it touched the part, which becomes high temperature, such as radiator or regenerative option of servo amplifier.

Read described item of this section carefully and handle it with caution.

(1) Minimum bend radius

Make sure to lay the cable with greater radius than the minimum bend radius. Do not press the cable to edges of equipment or others. For SSCNET cable, the appropriate length should be selected with due consideration for the dimensions and arrangement of servo amplifier. When closing the door of control box, pay careful attention for avoiding the case that SSCNET cable is hold down by the door and the cable bend becomes smaller than the minimum bend radius.

For the minimum bend radius, refer to section 11.1.5.

2 - 3

2. INSTALLATION

(2) Prohibition of vinyl tape use

Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and MR-J3BUS M-A cables away from vinyl tape because the optical characteristic may be affected.

SSCNET cable Cord Cable

MR-J3BUS M

MR-J3BUS M-A

MR-J3BUS M-B

Optical cord Cable

: Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable.

: Normally, cable is not affected by plasticizer.

(3) Precautions for migrating plasticizer added materials

Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non-migrating plasticizer and they do not affect the optical characteristic of SSCNET cable.

However, some wire sheaths and cable ties, which contain migrating plasticizer (phthalate ester), may affect

MR-J3BUS M and MR-J3BUS M-A cables (made of plastic).

In addition, MR-J3BUS M-B cable (made of quartz glass) is not affected by plasticizer.

(4) Bundle fixing

Fix the cable at the closest part to the connector with bundle material in order to prevent SSCNET cable from putting its own weight on CN1A CN1B connector of servo amplifier. Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted.

When bundling the cable, fix and hold it in position by using cushioning such as sponge or rubber which does not contain migratable plasticizers.

If using adhesive tape for bundling the cable, fire resistant acetate cloth adhesive tape 570F (Teraoka

Seisakusho Co., Ltd) is recommended.

Connector

Optical cord

Loose slack

Bundle material

Recommended product:

NK clamp SP type

( NIX, INC.)

Cable

(5) Tension

If tension is added on optical cable, the increase of transmission loss occurs because of external force which concentrates on the fixing part of optical fiber or the connecting part of optical connector. At worst, the breakage of optical fiber or damage of optical connector may occur. For cable laying, handle without putting forced tension. For the tension strength, refer to section 11.1.5.

2 - 4

2. INSTALLATION

(6) Lateral pressure

If lateral pressure is added on optical cable, the optical cable itself distorts, internal optical fiber gets stressed, and then transmission loss will increase. At worst, the breakage of optical cable may occur. As the same condition also occurs at cable laying, do not tighten up optical cable with a thing such as nylon band

(TY-RAP).

Do not trample it down or tuck it down with the door of control box or others.

(7) Twisting

If optical fiber is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of optical fiber may occur at worst.

(8) Disposal

When incinerating optical cable (cord) used for SSCNET , hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated. For disposal of optical fiber, request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas.

2.5 Inspection items

WARNING


To avoid an electric shock, only qualified personnel should attempt inspections.

Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative.

CAUTION

Do not perform insulation resistance test on the servo amplifier as damage may result.

Do not disassemble and/or repair the equipment on customer side.

It is recommended to make the following checks periodically.

(1) Check for loose terminal block screws. Retighten any loose screws.

(2) Check if the cables and the wires have no damage or crack. Perform periodic inspection according to operating conditions.

(3) Check that the connector is securely connected to the servo amplifier.

(4) Check that the wires are not coming out from the connector.

(5) Check for dust accumulation on the servo amplifier.

(6) Check for unusual noise generated from the servo amplifier.

2 - 5

2. INSTALLATION

2.6 Parts having service lives

Service lives of the following parts are listed below. However, the service lives vary depending on operating methods and environmental conditions. If any fault is found in the parts, they must be replaced immediately regardless of their service lives. For parts replacement, please contact your sales representative.

Part name Life guideline

Smoothing capacitor

Relay

Cooling fan

Absolute position battery

10 years

Number of power-on, forced stop, and controller forced stop times: 100000 times

50,000 to 70,000 hours (2 to 3 years)


(1) Smoothing capacitor

Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in normal air–conditioned environment (40 (104 ) surrounding air temperature or less).

(2) Relays

Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their lives when the power is turned on and forced stop/controller forced stop occurs 100,000 times in total.

(3) Servo amplifier cooling fan

The cooling fan bearings reach the end of their life in 50,000 to 70,000 hours. Normally, therefore, the fan must be changed in seven or eight years of continuous operation as a guideline.

It must also be changed if unusual noise or vibration is found during inspection.

The life of the servo amplifier cooling fan applies under an environment of an average ambient temperature of 40 (104 ) a year, and a corrosive gas-free, flammable gases-free, an oil-mist-free, and a dust-free environment.

2 - 6

3. SIGNALS AND WIRING


WARNING

Any person who is involved in wiring should be fully competent to do the work.


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.


Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury.

Connect cables to correct terminals to prevent a burst, fault, etc.




24VDC 24VDC

DOCOM DOCOM

CAUTION


DICOM

RA



DICOM

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 suppressor 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.


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

Otherwise, it may cause a malfunction.

Servo amplifier

U

U


U

U

Servo motor

V

V

M V

V

M

W

W

W

W

3 - 1


3.1 Input power supply circuit

CAUTION


Shut off the main circuit power supply when alarms are occurring in both of the Aaxis and the B-axis. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.

Check the servo amplifier model, and then input proper voltage to the servo amplifier power supply. If input voltage exceeds the upper limit, the servo amplifier will break down.

POINT

Even if alarm has occurred, do not switch off the control circuit power supply.

When the control circuit power supply has been switched off, optical module does not operate, and optical transmission of SSCNET communication is interrupted.

Therefore, the servo amplifier on the rear axis displays "AA" at the indicator and turns into base circuit shut-off. The servo amplifier stops with starting dynamic brake.

Wire the power supply/main circuit as shown below so that power is shut off and the servo-on command turned off as soon as an alarm occurs, a servo forced stop is made valid, or a controller forced stop is made valid. A molded-case circuit breaker (MCCB) must be used with the input cables of the main circuit power supply.

3 - 2


(Note 9)

Power supply

MCCB

(Note 3)

Malfunction

RA1(A-axis)

RA2(B-axis)

(Note 8)

MC

(Note 1)

Controller forced stop

RA3

OFF

C

D

L

11

L

21

Forced stop

(Note 6)

L

2

Servo amplifier

CNP1

L

1

(Note 10)

CNP3A

U

L

3

V

CNP2

P

W

CN2A

PE( )

ON

MC

(Note 5)

MC

SK

(Note 2)

Encoder cable

(Note 10)

CNP3B

U

V

W

(Note 5)

CN2B

(Note 2)

Encoder cable

A-axis servo motor

U

V

W

Motor

M

Encoder

B-axis servo motor

U

V

W

Motor

M

Encoder

(Note 4)

(Note 6) Forced stop

CN3

EM1

DOCOM

CN3

DOCOM

DICOM

SW3 (Note 7)

ALM-A

ON

A-axis ALM-B

B-axis

24VDC

RA1

RA2

A-axis malfunction

(Note 3)

B-axis malfunction

(Note 3)

(Note 4)

Note 1. Always connect P and D. When using the regenerative option, refer to section 11.2.

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

3. If deactivating output of malfunction (ALM-A/ALM-B) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. In this connection example, the operation continues in the other axis when an alarm occurs in the A-axis or the B-axis. To stop both axes in an alarm occurrence, connect

RA1 and RA2 in series.

4. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.

5. For the power line connection, refer to section 3.10.

6. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of forced stop (EM1) using the external sequence.

7. This connection example is a connection using a rotary servo motor. Turn SW3 off (factory setting). (Refer to section 3.14.)

8. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is the time interval between current being applied to the coil until closure of contacts.


1

L

2

and leave L

3


10. Connecting a servo motor for different axis to the CNP3A or CNP3B connector may cause a malfunction.

3 - 3


3.2 I/O signal connection example

10m or less 10m or less

Servo amplifier

(1 axis 2 axis)

(Note 15)

(Note 14)

(Note 3, 4) Forced

A-axis upper stroke limit (FLS)

A-axis lower stroke limit (RLS)

A-axis proximity dog (DOG)

B-axis upper stroke limit (FLS)

B-axis lower stroke limit (RLS)

B-axis proximity dog (DOG)

(Note 5)

MR Configurator

Personal computer

(Note 10)

24VDC

USB cable

MR-J3USBCBL3M

(option)

DICOM

DOCOM

EM1

(Note 12)

CN3

23

26

10

(Note 12)

CN3

11

12

ALM-A

MBR-A

DI1-A

DI2-A

DI3-A

DI1-B

DI2-B

DI3-B

7

8

9

20

21

22

24

25

ALM-B

MBR-B

CN5

3 LA-A

16 LAR-A

4 LB-A

17 LBR-A

5 LA-B

18 LAR-B

6 LB-B

19 LBR-B

Servo system controller

(Note 6)

SSCNET cable

(option)

2 MO1

1 LG

15

14

Plate

MO2

LG

SD

CN1A

SW1

(Note 2)

RA1

RA2

A-axis malfunction

(Note 11)

A-axis electromagnetic brake interlock (Note 17)

RA3

RA4

B-axis electromagnetic brake interlock (Note 17)

(Note 13, 14)

A-axis encoder A-phase pulse

(Differential line driver)

A-axis encoder B-phase pulse


B-axis encoder A-phase pulse


B-axis encoder B-phase pulse


10VDC Analog monitor 1

10VDC Analog monitor 2

(Note 6)

SSCNET cable

(option)

SW2 (Note 8)

CN1B

1 2

SW3 (Note 16)

ON

A-axis

B-axis

(Note 1)

MR-J3W-B

(3 axis 4 axis)

CN1A SW1

(Note 7)

CN1B

SW2 (Note 8)

1 2

SW3 (Note 16)

ON

A-axis

B-axis

MR-J3W-B

(n-1 axis n axis)

CN1A SW1

(Note 7)

(Note 9)

Cap

CN1B

SW2 (Note 8)

1 2

SW3 (Note 16)

ON

A-axis

B-axis

3 - 4


Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the emergency stop and other protective circuits.

3. If the controller does not have forced stop function, always install the forced stop 2 switch (Normally closed contact).

4. When starting operation, always turn on the forced stop (EM1). (Normally closed contact) By setting " 1

No.PA04 the forced stop (EM1) can be made invalid.

" in parameter

5. Use MRZJW3-SETUP 221E. (Refer to section 11.4)

6. Use SSCNET cables listed in the following table.

Cable Cable model name Cable length

Standard cord inside panel

Standard cable outside panel

Long-distance cable

MR-J3BUS M

MR-J3BUS M-A

MR-J3BUS M-B

0.15 to 3m

5 to 20m

30 to 50m

7. The wiring of the third and subsequent axes is omitted.

8. Up to sixteen axes may be connected. Refer to section 3.13 for setting of axis selection.

9. Make sure to put a cap on the unused CN1A CN1B.

10. Supply 24VDC 10 250mA current for interfaces from the outside. 250mA is the value applicable when all I/O signals are used.

The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.7.2 (1) that gives the current value necessary for the interface.

11. Malfunction (ALM-A/ALM-B) turns on in normal alarm-free condition. (Normally closed contact)

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

13. The signal can be changed by parameter No.PD07, PD09.


15. Devices can be assigned for DI1-A DI2-A DI3-A DI1-B DI2-B DI3-B with controller setting. For devices that can be assigned, refer to the controller instruction manual. The assigned devices are for the Q173DCPU Q172DCPU Q173HCPU Q172HCPU,

Q170MCPU, QD74MH , QD75MH and LD77MH .

16. Select the servo motor to be used as below. (Refer to section 3.14.)

OFF: Rotary servo motor, ON: Linear servo motor

17. When you use a linear servo motor or direct drive motor, use MBR (Electromagnetic brake interlock) for an external brake mechanism.

3 - 5


3.3 Explanation of power supply system

3.3.1 Signal explanations

POINT

Keep the manufacturer-setting terminals open.

(1) Signal layout and connector application

Connector Name

CNP1

CNP1 Main circuit power supply connector

Function/Application

Used to input the main circuit power

L

1

1 supply.

L

2

L

3

2

3

Servo amplifier

CNP2 Control circuit power supply connector Used to input the control circuit power supply. Used to connect the regenerative

CNP2 option.

P

C

L

11

L

21

1

2

CNP3A A-axis Servo motor power connector Used to connect to the A-axis servo motor.

CNP3B B-axis Servo motor power connector Used to connect to the B-axis servo motor.

D (Note)

3

A B

CNP3A

W U

1

V

B A

CNP3B

W U

A

V

B

1

2

2

Note. For manufacturer setting. Keep the manufacturer-setting terminals open.

3 - 6


(2) Detailed description

Connection target

Abbreviation

(Application)

Description

L

1

L

2

L

3

Main circuit power supply

Supply the following power to L

1

, L

2

, L

3

. For the 1-phase 200V to 230VAC power supply, connect the power supply to L

1

, L

2

, and keep L

3

open.

Servo amplifier

Power supply

MR-J3W-22B

MR-J3W-44B

MR-J3W-77B

MR-J3W-1010B

3-phase 200V to 230VAC, 50/60Hz

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

1

L

2

L

1

L

2

L

3

When using servo amplifier built-in regenerative resistor, connect P and D. When using

P

L

11

L

21


U V W Servo motor power

Protective earth

(PE)

Refer to section 11.2.

Supply the following power to L

11

L

21

.

Servo amplifier

Power supply

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

MR-J3W-22B to MR-J3W-1010B

L

11

L

21

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

Connect to the earth terminal of the servo motor and to the protective earth (PE) of the control box to perform grounding.

3 - 7


3.3.2 Power-on sequence

POINT

A voltage, output signal, etc. of analog monitor output may be irregular at poweron.

(1) Power-on procedure

1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the main circuit power supply (three-phase: L

1

, L

2

, L

3

, single-phase: L

1

, L

2

). Configure an external sequence which switches off the magnetic contactor when an alarm occurs in both A and B axes.

2) Switch on the control circuit power supply L

11

, L

21

simultaneously with the main circuit power supply or before switching on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the servo amplifier will operate properly.

3) The servo amplifier can accept the servo-on command within 3s the main circuit power supply is switched on. (Refer to paragraph (2) of this section.)

(2) Timing chart

Servo-on command accepted

(3s)

Main circuit

Control circuit power

ON

OFF

Base circuit

ON

OFF

Servo-on command

(from controller)

ON

OFF

95ms 10ms 95ms

(3) Forced stop

CAUTION

Install an forced stop circuit externally to ensure that operation can be stopped and power shut off immediately.

If the controller does not have an forced stop function, make up a circuit that switches off main circuit power as soon as EM1 is turned off at a forced stop. When EM1 is turned off, the dynamic brake is operated to stop the servo motor. At this time, the display shows the servo forced stop warning (E6.1).

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

Servo amplifier

24VDC

DICOM

(Note)

Forced stop EM1

Note. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.

3 - 8


3.3.3 CNP1, CNP2, CNP3A, CNP3B wiring method

POINT

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

Connectors to wire CNP1, CNP2, CNP3A, and CNP3B are not supplied with the servo amplifier.

Refer to section 11.1, and purchase the connector set.

This section shows the recommended products.

(1) Crimping type

Servo amplifier

1)

CNP1

2)

3)

4)

CNP2

CNP3A

CNP3B

No.

Connector for

1) CNP1

2) CNP2

3)

4)

CNP3A/

CNP3B

Receptacle housing

J43FSS-03V-KX BJ4F-71GF-M3.0 Cable size: 1.25 to 2.0mm

2

(AWG16 to AWG14)

Insulator OD: 2.0 to 3.8mm

F32FMS-06V-KXY BF3F-71GF-P2.0 Cable size: 1.25 to 2.0mm

2

(AWG16 to AWG14)


LF3F-41GF-P2.0 Cable size: 0.75 to 1.25mm

2

(AWG19 to AWG16)


3-178129-6 917511-2

353717-2

Cable size: 1.25 to 2.0mm

2

(AWG16 to AWG14)



2

(AWG16 to AWG14)



2

(AWG16 to AWG14)


175363-1

Receptacle contact

Crimping tool

Model Description

LF3F-41GF-P2.0 Outer diameter of finished cable:

2.4 to 3.3mm


917511-2

Option cable: MR-PWS CBL


2

(AWG16 to AWG14)

353717-2



2

(AWG16 to AWG14)


YRF-1130

YRF-1070

YRF-1070

Manufacturer

Japan Solderless

Terminals

Japan Solderless

Terminals

YRF-880

91561-1

Japan Solderless

Terminals

YRF-880

91561-1

175218-2 Option cable: MR-PWS CBL PEW12

1762957-1

(Dice)

3 - 9


(2) Terminal block type (Spring type)

(a) Connector

Servo amplifier

1)

CNP1

2)

3)

4)

CNP2

CNP3A

CNP3B

Table 3.1 Connectors and applicable wires

No. Connector for Receptacle assembly

1) CNP1

2) CNP2

3)

4)

CNP3A/

CNP3B

03JFAT-SAXGFK-43

06JFAT-SAXYGG-F-KK

04JFAT-SAGG-G-KK

Applicable wire size

AWG16 to

AWG14

AWG16 to

AWG14

AWG19 to

AWG14

Strip-off length

[mm]

Open tool Manufacturer

Japan Solderless size)

Terminals

(b) Connection method

1) Stripping off the wire sheath

For the strip-off length of the wire sheath, refer to table 3.1.

Sheath

Core wires

Strip-off length

Twist the core wires lightly to straighten them as shown in the following figure.

Loose or bended core wires

Make sure to twist the core wires to strengthen them.

3 - 10


2) Inserting the wire

Insert the open tool as shown in the following figure, and push down the open tool to open the spring hole. The open tool has protrusions for the CNP1 (large size) on one side and those for the others

(small size) on another side. While the open tool is pushed down, insert the stripped wire into the wire insertion hole. Check the insertion depth so that the wire sheath does not get caught by the spring. The following shows a connection example of the CNP1 connector.

Open tool

Wire insertion hole

3) Securing the wire

Release the open tool, and secure the wire. Pull the wire lightly, and check that the wire is connected firmly.

3 - 11


3.4 Connectors and signal arrangements

POINT

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

CN5 (USB connector)


CN2A

2

LG

1

P5

4

MRR

3

MR

6

THM2

5

THM1

10

8

MDR

9

7 BAT

MD

CN2B

2

LG

1

P5

4

MRR

6

THM2

3

MR

5

THM1

10

8

MDR

9

7 BAT

MD

The 3M make connector is shown.

When using any other connector, refer to section 11.1.2.

The frames of the CN2A, CN2B and

CN3 connectors are connected to the PE (earth) terminal ( ) in the amplifier.

CN1A

Connector for

SSCNET cable for previous servo amplifier axis

CN1B

Connector for

SSCNET cable for next servo amplifier axis

CN3

2

MO1

4

LB-A

6

LB-B

8

DI2-A

1

DI1-A

21

14

LG

7

15

LBR-B

LG

3

LA-A

5

17

LBR-A

LAR-A

18

LA-B

MO2

19

16

LAR-B

20

DI1-B

9

DI2-B

22

10

DI3-A

23

DI3-B

EM1

11

DICOM

24

12

ALM-A

25

ALM-B

MBR-A

13

MBR-B

26

DOCOM

3 - 12


3.5 Signal (device) explanations

For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.7.2.

In the control mode field of the table

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

(1) Connector applications

Connector Name Function/Application

CN1A

CN1B

CN2A

CN2B

CN4

CN5

Connector for bus cable from preceding axis.

Connector for bus cable to next axis

Used for connection with the controller or preceding-axis servo amplifier.

Used for connection with the next-axis servo amplifier or for connection of the cap.

A-axis encoder connector Used for connection with the A-axis servo motor encoder.

B-axis encoder connector Used for connection with the B-axis servo motor encoder.

(Note) Battery unit connection connector

When using as absolute position detection system, connect to battery unit.

Before connecting a battery unit, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. Replace the battery unit with main circuit power OFF and with control circuit power

ON. Replacing the battery with the control circuit power OFF results in loosing absolute position data.

Communication connector The personal computer is connected.

Note. A battery unit is a unit that has eight MR-BAT batteries inserted in an MR-BTCASE battery case.

(2) I/O device

(a) Input device

Connector

Device Symbol pin No.


Forced stop EM1 CN3-10 Turn EM1 off (open between commons) to bring the motor to an forced stop state, in which the base circuit is shut off and the dynamic brake is operated.

Turn EM1 on (short between commons) in the forced stop state to reset that state.

When parameter No.PA.04 is set to " 1

ON) can be set inside.

", automatically ON (always

I/O division

DI-1

DI-1 controller setting. For devices that can be assigned, refer to the controller

DI-1

Q173DCPU Q172DCPU Q173HCPU Q172HCPU Q170MCPU

QD74MH QD75MH LD77MH .

DI1-A: A-axis upper stroke limit (FLS)

DI2-A: A-axis lower stroke limit (RLS)

DI3-A: A-axis proximity dog (DOG)

DI1-B: B-axis upper stroke limit (FLS)

DI2-B: B-axis lower stroke limit (RLS)

DI3-B: B-axis proximity dog (DOG)

DI-1

DI-1

DI-1

DI-1

3 - 13


(b) Output device

Connector



A-axis malfunction ALM-A CN3-11 ALM-A/ALM-B turns off when power is switched off or the protective circuit is

B-axis malfunction

A-axis electromagnetic brake interlock

B-axis

ALM-B

MBR-A

CN3-24

CN3-12 activated to shut off the base circuit.

Without alarm occurring, ALM-A/ALM-B turns on within about 1.5s after power-on.

When using this signal, set operation delay time of the electromagnetic brake in parameter No.PC02.

In the servo-off or alarm status, MBR-A/MBR-B turns off.

MBR-B CN3-25 electromagnetic brake interlock

A-axis in-position INP-A

B-axis in-position INP-B

When using the signal, make it usable by the setting of parameter No.PD07 or PD09.

INP-A/INP-B turns on when the number of droop pulses is in the preset inposition range. The in-position range can be changed using parameter

No.PA10.

When the in-position range is increased, INP-A/INP-B may be on conductive status during low-speed rotation.

INP turns on when servo on turns on.

This signal cannot be used in the speed loop mode and the torque loop mode.

A-axis ready

B-axis ready

RD-A

RD-B

When using the signal, make it usable by the setting of parameter No.PD07 or PD09.

RD-A/RD-B turns on when the servo is switched on and the servo amplifier is ready to operate.

A-axis speed reached or PD09.

When the servo is off, SA will be turned OFF. When servo motor rotation

B-axis speed reached When the preset speed is 20r/min or less, SA-A/SA-B always turns on. This signal cannot be used in the position loop mode and the torque loop mode.

A-axis limiting speed or PD09.

VLC-A/VLC-B turns on when the servo motor speed reaches the speed set

B-axis limiting speed servo turns off.

This signal cannot be used in position loop mode and the torque loop mode.

A-axis limiting torque

B-axis limiting torque or PD09.

When torque is produced level of torque set with controller, TLC-A/TLC-B will be turned ON. When the servo is off, TLC-A/TLC-B will be turned OFF.

This signal cannot be used in the torque loop mode.

I/O division

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

DO-1

3 - 14


Connector


A-axis zero speed ZSP-A


When using this signal, make it usable by the setting of parameter No.PD07 or PD09.

ZSP-A/ZSP-B turns on when the servo motor speed is zero speed (50r/min) or less. Zero speed can be changed using parameter No.PC07.

Example

Zero speed is 50r/min

I/O division

DO-1

1)

2)

3)

B-axis zero speed ZSP-B

Forward rotation direction

Servo motor speed

OFF level

70r/min

ON level

50r/min

0r/min

Reverse rotation direction

Zero speed

(ZSP-A/

ZSP-B)

ON level

50r/min

OFF level

70r/min

ON

OFF

4)

20r/min

(Hysteresis width)

Parameter

No.PC07

Parameter

No.PC07

20r/min

(Hysteresis width)

A-axis warning

B-axis warning

A-axis battery warning

B-axis battery warning

A-axis variable gain selection

B-axis variable gain selection

A-axis absolute position erasing

B-axis absolute position erasing

WNG-A

WNG-B

ZSP-A/ZSP-B turns on 1) when the servo motor is decelerated to 50r/min, and ZSP-A/ZSP-B turns off 2) when the servo motor is accelerated to

70r/min again.

ZSP-A/ZSP-B turns on 3) when the servo motor is decelerated again to

50r/min, and turns off 4) when the servo motor speed has reached -70r/min.

The range from the point when the servo motor speed has reached ON level, and ZSP-A/ZSP-B turns on, to the point when it is accelerated again and has reached OFF level is called hysteresis width.

Hysteresis width is 20r/min for the MR-J3W-B servo amplifier.

When using this signal, make it usable by the setting of parameter No.PD07 or PD09.

When warning has occurred, WNG-A/WNG-B turns on. When there is no warning, WNG-A/WNG-B turns off within about 1.5s after power-on.

BWNG-A When using this signal, make it usable by the setting of parameter No.PD07 or PD09.

BWNG-B

BWNG-A/BWNG-B turns on when battery cable disconnection warning

(92.1) or battery warning (9F.1) has occurred. When there is no battery warning, BWNG-A/BWNG-B turns off within about 1.5s after power-on.

CDPS-A When using this signal, make it usable by the setting of parameter No.PD07 or PD09.

CDPS-B CDPS-A/CDPS-B is on during variable gain.

ABSV-A When using this signal, make it usable by the setting of parameter No.PD07 or PD09.

ABSV-B

ABSV-A/ABSV-B turns on when the absolute position erased.

This signal cannot be used in the speed loop mode and the torque loop mode.

DO-1

DO-1

DO-1

DO-1

3 - 15


(c) Output signals

Signal name

A-axis encoder Aphase pulse


A-axis encoder Bphase pulse


B-axis encoder Aphase pulse


B-axis encoder Bphase pulse


Analog monitor 1

Symbol

LA-A

LAR-A

LB-A

LBR-A

LA-B

LAR-B

LB-B

LBR-B

MO1

Analog monitor 2 MO2

Connector pin No.

CN3-6

CN3-16

CN3-4

CN3-17


Outputs pulses per servo motor revolution set in parameter No.PA15 in the differential line driver type. In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A-phase pulse by a phase angle of /2.

The relationships between rotation direction and phase difference of the A and B-phase pulses can be changed using parameter No.PC03.

Output pulse specification and dividing ratio setting can be set. (Refer to section 5.1.10.)

CN3-5

CN3-18

CN3-6

CN3-19

CN3-2

CN3-15

Used to output the data set in parameter No.PC09 to across MO1-LG in terms of voltage. Resolution 10 bits

Used to output the data set in parameter No.PC10 to across MO2-LG in terms of voltage. Resolution 10 bits

(d) Power supply

Signal name

Digital I/F power supply input

Digital I/F common

Monitor common

Shield

Symbol

DICOM

DOCOM

LG

SD

Connector pin No.

CN3-23

CN3-26

CN3-1

Plate


Used to input 24VDC (24VDC 10 250mA) for I/O interface of the servo amplifier. The power supply capacity changes depending on the number of I/O interface points to be used.

For the sink interface, connect of 24VDC external power supply.

For the source interface, connect of 24VDC external power supply.

Common terminal for input device such as EM1 of the servo amplifier. Pins are connected internally. Separated from LG.

For the sink interface, connect of 24VDC external power supply.

For the source interface, connect of 24VDC external power supply.

Common terminal of MO1 MO2

Pins are connected internally.

Connect the external conductor of the shield cable.

3 - 16


3.6 Alarm occurrence timing chart

CAUTION

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


When an alarm occurs in the servo amplifier, the base circuit is shut off and the servo motor is coated to a stop.

Switch off the main circuit power supply in the external sequence. To deactivate the alarm, power the control circuit off, then on or give the error reset or CPU reset command from the servo system controller. However, the alarm cannot be deactivated unless its cause is removed.

3.6.1 Timing chart

(1) Occurrence of all axis stop alarm

A-axis

B-axis

Main circuit


ON

OFF

Base circuit

Dynamic brake

Servo-on command

(from controller)

ON

OFF

ON

OFF

ON

OFF

Alarm

Reset command

Base circuit

Dynamic brake

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Servo-on command

(from controller)

Alarm

Reset command

Base circuit ON

No alarm

Base circuit ON

Brake operation

Servo-on command Servo-on command

Occurrence of all axis stop alarm

Brake operation

Power ON

Base circuit ON

No alarm

Reset operation

Base circuit ON

Brake operation

Servo-on command


Brake operation

Base circuit ON

No alarm

Base circuit ON

Brake operation


Brake operation

Power ON

Base circuit ON

No alarm

Base circuit ON

ON

OFF

ON

OFF

Servo-on command

No alarm

Servo-on command


No alarm

Servo-on command


No alarm


ON

OFF

1.5s

Reset operation

Fault cause removed

Power on Occurrence of all axis stop alarm

50ms or more

Alarm reset

Fault cause removed


50ms or more

Alarm reset

60ms or more

Power shutoff Power on

No alarm

3 - 17


(2) Occurrence of each axis stop alarm

A-axis

B-axis

Main circuit


Base circuit

ON

OFF

ON

OFF

Dynamic brake

Servo-on command

(from controller)

Alarm

Reset command

Base circuit

Dynamic brake

Servo-on command

(from controller)

Alarm

Reset command

Base circuit ON

Power ON

Base circuit ON

Power ON

Base circuit ON

ON

OFF

ON

OFF

ON

OFF

ON

OFF

No alarm

Brake operation

Servo-on command

Each axis stop alarm No alarm

Servo-on command

Brake operation


Reset operation

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

Base circuit ON

Servo-on command

No alarm

Brake operation

Servo-on command

Each axis stop alarm

Base circuit ON

No alarm

Brake operation


Base circuit ON

1.5s

Power on

Reset operation

Fault cause removed

A-axis stop alarm

50ms or more

Fault cause removed

Alarm reset

B-axis stop alarm

50ms or more

Alarm reset

60ms or more

Power shutoff Power on

No alarm

3.6.2 Supplementary information

(1) Overcurrent, overload 1 or overload 2

If operation is repeated by switching control circuit power off, then on to reset the overcurrent (32. ), overload 1 (50. ) or overload 2 (51. ) alarm after its occurrence, without removing its cause, the servo amplifier and servo motor may become faulty due to temperature rise. Securely remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation.

(2) Regenerative alarm

If operation is repeated by switching control circuit power off, then on to reset the regenerative (30. ) alarm after its occurrence, the regenerative resistor will generate heat, resulting in an accident.

(3) Instantaneous power failure

Undervoltage (10. ) occurs when the input power is in either of the following statuses.

Power failure of the control circuit power supply has continued for 60ms or longer, then the power restores.

Bus voltage drops to 200VDC or less during the servo-on status.

3 - 18


3.7 Interfaces

3.7.1 Internal connection diagram

(Note 2)

(Note 1)

24VDC

DICOM

CN3

23

DOCOM

EM1

26

10

Approx

5.6k

DI1-A 7

DI2-A 8

DI3-A

DI1-B

9

20

DI2-B 21 Approx

5.6k

DI3-B 22

<Isolated>

USB

VBUS

D

D

GND

CN5

1

2

3

5

Servo amplifier

Note 1. Signal can be assigned for these pins with the controller setting.

For contents of signals, refer to the instruction manual of the controller.


3 - 19

CN3

11 ALM-A

12 MBR-A

24 ALM-B

25 MBR-B

RA

RA

(Note 2)

CN3

3 LA-A

16

4

17

5

18

6

19

LAR-A

LB-A

LBR-A

LA-B

LAR-B

LB-B

LBR-B

14 LG

Differential line driver output

(35mA or less)

CN3

2 MO1

Analog monitor

15

1

MO2

LG

10VDC

10VDC

A-axis servo motor

CN2A

7

8

3

4

2

MD

MDR

MR

MRR

LG

CNP3A

2A

E

Encoder

M

CN2B

7

8

3

4

2

MD

MDR

MR

MRR

LG

CNP3B

2A

E

B-axis servo motor

Encoder

M


3.7.2 Detailed description of interfaces

This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section

3.5. Refer to this section and make connection with the external equipment.

(1) Digital input interface DI-1

Give a signal with a relay or open collector transistor. Refer to section 3.7.3 for the source input.

For transistor

Approx. 5mA

Servo amplifier

EM1, etc.

Approx. 5.6k

Switch

TR

V

CES

1.0V

I

CEO

100 A

24VDC 10

250mA

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.

Refer to section 3.7.3 for the source output.

Servo amplifier

ALM, etc.

Lord

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

DOCOM

(Note) 24VDC 10

250mA

Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high voltage (maximum of 26.4V) from external source.

3 - 20


(3) Encoder output pulse DO-2 (differential line driver type)

(a) Interface

Max. output current: 35mA

Servo amplifier

LA-A/LA-B

(LB-A/LB-B)

Am26LS32 or equivalent

150

LAR-A/LAR-B

(LBR-A/LBR-B)

SD

LG

Servo amplifier

LA-A/LA-B

(LB-A/LB-B)

LAR-A/LAR-B

(LBR-A/LBR-B)

SD

(b) Output pulse

100

High-speed photocoupler

LA-A/LA-B

Servo motor CCW rotation

LAR-A/LAR-B

LB-A/LB-B

LBR-A/LBR-B

/2

T

Time cycle (T) is determined by the settings of parameter No.PA15, PA16 and PC03.

(4) Analog output

Servo amplifier

MO1

(MO2)

LG

Output voltage: 10V (Note)

Max. Output current: 1mA

Resolution: 10 bits or equivalent

Note. Output voltage range varies depending on the monitored signal. (Refer to section 5.3.3 or 13.8.4(3).) When connecting an analog output to an external device, use one whose withstand voltage is 15VDC or more.

3 - 21


3.7.3 Source I/O interfaces

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

(1) Digital input interface DI-1

Servo amplifier

EM1, etc.

Approx. 5.6k

Switch

DICOM

Approx. 5mA

V

CES

1.0V

I

CEO

100 A

24VDC 10

250mA

(2) Digital output interface DO-1

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

Servo amplifier

ALM, etc.

Lord

DOCOM

(Note) 24VDC 10

250mA

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

Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high voltage (up to 26.4V) from external source.

3 - 22


3.8 Treatment of cable shield external conductor

In the case of the CN3 connectors, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell.

External conductor Sheath

Strip the sheath.

(1) For CN3 connector (3M connector)

Core

External conductor

Sheath

Pull back the external conductor to cover the sheath

Screw

Cable

Ground plate

Screw

(2) For CN2A and CN2B connector (3M or Molex connector)

Cable

Ground plate

Screw

3 - 23


3.9 SSCNET cable connection

POINT

Do not see directly the light generated from CN1A CN1B connector of servo amplifier or the end of SSCNET cable.

When the light gets into eye, may feel something is wrong for eye.

(1) SSCNET cable connection

For CN1A connector, connect SSCNET cable connected to controller in host side or servo amplifier.

For CN1B connector, connect SSCNET cable connected to servo amplifier in lower side.

For CN1B connector of the final axis, put a cap came with servo amplifier.

Servo amplifier Servo amplifier Final axis servo amplifier

Controller

SSCNET cable SSCNET cable

CN1A

SSCNET cable

CN1A

CN1B CN1B

CN1A

Cap

CN1B

(2) How to connect/disconnect cable.

POINT

CN1A CN1B connector is put a cap to protect light device inside connector from dust.

For this reason, do not remove a cap until just before mounting SSCNET cable.

Then, when removing SSCNET cable, make sure to put a cap.

Keep the cap for CN1A CN1B connector and the tube for protecting optical cord end of SSCNET cable in a plastic bag with a zipper of SSCNET cable to prevent them from becoming dirty.

When asking repair of servo amplifier for some troubles, make sure to put a cap on

CN1A CN1B connector.

When the connector is not put a cap, the light device may be damaged at the transit.

In this case, exchange and repair of light device is required.

(a) Mounting

1) For SSCNET cable in the shipping status, the tube for protect optical cord end is put on the end of connector. Remove this tube.

2) Remove the CN1A CN1B connector cap of servo amplifier.

3 - 24


3) With holding a tab of SSCNET cable connector, make sure to insert it into CN1A CN1B connector of servo amplifier until you hear the click.

If the end face of optical cord tip is dirty, optical transmission is interrupted and it may cause malfunctions.

If it becomes dirty, wipe with a bonded textile, etc.

Do not use solvent such as alcohol.

Click

Tab

(b) Removal

With holding a tab of SSCNET cable connector, pull out the connector.

When pulling out the SSCNET cable from servo amplifier, be sure to put the cap on the connector parts of servo amplifier to prevent it from becoming dirty.

For SSCNET cable, attach the tube for protection optical cord's end face on the end of connector.

3 - 25


3.10 Connection of servo amplifier and servo motor

CAUTION



Servo amplifier

U

U


U

U

Servo motor

V V

V M V M

W

W

W

W

POINT

To use a rotary servo motor, turn SW3 off (factory setting).

3.10.1 Connection instructions

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

CAUTION

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

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

Do not use the 24VDC interface power supply for the electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake. Otherwise, a fault may occur.

POINT

Refer to section 11.1 for the selection of the encoder cable.

Refer to section 11.13 for the selection of a surge absorber for the electromagnetic brake.

This section indicates the connection of the servo motor power (U, V, W). Use of the optional cable and connector set is recommended for connection between the servo amplifier and servo motor. When the options are not available, use the recommended products. Refer to section 11.1 for details of the options.

For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal ( ) of the servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the control box. Do not connect them directly to the protective earth of the control panel.

Control box

Servo amplifier Servo motor

PE terminal

3 - 26


3.10.2 Power supply cable wiring diagrams

(1) HF-MP series HF-KP series HF-KP series servo motor

(a) When cable length is 10m or less

Servo amplifier

CNP3

U

V

W

10m or less

MR-PWS1CBL M-A1-L

MR-PWS1CBL M-A2-L

MR-PWS1CBL M-A1-H

MR-PWS1CBL M-A2-H

AWG 19 (red)

AWG 19 (white)

AWG 19 (black)

AWG 19 (green/yellow)

Servo motor

U

V

W

M

(b) When cable length exceeds 10m

When the cable length exceeds 10m, fabricate an extension cable as shown below. In this case, the motor power supply cable should be within 2m long.

Refer to section 11.5 for the wire used for the extension cable.

50m or less

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


CNP3

U

V

W

Extension cable

AWG 19 (red)

AWG 19 (white)

AWG 19 (black)

AWG 19 (green/yellow)

U

V

W

M

(Note) a)

extension cable

(Note)

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(71)

Cord clamp: JR13WCC-8(72)

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

IP rating

IP65

IP65

3 - 27


(2) HF-SP series HC-UP series HC-LP series servo motor

POINT

Insert a contact in the direction shown in the figure. If inserted in the wrong direction, the contact is damaged and falls off.

Soldered part or crimping part facing up

Pin No.1

Soldered part or crimping part facing down

Pin No.1

Model: CM10-SP10S-VP-M

CM10-AP10S-VP-M

Model: CM10-SP2S-VP-

CM10-AP2S-VP-

(a) Wiring diagrams

Refer to section 11.5 for the cables used for wiring.

1) When the power supply connector and the electromagnetic brake connector are separately supplied.

50m or less

Servo amplifier

CNP3A

U

V

W

A-axis servo motor

U

V

W

M

DOCOM

24VDC

(Note 2) 24VDC power supply for electromagnetic brake (Note 3)

ALM-A

RA1

MBR-A

RA2

DICOM

U

B1

B2

B (Note 1)

ALM-A RA1

MBR-A

ALM-B

MBR-B

RA2

RA3

RA4

B-axis servo motor

ALM-B

RA3

MBR-B

RA4

U

B1

B2

B (Note 1)

CNP3B

U

V

W

U

V

W

M

Note 1. There is no polarity in electromagnetic brake terminals B1 and B2.

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

3. Shut off the circuit by interlocking with the emergency stop switch.

3 - 28


2) When the power supply connector and the electromagnetic brake connector are shared.

50m or less

Servo amplifier

CNP3A

U

V

W

A-axis servo motor

U

V

W

M

DOCOM

24VDC

(Note 2) 24VDC power supply for electromagnetic brake (Note 3)

ALM-A

RA1

MBR-A

RA2

DICOM

U

B1

B2

B (Note 1)

ALM-A RA1

MBR-A

ALM-B

MBR-B

RA2

RA3

RA4

ALM-B

RA3

MBR-B

RA4

U

B-axis servo motor

B1

B2

B (Note 1)

CNP3B

U

V

W

U

V

W

M

Note 1. There is no polarity in electromagnetic brake terminals B1 and B2.



(b) Connector and signal allotment

The connector fitting the servo motor is prepared as optional equipment. Refer to section 11.1. For types other than those prepared as optional equipment, refer to chapter 3 in Servo Motor Instruction

Manual, (Vol. 2) to select.

Servo motor

Servo motor side connectors

Electromagnetic supply brake

HF-SP51

HF-SP81

HF-SP52

HF-SP102

HC-UP72

HC-LP52

HC-LP102

HF-JP53

HF-JP73

HF-JP103

CM10-R10P

(DDK)

MS3102A18-10P

CE05-2A22-23PD-B

MS3102A18-10P

CM10-R2P

(DDK)

Shared with the power supply

CM10-R2P

(DDK)

3 - 29


Encoder connector signal allotment

10

9

8

7

6

5

4

View a

1

Power supply connector signal allotment

3

2

CM10-R10P

Terminal

No.

Signal

1 MR

3

4 BAT

5 LG

6

7

C

B

Power supply connector signal allotment

View b

MS3102A18-10P

Terminal

No.

D

A

Signal

A U

B V

F

C W

E

D

(earth)

CE05-2A22-23PD-B

Terminal

No.

G A

H

D

View b

B

C

Signal

A U

B V

C W

D

(earth)

E

F

8 P5

9

10 SHD

G

B1

(Note)

B2

H

(Note)

Note. For the motor with an electromagnetic brake, supply electromagnetic brake power

(24VDC). There is no polarity.

2

Brake connector signal allotment

CM10-R2P

Terminal

No.

Signal

1

1

2

B1

(Note)

B2

(Note)

View c

Note. For the motor with an electromagneti c brake, supply electromagneti c brake power

(24VDC).

There is no polarity.

3 - 30


3.11 Servo motor with an electromagnetic brake

3.11.1 Safety precautions

Configure a electromagnetic brake circuit so that it is activated also by an external emergency stop switch.


MBR-B).


Servo motor

RA

B

U

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

POINT

Refer to the Servo Motor Instruction Manual (Vol.2) for specifications such as the power supply capacity and operation delay time of the electromagnetic brake.

Refer to section 11.13 for the selection of a surge absorber for the electromagnetic brake.

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

1) The brake will operate when the power (24VDC) switches off.

2) Switch off the servo-on command after the servo motor has stopped.

3 - 31


(1) Connection diagram

Servo amplifier

EM1

EM1

DICOM

DOCOM

DICOM

ALM-A

MBR-A

ALM-B

MBR-B

24VDC

RA1

RA2

RA3

RA4

(Note 1)

24VDC power supply for electromagnetic brake

(Note 2)

RA5

ALM-A

RA1

MBR-A

RA2

B1

U

B2

A-axis servo motor

B

B-axis servo motor

ALM-B

RA3

MBR-B

RA4

B1

U

B2

B

Note 1. Do not use the 24VDC interface power supply for the electromagnetic brake.


(2) Setting

In parameter No.PC02 (electromagnetic brake sequence output), set the time delay (Tb) from electromagnetic brake operation to base circuit shut-off at a servo off time as in the timing chart in section

3.11.2.

3 - 32


3.11.2 Timing charts

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

Tb [ms] after the servo-on is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set delay time (Tb) to about the same as the electromagnetic brake operation delay time to prevent a drop.

Servo motor speed 0 r/min

(95ms)

Coasting

Tb

Base circuit

ON

OFF

Electromagnetic brake interlock

(MBR-A/MBR-B)

(Note 1) ON

OFF

Servo-on command

(from controller)

ON

OFF

Ready-on command

(from controller)

ON

OFF

(95ms)

(Note 3)

Electromagnetic brake operation delay time

Operation command

(from controller)


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 the Servo Motor Instruction Manual (Vol.2).

3. Give the operation command from the controller after the electromagnetic brake is released.

(2) Forced stop command (from controller) or forced stop (EM1) ON/OFF

Servo motor speed

Dynamic brake

Dynamic brake



Electromagnetic brake release

(210ms)

Base circuit

ON

OFF

(10ms)


(MBR-A/MBR-B)

(Note) ON

OFF

Forced stop command

(from controller) or

Forced stop (EM1)

Invalid

Valid

(ON)

(OFF)


(210ms)

Note. ON: Electromagnetic brake is not activated.


3 - 33


(3) Alarm occurrence

Dynamic brake

Dynamic brake



Servo motor speed

Base circuit

ON

OFF


(MBR-A/MBR-B)

(Note) ON

OFF

(10ms)

Alarm

No (ON)

Yes (OFF)




(4) Both main and control circuit power supplies off

Servo motor speed

ON

(Note 1)

15 to 100ms

Base circuit

OFF


(Note 2)

(MBR-A/MBR-B)

ON

OFF

10ms

Alarm

No (ON)

Yes (OFF)

Main circuit


ON

OFF

(10ms)

Dynamic brake

Dynamic brake




(Note 2)

Note 1. Changes with the operating status.

2. ON: Electromagnetic brake is not activated.


3 - 34


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

(10ms)

Servo motor speed

Base circuit

ON

OFF

(Note 1)

15ms or more brake interlock

(Note 2)

(MBR-A/MBR-B)

ON

OFF

Alarm

No (ON)

Yes (OFF)

Main circuit


ON

OFF

Dynamic brake

Dynamic brake




Note 1. Changes with the operating status.

2. ON: Electromagnetic brake is not activated.


(6) Ready off command from the controller

Servo motor speed

Dynamic brake

Dynamic brake



Base circuit

ON

OFF

(10ms)


(MBR)

(Note) ON

OFF

Ready-on command

(For controller)

ON

OFF




3 - 35


3.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor)

POINT

For HF-SP/HC-UP/HC-LP/HF-JP series servo motors, refer to section 3.10.2 (2).

(1) When cable length is 10m or less

(Note 4)


(Note 3)

10m or less

A-axis electromagnetic

brake interlock

(MBR-A)

A-axis malfunction

(ALM-A)

(Note 1)

U

MR-BKS1CBL M-A1-L

MR-BKS1CBL M-A2-L

MR-BKS1CBL M-A1-H

MR-BKS1CBL M-A2-H

Servo motor

(Note 2)

AWG20

B1

AWG20

B2

B

B-axis electromagnetic

brake interlock

(MBR-B)

B-axis malfunction

(ALM-B)

(Note 1)

U

MR-BKS1CBL M-A1-L

MR-BKS1CBL M-A2-L

MR-BKS1CBL M-A1-H

MR-BKS1CBL M-A2-H

Servo motor

(Note 2)

AWG20

B1

AWG20

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).



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

3 - 36


(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 3)

A-axis electromagnetic

brake interlock

(MBR-A)

A-axis malfunction

(ALM-A)

(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 4)

AWG20

B1

AWG20

B2

B

(Note 2) a) Relay connector for extension cable

B-axis electromagnetic

brake interlock

(MBR-B)

B-axis malfunction

(ALM-B)

(Note 1)

U

(Note 2) b) Relay connector for

motor brake cable

MR-BKS1CBL2M-A1-L

MR-BKS1CBL2M-A2-L

MR-BKS1CBL2M-A1-H

MR-BKS1CBL2M-A2-H

MR-BKS2CBL03M-A1-L

MR-BKS2CBL03M-A2-L

Servo motor

AWG20

AWG20

(Note 4)

B1

B2

B

(Note 2) a) Relay connector for extension cable

(Note 2) b) Relay connector for

motor brake cable


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

Description

CM10-CR2P-

(DDK) Wire size: S, M, L

CMV1-SP2S-

(DDK) Wire size: S, M1, M2, L

IP rating

IP65

IP65




3 - 37


3.12 Grounding

WARNING

Ground the servo amplifier and servo motor securely.

To prevent an electric shock, always connect the protective earth (PE) terminal

(terminal marked ) of the servo amplifier with the protective earth (PE) of the control box.

The servo amplifier switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cable routing, the servo amplifier may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground.

To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).

Control box

MCCB MC

Servo amplifier

CNP1

L

1

CN2A

A-axis servo motor

Encoder (Note 1)

Power supply

L

2

L

3

CNP2

L

11

L

21

CNP3A

U

V

W

U

V

W

M

(Note 2)

CN2B

B-axis servo motor

Encoder

CNP3B

U

V

W

(Note 2)

U

V

W

M

Outer box

Protective earth (PE)

Note 1. For 1-phase 200V to 230VAC, connect the power supply to L

1

L

2

and leave L

3


2. Ensure to connect it to of a CN3A/CN3B connector. Do not connect it directly to the protective earth of the control panel.

3 - 38


3.13 Control axis selection

POINT

The control axis number set to rotary axis setting switch (SW1) should be the same as the one set to the servo system controller.

For changing the setting of the rotary switch, use a flat-blade screwdriver with the blade edge width of 2.1 to 2.3 [mm] and the blade edge thickness of 0.6 to 0.7

[mm].

When the test operation mode is selected by using the test operation select switch

(SW2-1), the SSCNET communication for the servo amplifier in the test operation mode and the following servo amplifiers is blocked.

Use the rotary axis setting switch (SW1) to set the control axis number for the servo. If the same numbers are set to different control axes in a single communication system, the system will not operate properly. The control axes may be set independently of the SSCNET cable connection sequence.

Rotary axis setting switch(SW1)

(Note) SW2

For manufacturer setting (Be sure to set to the

"Down" position. Setting the switch to the "Up" position causes the switch setting error (11.2).)

3

5

6

7

8 9

A

B

D

2

1 0

F

E

Up

Down


Set the test operation select switch to the "Up" position, when performing the test operation mode by using MR Configurator.

Note. This table indicates the status when the switch is set to "Down".

(Default)

Manufacturer setting switch


(Note 2)

A-axis

(Note 2)

B-axis

Down

(Be sure to set to the

"Down" position.)

4

5

6

7

0

1

2

3

8

9

A

B

C

D

E

F (Note 1)

Axis No.1

Axis No.2

Axis No.3

Axis No.4

Axis No.5

Axis No.6

Axis No.7

Axis No.8

Axis No.9

Axis No.10

Axis No.11

Axis No.12

Axis No.13

Axis No.14

Axis No.2

Axis No.3

Axis No.4

Axis No.5

Axis No.6

Axis No.7

Axis No.8

Axis No.9

Axis No.10

Axis No.11

Axis No.12

Axis No.13

Axis No.14

Axis No.15

Axis No.15 Axis No.16

Cannot be set Cannot be set

Note 1. Setting the switch to the "F" position causes the switch setting error (11.1).

2. An axis number is assigned even for the axis that is set as motor-less operation. Set SW1 so as to avoid overlapping the axis numbers.

3 - 39


3.14 Servo motor selection switch (SW3)

POINT

To prevent an electric shock, wait at least 15 minutes after turning off the power and confirm that the charge lamp is off before changing the servo motor selection switch (SW3) setting.

In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.

One servo amplifier can use rotary servo motors, linear servo motors and direct drive motor in combination.

If the connected servo motor does not match the SW3 setting, the switch setting error (11.3) occurs.

MR-J3W-0303BN6 does not have SW3.

Select the servo motor type by using the servo motor selection switch (SW3) located on the bottom of the servo amplifier.

A servo motor can be selected for each of the A-axis and the B-axis.

Make sure to confirm the power-off before changing the SW3 setting.

SW3 setting status Servo motor type

NO

SW3

A-axis

OFF

(factory setting)

Rotary servo motor

B-axis

ON

Linear servo motor

Direct drive motor

3 - 40

4. STARTUP

4. STARTUP

WARNING Do not operate the switches with wet hands. You may get an electric shock.

CAUTION

Before starting operation, check the parameters. Some machines may perform unexpected operation.

Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged.

During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

POINT

To use a rotary servo motor, turn SW3 off (factory setting). MR-J3W-0303BN6 does not have SW3.

NO

SW3

A-axis

B-axis

When using only one of A-axis or B-axis, set " 1" in the parameter No.PC05 of the axis, which not connected to the servomotor, to select the motor-less operation.

4 - 1

4. STARTUP

4.1 Switching power on for the first time

When switching power on for the first time, follow this section to make a startup.

4.1.1 Startup procedure

Setting status check of the servo motor selection switch (SW3)

Wiring check

Surrounding environment check

Axis No. settings

Parameter setting

Test operation of servo motor alone in test operation mode

Test operation of servo motor alone by commands

Test operation with servo motor and machine connected

Gain adjustment

Actual operation

Stop

Check that the setting status matches the servo motor type to be used.

(Refer to section 3.14.)

Check whether the servo amplifier and servo motor are wired correctly using visual inspection, DO forced output function (section 4.5.1), etc. (Refer to section 4.1.2.)

Check the surrounding environment of the servo amplifier and servo motor.

(Refer to section 4.1.3.)

Confirm that the axis No. settings for rotary axis setting switch (SW1) and servo system controller are consistent. (Refer to section 3.13.)

Set the parameters as necessary, such as the used control mode and regenerative option selection. (Refer to chapter 5.)

For the test operation, with the servo motor disconnected from the machine and operated at the speed as low as possible, check whether the servo motor rotates correctly. (Refer to section 4.5.)

For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible, give commands to the servo amplifier and check whether the servo motor rotates correctly.

Connect the servo motor with the machine, give operation commands from the host command device, and check machine motions.

Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)

Stop giving commands and stop operation.

4 - 2

4. STARTUP

4.1.2 Wiring check

(1) Power supply system wiring

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

(a) Power supply system wiring

The power supplied to the power input terminals (L

1

, L

2

, L

3

, L

11

, L

21

) of the servo amplifier should satisfy the defined specifications. (Refer to section 1.3.)

(b) Connection of servo amplifier and servo motor

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

Servo amplifier

U

U

Servo motor

V

V

M

W

W

2) The power supplied to the servo amplifier should not be connected to the servo motor power supply terminals (U, V, W). To do so will fail the connected servo amplifier and servo motor.


M

U V W

U V W

3) The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier.


M

4) The built-in regenerative resistor is connected to the P terminal and the C terminal.

Servo amplifier

P


C

(c) When option and auxiliary equipment are used

When regenerative option is used

The generative brake option should be connected to P terminal and C terminal.

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

4 - 3

4. STARTUP

(2) I/O signal wiring

(a) The I/O signals should be connected correctly.

Use DO forced output to forcibly turn on/off the pins of the CN3 connector. This function can be used to perform a wiring check. In this case, switch on the control circuit power supply only.

(b) 24VDC or higher voltage is not applied to the pins of connectors CN3.

(c) SD and DOCOM of connector CN3 is not shorted.

Servo amplifier

CN3

DOCOM

SD

4.1.3 Surrounding environment

(1) Cable routing

(a) The wiring cables are free from excessive force.

(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.)

(c) The connector part of the servo motor should not be strained.

(2) Environment

Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.

4.2 Startup

POINT

The controller recognizes MR-J3W- B as two servo amplifiers. For this reason, select "MR-J3-B" for both of the A-axis and the B-axis. The following tables shows the servo amplifier setting in the controller when using the MR-J3W- B servo amplifier.

Compatible controller

Motion controller

(Q172HCPU, Q173HCPU, Q172DCPU,

Servo amplifier selection

Select "MR-J3-B" in the system setting screen.

Q173DCPU, Q170MCPU)

Positioning module

(QD75MH, QD74MH , LD77MH )

Select "MR-J3-B" in "Servo series" (Pr.100) of the servo parameter.

Connect the servo motor with a machine after confirming that the servo motor operates properly alone.

4 - 4

4. STARTUP

(1) Power on

When the main and control circuit power supplies are switched on, "b01" (for the first axis) appears on the servo amplifier display.

In the absolute position detection system, first power-on results in the absolute position lost (25.1) alarm and the servo system cannot be switched on.

The alarm can be deactivated by then switching power off once and on again.

Also in the absolute position detection system, if power is switched on at the servo motor speed of

2000r/min or higher, position mismatch may occur due to external force or the like. Power must therefore be switched on when the servo motor is at a stop.

(2) Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for the parameter definitions.

Parameter No. Name Setting Description

PA14

PA08

PA09

Rotation direction setting

Auto tuning mode

Auto tuning response

0

Increase in positioning address rotates the motor in the CCW direction.

12

1 Used.

Slow response (factory setting) is selected.

After setting the above parameters, switch power off once. Then switch power on again to make the set parameter values valid.

(3) Servo-on

Switch the servo-on in the following procedure.

1) Switch on main circuit/control circuit power supply.

2) The controller transmits the servo-on command.

When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked.

(4) Home position return

Always perform home position return before starting positioning operation.

(5) Stop

If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop.

When the servo motor is with an electromagnetic brake, refer to section 3.11.

Operation/command

Servo off command


Servo amplifier

Ready off command

Forced stop command

Alarm occurrence

Forced stop

(EM1) OFF

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

The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop.

The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The controller forced stop warning (E7.1) occurs.

The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop.

The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The servo forced stop warning (E6.1) occurs.

4 - 5

4. STARTUP

4.3 Servo amplifier display

On the servo amplifier display (3-digit, 7-segment display), check the status of communication with the servo system controller at power-on, check the axis number, and diagnose a fault at occurrence of an alarm.

4.3.1 Scrolling display

The statuses of the A-axis and the B-axis are displayed alternately. The statuses of the both axes can be checked.

(1) Normal display

When there is no alarm, the statuses of the A-axis and the B-axis are displayed alternately.

In this example, the A-axis is set as the first axis, and the B-axis as the second axis.

After 2s

A-axis status display

After 2s

B-axis status display

Status display

(1 digit)

Axis number

(2 digits)

"b"

"C"

"d"

: Indicates ready OFF/servo OFF status.

: Indicates ready ON/servo OFF status.

: Indicates ready ON/servo ON status.

(2) Alarm display

When there is an alarm, the alarm number (two digits) and the alarm detail (one digit) are displayed following the status display.

In this example, the encoder initial communication error 1 (16.1) is occurring in the A-axis, and the overcurrent (32.2) is occurring in the B-axis.

After 2s After 2s After 2s

A-axis status display A-axis alarm number display

After 2s

B-axis status display B-axis alarm number display

Status display

(1 digit)

Axis number

(2 digits)

"F": Indicates that an alarm is occurring.

Alarm number

(2 digits)

Alarm detail

(1 digit)

4 - 6

4. STARTUP

4.3.2 Status display of an axis

(1) Display sequence

Servo amplifier power ON

Waiting for servo system controller power to switch ON

(SSCNET communication)

Servo system controller power ON

(SSCNET communication beginning)

Initial data communication with servo system controller

(Initialization communication)

(Note)

Ready OFF/servo OFF

Ready ON

When alarm occurs, alarm code appears.

(Note)

Servo ON

Ready ON/servo OFF

(Note)

Ready ON/servo ON

Ordinary operation

Servo system controller power OFF

When alarm warning No. is displayed

Example: At occurrence of overload

Flicker display

After 2s

Flicker display

Example: At occurrence of overload

Flicker display

After 2s

Flicker display

Only alarm and warning No. are displayed, but no axis No. is displayed.

During a non servo-off causing warning, the decimal point on the third digit LED shows the servo-on status.

Alarm reset or warning cleared

Servo system controller power ON

Note.

Axis 1 Axis 2 Axis 16

The segment of the last 2 digits shows the axis number.

(Below example indicates Axis 1)

4 - 7

4. STARTUP

(2) Indication list

Indication Status

A b

Initializing

Description

Power of the servo amplifier was switched on at the condition that the power of servo system controller is OFF.

The axis No. set to the servo system controller does not match the axis No. set with the rotary axis setting switch (SW1) of the servo amplifier.

A servo amplifier fault, or communication error with the servo system controller or the prior servo amplifier axis occured. In this case, the indication changes as follows:

"Ab " "AC " "Ad " "Ab "

The servo system controller is faulty.

A b .

Initializing

During initial setting for communication specifications

A C

Initializing

Initial setting for communication specifications completed, and then it synchronized with servo system controller.

A d

Initializing

During initial parameter setting communication with servo system controller

A E

Initializing

During motor encoder information and telecommunication with servo system controller

A F

Initializing

During initial signal data communication with servo system controller

A H

A A

Initializing completion

Initializing standby

During the completion process for initial data communication with servo system controller

The power supply of servo system controller is turned off during the power supply of servo amplifier is on.

(Note 1) b # # Ready OFF The ready off signal from the servo system controller was received.

(Note 1) d # # Servo ON The ready off signal from the servo system controller was received.

(Note 1) C # # Servo OFF

The ready off signal from the servo system controller was received.

(Note 2) Alarm Warning The alarm No./warning No. that occurred is displayed. (Refer to section 8.1.)

8 8 8

CPU Error b 0 A.

(Note 3) b 0 b.

(Note 1) b # #.

d

C

# #.

# #.

(Note 3)

Test operation mode

CPU watchdog error has occurred.

JOG operation, positioning operation, program operation, DO forced output.

Motor-less operation

Note 1. ## denotes any of numerals 00 to 16 and what it means is listed below.

# Description

0A/0B Set to the test operation mode.

2. ** indicates the warning/alarm No. "A" in the third digit indicates the A-axis, and the "B" indicates the B-axis.

3. Requires the MR Configurator.

4 - 8

4. STARTUP

4.4 Test operation

Before starting actual operation, perform test operation to make sure that the machine operates normally.

Refer to section 4.2 for the power on and off methods of the servo amplifier.

POINT

If necessary, verify controller program by using motor-less operation.

Refer to section 4.5.2 for the motor-less operation.

Test operation of servo motor alone in JOG operation of test operation mode



In this step, confirm that the servo amplifier and servo motor operate normally.

With the servo motor disconnected from the machine, use the test operation mode and check whether the servo motor rotates correctly. Refer to section 4.5 for the test operation mode.

In this step, confirm that the servo motor rotates correctly under the commands from the controller.

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

Give a low speed command at first and check the rotation direction, etc. of the servo motor.

If the servo motor does not operate in the intended direction, check the input signal.

In this step, connect the servo motor with the machine and confirm that the machine operates normally under the commands from the command device.

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

Give a low speed command at first and check the operation direction, etc. of the machine. If the machine does not operate in the intended direction, check the input signal. By using MR Configurator, check if the servo motor speed, the load ratio, and the other items in the status display are not incorrect.

Then, check automatic operation with the program of the command device.

4 - 9

4. STARTUP

4.5 Test operation mode

CAUTION

The test operation mode is designed for servo operation confirmation and not for machine operation confirmation. Do not use this mode with the machine. Always use the servo motor alone.

If an operation fault occurred, use the forced stop (EM1) to make a stop.

POINT

The content described in this section indicates the environment that servo amplifier and personal computer are directly connected.

By using a personal computer and the MR Configurator, you can execute jog operation, positioning operation,

DO forced output program operation without connecting the servo system controller.

4.5.1 Test operation mode in MR Configurator

POINT

When using MR-J3W- B, both of the A-axis and the B-axis go into the test operation mode, but only one of them can be operated.



(1) Test operation mode

(a) Jog operation

Jog operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not.

Exercise control on the jog operation screen of the MR Configurator.

1) Operation pattern

Item Factory setting Setting range

Speed [r/min]

Acceleration/deceleration time constant [ms]

200

1000

0 to max. speed

0 to 50000

2) Operation method

When the check box of "Rotation only while the button is being pushed" is checked.

Forward rotation start

Reverse rotation start

Stop

Keep pressing the "Forward" button.

Keep pressing the "Reverse" button.

Release "Forward" or "Reverse" button.

When the check box of "Rotation only while the button is being pushed" is not checked.



Stop

Click the "Forward" button.

Click the "Reverse" button.

Click the "Stop" button.

4 - 10

4. STARTUP

(b) Positioning operation

Positioning operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not.

Exercise control on the positioning operation screen of the MR Configurator.


Item

Travel distance [pulse]

Speed [r/min]


Repeat operation

Dwell time [s]

Number of repeats [time]

Factory setting

4000

200

1000

Fwd. rot. (CCW)

Rev. rot. (CW)

2.0

1

Setting range

0 to 99999999

0 to max. speed

0 to 50000

Fwd. rot. (CCW) Rev rot. (CW)

Fwd. rot. (CCW) Fwd. rot. (CCW)

Rev rot. (CW) Fwd. rot. (CCW)

Rev rot. (CW) Rev rot. (CW)

0.5 to 50.0

1 to 9999

2) Operation method



Pause

Click the "Forward" button.

Click the "Reverse" button.

Click the "Pause" button.

(c) Program operation

Positioning operation can be performed in two or more operation patterns combined, without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not.

Exercise control on the program operation screen of the MR Configurator. For full information, refer to the MR Configurator Installation Guide.

Start

Stop

Click the "Start" button.

Click the "Reset" button.

(d) Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. Use this function for output signal wiring check, etc.

Exercise control on the DO forced output screen of the MR Configurator.

4 - 11

4. STARTUP

(2) Operation procedure

(a) Switch power off.

(b) Set SW2-1 to "UP".

5

6

7

8

9

A

B

E

1 0

F

SW1

TEST

SW2

ON 4E

1 2

Set SW2-1 to "UP"

SW2

1 2

UP

DOWN

Changing SW2-1 to "UP" while power is on will not start the test operation mode.

(c) Switch servo amplifier power on.

When initialization is over, the display shows the following screen.

After 2s

Flicker

After 2s

Flicker

(d) Perform operation with the personal computer.

4.5.2 Motor-less operation in controller

POINT

Use motor-less operation which is available by making the servo system controller parameter setting.

Motor-less operation is done while connected with the servo system controller.

(1) Motor-less operation

Without connecting the servo motor, output signals or status displays can be provided in response to the servo system controller commands as if the servo motor is actually running. This operation may be used to check the servo system controller sequence. Use this operation with the forced stop reset. Use this operation with the servo amplifier connected to the servo system controller.

For stopping the motor-less operation, set the selection of motor-less operation to [Invalid] in servo parameter setting of servo system controller. Motor-less operation will be invalid condition after switching on power supply next time.

(a) Load conditions

Load item Condition

Load torque

Load inertia moment ratio

0

Same as servo motor inertia moment

4 - 12

4. STARTUP

(b) Alarms

The following alarms and warning do not occur. However, the other alarms and warnings occur as when the servo motor is connected.

Encoder initial communication error 1 (16. )

Encoder normal communication error 1 (20. )

Encoder normal communication error 2 (21. )

Battery cable disconnection warning (92.1)

Battery warning (9F.1)

Main circuit off warning (E9. )

Absolute position erase (25. )

(2) Operating procedure

1) Switch off servo amplifier

2) Set parameter No.PC05 to "1", change test operation mode switch (SW2-1) to normal condition side

"Down", and then turn on the power supply.

5

6

7

8 9

A

B

1

0

E

F

SW1

TEST

SW2

ON 4E

1 2

3) Perform motor-less operation with the personal computer.

The display shows the following screen.

Set SW2-1 to "DOWN"

SW2

1 2

UP

DOWN

Decimal point flickers.

4 - 13

4. STARTUP

MEMO

4 - 14

5. PARAMETERS

5. PARAMETERS

CAUTION


When the fixed values are indicated for any digits of a parameter, never change the values of the digits.

POINT

When the servo amplifier is connected with the servo system controller, the parameters are set to the values of the servo system controller.

Setting may not be made to some parameters and ranges depending on the model or software version of the servo system controller. For details, refer to the servo system controller user's manual.

In this servo amplifier, the parameters are classified into the following groups on a function basis.

Parameter group Main description

Basic setting parameters

(No.PA

)

Gain/filter parameters

(No.PB

)

Extension setting parameters

(No.PC

)

I/O setting parameters

(No.PD

)

Extension control parameters

(No.PE

)

Option setting parameters

(No.Po

)

Make basic setting with these parameters. Generally, the operation is possible only with these parameter settings.

Use these parameters when making gain adjustment manually.

When changing settings such as analog monitor output signal or encoder electromagnetic brake sequence output, use these parameters.

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

Use these parameters when selecting a function in the fully closed loop system.

These parameters are dedicated to MR-J3W.

Mainly setting the basic setting parameters (No.PA

introduction.

5.1 Basic setting parameters (No.PA

)

) allows the setting of the basic parameters at the time of

POINT

The parameter whose symbol preceded by * can be validated with the following conditions.

* : Turn off the power and then on again, or reset the controller after setting the parameter.

**: Turn off the power and then on again after setting the parameter.

5 - 1

5. PARAMETERS

5.1.1 Parameter list

No. Symbol

PA01 **STY Control mode

Name

PA04 *AOP1 Function selection A-1

PA05 This parameter is not used. Do not change the value.

PA06

PA07

PA08 ATU Auto tuning mode

PA09 RSP Auto tuning response

PA10 INP In-position range


PA12

PA13

PA14 *POL Rotation direction selection

PA15 *ENR Encoder output pulses

PA16 *ENR2 Encoder output pulses 2


PA18

PA19 *BLK Parameter write inhibit

Setting

(Note 1)

Factory setting

(Note 2)

Each axis 0000h

Common 0000h

Each axis 0000h

Common 0000h

0

1

1

Each axis 0001h

Each axis

Each axis

12

100

1000.0

1000.0

Each axis

0000h

0

Each axis 4000

Each axis 0

0000h

0000h

Each axis 000Bh

Unit pulse pulse/rev

Note 1. Each axis: Set a value for each of the A-axis and the B-axis.

Common: Common parameters for the A-axis and the B-axis. Set same values for the A-axis and the B-axis. If different values are set, the last set value becomes valid.

2. Valid for the A-axis and the B-axis.

5 - 2

5. PARAMETERS

5.1.2 Parameter write inhibit

No. Symbol

Parameter

Name

Setting

Factory setting

Unit

Setting range

PA19 *BLK Parameter write inhibit Each axis 000Bh

Refer to the text.

POINT

Turn off the power and then on again, or reset the controller after setting the parameter to validate the parameter value.

In the factory setting, this servo amplifier allows changes to the basic setting parameter, gain/filter parameter and extension setting parameter settings. With the setting of parameter No.PA19, write can be disabled to prevent accidental changes.

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

Parameter No.

PA19 setting

Setting operation


No.PA


No.PB


No.PC


No.PD

(Note)

Special setting parameters

No.PS


No.Po

0000h

000Bh

(factory setting)

000Ch

000Dh

000Eh

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

100Bh

Reference

100Ch

Reference

100Dh

Reference

100Eh

Note. Do not use this parameter when using a rotary servo motor.

5 - 3

5. PARAMETERS

5.1.3 Selection of control mode

No. Symbol


Parameter

Name

Setting

Factory setting

Each axis 0000h

Unit

Setting range

Refer to the text.

Select the control mode.

This parameter is set as "

POINT

Turn off the power and then on again after setting the parameter to validate the parameter value.

The direct drive motor can be used with the servo amplifier whose software version is B3 or later.

0 " (rotary servo motor) in the initial setting.

Parameter No.PA01

0 0 0

Control mode selection

0: Rotary servo motor

4: Linear servo motor

6: Direct drive motor

5.1.4 Selection of regenerative option

No. Symbol

Parameter

Name

Setting

Factory setting

Unit

Setting range

Common 0000h

Refer to the text.

POINT


Wrong setting may cause the regenerative option to burn.

If the regenerative option selected is not for use with the servo amplifier, parameter error (37.2) occurs.

The MR-RB3B can be used with the servo amplifier whose software version is B3 or later.

This parameter is not for MR-J3W-0303BN6. Do not change this value by any means.

Set this parameter when using the regenerative option.

Parameter No.PA02

0 0

Selection of regenerative option

00: Regenerative option is not used (built-in regenerative resistor is used)

0D: MR-RB14

0E: MR-RB34

10: MR-RB3B

5 - 4

5. PARAMETERS

5.1.5 Using absolute position detection system

No. Symbol

Parameter

Name

Setting

Factory setting

Unit

Setting range

Each axis 0000h

POINT


This parameter cannot be used in the speed control mode.

Set this parameter when using the absolute position detection system in the position control mode.

Refer to the text.

Parameter No.PA03

0 0 0

Selection of absolute position detection system (refer to chapter 12)

0: Used in incremental system

1: Used in absolute position detection system

5.1.6 Forced stop input selection

No. Symbol

Parameter

Name


Setting

Factory setting

Common 0000h

Unit

POINT


The servo forced stop function is avoidable.

Setting range

Refer to the text.

Parameter No.PA04

0 0 0

Selection of servo forced stop

0: Valid (Forced stop (EM1) is used.)

1: Invalid (Forced stop (EM1) is not used.)

When not using the forced stop (EM1) of servo amplifier, set the selection of servo forced stop to Invalid ( 1

). At this time, the forced stop (EM1) automatically turns on inside the servo amplifier.

5 - 5

5. PARAMETERS

5.1.7 Auto tuning

No. Symbol

Parameter

Name

Setting

Factory setting

PA08 ATU Auto tuning mode Each axis 0001h

PA09 RSP Auto tuning response Each axis 12

POINT

This parameter cannot be used in the torque control mode.

Make gain adjustment using auto tuning. Refer to section 6.2 for details.

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

Select the gain adjustment mode.

Parameter No.PA08

0 0 0

Unit

Setting range

Refer to the text.

1 to 32

Gain adjustment mode setting

Setting Gain adjustment mode Automatically set parameter No. (Note)

0

1

Interpolation mode

Auto tuning mode 1

PB06 PB08 PB09 PB10

PB06 PB07 PB08 PB09 PB10

2

3

Auto tuning mode 2

Manual mode

PB07 PB08 PB09 PB10

Note. The parameters have the following names.

Parameter No.

PB06

PB07

PB08

PB09

PB10

Name

Load to motor inertia moment ratio

Model loop gain

Position loop gain

Speed loop gain

Speed integral compensation

5 - 6

5. PARAMETERS

(2) Auto tuning response (parameter No.PA09)

If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g. shorten the settling time, increase the set value.

Guideline for machine

Setting Response resonance frequency [Hz]

Setting Response

Guideline for machine resonance frequency [Hz]

1 Low response 10.0 17 Middle response 67.1

15

16

5.1.8 In-position range

Middle response 59.6

31

32 High response

355.1

400.0

No. Symbol


Parameter

Name

Setting

Each axis

Factory setting

100

Unit

Setting range pulse 0 to 65535

POINT

This parameter cannot be used in the speed control mode and the torque control mode.

Set the range, where in position (INP-A/INP-B) is output, in the command pulse unit.

Servo motor droop pulses

Command pulse

Command pulse

Droop pulses

In-position range [pulse]

ON

In-position (INP-A/INP-B)

OFF

5 - 7

5. PARAMETERS

5.1.9 Selection of servo motor rotation direction

Parameter

No. Symbol


Name

Setting

Factory setting

Unit

Setting range

Each axis 0 0 1

POINT


Select servo motor rotation direction relative.

Servo motor rotation direction (Note)

Parameter No.PA14 setting

When positioning address increases

(Position control)

Command speed in the positive direction

(Speed control)

Command torque in the positive direction

(Torque control)

When positioning address decreases

(Position control)

Command speed in the negative direction

(Speed control)

Command torque in the negative direction

(Torque control)

0 CCW

1 CW

CW

CCW

Note. Torque generation direction for the torque control

Forward rotation (CCW)

Reverse rotation (CW)

5.1.10 Encoder output pulse

Parameter

No.



Setting

Each axis

Each axis

Factory setting

4000

0

Unit

Setting range pulse/rev 1 to 65535

0 to 65535

POINT


Used to set the encoder pulses (A/B-phase) output by the servo amplifier.

Set the value 4 times greater than the A-phase or B-phase pulses.

You can use parameter No.PC03 to choose the output pulse setting or output division ratio setting.

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

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

5 - 8

5. PARAMETERS

(1) For output pulse designation

Set " 0 " in parameter No.PC03.

Set the number of pulses per servo motor revolution.

Output pulse set value [pulses/rev]

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

(2) For output division ratio setting

Set " 1 " in parameter No.PC03.

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

Output pulse

Resolution per servo motor revolution

Set value

[pulses/rev]

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

(3) A/B-phase pulse electronic gear setting

This parameter is made valid when parameter No.PC03 is set to " 3 ".

Set the encoder pulses (A/B-phase) output by the servo amplifier.

Set the encoder pulses output by the servo amplifier by parameter No.PA15 and parameter No.PA16.

Travel distance [pulse] of the linear encoder is multiplied by the set value.

The number of A/B-phase pulses actually output is 1/4 times greater than the preset number of pulses. Also, the maximum output frequency is 4.6Mpps (after multiplication by 4). Use this parameter within the range.

When the set value is "0 (factory setting)", it is internally treated as "1".

5 - 9

5. PARAMETERS

5.2 Gain/filter parameters (No.PB

)

POINT



The gain/filter parameters (No.PB

) cannot be used in the torque loop mode.


No. Symbol

PB07

PB08

PB09

PB10

PB11

PG1

PG2

VG2

VIC

VDC

Model loop gain

Position loop gain

Speed loop gain


Speed differential compensation

Name

PB12 This parameter is not used. Do not change the value.

PB13 NH1 Machine resonance suppression filter 1

PB14 NHQ1 Notch shape selection 1


Setting

(Note 1)

Each axis

Each axis

Each axis

Each axis

Each axis

Factory setting

(Note 2)

24

37

823

33.7

980

0

Each axis 4500

Each axis 0000h

Each axis 4500

Unit

PB01 FILT 0000h

PB02 VRFT Vibration suppression control tuning mode

(advanced vibration suppression control)


PB04 FFC Feed forward gain

Each axis 0000h

Each axis

0

0 %


PB06 GD2 Load to motor inertia moment ratio Each axis

500

7.0 Multiplier

( 1) rad/s rad/s rad/s ms


PB17

PB20

Automatic setting parameter

PB18 LPF Low-pass filter setting

PB19 VRF1 Vibration suppression control vibration frequency setting

VRF2 Vibration suppression control resonance frequency setting

PB21

PB22

This parameter is not used. Do not change the value.

PB23 VFBF Low-pass filter selection

PB24 *MVS Slight vibration suppression control selection

Each axis

Each axis

Each axis

Each axis

0000h

3141

100.0

100.0

0.00

0.00

Each axis 0000h

Each axis 0000h rad/s

Hz

Hz

Hz

Hz

PB25

PB26

PB27

PB28

PB32

CDL

CDT


*CDP Gain changing selection

Gain changing condition

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

VICB Gain changing speed integral compensation

PB33 VRF1B Gain changing vibration suppression control vibration frequency setting

PB34 VRF2B Gain changing vibration suppression control resonance frequency setting

0000h

Each axis 0000h

Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

10

1

7.0

37

823

33.7

100.0

100.0 ms

Multiplier

( 1) rad/s rad/s ms

Hz

Hz

5 - 10

5. PARAMETERS

No. Symbol Name


PB36

PB37

PB38

PB39

PB40

PB41

PB42

PB43

PB44

PB45

Setting

(Note 1)

Factory setting

(Note 2)

0.00

0.00

100

0.0

0.0

0.0

1125

1125

0004h

0.0

0000h

Unit




5.2.2 List of details

No. Symbol Name and function

PB01 FILT Adaptive tuning mode (Adaptive filter )

Used to set the mode for the machine resonance suppression filter 1.

0 0 0

Filter tuning mode

0: Invalid

1: Cannot be set

2: Manual setting

Setting

Factory setting

Each axis

Unit

Setting range

Name and function column.

If " 1" is set for this parameter, it is automatically rewritten as " 0".

PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control)

Used to set the tuning mode for the vibration suppression control.

0 0 0

Vibration suppression control tuning mode

0: Invalid

1: Cannot be set

2: Manual setting

PB03

If " 1" is set for this parameter, it is automatically rewritten as "


0".



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.

Each axis

Each axis


0

0 % 0 to

100

5 - 11

5. PARAMETERS



PB06 GD2 Load to motor inertia moment ratio

Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. When auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is automatically used.

(Refer to section 6.1.1)

In this case, it varies between 0 and 100.0.

When parameter No.PA08 is set to " be set manually.

2" or " 3", this parameter can

PB07 PG1 Model loop gain

Set the response gain up to the target position.

Increase the gain to improve track ability in response to the command.

When auto turning mode 1, 2 is selected, the result of auto turning is automatically used.

When parameter No.PA08 is set to " be set manually.

0" or " 3", this parameter can

PB08 PG2 Position loop gain


Used to set the gain of the position loop.

Set this parameter to increase the position response to level load disturbance.

Higher setting increases the response level but is liable to generate vibration and/or noise.

When auto tuning mode 1, 2 and interpolation mode is selected, the result of auto tuning is automatically used.

When parameter No.PA08 is set to " manually.

3", this parameter can be set

PB09 VG2 Speed loop gain

Set this parameter when vibration occurs on machines of low rigidity or large backlash.

Higher setting increases the response level but is liable to generate vibration and/or noise.




PB10 VIC Speed integral compensation

Used to set the integral time constant of the speed loop.

Lower setting increases the response level but is liable to generate vibration and/or noise.




PB11 VDC Speed differential compensation

Used to set the differential compensation.

When parameter No.PB24 is set to "

When parameter No.PA08 is set to " instructions of controller.

3 ", this parameter is made valid.

0 ", this parameter is made valid by


Setting

Each axis

Factory setting

Unit

500

7.0 Multiplier

( 1)

Setting range

0 to

300.0

Each axis

Each axis

Each axis

Each axis

Each axis

24 rad/s 1 to

2000

37 rad/s 1 to

1000

823 rad/s 20 to

50000

33.7 ms 0.1 to

1000.0

980 0 to

1000

0

5 - 12

5. PARAMETERS



Set the notch frequency of the machine resonance suppression filter 1.

When the parameter No.PB01 setting is " is ignored.

0", the setting of this parameter

If a value exceeding "3000" is set for this parameter, it is automatically rewritten as "3000".


Select the shape of the machine resonance suppression filter 1.

Setting

Each axis

Factory setting

Unit

Setting range

4500 Hz 100 to

4500

Each axis

0 0

Notch depth selection

Setting value Depth

0 Deep

1

2

3 to

Shallow

Gain

40dB

14dB

8dB

4dB


Notch width

Setting value Width

0

1

Standard to

2

3 Wide

4

5

2

3

When the parameter No.PB01 setting is " is ignored.

0", the setting of this parameter


Set the notch frequency of the machine resonance suppression filter 2.

Set parameter No.PB16 (notch shape selection 2) to " parameter valid.

1" to make this

If a value exceeding "3000" is set for this parameter, it is automatically rewritten as "3000".


Select the shape of the machine resonance suppression filter 2.

0

Machine resonance suppression filter 2 selection

0: Invalid

1: Valid

Notch depth selection

Setting value Depth

0

1

Deep to

2

3 Shallow

Gain

40dB

14dB

8dB

4dB

Notch width

Setting value Width

0 Standard

1

2

3 to

Wide

2

3

4

5

Each axis

Each axis

4500 Hz 100 to

4500


5 - 13

5. PARAMETERS

No. Symbol

PB17 Automatic setting parameter

The value of this parameter is set according to a set value of parameter

No.PB06 (Load to motor inertia moment ratio).


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 " manually.

1 ", this parameter can be set



Set the vibration frequency for vibration suppression control to suppress lowfrequency machine vibration, such as enclosure vibration. (Refer to section 7.3.)



PB20 VRF2 Vibration suppression control resonance frequency setting


Set the resonance frequency for vibration suppression control to suppress lowfrequency machine vibration, such as enclosure vibration. (Refer to section 7.3.)



PB21

PB22



Select the low-pass filter.

0 0 0

Name and function

Low-pass filter selection

0: Automatic setting

1: Manual setting (parameter No.PB18 setting)

Setting

Factory setting

Each axis

Each axis

Each axis

Each axis

Setting range

3141 rad/s 100

100.0 Hz 0.1

100.0 Hz 0.1

0.00

0.00

Unit to

9000 to

100.0 to

100.0


When automatic setting has been selected, select the filter that has the band width close to the one calculated with

VG2 10

1 + GD2

[rad/s]


Select the slight vibration suppression control and PI-PID change.

When parameter No.PA08 (Auto tuning mode) is set to " 3", the slight vibration suppression control is enabled. (Slight vibration suppression control cannot be used in the speed control mode.)

0 0

Slight vibration suppression control selection

0: Invalid

1: Valid

PI-PID control switch over selection

0: PI control is valid. (Switching to PID

control is possible with instructions of

controller.)

3: PID control is always valid.

Each axis

PB25 This parameter is not used. Do not change the value. 0000h


5 - 14

5. PARAMETERS


PB26 *CDP Gain changing selection

Select the gain changing condition. (Refer to section 7.5.)

0 0

Gain changing selection

Under any of the following conditions, the gains change on the basis of the parameter No.PB29 to

PB32 settings.

0: Invalid

1: Control instructions from a controller.

2: Command frequency (Parameter No.PB27

setting)

3: Droop pulses value (Parameter No.PB27 setting)

4: Servo motor speed (Parameter No.PB27 setting)


0: Valid when the control instruction from a controller

is ON

Valid at equal to or more than the value set in

parameter No.PB27

1: Valid when the control instruction from a controller

is OFF

Valid at equal to or less than the value set in

parameter No.PB27

Setting

Factory setting

Each axis

Unit

Setting range


PB27 CDL Gain changing condition

Used to set the value of gain changing condition (command frequency, droop pulses, servo motor speed) selected in parameter No.PB26.The set value unit changes with the changing condition item. (Refer to section 7.5.)

PB28 CDT Gain changing time constant

Used to set the time constant at which the gains will change in response to the conditions set in parameters No.PB26 and PB27. (Refer to section 7.5.)

PB29 GD2B Gain changing load to motor inertia moment ratio

Used to set the load to motor inertia moment ratio when gain changing is valid.

This parameter is made valid when the auto tuning is invalid (parameter

No.PA08: 3).



Set the position loop gain when the gain changing is valid.


No.PA08: 3).


Set the speed loop gain when the gain changing is valid.


No.PA08: 3).

PB32 VICB Gain changing speed integral compensation

Set the speed integral compensation when the gain changing is valid.


No.PA08: 3).



Set the vibration frequency for vibration suppression control when the gain changing is valid. This parameter is made valid when the parameter No.PB02 setting is " 2" and the parameter No.PB26 setting is " 1".

When using the vibration suppression control gain changing, always execute the changing after the servo motor has stopped.

Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

10 kpps 0 pulse r/min to

9999

1 ms 0 to

100

7.0 Multiplier

( 1)

0 to

300.0

37 rad/s 1 to

2000

823 rad/s 20 to

20000

33.7 ms 0.1 to

5000.0

100.0 Hz 0.1 to

100.0

5 - 15

5. PARAMETERS




Set the resonance frequency for vibration suppression control when the gain changing is valid. This parameter is made valid when the parameter No.PB02 setting is " 2" and the parameter No.PB26 setting is " 1".

When using the vibration suppression control gain changing, always execute the changing after the servo motor has stopped.


PB36

PB37

PB38

PB39

PB40

PB41

PB42

PB43

PB44

PB45

Setting

Each axis

Factory setting

Unit

Setting range

100.0 Hz 0.1 to

100.0

0.00

0.00

100

0.0

0.0

0.0

1125

1125

0004h

0.0

0000h

5 - 16

5. PARAMETERS

5.3 Extension setting parameters (No.PC

)

POINT





No. Symbol Name

PC01 ERZ Error excessive alarm level

PC02 MBR Electromagnetic brake sequence output

PC03 *ENRS Encoder output pulses selection

PC04 **COP1 Function selection C-1


PC06 *COP3 Function selection C-3

PC07 ZSP Zero speed

PC08 This parameter is not used. Do not change the value.

PC09 MOD1 Analog monitor 1 output


PC11 MO1 Analog monitor 1 offset



PC14

PC15 SNO Station number selection




PC19

PC20

Setting

(Note 1)

Factory setting

(Note 2)

0 Each axis

Each axis 0

Each axis 0010h

Each axis 0000h

Each axis 0000h

Each axis 0000h

Each axis 50

0

Common 0000h

Common 0001h

Common 0

Common 0

0

Common

0

0

0000h

Each axis 0000h

0000h

0000h

0000h

Unit rev ms r/min mV mV


PC23

PC24

PC25

PC26

PC27

PC28

PC29

PC30

PC31

PC32

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h




5 - 17

5. PARAMETERS


No. Symbol

0 0

Name and function



Used to set the error excessive alarm level with rotation amount of servo motor.

When "0" is set in this parameter, the alarm level is three rotations.

When a value other than "0" is set, the alarm level is the rotation number of the set value.

However, the alarm level stays at 200 rotations even if a value exceeding

"200" is set.

Note. Setting can be changed in parameter No.PC06.


Used to set the delay time (Tb) between electronic brake interlock (MBR-A/

MBR-B) and the base drive circuit is shut-off.

PC03 *ENRS Encoder output pulse selection

Use to select the encoder output pulse direction and encoder output pulse setting.

Setting

Each axis

Factory setting

Unit

Setting range

0 rev 0

(Note 1) to

1000

Each axis

Each axis

0 ms


Set value

Encoder output pulse phase changing

Changes the phases of A/B-phase encoder pulses output .

Servo motor rotation direction

CCW CW

0

A-phase

B-phase

A-phase

B-phase

1

A-phase

B-phase

A-phase

B-phase

Encoder output pulse setting selection

0: Output pulse designation

1: Division ratio setting

3: A/B-phase pulse elecrtonic gear setting

(Set with the electronic gear parameter No.PA15 and

PA16)


Select the encoder cable communication system selection.

0 0 0

Encoder cable communication system selection

0: Two-wire type

1: Four-wire type

Incorrect setting will result in an encoder alarm 1 (16.3).

Refer to section 11.1.2 for the communication method of the encoder cable.

Each axis


Motor-less operation select.

0 0 0

Motor-less operation select.

0: Valid

1: Invalid

5 - 18

Each axis



5. PARAMETERS



Select the error excessive alarm level setting for parameter No.PC01.

0 0 0

Error excessive alarm level setting selection

0: 1 [rev]unit

1: 0.1 [rev]unit

2: 0.01 [rev]unit

3: 0.001[rev]unit

Setting

Factory setting

Each axis

Unit

Setting range


Used to set the output range of the zero speed (ZSP-A/ZSP-B).

Zero speed (ZSP-A/ZSP-B) detection has hysteresis width of 20r/min (Refer to section 3.5 (2) (b))

This parameter is not used. Do not change the value. PC08


Used to selection the signal provided to the analog monitor 1 (MO1) output.


0 0

Each axis

50 r/min 0

0

Common 0000h to

10000

Refer


9

D

E

7

8

4

5

6

Setting

0

1

2

3

Analog monitor 1 (MO1) output selection

Item

Servo motor speed ( 8V/max. speed)

Torque ( 8V/max. torque)

Servo motor speed ( 8V/max. speed)

Torque ( 8V/max. torque)

Current command ( 8V/max. current command)

Speed command ( 8V/max. current command)

Droop pulses ( 10V/100 pulses)




Bus voltage ( 8V/400V)

Speed command 2 (8V/max. current command)

Analog monitor 1 (MO1) output axis selection

0: A-axis

1: B-axis




0 0


The settings are the same as those of parameter

No.PC09.



No.PC09.

Common 0001h Refer


5 - 19

5. PARAMETERS



Used to set the offset voltage of the analog monitor 1 (MO1) output.


Used to set the offset voltage of the analog monitor 2 (MO2) output.

PC13

PC14



Used to select the axis to communicate with MR Configurator.

0: A-axis

1: B-axis


PC17 **COP4 Function Selection C-4


This is used to select a home position setting condition.

0 0 0

Selection of home position setting condition

0: Need to pass motor Z-phase after the power

supply is switched on.

1: Not need to pass motor Z-phase after the power

supply is switched on.


PC19

PC20

PC21 *BPS Alarm history clear

Used to clear the alarm history.

0 0 0

Alarm history clear

0: Invalid

1: Valid

When alarm history clear is made valid, the alarm history is cleared at next power-on.

After the alarm history is cleared, the setting is automatically made invalid (reset to 0).


PC23

PC24

PC25

PC26

PC27

PC28

PC29

PC30

PC31

PC32

Setting

Factory setting

Unit

Setting range

Common 0 mV 9999 to

9999

Common 0 mV 999 to

999

0

0

Common 0

Each axis

0000h

Each axis

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h



5 - 20

5. PARAMETERS

5.3.3 Analog monitor

The servo status can be output to two channels in terms of voltage.

(1) Setting

Change the following digits of parameter No.PC09, PC10.

Parameter No.PC09

0 0

Analog monitor (MO1) output selection

(Signal output to across MO1-LG)

Analog monitor (MO1) output axis selection

0: A-axis

1: B-axis

Parameter No.PC10

0 0



Analog monitor (MO2) output axis selection

0: A-axis

1: B-axis

Parameters No.PC11 and PC12 can be used to set the offset voltages to the analog output voltages. The setting range is between 999 and 999mV.

Parameter No.

PC11

PC12

Description

Used to set the offset voltage for the analog monitor 1 (MO1).


Setting range [mV]

999 to 999

(2) Set content

The servo amplifier is factory-set to output the servo motor speed to analog monitor 1 (MO1) and the torque to analog monitor (MO2). The setting can be changed as listed below by changing the parameter No.PC09 and PC10 value.

Refer to (3) for the measurement point.

Setting Output item Description Setting Output item Description

0 Servo motor speed

8[V]

CCW direction

1 Torque

8[V]

Driving in CCW direction

Max. speed Max. torque

0

Max. speed

0

Max. torque

2 Servo motor speed

CW direction

-8[V]

CW direction 8[V] CCW direction

3 Torque

Driving in CW direction


8[V]

-8[V]


Max. speed 0 Max. speed

5 - 21

Max. torque 0 Max. torque

5. PARAMETERS

Setting Output item Description

6 Droop pulses

(Note 1, 2, 3)

( 10V/100 pulses)

8[V]

CCW direction

Max. current command

(Max. torque command)

CW direction

0



-8[V]

10[V]

CCW direction

100[pulse]

0

100[pulse]

Setting Output item

7 Droop pulses

(Note 1, 2, 3)

( 10V/1000 pulses)

Max. speed

1000[pulse]

Description

8[V]

CCW direction

CW direction

10[V]

0

Max. speed

-8[V]

CCW direction

0

1000[pulse]

8 Droop pulses

(Note 1, 2, 3)

( 10V/10000 pulses)

CW direction

10[V]

10000[pulse]

-10[V]

CCW direction

0

10000[pulse]

9 Droop pulses

(Note 1, 2, 3)

( 10V/100000 pulses)

CW direction

10[V]

100000[pulse]

-10[V]

CCW direction

0

100000[pulse]

CW direction

-10[V]

E Speed command 2

(Note 2, 4)

CW direction

8[V]

-10[V]

CCW direction

8[V]

Max. speed

0

400[V]

-8[V]

CW direction

Note 1. Encoder pulse unit.

2. Cannot be used in the torque loop mode.

3. Cannot be used in the speed loop mode.

4. This setting can be used with the servo amplifier whose software version is B3 or later and with MR Configurator whose software version is C5 or later.

5 - 22

5. PARAMETERS

(3) Analog monitor block diagram

Position command received from a controller

Speed command

Differ- ential

Droop pulses

Speed command 2

Position control

Speed command

Current command

Speed control

Bus voltage

Current control

PWM

Current encoder

M Servo motor

Current feedback Encoder

Differ- ential

Position feedback data returned to a controller

Position feedback

Servo motor speed

Torque

5.3.4 Alarm history clear

The servo amplifier stores six past alarms from when its power is switched on first. To control alarms which will occur during operation, clear the alarm history using parameter No.PC21 before starting operation.

Clearing the alarm history automatically returns to " 0".

After setting, this parameter is made valid by switch power from OFF to ON.

Parameter No.PC21

0 0 0

Alarm history clear

0: Invalid (not cleared)

1: Valid (cleared)

5 - 23

5. PARAMETERS

5.4 I/O setting parameters (No.PD

)

POINT




No. Symbol Name Unit

PD01 This parameter is not used. Do not change the value.

PD02

PD03

PD04

PD05

PD06

PD07 *DO1 Output signal device selection 1 (CN3-12 for A-axis and CN3-25 for B-axis)




PD11

PD12

PD13

PD14 *DOP3 Function selection D-3


PD16

PD17

PD18

PD19

PD20

PD21

PD22

PD23

PD24

PD25

PD26

PD27

PD28

PD29

PD30

PD31

PD32




Setting

(Note 1)

Factory setting

(Note 2)

0000h

0000h

0020h

0021h

0022h

0000h

Each axis 0005h

0004h

Each axis 0003h

0000h

0004h

0000h

0000h

Each axis 0000h

0000h

0000h

0000h

0000h

0000h

0000h

0

0

0

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

5 - 24

5. PARAMETERS




PD02

PD03

PD04

PD05

PD06


Any input signal can be assigned to the CN3-12 pin for A-axis and CN3-25 pin for B-axis. In the factory setting, MBR-A/MBR-B is assigned.

0 0

Select the output device of the CN3-12 pin for Aaxis and CN3-25 pin for B-axis.

Setting

Factory setting

0000h

0000h

0020h

0021h

0022h

0000h

Each axis

Unit

Setting range


The devices that can be assigned in each control mode are those that have the symbols indicated in the following table.

Setting Device Setting Device

00

01

Always OFF

For manufacturer setting (Note 3)

0A

0B

SA-A/SA-B (Note 2)

VLC-A/VLC-B (Note 5)

02 RD-A/RD-B 0C ZSP-A/ZSP-B

03 ALM-A/ALM-B 0D setting (Note 3)

04

INP-A/INP-B

(Note 1, 4)

0E


05 MBR-A/MBR-B 0F CDPS-A/CDPS-B

06


10


07

08

09

TLC-A/TLC-B (Note 4)

WNG-A/WNG-B

BWNG-A/BWNG-B

11

12 to 1F

20 to 3F

ABSV-A/ABSV-B

(Note 1)



Note 1. Always off in the speed loop mode.

2. Always off in the position control mode and the torque loop mode.

3. For manufacturer setting. Never change this setting.

4. Always off in the torque loop mode.

5. Always off in the position control mode and the torque loop mode.

This parameter is not used. Do not change the value. PD08


Any input signal can be assigned to the CN3-11 pin for A-axis and CN3-24 pin for B-axis. In the factory setting, ALM-A/ALM-B is assigned.

The devices that can be assigned and the setting method are the same as in parameter No.PD07.

Each axis

0 0

Select the output device of the CN3-11 pin for Aaxis and CN3-24 pin for B-axis.

5 - 25

0004h


5. PARAMETERS



PD11

PD12

PD13


Set the ALM-A/ALM-B output signal at warning occurrence.

0 0 0

Selection of output device at warning occurrence

Select the warning (WNG-A/WNG-B) and malfunction

(ALM-A/ALM-B) output status at warning occurrence.

Output of Servo amplifier

Setting (Note) Device status

0

WNG-A/WNG-B

ALM-A/ALM-B

1

0

1

0

Warning occurrence

1

WNG-A/WNG-B

ALM-A/ALM-B

1

0

1

0

Warning occurrence

Note. 0: OFF

1: ON

Setting

Factory setting

0000h

0004h

0000h

0000h

Each axis

Unit

Setting range



PD16

PD17

PD18

PD19

PD20

PD21

PD22

PD23

PD24

PD25

PD26

PD27

PD28

PD29

PD30

PD31

PD32

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0

0

0

5 - 26

5. PARAMETERS

5.5 Option setting parameters (No.Po

)

5.5.1 List of parameters

POINT




No. Symbol Name

Po01 *OOP1 Function selection O-1

Po02 SGRA Axis selection for graphing analog data (MR Configurator)

Po03 SGRD Axis selection for graphing digtal data (MR Configurator)

Po04 **OOP2 Function selection O-2

Po05 This parameter is not used. Do not change the value.

Po06

Po07

Po08

Po09

Po10

Po11

Po12

Po13

Po14

Po15

Po16

Setting

(Note 1)

Factory setting

(Note 2)

Common 0000h

Common 0000h

Common 0000h

Common 0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

Unit




5 - 27

5. PARAMETERS


No. Symbol


0 0 0

Name and function

Used to set alarms that activate the other axis fault warning (EB).

The other axis fault warning (EB) activating alarm selection

0: 11, 15, 17, 24 and 32 only

1: All alarms

The other axis fault warning (EB) is not activated by the alarms, which occur in the A-axis and the B-axis simultaneously, regardless of their alarm numbers.

Setting

Factory setting

Common 0000h

Unit

Setting range

Refer



Used to select axes that obtain analog data and triggered data in the MR

Configurator's graph function.

Axis selection for analog data ch1

0: Axis that communicates with MR Configurator

1: Axis that does not communicate with MR Configurator


The setting is same as the ch1.



Axis selection for triggered data


Select the axis that obtains triggered data. This setting is valid for analog and digital trigger sources.

Common 0000h Refer


Po03 SGRD Axis selection for graphing digital data (MR Configurator)

Used to select the axes that obtain digital data in the MR Configurator's graph function.

Common 0000h Refer


Axis selection for digital data ch1

0: Axis that communicates with MR Configurator

1: Axis that does not communicate with MR Configurator







5 - 28

5. PARAMETERS

No. Symbol


0 0 0

Name and function

Special servo motor combination

0: Normal combination

1: When using the servo amplifiers and the servo

motors as shown below in combination in addition to

the normal combination.

Rotary servo motor

Servo amplifier

MR-J3W-44B

MR-J3W-77B

HF-MP

053 13

43 43

Rotary servo motor

HF-KP

053 13

HF-SP

51 52

HC-LP

52

HC-UP

72

Setting

Factory setting

Common 0000h

Unit

Setting range

Refer


Linear servo motor

Servo amplifier

Linear servo motor

Primary side(Coil) Secondary side (Magnet)

LM-H2P1A-06M-4SS0

LM-H2S10-288-4SS0

LM-H2S10-384-4SS0

LM-H2S10-480-4SS0

LM-H2S10-768-4SS0

MR-J3W-77B LM-H2P2A-12M-1SS0

LM-H2S20-288-1SS0

LM-H2S20-384-1SS0

LM-H2S20-480-1SS0

LM-H2S20-768-1SS0

LM-U2PAD-10M-0SS0 LM-U2SA0-240-0SS0

LM-U2SA0-300-0SS0

LM-U2PAF-15M-0SS0 LM-U2SA0-420-0SS0

Po05

This parameter is dedicated to the servo amplifier whose software version is B2 or earlier. For the servo amplifier whose software version is B3 or later, this parameter setting is not required.


Po06

Po07

Po08

Po09

Po10

Po11

Po12

Po13

Po14

Po15

Po16

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

5 - 29

5. PARAMETERS

MEMO

5 - 30

6. GENERAL GAIN ADJUSTMENT


POINT

Consider differences among machines, and adjust the gain. It is recommended that the amount of torque generated from the servo motor in operation be set to 90 of the maximum torque of the servo motor.

The torque loop mode does not require the gain adjustment.

6.1 Different adjustment methods

6.1.1 Adjustment on a single servo amplifier

The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2 and manual mode in this order.

(1) Gain adjustment mode explanation

Parameter

Gain adjustment mode

No.PA08 setting

Estimation of load inertia moment ratio

Automatically set parameters Manually set parameters

Auto tuning mode 1

(factory setting)

0001 Always estimated RSP (parameter No.PA09)

Auto tuning mode 2

Manual mode

0002

0003

Fixed to parameter No.

PB06 value

GD2 (parameter No.PB06)

PG1 (parameter No.PB07)


VG2 (parameter No.PB09)

VIC (parameter No.PB10)






RSP (parameter No.PA09)

Interpolation mode 0000 Always estimated GD2 (parameter No.PB06)









RSP (parameter No.PA09)

6 - 1


(2) Adjustment sequence and mode usage

Yes

START

Interpolation

made for 2 or more axes?

No

Auto tuning mode 1

Operation

OK?

No

Auto tuning mode 2

Operation

Yes

No

Interpolation mode

Operation

OK?

Yes

Usage

Used when you want to match the position gain (PG1) between 2 or more axes.

Normally not used for other purposes.

Allows adjustment by merely changing the response level setting.

First use this mode to make adjustment.

Used when the conditions of auto tuning mode 1 are not met and the load inertia moment ratio could not be estimated properly, for example.

Yes

OK?

No

Manual mode

You can adjust all gains manually when you want to do fast settling or the like.

END

6.1.2 Adjustment using MR Configurator

This section gives the functions and adjustment that may be performed by using the servo amplifier with the MR

Configurator which operates on a personal computer.

Function Description Adjustment

Machine analyzer

Gain search

With the machine and servo motor coupled, the characteristic of the mechanical system can be measured by giving a random vibration command from the personal computer to the servo and measuring the machine response.

You can grasp the machine resonance frequency and determine the notch frequency of the machine resonance suppression filter.

You can automatically set the optimum gains in response to the machine characteristic. This simple adjustment is suitable for a machine which has large machine resonance and does not require much settling time.

You can automatically set gains which make positioning settling time shortest.

Machine simulation

Executing gain search under to-and-fro positioning command measures settling characteristic while simultaneously changing gains, and automatically searches for gains which make settling time shortest.

Response at positioning settling of a machine can be simulated from machine analyzer results on personal computer.

You can optimize gain adjustment and command pattern on personal computer.

6 - 2


6.2 Auto tuning

6.2.1 Auto tuning mode

The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier.

(1) Auto tuning mode 1

The servo amplifier is factory-set to the auto tuning mode 1.

In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains automatically.

The following parameters are automatically adjusted in the auto tuning mode 1.

Parameter No. Abbreviation Name

PB06

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 5s or less.

Speed is 150r/min or higher.

The Load to motor inertia moment ratio is 100 times or less.

The acceleration/deceleration torque is 10 or more of the rated torque.

Under operating conditions which will impose sudden disturbance torque during acceleration/deceleration or on a machine which is extremely loose, auto tuning may not function properly, either. In such cases, use the auto tuning mode 2 or manual mode to make gain adjustment.

(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since the load inertia moment ratio is not estimated in this mode, set the value of a correct load inertia moment ratio

(parameter No.PB06).

The following parameters are automatically adjusted in the auto tuning mode 2.


PB07

PB08

PB09

PB10

PG1

PG2

VG2

VIC

Model loop gain

Position loop gain

Speed loop gain


6 - 3


6.2.2 Auto tuning mode basis

The block diagram of real-time auto tuning is shown below.

Command

Loop gains

Automatic setting

PG1,VG1

PG2,VG2,VIC

Servo motor

Load inertia moment

Encoder

Current control

Current feedback

Gain table

Set 0 or 1 to turn on.

Real-time auto tuning section

Switch

Load inertia moment ratio estimation section

Position/speed feedback

Speed feedback

Parameter No.PA08 Parameter No.PA09

0 0 0

Gain adjustment mode selection

Response setting

Parameter No.PB06

Load inertia moment ratio estimation value

When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always estimates the load inertia moment ratio from the current and speed of the servo motor. The results of estimation are written to parameter No.PB06 (the ratio of load inertia moment to servo motor). These results can be confirmed on the status display screen of the MR Configurator.

If the value of the load inertia moment ratio is already known or if estimation cannot be made properly, choose the "auto tuning mode 2" (parameter No.PA08: 0002) to stop the estimation of the load inertia moment ratio

(Switch in above diagram turned off), and set the load inertia moment ratio (parameter No.PB06) manually.

From the preset load inertia moment ratio (parameter No.PB06) value and response level (parameter No.PA09), the optimum loop gains are automatically set on the basis of the internal gain tale.

The auto tuning results are saved in the EEP-ROM of the servo amplifier every 60 minutes since power-on. At power-on, auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used as a factory setting.

POINT

If sudden disturbance torque is imposed during operation, the estimation of the inertia moment ratio may malfunction temporarily. In such a case, choose the "auto tuning mode 2" (parameter No.PA08: 0002) and set the correct load inertia moment ratio in parameter No.PB06.

When any of the auto tuning mode 1 and auto tuning mode settings is changed to the manual mode 2 setting, the current loop gains and load inertia moment ratio estimation value are saved in the EEP-ROM.

6 - 4


6.2.3 Adjustment procedure by auto tuning

Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment. The adjustment procedure is as follows.

Auto tuning adjustment

Acceleration/deceleration repeated

Yes

Load inertia moment ratio estimation value stable?

No

Auto tuning conditions not satisfied.

(Estimation of load inertia moment ratio is difficult)

No

Yes

Choose the auto tuning mode 2

(parameter No.PA08 : 0002) and set the load inertia moment ratio

(parameter No.PB06) manually.

Adjust response level setting so that desired response is achieved on vibration-free level.

Acceleration/deceleration repeated

Requested performance satisfied?

Yes

END

No

To manual mode

6 - 5


6.2.4 Response level setting in auto tuning mode

Set the response (The first digit of parameter No.PA09) of the whole servo system. As the response level setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration. Hence, make setting until desired response is obtained within the vibration-free range.

If the response level setting cannot be increased up to the desired response because of machine resonance beyond 100Hz, machine resonance suppression filter (parameter No.PB01, PB13 to PB16) may be used to suppress machine resonance. Suppressing machine resonance may allow the response level setting to increase. Refer to section 7.2 for filter tuning mode and machine resonance suppression filter.

Setting of parameter No.PA09

Machine characteristic

Response level setting

Machine rigidity

Machine resonance

Guideline of corresponding machine frequency guideline

2 11.3

3 12.7

4 14.3

5 16.1

6 18.1

7 20.4

8 23.0

9 25.9

10 29.2

12 37.0

13 41.7

15 52.9

General machine tool conveyor

17 67.1

18 75.6 working

19 85.2

20 95.9

21 108.0

Mounter

22 121.7

23 137.1

24 154.4

25 173.9

26 195.9

27 220.6

28 248.5

29 279.9

30 315.3

31 355.1

6 - 6


6.3 Manual mode 1 (simple manual adjustment)

If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters.

POINT

If machine resonance occurs, machine resonance suppression filter (parameter

No.PB01, PB13 to PB16) may be used to suppress machine resonance. (Refer to section 7.2.)

(1) For speed control

(a) Parameters

The following parameters are used for gain adjustment.


PB06

PB07

PB09

PB10

GD2

PG1

VG2

VIC


Model loop gain

Speed loop gain


(b) Adjustment procedure

Step Operation

1 Brief-adjust with auto tuning. Refer to section 6.2.3.

2

3

4

5

6

7

8

9

Description

Change the setting of auto tuning to the manual mode (Parameter No.PA08:

0003).

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 slightly smaller value to the model loop gain

Set a slightly larger 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 suppressing resonance with machine resonance suppression filter and then executing steps 2 and 3.

While checking the rotational status, fine-adjust each gain.

Suppression of machine resonance.


Fine adjustment

6 - 7


(c) Adjustment description

1) Speed loop gain (parameter No.PB09)

This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression.

Speed loop response frequency(Hz)

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 inertia moment ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression.

Speed integral compensation setting(ms)

2000 to 3000

Speed loop gain setting/ (1 load to motor inertia moment

ratio setting)

3) Model loop gain (PG1: Parameter No.PB07)

This parameter determines the response level to a position command. Increasing the model loop gain improves track ability to a position command, but a too high value will make overshooting liable to occur at the time of setting.

Model loop gain guideline


(1 load to motor inertia moment ratio)

1

4 to

1

8

6 - 8


(2) For position control

(a) Parameters

The following parameters are used for gain adjustment.

Parameter No. Abbreviation

PB06

PB07

PB08

PB09

PB10

GD2

PG1

PG2

VG2

VIC


Model loop gain

Position loop gain

Speed loop gain


Name

(b) Adjustment procedure

Step Operation

1

2

Brief-adjust with auto tuning. Refer to section 6.2.3.

Change the setting of auto tuning to the manual mode (Parameter No.PA08:

0003).

3

4

5

6

7

8

9

10

Description

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 slightly smaller value to the model loop gain and the position loop gain.

Set a slightly larger 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.

Decrease the speed integral compensation within the vibration-free range, and return slightly if vibration takes place.

Increase the speed loop gain.

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 position 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 suppressing resonance with machine resonance suppression filter and then executing steps 3 to 5.

While checking the settling characteristic and rotational status, fine-adjust each gain.

Suppression of machine resonance.


Fine adjustment

6 - 9


(c) Adjustment description

1) Speed loop gain (VG2: parameter No.PB09)

This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression.

Speed loop response frequency(Hz)


(1 Load to motor inertia moment ratio 2

2) Speed integral compensation (VIC: parameter No.PB10)

To eliminate stationary deviation against a command, the speed control loop is under proportional integral control. For the speed integral compensation, set the time constant of this integral control.

Increasing the setting lowers the response level. However, if the load inertia moment ratio is large or the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless the setting is increased to some degree. The guideline is as indicated in the following expression.

Speed integral compensation setting(ms)

2000 to 3000

Speed loop gain setting/ (1 Load to motor inertia moment

ratio setting)

3) Position loop gain (PG2: Parameter No.PB08)

This parameter determines the response level to a disturbance to the position control loop.

Increasing the value increases the response level to the disturbance, but a too high value will increase vibration of the mechanical system.

Position loop gain guideline


(1 load to motor inertia moment ratio)

1

4 to

1

8

4) Model loop gain (PG1: parameter No.PB07)

This parameter determines the response level to a position command. Increasing position loop gain 1 improves track ability to a position command but a too high value will make overshooting liable to occur at the time of settling.

Model loop gain guideline


(1 Load to motor inertia moment ratio)

1

4 to

1

8

6 - 10


6.4 Interpolation mode

The interpolation mode is used to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the model loop gain that determines command track ability. Other parameters for gain adjustment are set automatically.

(1) Parameter

(a) Automatically adjusted parameters

The following parameters are automatically adjusted by auto tuning.


PB06

PB08

PB09

PB10

GD2

PG2

VG2

VIC


Position loop gain

Speed loop gain


(b) Manually adjusted parameters

The following parameters are adjustable manually.

Parameter No.

PB07

Abbreviation

PG1 Model loop gain

Name

(2) Adjustment procedure

Step Operation

1

Description

Select the auto tuning mode 1.

2

3

4

5

6

Set to the auto tuning mode.

During operation, increase the response level setting (parameter No.PA09), and return the setting if vibration occurs.

Check the values of model loop gain.

Set the interpolation mode (parameter No.PA08: 0000).

Set the model loop gain of all the axes to be interpolated to the same value.

At that time, adjust to the setting value of the axis, which has the smallest model loop gain.

Looking at the interpolation characteristic and rotation status, fine-adjust the gains and response level setting.

Adjustment in auto tuning mode 1.

Check the upper setting limits.

Select the interpolation mode.

Set position loop gain.

Fine adjustment.

(3) Adjustment description

(a) Model loop gain (parameter No.PB07)

This parameter determines the response level to a position command. Increasing model loop gain improves track ability to a position command but a too high value will make overshooting liable to occur at the time of settling. The droop pulses value is determined by the following expression.

Droop pulses value (pulse)

Rotation speed (r/min)

262144(pulse)

60

Model loop gain setting

6 - 11


MEMO

6 - 12

7. SPECIAL ADJUSTMENT FUNCTIONS


POINT

The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 6.

If a mechanical system has a natural resonance point, increasing the servo system response level may cause the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.

Using the machine resonance suppression filter can suppress the resonance of the mechanical system.

7.1 Function block diagram

Speed control

0

Parameter

No.PB01

Machine resonance suppression filter 1

0

Parameter

No.PB16

Low-pass filter

Automatic setting

0

Parameter

No.PB23

Current command

Servo motor

M

Manual setting

2

Machine resonance suppression filter 2 1

Manual setting

1

Encoder

7.2 Machine resonance suppression filter

(1) Function

The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth and width.

Machine resonance point

Mechanical system response level

Frequency

Notch characteristics

Notch width

Notch depth

Notch frequency

Frequency

You can use the machine resonance suppression filter 1 (parameter No.PB13, PB14) and machine resonance suppression filter 2 (parameter No.PB15, PB16) to suppress the vibration of two resonance frequencies.

7 - 1


Machine resonance point

Mechanical system response level

Frequency

Notch depth

Parameter No.PB01,

PB13, PB14

Frequency

Parameter No.PB15,

PB16

(2) Parameters

(a) Machine resonance suppression filter 1 (parameter No.PB13, PB14)

Set parameter No.PB01 to " 2".

Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1

(parameter No.PB13, PB14)

(b) Machine resonance suppression filter 2 (parameter No.PB15, PB16)

Set parameter No.PB16 to " 1".

Setting method for the machine resonance suppression filter 2 (parameter No.PB15, PB16) is same as for the machine resonance suppression filter 1 (parameter No.PB13, PB14).

POINT

The machine resonance suppression filter is a delay factor for the servo system.

Hence, vibration may increase if you set a wrong resonance frequency or a too deep notch.

If the frequency of machine resonance is unknown, decrease the notch frequency from higher to lower ones in order. The optimum notch frequency is set at the point where vibration is minimal.

A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration.

A deeper notch has a higher effect on machine resonance suppression but increases a phase delay and may increase vibration.

The machine characteristic can be grasped beforehand by the machine analyzer on the MR Configurator. This allows the required notch frequency and depth to be determined.

7 - 2


7.3 Vibration suppression control manual mode

Measure work side vibration and device shake with the machine analyzer or external measuring instrument, and set the vibration suppression control vibration frequency (parameter No.PB19) and vibration suppression control resonance frequency (parameter No.PB20) to set vibration suppression control manually.

(1) Operation

Vibration suppression control is used to further suppress machine side vibration, such as workpiece end vibration and base shake. The motor side operation is adjusted for positioning so that the machine does not shake.

Motor side

Machine side t

Vibration suppression control OFF

(Nomal control)

Motor side

Machine side t

Vibration suppression control ON

(2) Parameter

Set parameter No.PB02 (Vibration suppression control tuning mode) as shown below.

Parameter No.PB02

0 0 0 2

Manual setting

(3) Checking the vibration frequency and the resonance frequency

(a) When a vibration peak can be confirmed using MR Configurator, machine analyzer or external measuring instrument

Gain characteristic

1Hz 100Hz

Phase

-90deg.

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.

7 - 3


(b) When vibration can be confirmed using monitor signal or external measuring instrument

Motor side vibration

(Droop pulses)

Position command frequency

External acceleration pick signal, etc.

t t

Vibration cycle [Hz]

Vibration suppression control vibration frequency

Vibration suppression control resonance frequency

Set the same value.

Vibration cycle [Hz]

POINT

When machine side vibration does not show up in motor side vibration, the setting of the motor side vibration frequency does not produce an effect.

When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external measuring instrument, do not set the same value but set different values to improve the vibration suppression performance.

A vibration suppression control effect is not produced if the relationship between the model loop gain (parameter No.PB07) value and vibration frequency is as indicated below. Make setting after decreasing PG1, e.g. reduce the response setting.

2

1

(1.5 PG1) vibration frequency

7 - 4


7.4 Low-pass filter

(1) Function

When a ball screw or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque command.

The filter frequency of this low-pass filter is automatically adjusted to the value in the following expression.

Filter frequency(rad/s)

VG2

1 + GD2

10

When parameter No.PB23 is set to "

(2) Parameter

1 ", manual setting can be made with parameter No.PB18.

Set the low-pass filter selection (parameter No.PB23.)

Parameter No.PB23

Low-pass filter selection

0: Automatic setting (factory setting)

1: Manual setting (parameter No.PB18 setting)

7.5 Gain changing function

This function can change the gains. The gains are switched by using the control instruction from the controller or gain switching conditions (including the servo motor speed).

7.5.1 Applications

This function is used when.

(1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.

(2) You want to increase the gains during settling to shorten the stop settling time.

(3) You want to change the gains by using the control instruction from the controller to ensure stability of the servo system since the load inertia moment ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).

7 - 5


7.5.2 Function block diagram

The valid loop gains PG2, VG2, VIC, GD2, VRF1 and VRF2 of the actual loop are changed according to the conditions selected by gain changing selection CDP (parameter No.PB26) and gain changing condition CDS

(parameter No.PB27).

CDP

Parameter No.PB26

Control command of controller

Command pulse frequency

Droop pulses

Changing

Model speed

Comparator

CDS

Parameter No.PB27

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 - 6


7.5.3 Parameters

When using the gain changing function, always set " 3" in parameter No.PA08 (auto tuning) to choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode.

Parameter No. Abbreviation Name Unit Description

PB06

PB07

PB08

PB09

PB10

GD2

PG1

PG2

VG2

VIC


Model loop gain

Position loop gain

Speed loop gain


Gain changing load to motor inertia

PB29 GD2B moment ratio



Gain changing speed integral

PB32 VICB compensation

PB26 CDP Gain changing selection

PB27

PB28

CDS

CDT



Gain changing vibration suppression

PB33 VRF1B control vibration frequency setting

Gain changing vibration suppression

PB34 VRF2B control resonance frequency setting

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 the 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.

ms

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. kpps pulse r/min ms

Hz

Hz

You can 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.

Used to set the value of the after-changing vibration suppression control resonance frequency setting.

7 - 7


(1) Parameters No.PB06 to PB10

These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of load to motor inertia moment ratio, position loop gain, speed loop gain and speed integral compensation to be changed.

(2) Gain changing load to motor inertia moment ratio (GD2B: parameter No.PB29)

Set the load to motor inertia moment ratio after changing. If the load inertia moment ratio does not change, set it to the same value as load to motor inertia moment ratio (parameter No.PB06).

(3) Gain changing position loop gain (parameter No.PB30), Gain changing speed loop gain (parameter

No.PB31), Gain changing speed integral compensation (parameter No.PB32)

Set the values of after-changing position loop gain, speed loop gain and speed integral compensation.

(4) Gain changing selection (parameter No.PB26)

Used to set the gain changing condition. Choose the changing condition in the first digit and second digit. If you set "1" in the first digit here, you can use the control command from controller is valid for gain changing.

0 0


Under any of the following conditions, the gains change on the basis of the parameter No.PB29 to

PB34 settings.

0: Invalid

1: Control command from controller is valid

2: Command frequency (Parameter No.PB27 setting)

3: Droop pulses (Parameter No.PB27 setting)

4: Servo motor speed (Parameter No.PB27 setting)


0: Valid when the control instruction from a controller is ON

Valid at equal to or more than the value set in parameter No.PB27

1: Valid when the control instruction from a controller is OFF

Valid at equal to or less than the value set in parameter No.PB27

(5) Gain changing condition (parameter No.PB27)

When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing selection

(parameter No.PB26), set the gain changing level.

The setting unit is as follows.

Gain changing condition Unit

Command frequency

Droop pulses

Servo motor speed kpps pulse r/min

(6) Gain changing time constant (parameter No.PB28)

You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress shock given to the machine if the gain difference is large at gain changing, for example.

(7) Gain changing vibration suppression control

Control command from the controller is the only command for the gain changing vibration suppression control.

7 - 8


7.5.4 Gain changing procedure

This operation will be described by way of setting examples.

(1) When you choose changing by input device

(a) Setting




PB08

PB09

PG2

VG2

Position loop gain

Speed loop gain


Vibration suppression control vibration

PB19 VRF1 frequency setting

Vibration suppression control resonance

PB20 VRF2 frequency setting

Gain changing load to motor inertia moment

PB29 GD2B ratio

PB30

PB31

PB32

PG2B

VG2B

VICB

Gain changing position loop gain

Gain changing speed loop gain

Gain changing speed integral compensation

PB26

PB28

CDP

CDT



Gain changing vibration suppression control

PB33 VRF1B vibration frequency setting

Gain changing vibration suppression control

PB34 VRF2B resonance frequency setting

Setting

100

4.0

120

3000

20

Unit rad/s

Multiplier

( 1) rad/s rad/s

Ms

50 Hz

50 Hz

10.0

84

4000

50

0001

(Changed by ON/OFF of input device)

100

Used to set the value of the after-changing vibration suppression control vibration frequency setting.

Used to set the value of the after-changing vibration suppression control resonance frequency setting.

Multiplier

( 1) rad/s rad/s ms ms

Hz

Hz

(b) Changing timing chart

Control command of controller

OFF

ON

After-changing gaing

OFF

Change of each gain

Model loop gain 1


Position loop gain

Speed loop gain




Before-changing gain

4.0

120

3000

20

50

63.4

CDT 100ms

100

10.0 4.0

84 120

4000 3000

50 20

60 50

50 60 50

7 - 9


(2) When you choose changing by droop pulses

In this case, gain changing vibration suppression control cannot be used.

(a) Setting




PB08

PB09

PG2

VG2

Position loop gain

Speed loop gain


Gain changing load to motor inertia moment

PB29 GD2B ratio

PB30

PB31

PB32

PG2B

VG2B

VICB

Gain changing position loop gain

Gain changing speed loop gain


PB26

PB27

PB28

CDP

CDS

CDT




Setting

100

4.0

120

3000

20

10.0

84

4000

50

0003

(Changed by droop pulses)

50

100

(b) Changing timing chart

Command pulse Droop pulses

Droop pulses

[pulse]

0

CDS

CDS

After-changing gain

Change of each gain

Model loop gain


Position loop gain

Speed loop gain


Before-changing gain

4.0

120

3000

20

63.4

CDT 100ms

100

10.0 4.0 10.0

84 120 84

4000 3000 4000

50 20 50

Unit rad/s

Multiplier

( 1) rad/s rad/s ms

Multiplier

( 1) rad/s rad/s ms pulse ms

7 - 10

8. TROUBLESHOOTING

8. TROUBLESHOOTING

POINT

When an alarm with "Each axis" indicated in the "Stop method" column occurs, the servo motor in the non-alarm-occurring axis can continue running.

If an alarm/warning has occurred, refer to this chapter and remove its cause.

8.1 Alarms and warning list

When an error occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to section 8.3 or 8.4 and take the appropriate action. When an alarm occurs, the ALM-A/LM-

B turns OFF.

After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm deactivation column. The alarm is automatically canceled after removing the cause of occurrence.

Deceleration method when

Alarm deactivation

Detection Stop an alarm occurs (Note 5)

Display Name

Power

OFF ON

Error reset CPU reset method

(Note 3) method

(Note 4)

MR-J3W-

22B to MR-

J3W-1010B

MR-J3W-

0303BN6

(Note 6)

10 Undervoltage

11

12

15

16

Switch setting error

Memory error 1 (RAM)

Memory error 2 (EEP-ROM)

Encoder initial communication error 1

19 Memory error 3 (Flash-ROM)

1A Motor combination error

1E Encoder initial communication error 2

1F Encoder initial communication error 3

20

21

Encoder normal communication error

1

Encoder normal communication error

2

24 Main circuit error

25 Absolute position erase

30 Regenerative error

31 Overspeed

32 Overcurrent

33 Overvoltage

34 SSCNET receive error 1

35 Command frequency error


45 Main circuit device overheat

46 Servo motor overheat

47 Cooling fan error

Common All EDB

Common All DB FR

Common All DB FR

Common All DB EDB

Common All DB EDB

Each axis Each axis DB FR

Common All DB EDB

Common All

Each axis Each axis

Each axis Each axis

Each axis Each axis

Each axis Each axis

Each axis Each axis

DB FR

DB

DB

DB

DB

DB

FR

FR

FR

EDB

EDB

Each axis All axis

Each axis Each axis

(Note 1) (Note 1) (Note 1) Common All axis

Each axis Each axis

Each axis All axis

DB

DB

DB

DB

DB

Common All

Each axis Each axis

Each axis Each axis

DB

DB

Each axis Each axis

Each axis Each axis

(Note 1) (Note 1) (Note 1) Common All axis

DB

DB

DB

FR

FR

EDB (Note 7)

EDB

EDB (Note 8)

EDB

EDB

EDB

EDB

FR

EDB

(Note 1) (Note 1) (Note 1) Each axis Each axis DB EDB

Common All DB FR

8 - 1

8. TROUBLESHOOTING

Display Name

50

51

8A

8E

Overload 1

Overload 2

888 Watchdog

91

92

96

USB communication time-out error

USB communication error

Main circuit device overheat warning

Battery cable disconnection warning

Home position setting warning

Alarm deactivation

Power

OFF ON

Error reset CPU reset

Detection method

(Note 3)

Stop method

(Note 4)

Deceleration method when an alarm occurs (Note 5)

MR-J3W-

22B to MR-

J3W-1010B

MR-J3W-

0303BN6

(Note 6)

DB

DB

EDB

EDB

(Note 1) (Note 1) (Note 1) Each axis Each axis

(Note 1) (Note 1) (Note 1) Each axis Each axis

Each axis Each axis

Common

Common

All

All

Common All DB FR

Common

Each axis

Each axis

DB EDB

EDB

EDB

9F Battery warning

E0 Excessive regeneration warning

E1 Overload warning 1

E3 Absolute position counter warning

E4 Parameter warning

E6 Servo forced stop warning

E7 Controller forced stop warning

E8 Cooling fan speed reduction warning

E9 Main circuit off warning

EB The other axis fault warning

EC Overload warning 2

ED Output watt excess warning

Each axis

Common

Each axis

Each axis

Each axis

Common

Common

Common

Common

Each axis

Each axis

Each axis

All axis

All axis

All axis

All axis

DB

DB

DB

DB

EDB

EDB

FR

EDB

Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.

2. In some controller communication status, the alarm factor may not be removed.

3. Alarms and warnings are detected in the following axes.

Each axis: Alarms and warnings are detected in the A-axis and the B-axis separately.

Common: Alarms and warnings are detected in the A-axis and the B-axis together.

4. When an alarm or a warning occurs, the axes stop as below.

Each axis: Only the axis that detected the alarm or warning stops.

All axis: All axes stop.

5. The method is for enabled dynamic brake.

DB: Dynamic brake deceleration

EDB: Electronic dynamic brake deceleration

FR: Coasting

6. When an alarm or warning occurs during servo-on, the deceleration method will be electronic dynamic brake.

7. When Regenerative transistor error (30.2) or Regenerative transistor feedback data error (30.3) occurs, it will be FR.

8. When Overcurrent detected at hardware detection circuit (during operation) (32.1) or Overcurrent detected at hardware detection circuit (during a stop) (32.3) occurs, it will be FR.

8 - 2

8. TROUBLESHOOTING

8.2 Troubleshooting at power on

POINT

Refer to section 15.4.2 for MR-J3W-0303BN6.

When the servo system does not boot and system error occurs at power on of the servo system controller, improper boot of the servo amplifier might be the cause. Check the display of the servo amplifier, and take actions according to this section.

Display Description Cause Checkpoint Action

AA Communication with the servo system controller is disconnected.

AB

The power of the servo system controller is turned off.

SSCNET cable has breakage.

The power of the servo amplifier is turned off.

Check the power of the servo system controller.

"AA" is displayed in the corresponding axis and following axes.

Check if the connectors (CNIA, CNIB) are unplugged.

"AA" is displayed in an axis and the following axes.

Switch on the power of the servo system controller.

Replace the SSCNET cable of the corresponding axis.

Connect properly.

Check the power of the servo amplifier.

Replace the servo amplifier of the corresponding axis.

Correct the setting.

BOA

BOB

Initialization communication with the servo system

Axis No. is set incorrectly. controller is not completed. Axis No. does not match with the axis No. set to the servo system controller.

Information about the servo series is not set in the positioning module.

Check that the other servo amplifier is not assigned to the same axis No.

Check the setting and axis No. of the servo system controller.

Check the value set in Servo series

(Pr.100) in the positioning module.

One axis setting is selected when using

MR-J3W.

Check that 2 axes setting is selected in the servo system controller. does not match. cycle Check the communication cycle at the servo system controller side.

When using 8 axes or less: 0.444ms

When using 16 axes or less: 0.888ms

SSCNET cable has breakage.

"AB" is displayed in the corresponding axis and following axes.

Check if the connectors (CNIA, CNIB) are unplugged.

The system is in the test operation mode.

The power of the servo amplifier is turned off.

The servo amplifier is faulty.

Test operation mode is active.

"AB" is displayed in an axis and the following axes.

"AB" is displayed in an axis and the following axes.

Test operation setting switch (SW2-1) is turned on.





Replace the SSCNET cable of the corresponding axis.

Connect properly.

Check the power of the servo amplifier.

Replace the servo amplifier of the corresponding axis.

Turn off the test operation setting switch (SW2-1).

8 - 3

8. TROUBLESHOOTING

8.3 Remedies for alarms

CAUTION

When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur.

If an absolute position erase (25.1) occurred, always make home position setting again. Not doing so may cause unexpected operation.


POINT

When any of the following alarms has occurred, do not deactivate the alarm and resume operation repeatedly. To do so will cause the servo amplifier/servo motor to fail. Remove the cause of occurrence, and leave a cooling time of more than 30 minutes before resuming operation. To protect the main circuit elements, any of these servo alarms cannot be deactivated from the servo system controller until the specified time elapses after its occurrence. Judging the load changing condition until the alarm occurs, the servo amplifier calculates this specified time automatically.

Regenerative error (30. )

Servo motor overheat (46. )

Main circuit device overheat (45. )

Overload 1 (50. )

Overload 2 (51. )

The alarm can be deactivated by switching power off, then on or by the error reset command CPU reset from the servo system controller. For details, refer to section

8.1.

When an alarm occurs, the malfunction (ALM-A/ALM-B) switches off and the dynamic brake is operated to stop the servo motor. At this time, the display indicates the alarm No.

The servo motor comes to a stop. Remove the cause of the alarm in accordance with this section. Use the MR

Configurator to refer to a factor of alarm occurrence.

8 - 4

8. TROUBLESHOOTING

Alarm No.10

Alarm description

Display Name

Name: Undervoltage

Voltage of the control circuit power has dropped.

Voltage of the main circuit power has dropped.

Cause Checkpoint

10.1

Stop method: All axes stop

Finding Action

Connect properly. Voltage drop in the control circuit power

(1) Connector for the control circuit power is disconnected or poorly connected.

(2) Voltage of control circuit power is low. circuit power failure of

60ms or longer.

Check the connector of the control circuit power.

Check if the control circuit power voltage is 160VAC or less.

Check the power supply for a problem.

Disconnected or poorly connected.

No problem found.

160VAC or less.

Over 160VAC.

Problem found.

Check (2).

Increase the voltage in the control circuit power.

Check (3).

Check the power supply.

Check the connector of the main circuit power. the main circuit power

(2) Voltage of main circuit power is low. circuit power is disconnected.

(3) Voltage drops during acceleration.

(4) Servo amplifier is faulty.

Check if the main circuit power voltage is 160VAC or less.

Check if the bus voltage is 200VDC or more during acceleration.

Check the bus voltage using MR Configurator.

No problem found.

160VAC or less.

Over 160VAC.

Below 200VDC.

The main circuit power supply voltage is

160VAC, but the bus voltage measured using MR Configurator is less than 200VDC.

Check (2).

Increase the voltage in the main circuit power.

Check (3) and (4).

Set acceleration time longer or increase the power supply capacity.

Replace the servo amplifier.

8 - 5

8. TROUBLESHOOTING

Alarm No.11

Alarm description

Display Name

Name: Switch setting error

Rotary axis setting switch is incorrectly set.

DIP switch is incorrectly set.

Servo motor selection switch is incorrect set.

Cause Checkpoint

Stop method: All axis stop

Finding

11.3

11.4 setting error setting error

Servo motor selection switch setting error

Servo motor selection switch setting error 2

(1) Rotary switch for axis selection is set to "F".

(1) Setting of manufacturer

(1) setting DIP switch (SW2-

2) is incorrect.

Setting of servo motor selection switch is incorrect.

(2) Control mode is incorrectly set by the parameter.

(1) Wrong encoder is connected.

(2) Setting of servo motor selection switch is incorrect.

Check the rotary switch setting.

Check if manufacturer setting DIP switch (SW2-

2) is turned on.

Check the DIP switch

(SW3) setting.

Rotary servo motor: off

Linear servo motor: on

Direct drive motor: on

Check the parameter No.

PA01 setting.

"

Rotary servo motor:

0 "

"

Linear servo motor:

4 "

"

Direct drive motor:

6 "

Check the servo motor/ linear encoder connection.

Rotary servo motor: servo motor

Linear servo motor: linear encoder



(SW3) setting.



Setting is "F".

DIP switch is on.


Setting is correct.

Parameter setting is incorrect.

Wrong motor/encoder is connected.

Right motor/encoder is connected.

Action

Set to the correct axis

No.

Turn off the manufacturer setting

DIP switch (SW2-2).


Check (2).



Check (2).

Set value is incorrect. Correct the setting.

8 - 6

8. TROUBLESHOOTING

Alarm No.12

Alarm description

Display Name

Name: Memory error 1 (RAM)

Interior part of the servo amplifier (CPU) is faulty.

Interior part of the servo amplifier (custom IC) is faulty.

Cause Checkpoint


Finding

12.1

12.2 CPU data RAM error

12.3

CPU built-in RAM error

Custom IC RAM error

(1) Part in the servo amplifier is faulty.

(2) Fault is generated from the surrounding environment.





Action

Unplug all cables except the control circuit power supply cable, and check the reproducibility of the error.

Check the power supply for noise.

Check that the connector is not shorted.

Reproduced.

Not reproduced.

Problem found.


Check (2).

Take countermeasure according to the cause.

Examine checkpoints described in the alarm display "12.1".

Alarm No.13

Alarm description

Name: Clock error

Fault is found in the printed board.

There is a clock error transmitted from the controller.

Display Name

13.1 Clock error

Cause

(1) Printed board is faulty.

(2) Parts are faulty.

Checkpoint

Unplug all cables except the power supply cable, and check the reproducibility of the error.


Finding

Reproduced.

Not reproduced.

Action


Check (3).

(3) Clock error transmitted from the controller.


Error occurs when connected with the controller.

Check the power supply for noise.


Check for the fault of the rear axis amplifier.

Error occurs.

Error does not occur. Check (4).

Problem found.

Replace the controller.


8 - 7

8. TROUBLESHOOTING

Alarm No.15

Alarm description

Display Name at power on

Interior part of the servo amplifier (EEP-ROM) is faulty.

Cause Checkpoint abnormally at power on

Unplug all cables except the power supply cable, and check the reproducibility of the error.

Finding

Reproduced.

Not reproduced.

Action


Check (2). during operation


(3) The number of parameter write times is more than

100,000 times. abnormally during normal operation.

Check that the power supply does not have noise.


Check if parameter settings are changed frequently.

Check if the error occurs when parameter is changed during normal operation.

Problem found.

No problem found.

Error occurs.


Check (3). less frequently.


Alarm No.16

Alarm description

Name: Encoder initial communication error 1 Stop method: Corresponding axis stops

Error occurs in the communication between the encoder and the servo amplifier.

Display Name

16.1

16.2

Encoder receive data error 1


Cause Checkpoint Finding Action

(1) Encoder cable is faulty. Check the shield.


Check for noise, surrounding air temperature, and other factors.

Problem found.

No problem found.

Problem found.

Repair the cable.

Check (2).


Check (3).

(3) Servo amplifier is faulty. Check the reproducibility of the error.

No problem found.

Reproduced.

Not reproduced.

(1) Encoder cable is faulty. Examine checkpoints described in the alarm display "16.1".


(3) Replace the servo amplifier.



8 - 8

8. TROUBLESHOOTING

Alarm No.16 Name: Encoder initial communication error 1 Stop method: Corresponding axis stops

Alarm description

Display Name

16.5

16.6

16.7

Error occurs in the communication between the encoder and the servo amplifier.

Cause Checkpoint Finding Action receive data error 3

(1) When using only one axis, select the motorless operation for the axis to which the servo motor is not connected.

(2) The encoder cable is unplugged.

(3) Encoder cable is faulty.

Encoder transmission data error 1

Check if parameter No.

PC05 is set to motor-less operation for the unused axis.

Check if the encoder cable is connected properly.

(4) Two-wire/four-wire type parameter setting is incorrect.

Check for breakage and short of the encoder cable.

Check the shield.


PC04 setting.

Two-wire type: "00 "

Four-wire type: "10 "

Connect to a properly operating servo motor.

(5) Signal from the encoder cannot be received.

(6) Servo amplifier is faulty. Replace the servo amplifier and check the


Check for noise, and other factors.



(3) Encoder is faulty.


Replace the servo motor and check the reproducibility of the error.



Motor-less operation is not set.

Motor-less operation is set.

Not connected properly.

Connected properly. Check (3).

Problem found. Repair or replace the cable.

No problem found.

Setting is incorrect.

Alarm occurs.

Not reproduced.

Problem found.

Problem found.

No problem found.

Problem found.

No problem found.

Error is not reproduced.

Select motor-less operation

Check (2).

Connect properly.

Check (4).


Alarm does not occur. Replace the servo motor.

Check (6).



Repair the cable.

Check (2).


Check (3).

Replace the servo motor.







8 - 9

8. TROUBLESHOOTING

Alarm No.17

Alarm description

Display Name

Name: Board error

Interior part of the servo amplifier is faulty.

Cause Checkpoint


Finding error

(1) Current detection circuit error


Action

Check the reproducibility of error at power on of the servo.


Reproduced.

Not reproduced.

Problem found.


Check (2).


Examine checkpoints described in the alarm display "17.1". data error error.


17.3 Custom IC error (1) Current detection circuit error.


17.4 Amplifier detection signal error

(1) Amplifier detection signal cannot be read properly.

Unplug all cables except the control circuit power supply cable, and check the reproducibility of the error.

Reproduced. Replace the servo amplifier.

Examine checkpoints described in the alarm display "17.4". error

(1) Rotary switch setting cannot be read properly.

17.6 DIP switch error (1) DIP switch (SW2 and

SW3) setting cannot be read properly.


Alarm No.19

Alarm description

Display Name Cause error (1) Flash-ROM is faulty.

1 error

Name: Memory error 3 (Flash-ROM)

Interior part of the servo amplifier (FLASH-ROM) is faulty.


(1) Flash-ROM is faulty. error.

Checkpoint

Unplug all cables except the control circuit power supply cable, and check the reproducibility of the

Finding

Reproduced.

Action



2

8 - 10

8. TROUBLESHOOTING

Alarm No.1A

Alarm description

Display Name

Name: Motor combination error Stop method: Corresponding axis stops

Combination of servo amplifier and servo motor is incorrect.


1A.1 Motor combination error connected to an incorrect servo motor or vice versa.

(2) Linear servo setting is selected in the parameter.

(3) A servo motor that needs parameter No.Po04 setting is being used. the servo motor and its combination with the servo amplifier.


PA01 setting.

"

Rotary servo motor:

0 "

"

Linear servo motor:

4 "

Check the parameter

No.Po04 setting. incorrect.

Combination is correct.

Rotary servo motor is selected.

Linear servo motor is selected.

The setting is incorrect. combination.

Check (2).

Check the combination, then check (3).

Select a rotary servo motor.


Alarm No.1E

Alarm description

Name: Encoder initial communication error 2

Encoder is faulty.

Display Name Cause

1E.1 Encoder failure (1) Encoder is faulty.


Checkpoint

Stop method: Corresponding axis stops

Replace the servo motor and check the

Reproduced. reproducibility of the error. Not reproduced.

Check for noise and surrounding air temperature.

Finding

Problem found.

Action


Check (2).


Alarm No.1F Name: Encoder initial communication error 3 Stop method: Corresponding axis stops

Alarm description

Display Name

1F.1 Incompatible encoder

Connected encoder is not compatible.

Cause

(1) Incompatible servo motor

(linear encoder) is connected to the servo amplifier.

Checkpoint

Check the model name of the servo motor (linear encoder).

Finding Action

Incompatible servo motor (linear encoder).

Replace the servo motor (linear encoder).

8 - 11

8. TROUBLESHOOTING

Alarm No.20

Alarm description

Name: Encoder normal communication error 1 Stop method: Corresponding axis stops

Error is found in the communication between the encoder and the servo amplifier.

Display Name

20.1

20.2

20.5

20.6

20.7








Problem found.

No problem found.

Problem found.

No problem found.

Not reproduced.

Repair the cable.

Check (2).


Check (3).

Replace the servo amplifier. described in the alarm display "20.3".


(2) Fault is generated from the surrounding environment. receive


(1) The encoder cable is Check if the encoder data error 3 unplugged. cable is connected properly.

(2) Encoder cable is faulty. Check for breakage and short of the encoder cable.

(3) Improper shield treatment of encoder cable.

Check the shield treatment.






(1)

(2) Fault is generated from

Improper shield treatment of encoder cable. the surrounding environment.









No problem found.

Problem found.

No problem found.

Not reproduced.

Connect properly.

Check (3).

Take measures against noise.

Check (4).


Check for external noise, surrounding air temperature, and other factors.


Problem found. Take countermeasure according to the cause.


Problem found.

No problem found.

Problem found.

No problem found.


Repair the cable.

Check (2).


Check (3).







8 - 12

8. TROUBLESHOOTING

Alarm No.21

Alarm description

Display Name

Name: Encoder normal communication error 2

Error is found in the encoder data.

Cause Checkpoint


Finding Action error update error

(1)



High acceleration rate is detected in the encoder because of oscillation and other factors.

Decrease the loop gain, and check the

Not reproduced. Use the encoder with low loop gain.

Check for noise and other factors.


Check (3). No problem found.

Replace the servo motor and check the


Replace the servo motor. reproducibility of the error. Error is reproduced. Contact your local sales office.

(1) Encoder is faulty. Replace the servo motor and check the reproducibility of the error.

Rotation motor. Replace the servo motor.

Alarm No.24 Name: Main circuit error Stop method: All axes stop

Alarm description

Ground fault occurs at servo motor power cable of the servo amplifier.

Ground fault occurs at servo motor.

Cause Checkpoint Finding Display Name

24.1 Ground fault detected at hardware detection circuit


(2)

(4)

Short or ground fault occurs at servo motor power cable.

(3) Ground fault occurs at servo motor.

Power input cable and servo motor power cable are shorted.

Check this alarm appears even when power cable

(U, V and W) is disconnected.

Check if only the power cable is shorted (among

U, V, W and ).

Disconnect power cables on motor side, and check insulation of the motor

(among U, V, W and ).

Shut off the power, and check if power input cable and servo motor power cable are in contact.

Appears.

Does not appear.

Shorted.

Not shorted.

Shorted.

Not shorted.

In contact.

Not in contact.

Action


Check (2).

Replace the power cable.

Check (3).


Check (4).

Modify the wiring.

Check (5).

24.2 Ground fault detected at software detection function




(1) Servo amplifier is faulty. Examine checkpoints described in the alarm display "24.1".

(2) Short or ground fault occurs at servo motor power cable.

(3) Ground fault occurs at servo motor.

(4) Power input cable and servo motor power cable are shorted.


8 - 13

8. TROUBLESHOOTING

Alarm No.25

Alarm description

Display Name data erase

Name: Absolute position erase

Error is found in absolute position data.

Power is switched on for the first time in the absolute position detection system.

Cause Checkpoint

Check if the action stated in the left is performed.


Finding

Performed.

Action

Power is switched on for the first time in the absolute position detection system.

(2) Battery is removed

(replaced) when the control circuit power is off.

(3) Battery voltage is low.

(Battery is consumed.)

(4) The battery cable is faulty.




Check the battery voltage using a tester.

Check for poor contact using a tester.


Check the voltage on the motor side.

Check if the voltage drops even when new battery is connected.

Not performed.

Performed.

Not performed.

Below 3.0VDC.

3.0VDC or more.

Problem found.

No problem found.

Problem found.

No problem found.

Drops.

Check the battery is installed and make home position return.

Check (2).

Check the battery is installed and make home position return.

Check (3).

Contact your local sales office.

Check (4).

Replace the battery cable.

Check (5).

Repair or replace encoder cable.

Check (6).


Alarm No.30 Name: Regenerative error Stop method: All axes stop

Alarm description

Display Name

30.1 Regeneration heat error

(1)

30.2 Regenerative transistor error

30.3 Regenerative transistor feedback data error

Permissible regenerative power of the built-in regenerative resistor or regenerative option is exceeded.

Regenerative transistor in the servo amplifier is faulty.

Cause

Regenerative resistor

(regenerative option) setting is incorrect.

(3) Power supply voltage is

(regenerative option) is not connected. high.

(4) Regenerative load ratio is over 100 .

(1) Regenerative transistor is faulty.

(1) Detection circuit of the servo amplifier is faulty.

Checkpoint

Check the regenerative resistor (regenerative option) in use and PA02 setting.

Check if the regenerative resistor (regenerative option) is properly connected.

Check the input power supply voltage.

Check the regenerative load ratio with MR

Configurator when alarm occurs.

Check if the regenerative resistor (regenerative option) is overheated abnormally.

Disconnect wires that are connected to P and N, and then drive the servo amplifier.

Finding

The setting is incorrect.

Correct the setting. properly.

230VAC or more.

Below 230VAC.

Over 100 .

Overheated abnormally.

Not overheated abnormally.

Alarm occurs.

Action


Check (2).

Connect properly.


Lower the power supply voltage.

Check (4).

Reduce the frequency of positioning.

Increase the deceleration time constant.

Reduce the load.

Use a regenerative option if not being used.


Contact your local sales office.


8 - 14

8. TROUBLESHOOTING

Alarm No.31

Alarm description

Display Name

Name: Overspeed Stop method: Corresponding axis stops

Servo motor speed exceeds the instantaneous permissible speed.

Cause Checkpoint Finding Action speed controller is excessive.

(2) Overshoot of speed occurs as the motor starts in the maximum torque.

(3) Servo system is instable and causing oscillation. controller is over the speed or larger. permissible speed range. Within the permissible rotation speed.

Acceleration torque is clamped to the maximum torque.

Operating at maximum torque.

Check for oscillation in motor. maximum torque.

Oscillation is occurring. pattern.

Check (2).

Set acceleration time longer or reduce the load.

Check (3).

(4) Overshoot of velocity waveform occurs.


Acceleration time constant is too short causing overshoot.

Check if alarm occurs when the actual speed is lower than instantaneous permissible speed.

Oscillation is not occurring.

Overshoot occurs.

Overshoot does not occur.

Alarm occurs.

Execute auto tuning to adjust the servo system, or reduce the load.

Set acceleration time constant longer.

Set acceleration time constant longer.

Check (5).


8 - 15

8. TROUBLESHOOTING

Alarm No.32

Alarm description

Display Name

Name: Overcurrent Stop method: All axes stop

Current that flew is the permissible current of the servo amplifier or higher.

Cause Checkpoint Finding

32.1

32.2

32.3

32.4

Overcurrent detected at hardware detection circuit

(during operation).

Overcurrent detected at software detection function

(during operation).

Overcurrent detected at hardware detection circuit

(during a stop).

Overcurrent detected at software detection function

(during a stop).



(3) Servo motor is faulty.

(4) Overcurrent is mistakenly detected from the surge noise in the dynamic brake operation.


(1) Servo gain is high.

Check if this alarm appears even when power cable (UVW) is disconnected.

Check if only the power cable is shorted.

Disconnect power cables on the servo motor side, and check insulation of the motor (among U, V,

W, FG).

Check if the dynamic brake is applied once in

10 minutes or more frequently while the servo motor is running.


Check for vibration.

Appears.

Does not appear.

Action


Check (2).

Shorted.

Not shorted.


Check (3).

Ground fault occurs at the servo motor.

Ground fault does not occur at the servo motor.

Applied.


Check (4).

Apply the dynamic brake less frequently than once in 10 minutes.

Check (5). Not applied.


Vibration is occurring. Set speed loop gain smaller.

Vibration is not occurring.

Check (2).









(1) Servo gain is high.






8 - 16

8. TROUBLESHOOTING

Alarm No.33

Alarm description

Display Name

Name: Overvoltage

Bus voltage exceeds 400VDC.

Cause voltage error


(1)

(2)

Although the regenerative option is used, the parameter setting is incorrect.

Lead of built-in regenerative resistor or regenerative option has breakage or disconnected.

(3) Check the status of regenerative resistor

(regenerative option).

Checkpoint


PA02 setting.

Check the wiring and the lead of regenerative resistor (regenerative option).

Check the resistance.

Finding


Setting is correct.

Has breakage or disconnected.

Regenerative resistor

(regenerative option) is abnormal.

Action


Check (2).

Connect properly.

When using built-in regenerative resistor, replace the servo amplifier.

When using a regenerative option, replace the regenerative option. shortage. capacity Increase the deceleration time constant, and check the reproducibility of the error.

(5) Power supply voltage is high.

Check the input power supply voltage.

Normal.

Not reproduced.

253VAC or more.


Make input voltage smaller.

8 - 17

8. TROUBLESHOOTING

Alarm No.34

Alarm description

Display Name

Name: SSCNET receive error 1 Stop method: Corresponding axis stops

SSCNET communication error (Continuous communication error for 3.5ms)

Cause Checkpoint Finding Action data error receive communication connector connection error

(1) SSCNET cable is disconnected.

Check the SSCNET cable connection.

Disconnected. Turn off the control circuit power of servo amplifier, and connect the cable.

(2) Tip of SSCNET cable has dirt.

(3) SSCNET cable is broken or cut off.

Wipe off the dirt from the cable tip, and check the

Connected.

Not reproduced. Take measure to keep cable tip clean.

Check the cable.

Check if the condition stated in the left meets.

Problem found.

No problem found.

It meets.

Replace the cable.

Check (4).

Take countermeasure.

(4) Vinyl tape is stacked to

SSCNET cable, or cable containing migrating plasticizer is adhered to the cable.


It does not meet. Check (5).

Replace the servo amplifier and check the

Not reproduced. Replace the servo amplifier.

(6) Servo amplifier in front or rear axis of alarm occurring axis is faulty.

(7) Fault is generated from the surrounding environment. disconnected.

(2) Tip of SSCNET cable has dirt. broken or cut off.






Replace the servo amplifier and front/rear axes of the alarm occurring axis, and check the reproducibility of the error.

Reproduced in the rear axis of the corresponding axis.

Not reproduced.


Check (7).




8 - 18

8. TROUBLESHOOTING

Alarm No.34

Alarm description



Display Name Cause Checkpoint Finding

34.3 Communication (1) SSCNET cable is data error disconnected.

(2) Tip of SSCNET cable has dirt. broken or cut off.






(7) Fault is generated from the surrounding environment. signal detection


(2) Tip of SSCNET cable has dirt.

Examine checkpoints described in the alarm display "34.1". broken or cut off.






Action

Alarm No.35

Alarm description

Name: Command frequency error

Input pulse frequency of command pulse is too high.


Display Name

35.1 Command frequency error

(1)

Cause

Command given is the maximum speed of the servo motor or higher.

Checkpoint

Check the speed command.

Finding

Speed command is too high.

Speed command is within the setting range.

Not reproduced. (2) Servo amplifier is faulty. Replace the servo amplifier, and check the

(3) Servo system controller is faulty.


Replace the servo system controller, and check the


Not reproduced.

Problem found.

Action

Review the operation pattern.

Check (2).


Replace the servo system controller.


8 - 19

8. TROUBLESHOOTING

Alarm No.36

Alarm description

Display Name


SSCNET communication error (Continuous communication error for about 70ms.)


36.1 Continuous communication data error


(2) Tip of SSCNET cable

(3) has dirt.

SSCNET cable is broken or cut off.




Check the cable connection.

Wipe off the dirt from the cable tip, and check reproducibility.

Check the cable.

Check if the condition stated in the left meets.


Disconnected. Turn off the power of servo amplifier, and connect the cable.


Not reproduced. Take measure to keep cable tip clean.

Problem found.

No problem found.

Does not meet.

Not reproduced.

Replace the cable.

Check (4).

Check (5).




Replace front and rear axes of alarm occurring axis, and check the reproducibility of the error. Not reproduced.

Check for noise, etc.

Reproduced in the rear axis of the corresponding axis.

Problem found.


Check (7).


Alarm No.37

Alarm description

Display Name range error

37.2 Parameter combination error

Name: Parameter error

Settings in the servo amplifier are incorrect.

(2)

There is a parameter of which value is set outside of the setting range.

EEP-ROM fault caused by parameter write times over.

Cause

(3) Servo amplifier fault caused the parameter setting to be rewritten.

(1) One parameter setting contradicts another.


Checkpoint

Check the parameter number, and check the setting of the controller.

Write parameter values within the setting range, and check that values are written correctly.

Replace the servo amplifier and check the reproducibility of the error.

Check parameter numbers, and check the setting values.

Finding Action

Outside of the range. Change parameter value to within the setting range.

Within the range.

Abnormal values are written.

Values are written correctly.

Not reproduced.

Problem found in the setting values.

Check (2).


Check (3).

Use the newly replaced servo amplifier.

Correct the setting value.

8 - 20

8. TROUBLESHOOTING

Alarm No.45

Alarm description

Display Name

Name: Main circuit device overheat

Inside of the servo amplifier overheats.

Cause Checkpoint


Finding abnormal temperature temperature is over 55 .

(2) Specification of close

(3) mounting is not met.

The power supply was turned on and off continuously by overloaded status.

Check that surrounding air temperature is 55 or less.

Check the specification of close mounting.

Check if overloaded status occurred many times.

Action

Surrounding air temperature is over

55 .

Lower the surrounding air temperature.

Check (2). temperature is 55 or less.

Specification not met. Use according to the specification.

Specification met. Check (3).

Occurred many times. Review the operation method.

Did not occur. Check (4).

45.5 Board temperature error

(4) Foreign matter caught in cooling fan or heat sink.

Clean the cooling fan and heat sink, and check the

Not reproduced. Clean periodically.

(5) Servo amplifier is faulty. Replace the servo amplifier and check the reproducibility of the error.

Not reproduced. Use a properly operating servo amplifier.

Examine checkpoints described in the alarm display "45.1". temperature is over 55 .

(2) Specification of close mounting is not met.

(3) The power supply was turned on and off continuously by overloaded status.

(4) Foreign matter caught in cooling fan or heat sink.


Alarm No.46 Name: Servo motor overheat Stop method: Corresponding axis stops

Alarm description

Display Name thermal sensor error

Servo motor overheats abnormally.

Cause motor is over 40 . air temperature of the servo

Checkpoint

Check the surrounding air temperature of the servo motor.

(2) Servo motor is overloaded.

(3) Thermal sensor in encoder is faulty.

Check the effective load ratio with MR

Configurator.

Check the motor temperature at alarm occurrence.

Finding Action

Surrounding air temperature is over

40 .

Lower the surrounding air temperature of the servo motor.

Check (2). temperature is 40 or less.

Effective load ratio is large.

Reduce the load or review the operation method.

Check (3). Effective load ratio is small.

Motor temperature is low.


8 - 21

8. TROUBLESHOOTING

Alarm No.47

Alarm description

Display Name

Name: Cooling fan error

Cooling fan speed of the servo amplifier is decreased.

Cooling fan speed drops to the alarm level or lower.

Cause Checkpoint


Finding

47.1 Cooling fan stop error

(1) Foreign matter is caught in the cooling fan.

Check for foreign matter caught in the cooling fan.

Foreign matter is caught.

Foreign matter is not caught.

Fan is stopped.

Action

Remove the foreign matter.

Check (2).

47.2 Decreased cooling fan speed error

(2) Cooling fan life expiration. Check if the fan is stopped.

(1) Foreign matter is caught in the cooling fan.

Check for foreign matter caught in the cooling fan.

(2) Cooling fan life expiration. Check the cumulative power supply time of the servo amplifier.

Foreign matter is caught.

Foreign matter is not caught.

Life is expired.



Check (2).


Alarm No.50 Name: Overload 1 Stop method: Corresponding axis stops

Alarm description

Display Name

50.1 Thermal overload error 1 during operation

(1)

Load exceeds overload protection characteristic of servo amplifier.


Electromagnetic brake is activated.

(2) Servo amplifier is used in excess of its continuous output current.

Check if the electromagnetic brake is activated.


Configurator.

Activated.

Not activated.


Action

Review the wiring.

Check (2).

Reduce load.

Check operation pattern.

Use servo motor that provides larger output.

Check (3).

(3) Servo system is instable and causing oscillation.

Check for oscillation in motor.

Effective load ratio is small.

Oscillation is occurring.

Oscillation is not occurring.

Not reset.

Adjust the gain.

Check (4).

Reset the alarm after sufficient cool-off time.

(4) After the overload alarm has been output, the operation is restarted without having cool-off time.

Check if the alarm is reset after waiting 30 minutes or longer subsequent to the output of the alarm.

(5) Servo amplifier is faulty. Replace the servo amplifier, and check the reproducibility of the error.


8 - 22

8. TROUBLESHOOTING

Alarm No.50

Alarm description

Display Name

Name: Overload 1 Stop method: Corresponding axis stops


Cause Checkpoint Finding Action error 2 during operation something.

(2) Power cable is cut. struck something.

Machine struck. Review the operation pattern.

Machine did not strike. Check (2).

Check the power cable. Problem found. Modify the wiring. to/from the servo motor.

(4) Electromagnetic brake is activated.



Check the wiring of U, V and W phases.


(8) Encoder is faulty. Replace the servo motor, and check the reproducibility of the error.

No problem found.

Problem found.

No problem found.


Not reproduced.

Check (3).

Perform wiring correctly.

Check (4).

Replace the servo motor. error 4 during operation something.

(2) Power cable is cut. to/from the servo motor






8 - 23

8. TROUBLESHOOTING

Alarm No.50

Alarm description

Display Name




50.4 Thermal overload error 1 during a stop error 2 during a stop



(3) Hunting occurs during servo lock.

Check if the electromagnetic brake is activated during operation.


Configurator.

Activated.

Not activated.


Review the wiring

Check (2).

Reduce load.



Check (3).

Check for hunting.

(6) Hunting occurs during a stop.




Hunting occurs.

Hunting does not occur.




something.

(2) Power cable is cut. to/from the servo motor.



Not reset.

Not reproduced.


Replace the servo amplifier. struck something.



Check the power cable. Problem found. Modify the wiring.


No problem found.

Problem found.

Check (3).


No problem found. Check (4).


Not reproduced.

Adjust the gain.

Check (4).


8 - 24

8. TROUBLESHOOTING

Alarm No.50

Alarm description

Display Name



Cause Checkpoint Finding Action error 4 during a stop something.




(6) Hunting occurs during a stop.



Alarm No.51

Alarm description

Display Name

51.1

51.2

Thermal overload error 3 during operation

Thermal overload error 3 during a stop

Name: Overload 2

Machine collision or the like caused maximum output current to flow for several seconds continuously.

(1)

(2)

Cause

Power cable is cut.

Incorrect connections to/from the servo motor.

(3) Misconnection of encoder cable. something.

(5) Torque is saturated.


Checkpoint

Check the power cable.


Check the encoder cable connection.

Check if the machine struck something.

Check the torque during the operation.

Replace the servo amplifier, and check the


Finding

Misconnection found.

Action

Modify the wiring.

Problem found. Modify the wiring.

No problem found.

Problem found.

Check (3).


Check (4). No problem found.



Torque is saturated. Review the operation pattern.

Torque is not saturated.

Check (6).



Not reproduced. Replace the servo motor.


(3) Misconnection of encoder cable. something.





8 - 25

8. TROUBLESHOOTING

Alarm No.52

Alarm description

Display Name

Name: Error excessive Stop method: Corresponding axis stops

The droop pulses existing between the model position and the actual servo motor position exceeds the alarm level.

Cause Checkpoint Finding Action pulse

(1) Power cable is cut.

(2)

(3)

(4) Torque limit value is too

Misconnection of the servo motor.

Misconnection of encoder cable. small. something.

(6) Torque shortage.

(7)

(8)

Equipment cannot be started because of torque shortage caused by the power supply voltage drop.

Acceleration/deceleration time constant is too small.

Check the power cable. No connection (open phase).

Check the connection of

U, V and W phases.

No problem found.

Misconnection not found.

Modify the wiring.

Check (2).

Misconnection found. Modify the wiring.

Check (3).

Check the axis where encoder cable is connected.


Check the torque limit value.


Check if the torque is saturated.

Check the bus voltage using MR Configurator .

Misconnection not found.

Torque limit value is small.

Check (4).

Increase the torque limit value.

Check (5). Within the setting range.

Struck.


Bus voltage is low.


Check (6). Did not strike.

Torque is saturated. Reduce load.



Check (7).

Review the power supply voltage.

Set acceleration/ deceleration time longer, and check the reproducibility of the error.

Bus voltage is high.

Not reproduced.

Check (8).


(9) Position loop gain is too small.

(10) Servo motor shaft is rotated by external force.

Change the position loop gain, and check the

Not reproduced.

Motor moves.

Does not move.

Review the position loop gain.

Check the machine.

Check (11).

52.4 Maximum deviation at 0 torque limit


(1) Torque limit is set to 0.

Measure the actual servo motor position in the servo lock status.


Check the torque limit value.

Alarm does not occur. Replace the servo motor.

Torque limit is 0. Increase the torque limit value.

8 - 26

8. TROUBLESHOOTING

Alarm No. 8A

Alarm description

Display Name

Name: USB communication time-out error Stop method: All axes stop

Communication between the servo amplifier and a communication device (PC, etc.) stops for the specified time or longer.

Cause Checkpoint Finding Action communication time-out error

Not sent. Send commands from the personal computer. commands are not sent.

(2) USB cable has breakage. sent from the personal computer.

Replace the USB cable and check the


Sent.

Not reproduced.

Not reproduced.

Replace the USB cable.


Alarm No. 8E

Alarm description

Display Name

8E.1 USB communication receive error

8E.2 USB communication checksum error

8E.3 USB communication character error

Name: USB communication error

USB communication error occurs between the servo amplifier and a communication device (PC, etc.)

Cause

(1) USB cable is faulty. device (personal computer, etc.) is improper.

Check the communication setting of the communication device.


(1) Setting of communication device (personal computer, etc.) is improper.


(1) Character not in the specification is transmitted. is faulty.

Checkpoint

Replace the USB cable and check the

Check the character code at transmission. data conforms the communication protocol.


Not reproduced. found.

Setting is correct.

Not reproduced.

Incorrect setting found.

Finding

Character not in the specification is transmitted.

Only character in the specification is transmitted.

Does not conform.

Action

Replace the USB cable.

Review the setting.

Check (3).


Review the setting.

Modify the send command.

Check (2).

Modify transmission data according to the communication protocol.



Conforms.


Review the setting.

8 - 27

8. TROUBLESHOOTING

Alarm No. 8E

Alarm description

Display Name

Name: USB communication error Stop method: All axes stop



8E.4 USB communication command error

8E.5 USB communication data No. error

(1) Command not in the specification is transmitted. is faulty.


(1) Data No. not in the specification is transmitted. is faulty.

Check the command code at transmission. data conforms the communication protocol.


Check the data No. at transmission. data conforms the communication protocol.

Command not in the specification is transmitted.

Only commands in the specification is transmitted.

Does not conform.


Check (2).


Conforms.


Review the setting.

Data No. not in the specification is transmitted.

Only data No. in the specification is transmitted.

Does not conform.


Check (2).




Conforms.


Review the setting.

8 - 28

8. TROUBLESHOOTING

8.4 Remedies for warnings

CAUTION

If an absolute position counter warning (E3. ) occurred, always make home position setting again. Not doing so may cause unexpected operation. resuming operation.

Main circuit device overheat warning (91. )

Excessive regenerative warning (E0. )

Overload warning 1 (E1. )

When a warning whose stop method is all axis stop in the following table occurs, the servo amplifier goes into the servo-off status and the servo motor stops at the warning occurrence.

If any other warning occurs, operation can be continued but an alarm may take place or proper operation may not be performed.

Remove the cause of warning according to this section. Use the MR Configurator to refer to a factor of warning occurrence.

Warning No. 91

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

Name: Main circuit device overheat warning

Stop method: Axes can operate (warning detected at both axes)

Warning description The temperature inside of the servo amplifier exceeds the warning level.

Display Name

91.2 device overheat warning

Board temperature warning

(1) The temperature inside of the servo amplifier is high.

Cause


(1) The temperature inside of the servo amplifier is high.


Checkpoint Finding Action

Check the surrounding air temperature of the servo amplifier.

Surrounding temperature is high.

(over 55 )

Surrounding temperature is low.

Lower the surrounding air temperature.

Check (2).

Check the specification of close mounting.

Specification not met. Use according to the specification.


8 - 29

8. TROUBLESHOOTING

Warning No. 92 Name: Battery cable disconnection warning

Stop method: Axes can operate (detected at the corresponding axis).

Warning description

Display Name

92.1 Encoder battery disconnection warning signal detection

Battery voltage of absolute position detection system is low.


Check the battery cable. Problem found. (1) Battery cable has breakage.

(2) Battery voltage is decreasing (detected by encoder).

(3) Encoder cable has breakage.

Measure the battery voltage.

Check for breakage of the encoder cable.

No problem found.

Below 3.0VDC.

3.0VDC or more.

Problem found.

Action

Replace the battery.

Repair the cable.

Check (2).


Check (3).

Replace of repair the encoder cable.

Warning No. 96 Name: Home position setting warning

Stop method: Axes can operate (detected by the corresponding axis).

Warning description

Display Name at home positioning error at home positioning

Home positioning cannot be made.

Cause did not turn on within the specified time during home positioning.

Checkpoint

Measure the number of droop pulses during home positioning.

(1) Command is input during home positioning.

(2) Creep speed is high.

Check if the command is input during home positioning.

Reduce the creep speed, and check the reproducibility of the error.

Finding Action

In-position set value or larger.

Adjust the gain to make the number within In-position setting range.

Remove the cause of droop pulse occurrence.

Below INP set value. Contact your local sales office.

Command is input. Input command after home positioning is completed.

Command is not input. Check (2).

Not reproduced. Reduce the creep speed.

Warning No. 9F

Warning description

Display Name

Name: Battery warning

Battery voltage of absolute position detection system is low.

Cause Checkpoint

Stop method: Axes can operate (warning detected at both axes).

Finding Action

9F.1 Low battery (1) Battery voltage is low. Measure the battery voltage.

Below 3.2VDC. Replace the battery.

8 - 30

8. TROUBLESHOOTING

Warning No. E0

Warning description

Display Name

Name: Excessive regeneration warning


There is a possibility that regenerative power may exceed permissible regenerative power of built-in regenerative resistor or regenerative option.


E0.1 Excessive regeneration warning power of the built-in regenerative resistor or regenerative option is over 85 .


Configurator.

85 or more. Reduce the frequency of positioning.


Reduce the load.


Warning No. E1

Warning description

Display Name

Name: Overload warning 1

Stop method: Axes can operate (detected at the corresponding axis)

There is a possibility that overload alarm (50.1, 51. ) may occur.



Action warning 1 during operation the overload alarm (50.1) alarm level.

Examine checkpoints described in the alarm display "50.2". warning 2 during operation the overload alarm (50.2) alarm level.

Examine checkpoints described in the alarm display "51.1". warning 3 during operation the overload alarm (51.1) alarm level

Examine checkpoints described in the alarm display "50.3". warning 4 during operation the overload alarm (50.3) alarm level.

Examine checkpoints described in the alarm display "50.4". warning 1 during a stop the overload alarm (50.4) alarm level.




8 - 31

8. TROUBLESHOOTING

Warning No. E3

Warning description

Display Name

Name: Absolute position counter warning


The multi-revolution counter value of the absolute position encoder exceeds the maximum revolution range.

Absolute position encoder pulses are faulty.


E3.1 Absolute

E3.2

E3.5 positioning counter travel distance excess warning

Absolute positioning counter warning

Absolute positioning counter in encoder warning

(1) The travel distance from the home position is

32768 rotation or more in the absolute position system.

(1)

(1)

Fault is generated from the surrounding environment.


Fault is generated from the surrounding environment.


Check the multi-revolution counter with MR

Configurator.





32768 rotation or more.

Problem found.

No problem found.


Problem found.

No problem found.


Review the operation range.

Make home position return.


Check (2).



Check (2).


Warning No. E4

Warning description

Display Name

Name: Parameter warning


At parameter write, write to parameter outside of the setting range is attempted.

Cause range error warning the servo system controller is outside of the setting range.

Checkpoint

Check the parameter set from the servo system controller.

Finding

Outside of the setting range.

Action

Set a parameter within the range.

Warning No. E6 Name: Servo forced stop warning Stop method: All axes stop

Warning description

Display Name

E6.1 Servo forced stop warning

Forced stop signal is turned off.

Cause

(1) Forced stop (EM1) is turned off.

Checkpoint

Check the forced stop

(EM1).

OFF

Finding Action

Ensure safety and deactivate (turn on). forced stop (EM1).

ON

Not input. Input 24VDC. (2) 24VDC of external power supply is not input.

Check if 24VDC of external power supply is input.


Not reproduced. Use the newly replaced servo amplifier.

8 - 32

8. TROUBLESHOOTING

Warning No. E7

Warning description

Display Name

Name: Controller forced stop warning Stop method: All axes stop

Forced stop signal is input from the servo system controller.

Cause Checkpoint Finding forced stop warning

(1) Forced stop signal was input from the servo system controller.

Check if the servo system controller is in forced stop status.

Action

In forced stop status. Ensure safety and deactivate forced stop signal of the controller.

Warning No. E8

Warning description

Name: Cooling fan speed reduction warning


The speed of cooling fan drops to or below the warning level.

Display Name cooling fan speed warning

Cause Checkpoint in the fan causing decreased speed.

Check for foreign matter adhesion.

(2) Cooling fan life expiration. Check the cumulative power supply time of the servo amplifier.

Finding

Adhered.

Not adhered.

Life is expired.

Action


Check (2).

Replace the servo amplifier, or repair

(replace) the cooling fan.

Warning No. E9

Warning description

Name: Main circuit off warning

Stop method: All axes stop (warning detected at both axes).

Servo-on command is input when the main circuit power is off.

Bus voltage drops when servo motor is running below 50r/min.

Display Name

E9.1 Ready-on signal on at main circuit off

E9.2

E9.3

Bus voltage drop during low speed operation

Servo-on signal on at main circuit off


(1) Main circuit power is off. Check the main circuit power input. circuit power is disconnected.

(3) Bus voltage is below

215VDC.

(1) Bus voltage drops when motor is running below

50[r/min].

Check the connector of the main circuit power.

Check the bus voltage value with MR

Configurator.

Check the bus voltage value at the monitor.

Not input.

Input.

Disconnected.

No problem found.

Below 215VDC.

Below 200VDC.

Turn on the main circuit power.

Check (3).

Review the wiring.

Review the power supply capacity.


Set acceleration time longer.

(1) Main circuit power is off. Examine checkpoints described in the alarm display "E9.1".

(2) Connector for the main circuit power is disconnected.

(3) Bus voltage is below

215VDC.

8 - 33

8. TROUBLESHOOTING

Warning No. EB

Warning description

Display Name

Name: The other axis fault warning

Stop method: All axes stop (warning detected at both axes).

In the other axis, alarm demanding all axes stop (11. , 15. , 17. , 24. and 32. ) is output.


EB.1 The other axis fault warning

(1) Alarm No. 11. is output in the other axis.





Check that Alarm No.

11. is output in the other axis.









Alarm is output.

Alarm is output.

Alarm is output.

Alarm is output.

Alarm is output.

Remove the cause of

Alarm No. 11. in other the axis.

Remove the cause of


Remove the cause of


Remove the cause of


Remove the cause of


Warning No. EC

Warning description



The operation, in which current exceeding the rating flows intensively in any of U, V and W phases of the servo motor, is repeated.

Display Name

2

Cause flows intensively in any of

U, V and W phases of the servo motor repeatedly.

(2) Load is too large or the capacity is not enough.

Checkpoint

Change the stop position and check the reproducibility of the error.


Configurator.

Finding

Not reproduced.

Reproduced.


Action

Reduce the positioning frequency at the specific positioning address.

Reduce the load.

Use servo amplifier and servo motor with larger capacities.

Warning No. ED Name: Output watt excess warning


Warning description

The status, in which the output wattage (speed x torque) of the servo motor exceed the rated output, continues steadily.

Cause Checkpoint Finding Action Display Name excess

(1) Output wattage of the servo motor exceeds

150 of the rated output.

Measure motor speed and torque with MR

Configurator.

Output wattage exceeds 150 of the rated output.

Reduce the servo motor speed.

Reduce the load.

8 - 34

9. OUTLINE DRAWINGS

9. OUTLINE DRAWINGS

9.1 Servo amplifier

(1) MR-J3W-22B/MR-J3W-44B

[Unit: mm]

6

2- 6 mounting hole

60 Approx. 80 195

CNP1

CNP2

CNP3A

CNP3B

PE

(Note)

Cooling fan air intake

6

6

48 6

SW3

Note. Cooling fan is equipped only with MR-J3W-44B. It is not necessary to drill air holes on the control box surface for the cooling fan.

Mass: 1.4 [kg] (3.09 [lb])

CNP1

L

1

1

L

2

L

3

2

3

P

CNP2

L

11

C L

21

D

A B

CNP3A

W U

V

B A

CNP3B

W U

A

PE( )

V

B

1

2

1

2

3

1

2

Terminal signal layout

Screw size: M4

Tightening torque:

1.2 [N m] (10.6 [lb in])

Approx. 60

4-M5 screw

Approx. 6

48 0.3

Approx. 6

Mounting hole process drawing

Mounting screw

Screw size: M5

Tightening torque: 3.24 [N m] (28.7 [lb in])

9 - 1

9. OUTLINE DRAWINGS

(2) MR-J3W-77B/MR-J3W-1010B

2- 6 mounting hole

6

CNP1

CNP2

CNP3A

CNP3B

PE

100

6

6

88 6

Approx. 80 195

[Unit: mm]

Cooling fan air intake

SW3

Mass: 2.3 [kg] (5.07 [lb])

CNP1

L

1

1

L

2

L

3

2

3

P

CNP2

L

11

C L

21

D

A B

CNP3A

W U

V

B A

CNP3B

W U

V

B A

PE( )

1

2

1

2

3

1

2

Terminal signal layout

Screw size: M4

Tightening torque:

1.2 [N m] (10.6 [lb in])

Approx. 100

4-M5 screw

Approx. 6 88 0.3

Approx. 6


Mounting screw

Screw size: M5


9 - 2

9. OUTLINE DRAWINGS

9.2 Connector

(1) CN1A CN1B connector

[Unit: mm]

F0-PF2D103 F0-PF2D103-S

4.8

4.8

1.7

1.7

2.3

17.6 0.2

20.9 0.2

8

(2) Miniature delta ribbon (MDR) system (3M)

(a) One-touch lock type

17.6 0.2

20.9 0.2

E

A C

8

2.3

[Unit: mm]

Logo etc, are indicated here.

B 12.7

kit

Each type of dimension

A B C D E

10126-3000PE 10326-52F0-008 25.8 37.2 14.0 10.0 12.0

9 - 3

9. OUTLINE DRAWINGS

(b) Jack screw M2.6 type

This is not available as option.

A C

[Unit: mm]

E

F

Logo etc, are indicated here.

B

12.7

kit

Each type of dimension

A B C D E F

10126-3000PE 10326-52A0-008 25.8 37.2 14.0 10.0 12.0 31.3

(3) SCR connector system (3M)

Receptacle: 36210-0100PL

Shell kit : 36310-3200-008

39.5

34.8

9 - 4

10. CHARACTERISTICS

10. CHARACTERISTICS

10.1 Overload protection characteristics

An electronic thermal relay is built in the servo amplifier to protect the servo motor, the servo amplifier and the servo motor power lines from overloads. Overload 1 alarm (50. ) occurs if overload operation performed is above the electronic thermal relay protection curve shown in any of Figs 10.1. Overload 2 alarm (51. ) occurs if the maximum current flew continuously for several seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or broken line in the graph.

In a machine like the one for vertical lift application where unbalanced torque will be produced, it is recommended to use the machine so that the unbalanced torque is 70 or less of the rated torque.

When closely mounting MR-J3W-44B, operate the servo amplifier at 90 or smaller effective load ratio.

Servo amplifier MR-J3W series has solid-state servo motor overload protection. (The motor full load current is

115 rated current.)

1000 1000

In operation

100

100

In operation

10

In servo lock

10

In servo lock

1

1

0.1

0 50 100 150 200

(Note 1) Load ratio [ ]

250 300

0.1

0 50 100 150 200 250

(Note 1, 2) Load ratio [ ]

300 350 400

HF-MP053/13

HF-KP053/13

HF-MP23/43/73

HF-KP23/43/73

HF-SP51/81/52/102

HC-UP72

HC-LP52/102

HF-JP53/73/103

Note 1. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor stop status (servo lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may fail even when the electronic thermal relay protection is not activated.

2. The operation time at the load ratio of 300 to 400 applies when the maximum torque of HF-JP servo motor is increased to 400.

Fig. 10.1 Electronic thermal relay protection characteristics

10 - 1

10. CHARACTERISTICS

10.2 Power supply equipment capacity and generated loss

(1) Amount of heat generated by the servo amplifier

Table 10.1 indicates servo amplifiers' power supply capacities and losses generated under rated load. For thermal design of an enclosure, use the values in Table 10.1 in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo off according to the duty used during operation. When the servo motor is run at less than the maximum speed, the power supply capacity will be smaller than the value in the table, but the servo amplifier's generated heat will not change.

Values shown in the table are the values when same servo motors are used for the A-axis and the B-axis.

When using different servo motors for the A-axis and the B-axis, calculate the mean of the two servo motor values, and use the mean value as a reference.

Table 10.1 Power supply capacity and generated heat per servo amplifier at rated output

Servo motor 2

(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 ]

HF-KP053 0.6 35 15 0.7

HF-KP13 0.6 35 15 0.7

HF-KP43 1.8 55 15 1.1

HF-KP73 2.6 85 15 1.7

HF-MP053 0.6 35 15 0.7

HF-MP13 0.6 35 15 0.7

HF-MP43 1.8 55 15 1.1

HF-MP73 2.6 85 15 1.7

HF-SP51 2.0 55 15 1.1

HF-SP81 3.0 90 15 1.8

HF-SP52 2.0 55 15 1.1

HF-SP102 3.4 90 15 1.8

HC-LP52 2.0 55 15 1.1

HC-LP102 3.4 90 15 1.8

HC-UP72 2.6 85 15 1.7

HF-JP53 2.0 55 15 1.1

HF-JP73 2.6 85 15 1.7

HF-JP103 3.4 90 15 1.8

Note 1. Note that the power supply capacity will vary according to the power supply impedance. This value is applicable when the Power factor improving AC reactor is not used.

2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the regenerative option, refer to section 11.2.

10 - 2

10. CHARACTERISTICS

(2) Heat dissipation area for enclosed servo amplifier

The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 . (With a 5

(41 ) safety margin, the system should operate within a maximum 55 (131 ) limit.) The necessary enclosure heat dissipation area can be calculated by Equation 10.1.

A

P

K T

..................................................................................................................................................(10.1) where, 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. If convection in the enclosure is poor and heat builds up, effective heat dissipation will not be possible. Therefore, arrangement of the equipment in the enclosure and the use of a cooling fan should be considered.

Table 10.1 lists the enclosure dissipation area for each servo amplifier when the servo amplifier is operated at the ambient temperature of 40 (104 ) under rated load.

(Outside)

(Inside)

Air flow

Fig. 10.2 Temperature distribution in enclosure

When air flows along the outer wall of the enclosure, effective heat exchange will be possible, because the temperature slope inside and outside the enclosure will be steeper.

10 - 3

10. CHARACTERISTICS

10.3 Dynamic brake characteristics

POINT

Dynamic brake operates at occurrence of alarm, servo forced stop warning (E6.1), and controller forced stop warning (E7.1), and when power is turned off. Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency.

For a machine operating at the recommended load to motor inertia ratio or less, the estimated number of usage times of the dynamic brake is 1000 times while the machine decelerates from the rated speed to a stop once in 10 minutes.

Be sure to make forced stop (EM1) valid after servo motor stops when using forced stop (EM1) frequently in other than emergency.

10.3.1 Dynamic brake operation

(1) Calculation of coasting distance

Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated.

Use Equation 10.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer to (2) of this section.)

ON

Forced stop (EM1)

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]

Vo : 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 2 ][oz in 2 ]

: Dynamic brake time constant ............................................................................................................[s] t e : Delay time of control section............................................................................................................. [s]

There is internal relay delay time of about 10ms.

10 - 4

10. CHARACTERISTICS

(2) Dynamic brake time constant

The following shows necessary dynamic brake time constant for the equations (10.2).

25

20

15

73 23

10

43

5

13

053

0

0 1000 2000 3000 4000 5000 6000

Speed [r/min]

25

20

73

15

23

10

053

13

5

0

0 1000 2000

43

3000 4000 5000 6000

Speed [r/min]

HF-MP series

60

50

40

30

20

10

0

0

51

500 1000

Speed [r/min]

1500 2000

HF-KP series

120

100

80

60

40

20

0

0

52

500 1000 1500 2000 2500 3000

Speed [r/min]

HF-SP2000r/min series HF-SP1000r/min series

100

90

80

70

60

50

40

30

20

10

0

0

72

500 1000 1500 2000

Speed [r/min]

HC-UP series

260

220

180

140

100

60

20

0

0

73

103

53

1000 2000 3000 4000 5000 6000

Speed [r/min]

HF-JP3000r/min series

200

160

120

80

40

0

0

HC-LP series

52

500 1000

Speed [r/min]

1500 2000

10 - 5

10. CHARACTERISTICS

10.3.2 The dynamic brake at the load inertia moment

Use the dynamic brake under the load inertia moment ratio indicated in the following table. If the load inertia moment is higher than this value, the dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact your local sales office.

The values of the load inertia moment ratio in the table are the values at the maximum rotation speed of the servo motor.

Servo motor series


[times]

HF-KP

HF-MP

HF-SP

30

HC-UP

HC-LP

HF-JP

10.4 Cable bending life

The bending life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values.

1 10 8

5 10 7 a

1 10

5 10

1 10

5 10

7

6

6

5

1 10 5

5 10 4

1 10 4

5 10 3 b

1 10 3

4 7 10 20 40 70 100

Bending radius [mm]

200 a : Long bending life encoder cable

Long bending life motor power cable

Long bending life motor brake cable

SSCNET cable using long distance cable b : Standard encoder cable

Standard motor power cable

Standard motor brake cable

SSCNET cable using inside panel standard cord

SSCNET cable using outside panel standard cable

10 - 6

10. CHARACTERISTICS

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

The following table indicates the inrush currents (reference data) that will flow when the maximum permissible voltage (253VAC) is applied at the power supply capacity of 2500kVA and the wiring length of 1m.

Servo amplifier

Inrush currents (A

0

p

)

Main circuit power supply (L

1

, L

2

, L

3

) Control circuit power supply (L

11

, L

21

)

MR-J3W-22B

MR-J3W-44B

MR-J3W-77B

MR-J3W-1010B

120A (Attenuated to approx. 2A in 10ms)

120A (Attenuated to approx. 12A in 20ms)

20 to 30A

(Attenuated to approx. 0A in 1 to 2ms)

Since large inrush currents flow in the power supplies, always use no-fuse breakers and magnetic contactors.


When circuit protectors are used, it is recommended to use the inertia delay type that will not be tripped by an inrush current.

10 - 7

10. CHARACTERISTICS

MEMO

10 - 8

11. OPTIONS AND AUXILIARY EQUIPMENT


WARNING


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 is the cable's or connector's protection against ingress of dust and water when the cable or connector is connected to a servo amplifier or servo motor. If the IP rating of the cable, connector, servo amplifier and servo motor vary, the overall IP rating depends on the lowest IP rating of all components.

As the cables and connectors used with this servo, purchase the options indicated in this section.

11.1.1 Combinations of cable/connector sets


Personal computer

CN5

6)

1)2)3) 46)


45)

CN3

7)47)

CN1A

1)2)3)

CN1B

CN4

5)

4)

CN1C

CN5

CN3

CN1A

CN1B

CN4

Cap

(Servo amplifier attachment)

Battery unit

MR-BTCASE

MR-BAT 8

11 - 1


Servo amplifier

CNP1

CNP2

(Note)

48)19)50)51)

52)53)54)55)

CNP3A

CNP3B

CN2A

CN2B

(Note)

Direct connection (cable length 10m or less, IP65)

20)21)22)23)

Junction type (cable length more than10m, IP20)

26)27) 24)25)

28)

Junction type (cable length more than10m, IP65)

31)32) 29)30)

To 24VDC power supply for electromagnetic brake

33)

18)19)

14)15)16)17)

8)9)10)11)

12)13)

A-axis

Servo motor

HF-MP

HF-KP

Power supply connector

Brake connector

Encoder connector

33)37)41)42)

31)32)39)40)

36)

Servo motor

HC-LP72

HC-UP52


Encoder connector

33)37)41)42)

31)32)39)40)

34)38)43)44)

35)

Servo motor

HF-SP51 52


Brake connector

Encoder connector

Note. B-axis options are the same as the A-axis options.

11 - 2


(Note 1)

No.

Product Model

1) SSCNET cable

2) SSCNET cable

3) SSCNET cable

MR-J3BUS M

Cable length: 0.15 to 3m


MR-J3BUS M-A

Cable length: 5 to 20m


MR-J3BUS M-B

Cable length: 30 to 50m


Connector: PF-2D103

(Japan Aviation Electronics

Industry, Ltd.)

Connector: CF-2D103-S


Industry, Ltd.)

Description

Connector: PF-2D103


Industry, Ltd.)



Industry, Ltd.)

Application

Inside panel standard cord

Outside panel standard cable

Long distance cable

4) Battery cable

MR-J3BT1CBL M

Cable length: 0.3, 1m

Socket: DF3-2S-2C

Socket contact: DF3-2428SC(F)C

(Hirose Denki)

Connector: 10120-3000PE

Shell kit: 10320-52F0-008

(3M or similar product)

For connection with the battery unit

5) Junction battery cable

MR-J3BT2CBL M

Cable length: 0.3, 1m

Socket: DF3-2S-2C


(Hirose Denki)

Junction plug: DF3-2EP-2C

Plug contact: DF3-EP2428PC(F)A

(Hirose Denki)

As a junction for the battery

Cable length: 3m

7) Connector set

MR-J2CMP2 power MR-PWS1CBL M-A1-L supply cable Cable length: 2 5 10m power MR-PWS1CBL M-A1-H supply cable Cable length: 2 5 10m

For CN5 connector mini-B connector (5 pins)

Refer to section 11.1.3 for details.


(Hirose Denki)

For personal computer connector

A connector

For connection with PC-AT compatible personal computer

Quantity: 1 Connector: 10126-3000PE

Shell kit: 10326-52F0-008



HF-MP series

HF-KP series

IP65

Load side lead

EN compliant

IP65

Load side lead

Long bending life

EN compliant

11 - 3


(Note 1)

No.

Product Model power MR-PWS1CBL M-A2-L supply cable Cable length: 2 5 10m power MR-PWS1CBL M-A2-H supply cable Cable length: 2 5 10m power MR-PWS2CBL03M-A1-L supply cable Cable length: 0.3m


HF-MP series

HF-KP series power MR-PWS2CBL03M-A2-L supply cable Cable length: 0.3m



HF-MP series

HF-KP series cable

MR-BKS1CBL M-A1-L

Cable length: 2 5 10m


Brake connector

HF-MP series

HF-KP series cable

MR-BKS1CBL M-A1-H


Refer to section 11.1.4 for details. cable cable cable cable

Description



HF-MP series

HF-KP series

Application

IP65

Opposite-toload side lead

EN compliant

IP65


Long bending life

EN compliant

IP55

Load side lead

EN compliant

MR-BKS1CBL M-A2-L


MR-BKS1CBL M-A2-H



Brake connector

HF-MP series

HF-KP series

MR-BKS2CBL03M-A1-L

Cable length: 0.3m

MR-BKS2CBL03M-A2-L

Cable length: 0.3m


Brake connector

HF-MP series

HF-KP series


Brake connector

HF-MP series

HF-KP series

IP55


EN compliant

IP65

Load side lead

IP65

Load side lead

Long bending life

IP65


IP65


Long bending life

IP55

Load side lead

IP55


11 - 4


(Note 1)

No.

Product Model

20) Encoder cable

MR-J3ENCBL M-A1-L


21) Encoder cable

MR-J3ENCBL M-A1-H


22) Encoder cable

MR-J3ENCBL M-A2-L


23) Encoder cable

MR-J3ENCBL M-A2-H


24) Encoder cable

MR-J3JCBL03M-A1-L

Cable length: 0.3m

Description

Refer to section 11.1.2 (1) for details.


Encoder connector

HF-MP series

HF-KP series

Encoder connector

Encoder connector

HF-MP series

HF-KP series

Application

IP65

Load side lead

IP65

Load side lead

Long bending life

IP65


IP65


Long bending life

IP20

Load side lead

HF-MP series

HF-KP series


25) Encoder cable

MR-J3JCBL03M-A2-L

Cable length: 0.3m Encoder connector

HF-MP series

HF-KP series


26) Encoder cable

27) Encoder cable

28) Encoder connector set

MR-EKCBL M-L

Cable length: 20 30m

MR-EKCBL M-H

Cable length:

20 30 40 50m

MR-ECNM

29) Encoder cable

For HF-MP HF-KP series


MR-J3JSCBL03M-A1-L

Cable length: 0.3m

For HF-MP HF-KP series


Encoder connector

HF-MP series

HF-KP series

30) Encoder cable

MR-J3JSCBL03M-A2-L

Cable length: 0.3m


Encoder connector

HF-MP series

HF-KP series


IP20


IP20

IP20

Long bending life

IP20

IP65

Load side lead

IP65


11 - 5


(Note 1)

No.

Product Model

31) Encoder cable

32) Encoder cable

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



34) Brake connector set

MR-BKCNS1


Straight plug: CMV1-SP2S-L

Socket contact: CMV1-#22BSC-S2-100

(DDK)

For HF-SP series

For HF-JP series

35) Power supply connector set

Cable clamp: CE3057-10A-1-D

(DDK)

Example of applicable cable

Applicable wire size: 2 to 3.5mm

2

(AWG1 to AWG12)

Cable finish D: 10.5 to 14.1mm

For HF-SP series

For HF-JP series

36) Power supply connector set

Cable clamp: CE3057-12A-2-D (DDK)

Example of applicable cable


2

(AWG14 to AWG12)

Cable finish: 9.5 to 13mm

For HC-UP72

For HC-LP52


MR-J3SCNSA


MR-BKCNS1A


Angle plug: CMV1-AP2S-L

Socket contact: CMV1-#22BSC-S2-100

(DDK)

For HF-SP series

For HF-JP series

39) Encoder cable

40) Encoder cable

MR-J3ENSCBL M-L-

S06

Cable length:

2 5 10 20 30m

MR-J3ENSCBL M-H-

S06

Cable length:

2 5 10 20 30 40

50m

For HF-SP/HC-UP/HC-LP/HF-JP series


IP67

IP67

Application

IP67

Standard flex life

IP67

Long bending life

IP67

IP67

IP67

EN compliant

IP65

EN compliant

IP67

(Note 2)

IP67

Long bending life

(Note 2)

11 - 6


(Note 1)

No.

Product Model


MR-J3SCNS-S06

Description




MR-J3SCNSA-S06


MR-BKCNS1-S06



Straight plug: CM10-SP2S-VP-L

Socket contact: CM10-#22SC (S2) (D8)-100

(DDK)

For HF-SP series


MR-BKCNS1A-S06 Angle plug: CM10-AP2S-VP-L


(DDK)

45) Junction terminal block cable

MR-TBNATBL M

Cable length: 0.5 1m


Connector for the junction terminal block

Connector: 10126-6000EL

Shell kit: 10326-3210-000


For HF-SP series

Connector for the servo amplifier


Shell kit: 10326-3210-000


Application

IP67

(Note 2)

IP67

(Note 2)

IP67

(Note 2)

IP67

(Note 2)

For junction terminal block connection

46) Junction terminal block

47) Connector set

MR-TB26A

MR-ECN1



Shell kit: 10326-52F0-008


Quantity: 20

48) Connector set

MR-J3WCNP12-DM Quantity:

1 each

49) Connector set

MR-J3WCNP12-DM-10P

For CNP1

Receptacle housing:

J43FSS-03V-KX

Receptacle contact:

BJ4F-71GF-M3.0

(Japan Solderless Terminals)

Compatible cable example


2

(AWG16 to AWG14)


Crimping tool (YRF-1130) is required.

For CNP2

Receptacle housing:

F32FMS-06V-KXY

Receptacle contact:

BF3F-71GF-P2.0




2

(AWG16 to AWG14)



Quantity:

10 each

11 - 7


(Note 1)

No.

Product Model

50) Connector set

MR-J3WCNP3-DL

Description

Use this connector set to directly connect to the servo amplifier using

MR-PWS1CBL M- .

51) Connector set

MR-J3WCNP3-DL-20P

52) Connector set

MR-J3WCNP3-D2L

For CNP3A/CNP3B

Receptacle housing: F35FDC-04V-K

Receptacle contact: LF3F-41GF-P2.0




2 (AWG19 to AWG16)



Use this connector set when the MR-PWS1CBL M- is not used.

53) Connector set

MR-J3WCNP3-D2L-20P

54) Connector set

MR-J3WCNP123-SP

For CNP3A/CNP3B

Receptacle housing: F35FDC-04V-K

Receptacle contact: BF3F-71GF-P2.0




2 (AWG16 to AWG14)



Items for 1 servo amplifier

Application

Quantity: 1

For thin wire

Quantity: 20

For thin wire

Quantity: 1

For thick wire

Quantity: 20

For thick wire

For 1 servo amplifier

CNP1 connector

Quantity: 1

Connector: 03JFAT-SAXGFK-43


Applicable wire size: AWG16 to

AWG14

CNP2 connector

Quantity: 1

Model: 06JFAT-SAXYGG-F-KK



AWG14

55) Connector set

MR-J3WCNP123-SP-10P

CNP3A/CNP3B connector

Quantity: 2

Model: 04JFAT-SAGG-G-KK



AWG14

Open tool

Quantity: 1

Model: J-FAT-OT-EXL


Note 1. 1) to 3), 6) and 8) to 44) are the same as servo amplifier options.

2. Use this option when the connector is expected to receive large vibration and shock.

For 10 servo amplifier

11 - 8


11.1.2 Encoder cable/connector sets

(1) MR-J3ENCBL M-A1-L/H MR-J3ENCBL M-A2-L/H

These cables are encoder cables for the HF-MP HF-KP series servo motors. The numerals in the Cable

Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available.

Cable model

Cable length

IP rating Bending life

2m 5m 10m

Application

For HF-MP HF-KP servo motor

Long

MR-J3ENCBL M-A1-H 2 5 10 IP65 bending life

Load side lead


Long

MR-J3ENCBL M-A2-H 2 5 10 IP65 bending life

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-MP

HF-KP

CN2A or

CN2B

MR-J3ENCBL M-A2-L

MR-J3ENCBL M-A2-H

2)

1)

Servo motor

HF-MP

HF-KP

Cable model

MR-J3ENCBL M-A1-

L


Shell kit: 36310-3200-008

(3M)

1) For CN2 connector

Connector set: 54599-1019 (Molex)

MR-J3ENCBL M-A1-

H

(Note) Signal layout (Note) Signal layout

MR-J3ENCBL M-A2-

L

2

LG 4

MRR

1

P5 3

MR

6

5

10

8

7

9

BAT or

2

LG

4

MRR

1 3

P5 MR

6

5

8

7

10

9

BAT

View seen from wiring side.


MR-J3ENCBL M-A2-

H

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.

2) For encoder connector

Connector: 2174053-1

Crimping tool for ground clip:

1596970-1

Crimping tool for receptacle contact: 1596847-1

(TE Connectivity)

(Note) Signal layout

9 SHD

7

5 MR

3 P5

1

8

6 LG

4 MRR

2 BAT


Note. Keep open the pin shown with an .

11 - 9


(b) Cable internal wiring diagram

P5

LG

MR

MRR

BAT

SD

MR-J3ENCBL2M-A1-L/H

MR-J3ENCBL5M-A1-L/H

MR-J3ENCBL10M-A1-L/H

MR-J3ENCBL2M-A2-L/H

MR-J3ENCBL5M-A2-L/H

MR-J3ENCBL10M-A2-L/H

Servo amplifier Encoder side side connector connector

1

2

3

4

9

Plate

5

4

2

9

3

6

P5

LG

MR

MRR

BAT

SHD

(2) MR-EKCBL M-L/H

POINT

The following encoder cables are of four-wire type. When using any of these encoder cables, set parameter No.PC04 to "1 " to select the four-wire type.

MR-EKCBL30M-L

MR-EKCBL30M-H

MR-EKCBL40M-H

MR-EKCBL50M-H

The servo amplifier and servo motor cannot be connected with these cables only. The servo motor side encoder cable (MR-J3JCBL03M-A1-L or MR-J3JCBL03M-A2-L) is required.

The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model.

The cables of the lengths with the symbols are available.

Cable model

Cable length

20m 30m 40m 50m


(Note)

MR-EKCBL M-L 20

30

(Note)

MR-EKCBL M-H 20

30

(Note)

40

(Note)

50

IP20

Application


Long bending life

Use in combination with

MR-J3JCBL03M-A1-L or

MR-J3JCBL03M-A2-L.

Note. Four-wire type cable.

11 - 10



Servo amplifier

CN2A or

CN2B

1)

MR-EKCBL M-L

MR-EKCBL M-H

2)

MR-J3JCBL03M-A2-L

Cable length: 0.3m

Servo motor

HF-MP

HF-KP

Cable model

MR-EKCBL M-L

MR-EKCBL M-H


Shell kit: 36310-3200-008

(3M)



(Note) Signal layout (Note) Signal layout

2

LG 4

MRR

1

P5 3

MR

6

5

7

MD

10

8

MDR

9

BAT


or

2

LG

4

MRR

1 3

P5 MR

6

5

8

MDR

10

7

MD

9

BAT



Housing: 1-172161-9

Crimping pin: 170359-1

(TE Connectivity or equivalent)

Cable clamp: MTI-0002

(Toa Electric Industry)

Signal layout

1

MR

4

MD

7

P5

2 3

MRR BAT

5

MDR

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.



11 - 11


(b) Internal wiring diagram

MR-EKCBL20M-L

Servo amplifier side Encoder side

P5

LG

1

2

7

8

P5

LG

MR-EKCBL30M-L


P5

LG

1

2

7

8

P5

LG

MR

MRR

BAT

SD

3

4

9

Plate

(Note)

1

2

3

9

MR

MRR

BAT

SHD

MR-EKCBL20M-H


P5

LG

1

2

7

8

P5

LG

MR

MRR

MD

MDR

BAT

SD

7

8

3

4

9

Plate

(Note)

1

2

4

5

3

MR

MRR

MD

MDR

BAT

6 CONT

9 SHD

MR-EKCBL30M-H

MR-EKCBL40M-H

MR-EKCBL50M-H


P5

LG

1

2

7

8

P5

LG

MR

MRR

BAT

SD

3

4

9

Plate

(Note)

1

2

3

9

MR

MRR

BAT

SHD

MR

MRR

MD 7

MDR 8

BAT

3

4

9

SD Plate

(Note)

1

2

4

5

3

MR

MRR

MD

MDR

BAT

6 CONT

9 SHD

Note. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system.

When fabricating the cable, use the wiring diagram corresponding to the length indicated below.

Cable bending life

Applicable wiring diagram

Less than 30m 30m to 50m

Long bending life MR-EKCBL20M-H MR-EKCBL30M-H

MR-EKCBL40M-H

MR-EKCBL50M-H

11 - 12


(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 Description

Connector set MR-ECNM

Servo amplifier side connector


Shell kit: 536310-3200-008

(3M)

Or

Connector set: 54599-1019(Molex)

Encoder side connector

Housing: 1-172161-9

Connector pin: 170359-1

(Tyco Electronics or equivalent)

Cable clamp: MTI-0002

(Toa Electric Industry)

(3) MR-J3JCBL03M-A1-L MR-J3JCBL03M-A2-L

The servo amplifier and servo motor cannot be connected with these cables only. The servo motor side encoder cable (MR-EKCBL M-L/H) is required.

Cable model Cable length IP rating Bending life Application

MR-J3JCBL03M-A2-L

Load side lead

Use in combination with MR-EKCBL

0.3m IP20

M-L/H.

Standard



Use in combination with MR-EKCBL

M-L/H.

11 - 13



Servo amplifier

MR-J3JCBL03M-A1-L

1)

2)

Servo motor

HF-MP

HF-KP

CN2A or

CN2B

Cable model

MR-J3JCBL03M-A1-L

1) Junction connector

Housing: 1-172169-9

Contact: 1473226-1

Cable clamp: 316454-1

Crimping tool: 91529-1

(TE Connectivity)

Signal layout

MR-J3JCBL03M-A2-L

3

BAT

6

CONT

9

SHD

2

MRR

5

MDR

8

LG

1

MR

4

MD

7

P5


MR-EKCBL M-L/-H or

MR-J3JCBL03M-A2-L

2)

Servo motor

HF-MP

HF-KP

1)



Crimping tool for ground clip: 1596970-1


(TE Connectivity)

Signal layout

9 SHD

7 MDR

5 MR

3 P5

1 CONT

8 MD

6 LG

4 MRR

2 BAT

View seen from wiring


P5

LG

MR

MRR

MD

MDR

BAT

CONT

SHD

MR-J3JCBL03M-A1-L

MR-J3JCBL03M-A2-L

Junction connector


3

6

4

5

1

2

7

8

9

3

6

P5

5

4

LG

MR

MRR

8 MD

7 MDR

2 BAT

1 CONT

9 SHD

11 - 14


(4) MR-J3JSCBL03M-A1-L MR-J3JSCBL03M-A2-L

A servo amplifier and a servo motor cannot be connected by these cables alone.

The servo motor side encoder cable (MR-J3ENSCBL M-L/H) is required.

Cable model Cable length IP rating Bending life Application

MR-J3JSCBL03M-A1-L

MR-J3JSCBL03M-A2-L


Load side lead

Use in combination with MR-

0.3m IP65

J3ENSCBL M-L/H.

Standard



Use in combination with MR-

J3ENSCBL M-L/H.


Servo amplifier

MR-J3JSCBL03M-A1-L

2)

1)

Servo motor

HF-MP series

HF-KP series

MR-J3ENSCBL M-L/-H or

CN2A or

CN2B

MR-J3JSCBL03M-A2-L

2)

Servo motor

HF-MP series

HF-KP series

1)

Cable model

MR-J3JSCBL03M-A1-L


Receptacle: CM10-CR10P-M

(DDK)

Complied cable AWG20 or less


MR-J3JSCBL03M-A2-L 7

3

CONT

2

MRR

6 5

LG

1

MR

4

BAT

10

SHD

9 8

P5

View seen from wiring side




Crimping tool for ground clip: 1596970-1


(TE Connectivity)


9 SHD

7

5 MR

3 P5

1

CONT

8

6 LG

4 MRR

2 BAT



11 - 15



P5

LG

MR

MRR

BAT

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

BAT

CONT

10 9 SHD

(5) MR-J3ENSCBL M-L(-S06) MR-J3ENSCBL M-H(-S06)

These cables are detector cables for HF-SP HC-UP HC-LP HF-JP Series servo motors. The number in the cable length column of the table indicates the symbol filling the square in the cable model. Cable lengths corresponding to the specified symbols are prepared.

Cable model

Cable length

2m 5m 10m 20m 30m 40m 50m

IP rating Bending life Application

Long

M-H 2 5 10 20 30 40 50 IP67 bending life

For HF-SP HC-UP

HC-LP HF-JP servo motor

MR-J3ENSCBL M-L-

S06

MR-J3ENSCBL M-H-

S06

Long

2 5 10 20 30 40 50 IP67 bending life

For HF-SP HC-UP

HC-LP HF-JP servo motor (Note)

Note. Use this option when the connector is expected to receive large vibration and shock. The connector at the servo motor side can be removed up to 5 times. Use the dedicated tool 357J-52780T (DDK) or a spanner with jaw size of 21mm.


Servo amplifier

CN2A or

CN2B

1)

MR-J3ENSCBL M-L(-S06)

MR-J3ENSCBL M-H(-S06)

2) Servo motor

HF-SP

HC-UP

HC-LP

HF-JP

11 - 16


Cable model

MR-J3ENSCBL M-

L

1) For CNP2A/CNP2B connector


Shell kit: 36310-3200-008

(3M)


10

Cable length

10m or shorter

2

LG 4

MRR

1

P5 3

MR

6

5

8

7

9

BAT

20m or longer

Bending life

Long bending life

Standard

Long bending life


Straight plug

CMV1-SP10S-M1

Plug (DDK)

Socket contact

CMV1-#22ASC-C1-100


20

Crimping tool:357J-53162T

CMV1-#22ASC-C2-100


24

MR-J3ENSCBL M-

H


or



7

3

6

2

MRR

5

LG

1

MR

4

BAT

10

SHD

9 8

P5

2

LG

4

MRR

6 8 10

1 3

P5 MR

5 7 9

BAT


MR-J3ENSCBL M-

L-S06

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.

View seen from wiring side. (Note)

Note. Keep open the pins shown with .

Cable length

10m or shorter

Bending life

Straight plug

20m or longer

Plug (DDK)

Socket contact

Long bending life

Standard

Long bending life

Standard

CM10-SP10S-VP-M

CM10-#22SC(C1)(D8)-100


20

Crimping tool:357J-50446

CM10-#22SC(C2)(D8)-100


23

Crimping tool:357J-50447

MR-J3ENSCBL M-

H-S06

3 2

MRR

1

MR

7 6 5

LG

4

BAT

10

SHD

9 8

P5

View seen from wiring side. (Note)

Note. Keep open the pins shown with .

11 - 17



MR-J3ENSCBL2M-L (-S06) /H (-S06)





MR-J3ENSCBL20M-L (-S06)

MR-J3ENSCBL30M-L (-S06)



MR-J3ENSCBL20M-H (-S06)






P5

LG

MR

MRR

BAT

SD

3

4

1

2

9

Plate

(Note)

8

5

1

2

4

10

P5

LG

MR

MRR

BAT

SHD

P5

LG

MR

MRR

BAT

SD

1

2

3

4

9

Plate

(Note)

8

5

P5

LG

1

2

4

10

MR

MRR

BAT

SHD

P5

LG

1

2

MR

MRR

BAT

SD

3

4

9

Plate

8

5

P5

LG

1

2

4

10

MR

MRR

BAT

SHD

(Note)

Note. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system.

11 - 18



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

(Note 2)

Description

MR-J3SCNS-S06

(Note 1)



Shell kit: 536310-3200-008

(3M)

Or

Connector set: 54599-1019

(Molex)


Straight plug: CMV1-SP10S-M2

Socket contact: CMV1-#22ASC-S1-100

Applicable wire size: AWG20 or less

(DDK)


Straight plug: CM10-SP10S-VP-M



(DDK)

MR-J3SCNSA

(Note 2)


Straight plug: CMV1-AP10S-M2

Socket contact: CMV1-#22ASC-S1-100


(DDK)

MR-J3SCNSA-S06

(Note 1)


Straight plug: CM10-AP10S-VP-M



(DDK)

Note 1. Use this option when the connector is expected to receive large vibration and shock. The connector at the servo motor side can be removed up to 5 times. Use the dedicated tool 357J-52780T (DDK) or a spanner with jaw size of 21mm.

2. Cable clamp and bushing for 5.5 mm to 7.5 mm and 7.0 mm to 9.0 mm of cable outer diameter are included.

11 - 19


11.1.3 Motor power supply cables

These cables are motor power supply cables for the HF-MP HF-KP series servo motors. The numerals in the

Cable length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available.

Refer to section 3.10 when wiring.

Cable model length

0.3m 2m 5m 10m


Load side lead

Standard



Load side lead



MR-PWS2CBL03M-A1-L 03 IP55 Standard For HF-MP HF-KP servo motor


(1) Connection of servo amplifier and servo motor

MR-PWS1CBL M-A1-L

MR-PWS1CBL M-A1-H

MR-PWS2CBL03M-A1-L

1)

Servo amplifier or Servo motor

HF-MP

HF-KP

CNP3A or

CNP3B

MR-PWS1CBL M-A2-L

MR-PWS1CBL M-A2-H

MR-PWS2CBL03M-A2-L

1)

Connector for CNP3A/CNP3B


Cable model

MR-PWS1CBL M-A1-L

MR-PWS1CBL M-A2-L

MR-PWS1CBL M-A1-H

MR-PWS1CBL M-A2-H

MR-PWS2CBL03M-A1-L

MR-PWS2CBL03M-A2-L

Servo motor

HF-MP

HF-KP

1) For motor power supply connector

Connector: KN4FT04SJ1-R

Hood, socket insulator

Bushing, ground nut

Contact: ST-TMH-S-C1B-100-(A534G)

Crimping tool: CT160-3-TMH5B

(Japan Aviation Electronics Industry)

Connector: KN4FT04SJ2-R


Bushing, ground nut




Signal layout

1

2

3

4

U

V

W


(2) Internal wiring diagram

MR-PWS1CBL M-A1-L MR-PWS1CBL M-A2-L

MR-PWS1CBL M-A1-H MR-PWS1CBL M-A2-H

MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L

AWG 19 (Red)

AWG 19 (White)

(Note)

AWG 19 (Black)

AWG 19 (Green/yellow)

U

V

W

Note. These are not shielded cables.

11 - 20


11.1.4 Motor brake cables

These cables are motor brake cables for the HF-MP HF-KP series servo motors. The numerals in the Cable length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available.

Refer to section 3.11 when wiring.

Cable model length

0.3m 2m 5m 10m



Load side lead





(1) Connection of power supply for electromagnetic brake and servo motor

MR-BKS1CBL M-A1-L

MR-BKS1CBL M-A1-H

MR-BKS2CBL03M-A1-L 1)

24VDC power supply for electromagnetic brake or

Servo motor

HF-MP

HF-KP

Cable model

MR-BKS1CBL M-A1-L

MR-BKS1CBL M-A2-L

MR-BKS1CBL M-A1-H

MR-BKS1CBL M-A2-H

MR-BKS2CBL03M-A1-L

MR-BKS1CBL M-A2-L

MR-BKS1CBL M-A2-H

MR-BKS2CBL03M-A2-L

1)

Servo motor

HF-MP

HF-KP

1) For motor brake connector

Connector: JN4FT02SJ1-R


Bushing, ground nut




Connector: JN4FT02SJ2-R


Bushing, ground nut




Signal layout

1

2

B1

B2


MR-BKS2CBL03M-A2-L

(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 - 21


11.1.5 SSCNET cable

POINT

Do not see directly the light generated from CN1A CN1B connector of servo amplifier or the end of SSCNET cable. When the light gets into eye, you may feel something is wrong for eye.

(1) Model explanations

Numeral in the column of cable length on the table is a symbol put in the part of cable model. Cables of which symbol exists are available.

Cable model

Cable length

0.15m 0.3m 0.5m 1m 3m 5m 10m 20m 30m 40m 50m

Bending life

Application remark

Using inside cord

Using outside cable

Long

(Note)

MR-J3BUS M-B

Using long distance cable life

Note. For cable of 30m or less, contact our company.

(2) Specifications

SSCNET cable model

SSCNET cable length

Optical

Minimum bend radius cable

(cord)

Tension strength

Description

MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B

0.15m 0.3 to 3m 5 to 20m 30 to 50m

70N

25mm

140N

Enforced covering cord: 50mm

Cord: 25mm

Enforced covering cord: 50mm

Cord: 30mm

420N

(Enforced covering cord)

980N

(Enforced covering cord)

Temperature range for use (Note)

40 to 85 20 to 70

Ambient

Indoors (no direct sunlight)

No solvent or oil

4.4 0.1

4.4 0.4

External appearance

[mm]

2.2 0.07

4.4 0.1

6.0 0.2

7.6 0.5

Note. This temperature range for use is the value for optical cable (cord) only. Temperature condition for the connector is the same as that for servo amplifier.

11 - 22


(3) Outline drawings

(a) MR-J3BUS015M

(6.7)

Protective tube

(15)

(13.4)

(20.9)

150 50

0

(37.65)

[Unit: mm]

(b) MR-J3BUS03M to MR-J3BUS3M

Refer to the table shown in (1) of this section for cable length (L).

Protective tube

(Note)

[Unit: mm]

(100) (100)

L

Note. Dimension of connector part is the same as that of MR-J3BUS015M.

(c) MR-J3BUS5M-A to MR-J3BUS20M-A MR-J3BUS30M-B to MR-J3BUS50M-B

Refer to the table shown in (1) of this section for cable length (L).

SSCNET cable

Distortion dimension [mm]

A B

MR-J3BUS5M-A to MR-J3BUS20M-A

MR-J3BUS30M-B to MR-J3BUS50M-B

100

150

30

50

[Unit: mm]

Protective tube

(Note)

(A) (B)

L

Note. Dimension of connector part is the same as that of MR-J3BUS015M.

(B) (A)

11 - 23


11.1.6 Battery cable

(1) Model explanations

The numbers in the Cable length column in the table go into of the cable model names.

Cables with the lengths of the numbers are available.

Cable model

Cable length

0.3m 1m

Fiex life Application / Remark

(2) MR-J3BT1CBL M

(a) Appearance

2) 1)


BT

LG

1

2

2)

3)

Parts Description

1) Cable

2) Connector

VSVC 7/0.18 2C

Socket: DF3-2S-2C

Socket contact: DF3-2428SC(F)C (Hirose Denki)

3) Connector


Shell kit: 10320-52F0-008 (3M or similar product)

1)

White

Black

3)

9

1

Plate

BT

LG

SD

(3) MR-J3BT2CBL M

(a) Appearance

4)

2)

5)

1)

3)

Parts Description

1) Cable

2) Cable

3) Connector

4) Connector

5) Connector

VSVC 7/0.18 2C

Socket: DF3-2S-2C

Socket contact: DF3-2428SCFC (Hirose Denki)

Socket: DF3-2EP-2C

Socket contact: DF3-EP2428PCFA (Hirose Denki)


BT

LG

1

2

4) 1)

White

Black

3)

1 BT

2 LG

White

Black

2)

1 BT

2 LG

5)

11 - 24


11.2 Regenerative options

CAUTION

The specified combinations of regenerative options and servo amplifiers may only be used. Otherwise, a fire may occur.

(1) Combination and regenerative power

The power values in the table are resistor-generated powers and not rated powers.

Regenerative power [W]

Servo amplifier


MR-RB3B [20 ]

MR-J3W-22B

10 100

MR-J3W-44B

MR-J3W-1010B 300

11 - 25


(2) Selection of the regenerative option

Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative option.

(a) Regenerative energy calculation

Use the following table to calculate the regenerative energy.

1) 2) 3) 4) 5) 6) 7) 8) 9) 10) tf (1 cycle)

A-axis

Up/

Positive direction

N

0.

/V

Time

M

Friction torque

T

F

T

U

Rotary servo motor

Linear servo motor secondary side (Magnet)

V

M

1

M

2

Load

Linear servo motor primary side (Coil)

Linear servo motor

B-axis t

1

T psa1

Up/

Positive direction t

1

T psa1 t

2

T psd1

N

0.

/V t

2

T psd1

Down/

Negative direction t

3

T psa2

Down/

Negative direction t

3

T psa2 t

4

T psd2

Up/

Positive direction t

4

T psd2

T psa1

Time

T psd1

Formulas for calculating torque and energy in rotary servo motor operation

Regenerative power

1), 8)-B-axis

2), 9)-B-axis

3), 10)-B-axis

T

1

Torque applied to servo motor [N m]

(J

L

J

M

) N

0

9.55 10

4

T

2

T

U

T

F

T

3

(J

L

J

M

)

9.55 10 4

N

0

1

T psa1

1

T psd1

T

U

T

F

T

U

T

F

E 1

E

2

E

3

Energy E [J]

0.1047

2

0.1047 N

0

0.1047

2

N

0 T

1

T psa1

T

2 t

1

N

0

T

3

T psd1

4), 5)-A-axis,

9), 10)-A-axis

T

4

T

U

E

4

0 (No regeneration)

5)-B-axis, 6)-A-axis

7)-B-axis, 8)-A-axis

T

5

6)-B-axis, 7)-A-axis T

6

T

7

(J

L

J

M

) N

0

9.55 10

4

T

U

T

F

(J

L

J

M

)

9.55 10

4

N

0

1

T psa2

1

T psd2

T U T F

T

U

T

F

E

5

0.1047

2

N

0 T

5

T psa 2

E

6

0.1047 N

0

T

6 t

3

E

7 0

T

7

T psd2

Formulas for calculating thrust and energy in linear servo motor operation

Regenerative power Servo motor thrust [N]

1), 8)-B-axis

2), 9)-B-axis

F

1

F

2

F

3

(M

1

F t

(M

1

M

2

) V/T psa1

M

2

) V/T psd1

F t

F t

3), 10)-B-axis

4), 5)-A-axis,

9), 10)-A-axis

F

5)-B-axis, 6)-A-axis F

5


6


7

4

0 E

(M

1

F t

(M

1

M

2

) V/T psa2

M

2

) V/T psd2

F t

F t

4

E

1

E

2

E

3

E

5

E

6

E

7

Energy E [J]

V/2 F

1

V F

2 t

1

T psa1

V/2 F

3

T psd1

0 (No regeneration)

V/2 F

5

V F

6 t

3

T psa2

V/2 F

7

T psd2

From the calculation results in 1) to 10), find the absolute value (Es) of the sum total of negative energies.

11 - 26


(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-J3W-22B 70

MR-J3W-44B 85

MR-J3W-77B

MR-J3W-1010B

17

22

80 46

Inverse efficiency ( ) : Efficiency including some efficiencies of the servo motor and servo amplifier when rated (regenerative) torque is generated at rated speed. Since the efficiency varies with the speed and generated torque, allow for about 10 .

Capacitor charging (Ec) : Energy charged into the electrolytic capacitor in the servo amplifier.

Next, calculate the energy at different timings in one cycle of the operation.

Energy is a positive value in driving and a negative value in regenerative driving.

Write down the energy during driving/regenerative driving with signs in the calculation table as shown below.

Negative values go into the shaded cells.

<Example>

Timing 1) 2) 3) 4) 5) 6) 7) 8) 9) 10)

Sum

Regenerative Es

PR [W]

E 1) E 2) E 3) E 4)

ES

E 5) E 6) E 7) E 8) (Note) E 9)

ES 7)

ER

ER/t f

Note. Energy is not a negative value after summing regenerative driving driving

E 10)

ES 10)

ER ER

Calculate the sum of energy in each timing.

For the timings (timing 3), 7) and 10) in the example) with negative sum totals, calculate the next formula.

Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative option.

ER [J] Es Ec

If the subtraction results are negative at all timings, the regenerative option is not needed. From the total of ER's whose subtraction results are positive and a 1-cycle period, the power consumption of the regenerative option can be calculated with the following expression. Regenerative option is not required when the energy consumption is equal to or less than the built-in regenerative energy.

Power consumption PR [W] (total of positive ER's)/1-cycle operation period (t f

)

11 - 27



Set parameter No.PA02 according to the option to be used.

Parameter No.PA02

0 0

Selection of regenerative option

00: Regenerative option is not used (built-in regenerative resistor is used)

0D: MR-RB14

0E: MR-RB34

10: MR-RB3B

(4) Connection of the regenerative option

POINT

For the sizes of wires used for wiring, refer to section 11.5.

The regenerative option will cause a temperature rise of 100 relative to the ambient temperature. Fully examine heat dissipation, installation position, used cables, etc. before installing the option. For wiring, use flame-resistant wires and keep them clear of the regenerative option body. Always use twisted cables of max. 5m length for connection with the servo amplifier.

Fit the regenerative option across P -C. The G3 and G4 terminals act as a thermal sensor. G3-G4 is disconnected when the regenerative option overheats abnormally.

Servo amplifier

Always remove the lead from across P -D.

Regenerative option

P

P

C

C

D

G3

(Note 2)

G4

5m or less

(Note 1)

Cooling fan

Note 1. When the ambient temperature is more than 55 and the regenerative load ratio is more than 60 in MR-RB34 and MR-RB3B, forcefully cool the air with a cooling fan

(1.0m

3

/min or more, 92mm 92mm). A cooling fan is not required if the ambient temperature is 35 or less.

A cooling fan is required

100

60

A cooling fan is not required

0

0 35 55

Ambient temperature [ ]

A cooling fan is not required for MR-RB14.

2. Make up a sequence which will switch off the magnetic contactor when abnormal heating occurs.

G3-G4 contact specifications

Maximum voltage: 120V AC/DC

Maximum current: 0.5A/4.8VDC

Maximum capacity: 2.4VA

11 - 28


(5) Outline drawing

(a) MR-RB14

[Unit: mm]

TE1

15

40

36

6 mounting hole

5

TE1

Terminal block

G3

G4

P

C


2

(AWG24 to AWG12)

Tightening torque: 0.5 to 0.6 [N m]

(4 to 5 [lb in])

Mounting screw

Screw size: M5


Mass: 1.1 [kg] (2.4 [lb])

6

Approx. 20 149

169

2

(b) MR-RB34/MR-RB3B

10

7

90

100

17

101.5

82.5

318

335

Air intake

[Unit: mm]

Cooling fan mounting screw (2-M4 screw)

TE1

Terminal block

P

C

G3

G4

Terminal screw: M4


Mounting screw

Screw size: M6


Mass: 2.9 [kg] (6.4 [lb])

11 - 29


11.3 MR-BTCASE battery case and MR-BAT battery

POINT

Refer to appendix 5 and 6 for battery transportation and the new EU Battery

Directive.

Always install eight MR-BAT batteries to an MR-BTCASE battery case.

These are used to configure an absolute position detection system.

An MR-BTCASE battery case is a case that stores eight MR-BAT batteries by connector connections.

An MR-BTCASE battery case can be used by four

MR-J3W-B servo amplifiers (eight axes) at maximum.

To connect an MR-BTCASE battery case to a servo amplifier, the MR-J3BT1CBL M battery cable is required.

To connect multiple servo amplifiers to an MR-

BTCASE battery case, use the MR-J3BT2CBL M junction battery cable.

When using an MR-J3W-B servo amplifier in the incremental system, MR-BTCASE and MR-BAT are not required.

Battery backup time (battery life without charging) is 30,000 hours for one servo amplifier (two axes) and 10,000 hours for four servo amplifiers (eight axes).

Refer to section 12.3 for the usage.

[Unit: mm]

25 Approx. 70 130

4.6

5

2- 5mounting hole

(Note)

Note. Leave this open.

Mass: 0.3 [kg]

Outline dimension drawing of MR-BTCASE Appearance of

MR-BAT

The next table shows model names of battery cables.

The numbers in the Cable length column in the table go into of the cable model names.

Cable model

Cable length

0.3m 1m

Fiex life Application / Remark

11 - 30


11.4 MR Configurator

The MR Configurator uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer.

(1) Specifications

Item Description

Compatibility with a servo amplifier

Servo motor

MR Configurator

Rotary servo motor

Linear servo motor

Direct drive motor

MRZJW3-SETUP221 software version

C1 or later

C3 or later

Monitor

Alarm

Diagnostic

Parameters

Test operation

Advanced function

(Note)

File operation

Others

Display, high speed monitor, Multiple axis graph trend graph

Minimum resolution changes with the processing speed of the personal computer.

Display, history, amplifier data

Digital I/O, no motor rotation, total power-on time, amplifier software version info, motor information, tuning data, absolute encoder data, Axis name setting.

Parameter list, turning, change list, detailed information

Jog operation, positioning operation, Do forced output, program operation.

Machine analyzer, gain search, machine simulation, robust disturbance compensation,

Advanced gain search

Data read, save, delete, print

Automatic demo, help display

Note. The advanced gain search is supported by MR Configurator with software version C2 or later.

11 - 31


(2) System configuration

(a) Components

To use this software, the following components are required in addition to the servo amplifier and servo motor.

Equipment (Note 1) Description

(Note 2, 3, 4, 5)

Personal computer

Browser

Display

Keyboard

Mouse

Printer

USB cable

OS

CPU

Microsoft R

Microsoft R

Microsoft R

Microsoft R

Microsoft R

Microsoft R

Microsoft R

Microsoft R

Microsoft R

Microsoft R

Microsoft R

Microsoft R

Microsoft R

Windows

Windows

Windows

Windows

R

R

R

R

7 Ultimate [Service Pack none/1]

7 Enterprise [Service Pack none/1]

7 Professional [Service Pack none/1]

7 Home Premium [Service Pack none/1]

Windows R 7 Starter [Service Pack none/1]

Windows Vista R Home Basic [Service Pack none/1/2]

Windows Vista

Windows Vista

Windows Vista

R

R

R

Home Premium [Service Pack none/1/2]

Business [Service Pack none/1/2]

Ultimate [Service Pack none/1/2]

Windows Vista

Windows R

R Enterprise [Service Pack none/1/2]

XP Professional [Service Pack 2/3]

Windows

Windows

R

R

XP Home Edition [Service Pack 2/3]

2000 Professional [Service Pack 4]

Desktop PC: Intel R

Laptop PC: Intel R

Celeron R

Pentium R

processor 2.8GHz or more.

M processor 1.7GHz or more.

512 MB or more (for 32-bit OS) and 1 GB or more (for 64-bit OS)

1GB or more of free space

Memory

Hard Disk

Communication interface

USB port

Internet Explorer 4.0 or more

One whose resolution is 1024 768 or more and that can provide a high color (16 bit) display.

Connectable with the above personal computer.




MR-J3USBCBL3M

Note 1. Windows and Windows Vista are registered trademarks of Microsoft Corporation in the United States and/or other countries.

Celeron and Pentium are the registered trademarks of Intel Corporation.

2. On some personal computers, MR Configurator2 may not run properly.

3. When Microsoft R Windows R 7, Microsoft R Windows Vista R , or Microsoft R Windows R XP is used, the following functions cannot be used.

Windows Program Compatibility mode

Fast User Switching

Remote Desktop

Large Fonts Mode (Display property)

DPI settings other than 96DPI (Display property)

For 64-bit operating system, this software is compatible with Windows R 7.

4. When Windows R 7 is used, the following functions cannot be used.

Windows XP Mode

Windows touch

5. When using this software with Windows Vista R and Windows R 7, log in as a user having USER authority or higher.

11 - 32


(b) Connection with servo amplifier

Servo amplifier

CN5

USB Cable

MR-J3USBCBL3M

(Option)

To USB connector

Personal computer

11 - 33


(3) MR Configurator

MR Configurator MRZJW3-SETUP221E supports MR-J3W-B.

The following table shows notes for using

MR-J3W-B with MR Configurator.

(a) Specification and setting

Item Mode Specification/setting

System setting

Station No. selection A-axis

B-axis

Select "MR-J3-B."

Servo amplifier: Set parameter No.PC15 to "0 (initial setting)".

MR Configurator: Select the station number "0".

With the software whose version is C3 or later, this setting is not required.

Servo amplifier: Set parameter No.PC15 to "1".

MR Configurator: Select the station number "1".

With the software whose version is C3 or later, this setting is not required.

USB communication

Via EzSocket

All monitor graph

Test operation

Machine analyzer

Same display as MR-J3-B

Three channels for each of two axes can be measured. (Set measuring axes using parameters.)

One axis only (cannot use two axes simultaneously.)

To vibrate one axis (cannot use two axes simultaneously.)

I/O interface

Tuning

Only the information on the communicating axis. Pin numbers of MR-J3-B are the pin numbers.

Vibration suppression control tuning and machine resonance filter tuning are not available.

Multiple axis monitor Not supported

Multiple axis graph Three channels for each of two axes can be measured. (Set measuring axes using parameters.)

(b) Selecting an axis to communicate

Follow the following procedure to switch the communicating axis.

Step 1: Display the System Settings.

Step 2: Press down "Ctrl" "Alt" "Shift" "F5" simultaneously to activate the station selection.

11 - 34


Step 3: Select the station "00" for the A-axis setting and the station "01" for the B-axis setting in the

Station Selection.

(c) I/O interface

Pin numbers of the I/O interface are the pin numbers of the MR-J3-B.

When using the pin numbers for

MR-J3W-B, read the pin numbers as shown below.

Item MR-J3-B

MR-J3W-B

A-axis B-axis

CN3-12 CN3-8 CN3-21

Input device

CN3-19 CN3-9 CN3-22

CN3-20 CN3-10

Output device

CN3-13 CN3-12 CN3-25

CN3-15 CN3-11 CN3-24

Encoder pulse output

Analog monitor output

CN3-7/17

CN3-8/18

CN3-4/17 CN3-6/19

Invalid (No function)

CN3-4 CN3-2

CN3-14 CN3-15

11 - 35


The next display shows the case when the A-axis (station 0) is set as the axis to communicate.

CN3-7

CN3-8

CN3-9

CN3-10

CN3-12

CN3-11

CN3-3/16

CN3-4/17

CN3-2

CN3-15

11.5 Selection example of wires

POINT

Refer to section 11.1.5 for SSCNET cable.

Wires indicated in this section are separated wires.

To comply with the UL/CSA Standard, use the wires shown in appendix 4 for wiring.

To comply with other standards, use a wire that is complied with each standard.

Selection condition of wire size is as follows.

Construction condition: One wire is constructed in the air

Wire length: 30m or less

11 - 36


(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

L

3

U

V

W

U

V

W

Motor

2) Control circuit power supply lead

L

11

L

21

5)

6) Electromagnetic

brake lead

B1

B2

Encoder cable

Electrmagnetic brake

Regenerative option

D

C

P

Encoder

4) Regenerative option lead

THM1

THM2

G1

G2

7) Thermistor lead

The following table shows selection examples of cable sizes.

These sizes are common for the 600V

Polyvinyl chloride insulated wire (IV wire) and for the 600V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire).

Table 11.1 Wire size selection example 1 (IV/HIV wire)

Servo amplifier 1) L

1

L

2

L

3

(Note 3)

2) L

11

L

21

3) U V W

(Note 2, 3)

MR-J3W-22B

MR-J3W-44B

MR-J3W-77B

2 (AWG14)

MR-J3W-1010B

4) P D

6) B

1

B

(Note 2)

2

7)

THM1 THM2

1.25 (AWG16) 0.2 (AWG24)

Note 1. Wires are selected based on the highest rated current among combining servo motors.

2. This wire size indicates the size of cable extension which is used when the wiring length exceeds 10m.

3. Use the crimping terminal specified as below for the PE terminal of the servo amplifier.

Crimping terminal : FVD2-4

Tool (body)

Manufacturer

: YNT-1614

: JST

Tightening torque : 1.2 N m

11 - 37


(2) Wires for cables

When fabricating a cable, use the wire models given in the following table or equivalent.

Table 11.2 Wires for option cables

Core size

[mm 2 ]

Number

Characteristics of one core of Cores Structure

[Wires/mm]

Conductor resistance

[ /mm]

Insulation coating

OD d [mm]

(Note 1)

(Note 2)

Finishing

OD [mm]

MR-J3ENCBL_M-A1-L

(Note 3)

6

(3 pairs)

53 or less

MR-J3ENCBL_M-A2-L

2 to 10 AWG22 7/0.26

MR-J3ENCBL_M-A1-H

Wire model

KB-1655-2 (Bando Densen)

(Note 3)

MR-J3ENCBL_M-A2-H

2 to 10 AWG22

6

(3 pairs)

70/0.08

56 or less


MR-J3JCBL03M-A1-L

8

30/0.08

MR-J3JCBL03M-A2-L

233 or less

1.2 7.1 0.3

T/2464-1061/IIA-SB 4P×26AWG

(Taiyo Cabletec)

MR-EKCBL_M-L

2 to 10

AWG28

4

(2 pairs)

232 or less

AWG22 2 17/0.16 less

20 30 AWG23

12

(6 pairs)

7/0.127

12/0.18

63.6 or less

1.18

1.50

7.0

1.2 8.2 0.3

(Note 3)

20276 composite 6-core shielded cable

Ban-gi-shi-16395-1 (Bando

Densen)

(Note 3)

20276 VSVPAWG#23×6P

KB-0492 (Bando Densen)

2 to 10 0.2 mm 2

12

(6 pairs)

40/0.08

105 or less

(Note 3)

MR-EKCBL_M-H

12

40/0.08

105 or less

Encoder cable


(Note 3)

30 to 50 AWG24

14

(7 pairs)

40/0.08

105 or less


MR-J3JSCBL03M-A1-L

MR-J3JSCBL03M-A2-L

8

7/0.16

146 or less

1.0 7.1 0.3

(Note 3)

VSVP 7/0.16 (AWG#26 or equivalent)-4P

Ban-gi-shi-16822 (Bando Densen)

(Note 3)

2 to 10 AWG22

6

(3 pairs)

7/0.26

53 or less

MR-J3ENSCBL_M-L

12

12/0.18

63.3 or less

1.2 8.2 0.3


(Note 3)

20276 VSVPAWG#23×6P

KB-0492 (Bando Densen)

(Note 3)

2 to 10 AWG22

6

(3 pairs)

70/0.08

56 or less

MR-J3ENSCBL_M-H


(Note 3)

20 to 50 AWG24

12

(6 pairs)

40/0.08

105 or less


11 - 38


Motor power supply cable

Motor brake cable

MR-PWS1CBL_M-A1-L

MR-PWS1CBL_M-A2-L

MR-PWS1CBL_M-A1-H

MR-PWS1CBL_M-A2-H

MR-BKS1CBL_M-A1-L

MR-BKS1CBL_M-A2-L

MR-BKS1CBL_M-A1-H

MR-BKS1CBL_M-A2-H

2 to 10

2 to 10

2 to 10

2 to 10

2 to 10

2 to 10

2 to 10

2 to 10

Core size

[mm 2 ]

AWG19

(0.75 mm 2 )

Number

Characteristics of one core of Cores Structure

[Wires/mm]


[ /mm]

Insulation coating

OD d [mm]

(Note 1)

(Note 2)

Finishing

OD [mm]

AWG18 4 34/0.18

AWG20 2 21/0.18

21.8

MR-PWS2CBL03M-A1-L 0.3

MR-PWS2CBL03M-A2-L 0.3

AWG19 4 30/0.18

25.8 or less

34.6

MR-BKS2CBL03M-A1-L 0.3

MR-BKS2CBL03M-A2-L 0.3

32.0 or less

1.35 4.7 0.1

1.37 4.5 0.3

(Junkosha)

Wire model

1.71 6.2 0.3

1.63 5.7 0.5

(Note 4)

HRZFEV-A (CL3) AWG18 4 cores

(Dyden)

(Note 4)

RMFES-A (CL3X) AWG19 4 cores

(Dyden)

(Note 3, 5)

(Junkosha)

(Note 4)

HRZFEV-A (CL3) AWG20 2 cores

(Dyden)

(Note 4)

RMFES-A (CL3X) AWG20 2 cores

(Dyden)

(Note 3, 5)

Note 1. The following shows the detail of d. d

Conductor Insulator

2. Standard OD. Max. OD is about 10 greater.

3. Purchase from Toa Electric Industry Co. Ltd., Nagoya Branch

4. Purchase from Taisei Co., Ltd.

5. These models consist with solid wires. Specify the color, separately.

11 - 39


11.6 No-fuse breakers, fuses, magnetic contactors

Always use one molded-case circuit breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the molded-case circuit breaker, use the one having the specifications given in this section.

When using two different types of motors in combination from a rotary servo motor, a linear servo motor or a direct drive motor, select a molded-case circuit breaker, a fuse or a magnetic contactor temporarily assuming that the same type of the motors are used for both axes. After selecting for the two types, use the larger moldedcase circuit breaker, fuse or magnetic contactor.

Molded-case circuit breaker Fuse

Total output of rotary servo motor

Total continuous thrust of linear servo motor

Total output of direct drive motor

Current

Not using power factor improving AC reactor

Using power factor improving

AC reactor

Voltage

AC [V]

(Note 1)

Class

Current

[A]

Voltage

AC [V]

(Note 2)

Magnetic contactor

15 300W or less

From over

300W to 600W

30A frame 5A 30A frame 5A

120N or less 100W or less 30A frame 10A 30A frame 10A

From over

600W to 1kW

From over

120N to 240N

From over

100W to 250W


From over

1kW to 2.0kW

From over

240N to 480N

From over

250W to 838W


20

240 K5

20

30

300

S-N10

S-N18

Note 1. Refer to appendix 4(8) to use the servo amplifier as a UL/CSA compliant product.


11 - 40


11.7 Power factor improving AC reactors

The power factor improving AC reactors improve the phase factor by increasing the form factor of servo amplifier's input current.

It can reduce the power capacity.

The input power factor is improved to be about 90 . For use with a 1-phase power supply, it may be slightly lower than 90 .

When using power factor improving reactors for two servo amplifiers or more, be sure to connect a power factor improving reactor to each servo amplifier.

If using only one power factor improving reactor, enough improvement effect of phase factor cannot be obtained unless all servo amplifiers are operated.

When using two different types of motors in combination from a rotary servo motor, a linear servo motor or a direct drive motor, select a power factor improving AC reactor temporarily assuming that the same type of the motors are used for both axes. After selecting for the two types, use the larger power factor improving AC reactor.

[Unit : mm]

Servo amplifier

3-phase

200 to 230VAC

MCCB MC

R

FR-BAL

X

S

T

Y

Z

L

1

L

2

L

3

W D1

Installation screw

(Note)

1-phase

200 to 230VAC

MCCB MC

R

FR-BAL

X

Servo amplifier

L

1

L

2

L

3

RX S Y T Z

W1 C

Total output of rotary servo motor

Total continuous thrust of linear servo motor

Total output of direct drive motor


Note. For the 1-phase 200V to 230V power supply, Connect the power supply to L

1

, L

2

and leave L

3

open.

W W1 H D D1 C screw size

Terminal screw size

Mass

[kg (lb)]

300W or less FR-BAL-0.4K 135 120 115 59 45 7.5 M4

From over

300W to 450W

From over

450W to 600W

From over

600W to 1kW

From over

1kW to 2.0kW

100N or less 100W or less FR-BAL-0.75K 135 120 115 69 57 7.5

From over

100N to 120N

From over

120N to 240N

From over

240N to 480N

From over

100W to 150W

From over

150W to 250W

From over

250W to 838W

FR-BAL-1.5K 160 145 140 71 55 7.5

FR-BAL-2.2K 160 145 140 91 75 7.5

FR-BAL-3.7K 220 200 192 90 70 0

2.5

10

M4

M4

M4

M5

M3.5

M3.5

M3.5

M3.5

M4

2.0

(4.41)

2.8

(6.17)

3.7

(8.16)

5.6

(12.35)

8.5

(18.74)

11 - 41


11.8 Relays (recommended)

The following relays should be used with the interfaces

Relay used for digital input command signals (interface DI-1)

Relay used for digital output signals (interface DO-1)

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

11.9 Noise reduction techniques

Noises are classified into external noises which enter the servo amplifier to cause it to malfunction and those radiated by the servo amplifier to cause peripheral devices to malfunction. Since the servo amplifier is an electronic device which handles small signals, the following general noise reduction techniques are required.

Also, the servo amplifier can be a source of noise as its outputs are chopped by high carrier frequencies. If peripheral devices malfunction due to noises produced by the servo amplifier, noise suppression measures must be taken. The measures will vary slightly with the routes of noise transmission.

(1) Noise reduction techniques

(a) General reduction techniques

Avoid laying power lines (input and output cables) and signal cables side by side or do not bundle them together. Separate power lines from signal cables.

Use shielded, twisted pair cables for connection with the encoder and for control signal transmission, and connect the shield to the SD terminal.

Ground the servo amplifier, servo motor, etc. together at one point (refer to section 3.12).

(b) Reduction techniques for external noises that cause the servo amplifier to malfunction

If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays which make a large amount of noise) near the servo amplifier and the servo amplifier may malfunction, the following countermeasures are required.

Provide surge absorbers on the noise sources to suppress noises.

Attach data line filters to the signal cables.

Ground the shields of the encoder connecting cable and the control signal cables with cable clamp fittings.

Although a surge absorber is built into the servo amplifier, to protect the servo amplifier and other equipment against large exogenous noise and lightning surge, attaching a varistor to the power input section of the equipment is recommended.

11 - 42


(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

Routes 4) and 5)

Route 6)

Route 3)

Noise transmitted through power supply cable

Route 7)

Noise sneaking from grounding cable due to leakage current

Route 8)

11 - 43


5)

Instrument

7)

Receiver

7) 7)

2)

3)

1)

Servo amplifier

4)

6)

2)

Sensor

power

supply

Sensor

8)

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 - 44


(2) Noise reduction products

(a) Data line filter (Recommended)

Noise can be prevented by installing a data line filter onto the encoder cable, etc. For example, the

ZCAT3035-1330 of TDK and the ESD-SR-250 of NEC TOKIN make are available as data line filters. As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated below.

This impedances are reference values and not guaranteed values.

Impedance[ ]

[Unit: mm]

10 to 100MHz 100 to 500MHz

80 150 39 1

34 1

Loop for fixing the cable band

TDK

Product name Lot number

Outline drawing (ZCAT3035-1330)

(b) Surge suppressor

The recommended surge suppressor 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

Surge suppressor

SK

Relay

Surge suppressor

20cm or less

(Ex.) CR-50500 (OKAYA Electric industries Co., Ltd.)

Rated voltage

AC[V]

C

[ F 20 ]

R

[ 30 ]

50

250 0.5

(1/2W)

Test voltage AC[V] Outline drawing [Unit: mm]

Between terminals:

625VAC, 50/60Hz 60s

Between terminal and case:

Soldering the end of the wire

Mounting band 15 1

CR-50500

48 1.5

AWG18 twisted wire

6 1

300 or more 16 1

3.6

(18.5 5)max.

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

RA

Diode

11 - 45


(c) Cable clamp fitting AERSBAN- SET

Generally, the earth of the shielded cable may only be connected to the connector's SD terminal.

However, the effect can be increased by directly connecting the cable to an earth plate as shown below.

Install the earth plate near the servo amplifier for the encoder cable. Peel part of the cable sheath to expose the external conductor, and press that part against the earth plate with the cable clamp. If the cable is thin, clamp several cables in a bunch.

The clamp comes as a set with the earth plate.

[Unit: mm]

Cable clamp

(A,B)

Cable

Earth plate

Strip the cable sheath of the clamped area. cutter cable

Outline drawing

Earth plate

2- 5 hole installation hole

17.5

External conductor

Clamp section diagram

[Unit: mm]

Clamp section diagram

L or less

10

0 0.

22

(Note)M4 screw

6

35

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

30

Accessory fittings Clamp fitting clamp A: 2pcs. clamp B: 1pc.

A

B

L

70

45

11 - 46


(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

Use the line noise filters for wires of the main power supply (L

1

L

2

L

3

) and of the motor power supply (U V W). Pass each of the wires through the line noise filter an equal number of times in the same direction. For the main power supply, the effect of the filter rises as the number of passes increases, but generally four passes would be appropriate. For the motor power supply, passes must be four times or less. Do not pass the grounding (earth) wire through the filter, or the effect of the filter will drop. Wind the wires by passing through the filter to satisfy the required number of passes as shown in Example 1. If the wires are too thick to wind, use two or more filters to have the required number of passes as shown in

Example 2. Place the line noise filters as close to the servo amplifier as possible for their best performance.

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 1

MCCB MC

Power supply

Line noise filter

Servo amplifier

L

1

L

2

L

3

(Number of turns: 4)

Example 2

MCCB MC

Servo amplifier

Power supply

Line noise filter

L

1

L

2

L

3

Two filters are used

(Total number of turns: 4)

11 - 47


(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 cables as short as possible.

Grounding is always required. When using the FR-BIF with a singlephase power supply, always insulate the wires that are not used for wiring.

Outline drawing (Unit: mm)

Red White Blue Green

Leakage current: 4mA

Power supply

MCCB MC

Terminal block Servo amplifier

L

1

L

2

L

3

29

5 hole

Radio noise filter

58 29

44

7

(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.

Power supply voltage

Varistor

Permissible circuit voltage

Maximum rating

Surge current immunity

Energy immunity

Rated pulse power

Maximum limit voltage

Static capacity

(referenc e value)

AC[V rms

] DC[V] 8/20 s[A] 2ms[J] [W] [A]

Varistor voltage rating (range)

V1mA

[V]

100V class TND20V-431K 275

200V class TND20V-471K 300

350

385

10000/1 time

7000/2 time

195

215

1.0 100

775

1300

1200

430(387 to 473)

470(423 to 517)

[Unit: mm]

D T Model

D

Max.

H

Max.

T

Max.

E

1.0

(Note)L min. d

0.05

W

1.0

TND20V-431K 6.4

21.5 24.5

TND20V-471K 6.6 3.5

20 0.8 10.0

Note. For special purpose items for lead length (L), contact the manufacturer.

W E

d

11 - 48


11.10 Earth-leakage current breaker

(1) Selection method

High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits. Leakage currents containing harmonic contents are larger than those of the motor which is run with a commercial power supply.

Select an earth-leakage current breaker according to the following formula, and ground the servo amplifier, servo motor, etc. securely.

Make the input and output cables as short as possible, and also make the grounding cable as long as possible (about 30cm) to minimize leakage currents.

Rated sensitivity current

10 {Ig1 Ign Iga K (Ig2 (A-axis) Igm (A-axis) Ig2 (B-axis) Igm (B-axis))} [mA]· · (11.1)

Cable

MCCB Noise filter

Servo amplifier

Cable

M

Ig2 Igm

A-axis

Earth-leakage current breaker

Type

Mitsubishi products

NV-SP

K

Cable

M B-axis Models provided with NV-SW

1

Ig1 Ign Iga

Ig2 Igm harmonic and surge reduction techniques

NV-CP

NV-CW

NV-L

General models

BV-C1

NFB

NV-L

3

Ig1 : Leakage current on the electric channel from the earth-leakage current breaker to the input terminals

Ig2

Ign of the servo amplifier (Found from Fig. 11.1.)

: Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor (Found from Fig. 11.1.)

: Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF)

Iga : Leakage current of the servo amplifier (Found from Table 11.4.)

Igm : Leakage current of the servo motor (Found from Table 11.3.)

120 120

100 100

80 80

60

40

[mA]

20

0

[mA]

60

40

20

0

2 3.5

5.5

8 1422 38 80 150

30 60 100

Cable size [mm 2 ] a. 200V class

2 5.5

14 38 100

3.5

8 22

30

60

80

Cable size [mm 2 ]

150 b. 400V class

Fig. 11.1 Leakage current example (lg1, lg2) for CV cable run in metal conduit

11 - 49


Table 11.3 Servo motor's leakage current example (Igm) Table 11.4 Servo amplifier's leakage current example (Iga)

Servo motor power

[kW]

0.05 to 1

Leakage current

[mA]

0.1

Leakage current

[mA]

MR-J3W-22B

0.1

MR-J3W-44B

MR-J3W-1010B

Table 11.5 Leakage circuit breaker selection example

Servo amplifier

Rated sensitivity current of leakage circuit breaker [mA]

MR-J3W-22B

MR-J3W-44B

MR-J3W-77B

MR-J3W-1010B

15

11 - 50


(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

Cable

M

MCCB

A-aixs servo motor

HF-KP43

Servo amplifier

MR-J3W-44B Ig2 Igm

Cable

M

B-aixs servo motor

HF-KP43

Ig1 Iga

Ig2 Igm

Use an earth-leakage current breaker generally available.

Find the terms of Equation (11.1) from the diagram.

Ig1 20

5

1000

0.1 [mA]

Ig2 20

5

1000

0.1 [mA]

Ign 0 (not used)

Iga 0.1 [mA]

Igm 0.1 [mA]

Insert these values in Equation (11.1).

Ig 10 {0.1 0 0.1 1 (0.1 0.1 0.1 0.1)}

6.0 [mA]

According to the result of calculation, use an earth-leakage current breaker having the rated sensitivity current (Ig) of 6.0 [mA] or more. An earth-leakage current breaker having Ig of 15 [mA] is used with the NV-

SP/SW/CP/CW/HW series.

11 - 51


11.11 EMC filter (recommended)

For compliance with the EMC directive of the EN, it is recommended to use the following filter. Some EMC filters are large in leakage current.

(1) Combination with the servo amplifier

Recommended filter (Soshin Electric)

Servo amplifier

Model

Rated current

[A]

Rated voltage

[VAC]

Leakage current

[mA]

Mass

[kg]([lb])

MR-J3W-22B

MR-J3W-44B

MR-J3W-77B

MR-J3W-1010B

(Note)

HF3010A-UN

(Note)

HF3030A-UN

30

250 5

5.5 (12.13)

Note. A surge protector is separately required to use any of these EMC filters.

(2) Connection example

EMC filter Servo amplifier

MCCB MC

(Note 1)

Power supply

1

2

3

4

5

6

E

L

1

L

2

L

3

L

11

L

21

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. For 1-phase 200V to 230VAC power supply, connect the power supply to L

1

, L

2

and leave L

3


2. The example is when a surge protector is connected.

11 - 52


(3) Outline drawing

(a) EMC filter

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

HF3030A-UN

[Unit: mm]

3-L

6-K

3-L

M

C 1

B 2

A 5

C 1

H 2

J 2

Model

Dimensions [mm]

A B C D E F G H J K L M

R3.25,

HF3030A-UN 260 210 85 155 140 125 44 140 70 length

8

M5 M4

11 - 53


11.12 Junction terminal block MR-TB26A

(1) Usage

When using a junction terminal block (MR-TB26A), always use it with a junction terminal block cable (MR-

TBNATBL M).

To use a junction terminal block, mount it to the DIN rail.

Cable length

05: 0.5m

1 : 1m

Terminal numbers on a junction terminal block correspond with the pin numbers on the CN3 connector of a servo amplifier.

The terminal symbol S is for the shield.

Servo amplifier

Junction terminal block

MR-TB26A

CN3

Junction terminal block cable

(MR-TBNATBL M)

Ground the junction terminal block cable using the S terminal of the junction terminal block.

(2) Specifications

Junction terminal block

MR-TB26A

Item

Usable cables

Tool

Stripped length

Twisted wire

Solid wire

0.08 to 1.5mm

2 (AWG28 to AWG14)

0.32 to 1.2mm

Wire sheath outer diameter Wire with 3.4mm or less

210-619 (WAGO Company of Japan, LTD.) or equivalent

210-119SB (WAGO Company of Japan, LTD.) or equivalent

5 to 6mm

11 - 54


(3) Outline drawing

1

1

57

14

14

[Unit: mm]

Note. Values in parenthesis are the sizes when installed with a 35mm DIN rail.

11.13 Surge absorbers (recommended)

A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent.

When using the surge absorber, perform insulation beforehand to prevent short-circuit.

Maximum rating Static

Permissible circuit voltage

Surge immunity

Energy immunity

Rated power

Maximum limit voltage capacity

(reference value)

Varistor voltage rating (range) V1mA

AC [Vma] DC [V] [A] [J] [W] [A] [V] [pF] [V]

140 180

(Note)

500/time

Note. 1 time 8 20 s

220

(198 to 242)

13.5

4.7 1.0

[Unit: mm]

(Example) ERZV10D221 (Panasonic)

TNR-10V221K (Nippon chemi-con)

Outline drawing [mm] (ERZ-C10DK221)

0.8

11 - 55


MEMO

11 - 56

12. ABSOLUTE POSITION DETECTION SYSTEM


CAUTION

If an absolute position erase alarm (25.1) or absolute position counter warning

(E3. ) has occurred, always perform home position setting again. Not doing so can cause runaway. Not doing so may cause unexpected operation.

POINT

If the encoder cable is disconnected, absolute position data will be lost in the following servo motor series. HF-MP, HF-KP, HF-SP, HC-UP, HC-LP and HF-JP.

After disconnecting the encoder cable, always execute home position setting and then positioning operation.

12.1 Features

For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions.

The absolute position detection system always detects the absolute position of the machine and keeps it batterybacked, independently of whether the servo system controller power is on or off.

Therefore, once home position return is made at the time of machine installation, home position return is not needed when power is switched on thereafter.

If a power failure or a fault occurs, restoration is easy.

Servo system controller Servo amplifier

Position data

Current position

Home position data

LS0

CYC0

LS

Detecting the number of revolutions

CYC

Detecting the position within one revolution

MR-BTCASE

Servo motor

MR-BAT 8

1 pulse/rev accumulative revolution counter

Within one-revolution counter

High speed serial communication

12 - 1


12.2 Specifications

WARNING


CAUTION

Do not have new and old batteries installed together.

When replacing batteries, replace all batteries by new batteries.

POINT

The internal circuits of the servo amplifier may be damaged by static electricity.

Always take the following precautions.

Ground human body and work bench.

Do not touch the conductive areas, such as connector pins and electrical parts, directly by hand.

Before starting battery changing procedure, make sure that the main circuit power is switched OFF with the control circuit power ON. When battery is changed with the control circuit power OFF, the absolute position data is lost.

(1) Specification list

Item Description

System

Battery unit

Maximum revolution range

(Note 1) Maximum speed at power failure

(Note 2) Battery backup time

(Note 3) Battery life

Electronic battery backup system

MR-BAT: Lithium battery (primary battery, nominal 3.6V) 8

MR-BTCASE: Battery case

Home position 32767 rev.

3000r/min

Approx. 10,000 hours (battery life with power off)

5 years from date of manufacture

Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like.

2. Time to hold data by a battery with power off. Replace battery within 3 years since the operation start whether power is kept on/off. If the battery is used out of specification, the absolute position lost (25) may occur.

3. Quality of battery degrades by the storage condition. It is recommended to connect and use battery in the servo amplifier within 2 years from the production date. The life of battery is 5 years from the production date regardless of the connection.

12 - 2


(2) Configuration

(a) When using one servo amplifier

Servo amplifier

Controller

SSCNET cable

CN1A

CN1B

CN4

Cap

MR-BTCASE

CN1C

MR-J3BT1CBL M

(b) When using two to four servo amplifiers

Servo amplifier

(First)

Servo amplifier

(Second)

Servo amplifier

(Last)

Controller

SSCNET cable

SSCNET cable

CN1A

SSCNET cable

CN1A

CN1B

CN4

CN1B

CN4

MR-BTCASE

CN1C MR-J3BT2CBL M

MR-J3BT1CBL M

CN1A

CN1B

CN4

MR-J3BT2CBL M

Cap

12 - 3


(c) When using five or more servo amplifiers

Servo amplifier

(First)

Servo amplifier

(Second)

Servo amplifier

(Third)

Servo amplifier

(Fourth)

Controller

SSCNET cable

SSCNET cable

CN1A

SSCNET cable

CN1A

SSCNET cable

CN1A

CN1B

CN4

CN1B

CN4

CN1B

CN4

MR-BTCASE

CN1C

MR-J3BT2CBL M

MR-J3BT1CBL M

MR-J3BT2CBL M

SSCNET cable

CN1B

CN4

MR-J3BT2CBL M

Servo amplifier

(Fifth)

Servo amplifier

(Sixth)

Servo amplifier

(Last)

SSCNET cable

CN1A

CN1B

CN4

SSCNET cable

CN1A

CN1B

CN4

CN1A

CN1B

CN4

Cap

MR-BTCASE

CN1C MR-J3BT2CBL M

MR-J3BT1CBL M

MR-J3BT2CBL M


Set " 1" in parameter No.PA03 to make the absolute position detection system valid.

Parameter No.PA03

1

Absolute position detection system selection



12 - 4


12.3 Assembling a battery unit

CAUTION

Do not have new and old batteries installed together.

When replacing batteries, replace all batteries by new batteries.

POINT

Always install eight MR-BAT batteries to an MR-BTCASE battery case.

12.3.1 Required items

Battery case

Remarks

MR-BTCASE

MR-BAT

1

MR-BTCASE is a case that holds eight MR-BAT batteries and connect them to the connector.

8 Lithium battery (primary battery, nominal 3.6V) Battery

12.3.2 Disassembly and assembly of the battery case MR-BTCASE

(1) Disassembly of the case

MR-BTCASE is shipped assembled. To install MR-BATs, the case needs to be disassembled.

Screw

Remove the two screws using a

Phillips screwdriver.

Cover

Remove the cover.

CON1

CON2

CON3

CON4

CON5

CON6

CON7

CON8

Parts name

Holder 1 Holder 2

Holder 3 Holder 4

Holder 5 Holder 6

Holder 7 Holder 8

12 - 5


(2) Installation of MR-BAT

Securely insert MR-BAT to the battery holder 1.

Battery holder 1

Push the MR-BAT connector into CON1.

CON1

Duct

Confirm the click sound at this point.

The connector has to be connected in the right direction.

If the connector is pushed forcefully in the wrong direction, the connector will break.

Place the MR-BAT lead wire to the duct designed to store lead wires.

Install other seven MR-BATs in the same manner.

Bring out the lead wire from the space between the ribs, and bend it as shown above to store it in the duct. Connect the lead wire to the connector. Be careful not to get the lead wire caught in the case or other parts.

12 - 6


(3) Assembly of the case

After all MR-BATs are installed, fit the cover and insert screws into the two holes and tighten them.

POINT

When assembling the case, be careful not to get the lead wires caught in the fitting parts or the screwing parts.

Screw

12.3.3 Battery transportation

Refer to appendix 5 and 6 for battery transportation and the new EU Battery Directive.

12 - 7


12.4 Confirmation of absolute position detection data

You can confirm the absolute position data with MR Configurator.

Choose "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen.

(1) Choosing "Diagnostics" in the menu opens the sub-menu as shown below:

(2) By choosing "Absolute Encoder Data" in the sub-menu, the absolute encoder data display window appears.

(3) Press the "Close" button to close the absolute encoder data display window.

12 - 8

13. USING A LINEAR SERVO MOTOR


When using the linear servo motor, read the following descriptions in the SSCNET

WARNING

Interface Linear Servo MR-J3- B-RJ004 INSTRUCTION MANUAL

(SH(NA)030054).

Safety Instructions

Handling of Linear Servo Motor

2. LINEAR SERVO MOTOR

9. CHARACTERISTICS

13.1 Functions and configuration

13.1.1 Summary

In fields of semiconductor and liquid crystal related equipment, installed machine, etc. with strong demands for high accuracy, high-speed and high efficiency, the system using the linear servo motor for drive shaft is increasing. Since the linear servo system can obtain the characteristics of the high-speed and the high acceleration/deceleration greater than the ball screw drive system, and does not have a ball screw wear which is a weak point in the ball screw drive system, it can extend the life of the equipments. In addition, a response error does not occur and so the high accuracy system can be established.

The following shows the differences between the linear servo motor and the rotating servo motor.

Classification Item

Differences

Linear servo motor Rotating servo motor

Remarks

External I/O signal Stroke limit input signal

(FLS, RLS)

Motor pole adjustment

Magnetic pole detection operation

Required (when magnetic pole is detected)

Required

Not required

Not required (adjusted at shipment)

Automatically turns ON in the parameter setting.

Home position return


Home position reference position

Battery for absolute position encoder

(MR-J3BAT)

1048576 pluses unit

(factory setting)

Not required

Servo motor 1 rotation unit

Required

Automatically executed at the first servo-on after turning the power on.

For the absolute position linear encoder, the magnetic polarity detection can be made invalid in the setting of parameter No.PS01.

(Refer to section 13.5.2 (2)(a).)

The home position pitch can be changed in the parameter settings.


The following alarm/warning is not detected.

Absolute position erase (25.1)


Battery warning (9F.1)

Absolute position counter warning (E3. )

13 - 1


Differences

Classification Item

Linear servo motor Rotating servo motor

Auto tuning

MR Configurator

MRZJW3-

SETUP221E

(Ver. C0 or later)

Remarks exclusively for the linear servo motor

Addition Alarm/warning which is added or the contents is changed

Encoder error1 (16. )

Encoder error2 (20. )

Initial magnetic pole detection error (27. )

Linear encoder error2 (28. )

Linear encoder error1 (2A. )

Linear servo control error (42. )

Linear servo motor overheat

(46. )

Overload1 (50. )

Overload2 (51. )

Linear servo motor overheat warning (E2.1)

Load inertia moment ratio (J) Load to motor mass ratio

Motor speed

(data display, setting)

Unit: mm/s

Test operation function

Positioning operation

Motor-less operation

JOG operation

Available Available

Not available


Unit: r/min

Available

13.1.2 Combinations of Servo Amplifiers and Linear Servo Motors

(1) LM-H2 series

Linear servo motor

Primary side(coil) Secondary side(magnet)

Servo amplifier

MR-J3W-44B MR-J3W-77B

A-axis B-axis A-axis B-axis A-axis B-axis

LM-H2P1A-06M-4SS0

LM-H2P2A-12M-1SS0

LM-H2P2B-24M-1SS0

LM-H2P3A-24M-1SS0

LM-H2S10-288-4SS0

LM-H2S10-384-4SS0

LM-H2S10-480-4SS0

LM-H2S10-768-4SS0

LM-H2S20-288-1SS0

LM-H2S20-384-1SS0

LM-H2S20-480-1SS0

LM-H2S20-768-1SS0

LM-H2S30-288-1SS0

LM-H2S30-384-1SS0

LM-H2S30-480-1SS0

LM-H2S30-768-1SS0

(Note)

(Note)

(Note)

(Note)

Note. With the servo amplifier whose software version is B2 or earlier, this linear servo motor can be used by setting parameter No.Po04 to


13 - 2


(2) LM-U2 series

Linear servo motor Servo amplifier

Primary side(coil) Secondary(magnet)

LM-U2PAB-05M-0SS0 LM-U2SA0-240-0SS0

LM-U2PAD-10M-0SS0 LM-U2SA0-300-0SS0

LM-U2PAF-15M-0SS0 LM-U2SA0-420-0SS0

LM-U2PBB-07M-1SS0 LM-U2SB0-240-1SS0

LM-U2PBD-15M-1SS0 LM-U2SB0-300-1SS0

LM-U2PBF-22M-1SS0 LM-U2SB0-420-1SS0


(Note)

(Note)

(Note)

(Note)

Note. With the servo amplifier whose software version is B2 or earlier, this linear servo motor can be used by setting parameter No.Po04 to


(3) LM-K2 series


Primary side(coil) Secondary side(magnet)

MR-J3W-44B MR-J3W-77B

A-axis B-axis A-axis B-axis A-axis B-axis

LM-K2P1A-01M-2SS1

LM-K2P2A-02M-1SS1

LM-K2S10-288-2SS1

LM-K2S10-384-2SS1

LM-K2S10-480-2SS1

LM-K2S10-768-2SS1

LM-K2S20-288-1SS1

LM-K2S20-384-1SS1

LM-K2S20-480-1SS1

LM-K2S20-768-1SS1

(Note 2) (Note 1, 2)

(Note 2)

(Note 1, 2)

(Note 2)

Note 1. With the servo amplifier whose software version is B2 or earlier, this linear servo motor can be used by setting parameter No.Po04 to " 1 ". With the servo amplifier whose software version is B3 or later, no parameter setting is required.

2. This linear servo motor can be used with the servo amplifier whose software version is B2 or later.

13 - 3


13.1.3 Configuration including auxiliary equipment

CAUTION

Connecting a linear servo motor for different axis to the CNP3A or CNP3B connector may cause a malfunction.

POINT

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

To use a linear servo motor, turn SW3 on.

(Note 1)

Power supply

R S T

Servo amplifier

Personal computer

MR Configurator

CN5


(MCCB) or fuse

L

1

L

2

L

3

CNP1

Magnetic contactor

(MC)

CN3

I/O signal


(FR-BAL)

Line noise filter

(FR-BSF01)

Regenerative option

P

V

U

W

C

(Note 2)

D

W

V

U

CNP2

CNP3A

CNP3B

CN1A

CN1B

CN2A

Servo system controller or front axis servo amplifier CN1B


CN1A or Cap

CN2B

L

21

L

11

SW3

ON

A-axis

B-axis

Thermistor

Thermistor

B-axis linear servo motor A-axis linear servo motor

Linear encoder

Encoder cable

Linear encoder

Encoder cable

Note 1. For 1-phase 200V to 230VAC, connect the power supply to L

1

L

2

and leave L

3


2. Make sure to connect the P terminal to the D terminal. When using the regenerative option, refer to section 11.2.

13 - 4


13.2 Connection of servo amplifier and linear servo motor

CAUTION

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


Servo amplifier

U

U


U

U

Linear servo motor

V V

V M V M

W W

W W

13.2.1 Connection instructions


CAUTION

Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and linear servo motor. Otherwise, the linear servo motor does not operate properly.

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

For grounding, connect the earth cable of the linear servo motor to the protective earth (PE) terminal of the servo amplifier and connect the ground cable of the servo amplifier to the earth via the protective earth of the control box. Do not connect them directly to the protective earth of the control panel.

Control box

Servo amplifier

Linear servo motor

PE terminal

13 - 5


13.2.2 Power supply cable wiring diagrams

Use the wires and connectors shown in the following figure. For the wires used for wiring, refer to section 11.5.

30m or less

Servo amplifier Branch cable (Note 3)

CN2A/CN2B

(Note 1)

Lead supplied with linear servo motor

Linear servo motor

CNP3A/

CNP3B

5

6

THM1

THM2

G1 (Black)

G2 (Black)

U (Black)

V (Black)

W (Black)

E (Green/yellow)

(Note 2)

Primary side

(coil)

Round crimping terminal

Note 1. The signal name (U, V, W, E, G1, G2) is attached on leads.

The following shows the lead length.

LM-H2: 0.4m

LM-U2: 0.4m

LM-K2: 0.5m

2. No polarity for the thermistors (G1 and G2)

3. Make the branch cable using the MR-J3THMCN2 connector set.

13 - 6


13.3 Linear encoder

POINT

Always use the encoder cable introduced in this section. If the other products are used, a faulty may occur.

For details of the linear encoder specifications, performance and assurance, contact each linear encoder manufacturer.

13.3.1 Compatible linear encoder list

Scale type

Mitsubishi serial interface compatibility

Absolute type

Manufacturer

Magnescale

Co., Ltd.

(Note 5)

Mitutoyo

Corporation

Heidenhain

Corporation

Magnescale

Co., Ltd.

(Note 5)

Model Resolution Rated speed

Effective measurement length

(Maximum)

Absolute

Communication position system detection system

SR77 2040mm

SR87

0.01 m

3.3m/s

3040mm

2 wire type

AT343A 2.0m/s

0.05 m

AT543A-SC 2.5m/s 2200mm

AT545A-SC

20 m/4096

(Approximately

0.005 m)

2.5m/s 2200mm

2 wire type

ST741A

ST742A

ST743A

ST744A

0.5 m

0.1 m

4.0m/s 6000mm

LC 493M

(Note 3)

2040mm

LC 193M

(Note 3)

SR75

0.05 m

0.01 m

0.05 m

0.01 m

0.05 m

0.01 m

3.0m/s

3.3m/s

4240mm

2040mm

4 wire type

SR85

0.05 m

0.01 m

3040mm

2 wire type

SL710

PL101-R/RH

MJ830 or

MJ831

(Note 2)

0.2 m

(Note 1)

6.4m/s 100000mm

Incremental type

Renishaw Inc. RGH26Q 2 wire type

Heidenhain

Corporation

LIDA 485

EIB 392M

(Note 4)

LIDA 487

EIB 392M

(Note 4)

20 m/16384

(Approximately

1.22 m)

4.0m/s

30040mm

6040mm

4 wire type

A/B/Z-phase differential output

Incremental type

Not specified

Rermissible resolution range

Encoder dependent

Encoder dependent

Differential 3 pair type

Note 1. Varies depending on the setting of the interpolator (MJ830/MJ831: Manufactured by Magnescale Co., Ltd.).

2. Production of the SH13 has been discontinued. For details, please contact Magnescale Co., Ltd.

3. Changed from LC 491M and LC 192M, respectively. For details, please contact Heidenhain Corporation.

4. Changed from APE391M. For details, please contact Heidenhain Corporation.

5. Former company name: Sony Manufacturing Systems Corporation (The company name was changed at the end of March 2010.)

13 - 7


13.3.2 Linear encoder and branch cable

The CN2A/CN2B connector has the thermistor signal pins for the linear servo motor. To output the thermistor signal, create a branch cable.

(1) Configuration diagram

The following shows the configuration diagram of the servo amplifier and the linear encoder. The configuration of the encoder cable differs according to the linear encoder. For the encoder cable, refer to section 3.1 in the MR-J3- B-RJ004 Instruction Manual.

Servo amplifier

Encoder cable

(Refer to section 3.1 in the MR-J3- B-RJ004

Instruction Manual.) Linear encoder

Branch cable

CN2A

CN2B

(Note2)

Linear servo motor thermistor

(2) Production of branch cable

Produce the branch cable using the MR-J3THMCN2 connector set as shown below. Keep the branch cable length 0.5m or shorter. Use the AWG22 cable for the wiring.

0.5m or less

2

LG

1

P5

4

MRR

6

THM2 8

MDR

3

MR

5

THM1

7

MD

10

9

SD

(Note 1) (Note 2)

Servo amplifier side Encoder cable side

Plate Plate

1

2

1

2

SD

P5

LG


or

2

LG

4 6

MRR THM2

8

MDR

10

1

P5

3

MR

5

THM1

7 9

MD


MR

MD

MDR

THM1

THM2

3

7

8

5

6

(Note 3)

(Note 3)

7

8

3

4

(Note 2)

Thermistor side

5

6

G1

G2

MR

MRR

MD

MDR

10

8

MDR

9

7

MD

6

5

4

MRR

2

LG

3

MR

1

P5


10

9

8

7

6

G2

5

G1

4

3

2

1


Note 1. Receptacle: 36210-0100PL, Shell kit: 36310-3200-008 (3M), or Connector set: 54599-1019 (Molex)

2. Plug: 36110-3000FD, Shell kit: 36310-F200-008 (3M)

3. If the linear encoder is the two-wire type, the wiring is not required for MD and MDR.

13 - 8


13.4 Signals and wiring

WARNING



Ground the servo amplifier and the linear servo motor securely.

Do not attempt to wire the servo amplifier and linear servo motor until they have been installed. Otherwise, you may get an electric shock.

The cables should not be damaged, stressed excessively, loaded heavily, or pinched. Otherwise, you may get an electric shock.

Wire the equipment correctly and securely. Otherwise, the linear servo motor may operate unexpectedly, resulting in injury.

Connect cables to correct terminals to prevent a burst, fault, etc.




24VDC 24VDC

DOCOM DOCOM


DICOM

RA



DICOM

RA


CAUTION

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 suppressor or radio noise filter (FR-BIF option) with the power line of the linear servo motor.



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


Servo amplifier

Linear servo motor

U

U

V

V

M

Servo amplifier

U

V

U

V

Linear servo motor

M

W W

W W

13 - 9



The cables such as power cables deriving from the primary side (coil) cannot stand the long-term bending action. Avoid the bending action by fixing to the movable part, CAUTION etc. Also, use the cable that stands the long-term bending action for the wiring to the servo amplifier.

13.4.1 Precautions on this chapter

The following items are not described in this chapter. For details of these items, refer to the below item.

Item Reference

Explanation of Power Supply System Section 3.3

Signal (device) explanations Section 3.5

Alarm occurrence timing chart

Interfaces

Processing of cable shield external conductor

Section 3.6

Section 3.7 (excluding the internal connection diagram)

Section 3.8

SSCNET cable connection Section 3.9

Control axis selection

13.4.2 Power supply system circuit connection example

Section 3.13

CAUTION


Shut off the main circuit power supply when alarms are occurring in both of the Aaxis and the B-axis.

Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.


Connecting a linear servo motor for different axis to the CNP3A or CNP3B connector may cause a malfunction.

POINT

Even if alarm has occurred, do not switch off the control circuit power supply.

When the control circuit power supply has been switched off, optical module does not operate, and optical transmission of SSCNET communication is interrupted.

Therefore, the servo amplifier on the rear axis displays "AA" at the indicator and turns into base circuit shut-off. The linear servo motor stops with starting dynamic brake.

For details of each signal, refer to section 3.3.

Wire the power supply/main circuit as shown below so that power is shut off and the servo-on command turned off as soon as an alarm occurs, a servo forced stop is made valid, or a controller forced stop is made valid. A molded-case circuit breaker (MCCB) must be used with the input cables of the main circuit power supply.

13 - 10


(Note 10)

Power supply

MCCB

(Note 3)

Malfunction

RA1(A-axis)


RA3

RA2(B-axis)

Forced stop

(Note 8)

OFF

(Note 9)

MC

Servo amplifier

CNP1

L

1

CNP3A

U

L

2

L

3

V

W

(Note 1)

CNP2

P

C

D

L

11

L

21

CN2A

ON

MC

(Note 5)

MC

SK

A-axis linear servo motor

U

V

W

E

G1

G2

Primary side

(coil)

(Note 6)

(Note 2)

Encoder cable

A-axis linear encoder

Head

CNP3B

U

V

W

(Note 5)

CN2B

B-axis linear servo motor

U

Primary side

(coil)

V

W

E

G1

G2

(Note 6)

(Note 2)

Encoder cable

B-axis linear encoder

Head

(Note 4)

(Note 8)

Forced stop

CN3

EM1

DOCOM

CN3

DOCOM

DICOM

SW3(Note 7)

ON

A-axis

B-axis

ALM-A

ALM-B

24VDC

RA1

RA2

A-axis malfunction

(Note 3)

B-axis malfunction

(Note 3)

(Note 4)

13 - 11


Note 1. Always connect P and D. When using the regenerative option, refer to section 11.2.

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

3. If deactivating output of malfunction (ALM-A/ALM-B) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. In this connection example, the operation continues in the other axis when an alarm occurs in the A-axis or the B-axis. To stop both axes in an alarm occurrence, connect

RA1 and RA2 in series.


5. Refer to section 3.10.

6. There may not be a thermistor output.

7. This connection example is a connection using linear servo motors. Turn SW3 on. (Refer to section 3.14.)

8. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of forced stop (EM1) using the external sequence.



1 specification.

L

2

and leave L

3

open. Refer to section 1.3 for the power supply

13 - 12



(Note 2)

(Note 1)

24VDC

DICOM

CN3

23

DOCOM

EM1

26

10

Approx

5.6k

DI1-A

DI2-A

7

8

DI3-A

DI1-B

9

20

DI2-B 21 Approx

5.6k

DI3-B 22

<Isolated>

USB

VBUS

D

D

GND

CN5

1

2

3

5

Servo amplifier

THM1

THM2

CN2A

5

6

P5

THM1

THM2

CN2B

5

6

P5

CN3

11 ALM-A

RA

12

24

MBR-A

(Note 3)

ALM-B

25 MBR-B

(Note 3)

RA

(Note 2)

CN3

3

16

4

17

LA-A

LAR-A

LB-A

LBR-A

5

18

6

19

LA-B

LAR-B

LB-B

LBR-B

14 LG


(35mA or less)

CN3

2 MO1

Analog monitor

15

1

MO2

LG

10VDC

10VDC

CN2A

7

8

3

4

2

MD

MDR

MR

MRR

LG

Linear encoder head

CNP3A

2A

Linear servo motor primary side (coil)

E

CN2B

7

4

2

8

3

MD

MDR

MR

MRR

LG

Linear encoder head

CNP3B

2A

Linear servo motor primary side (coil)

E

Note 1. Signal can be assigned for these pins with the controller setting.

For contents of signals, refer to the instruction manual of the controller.


3. When using a linear servo motor, use MBR (Electromagnetic brake interlock) for an external brake mechanism.

13 - 13


13.5 Operation and functions

13.5.1 Startup

POINT

To use a linear servo motor, turn SW3 on.

SW3

ON

A-axis

B-axis

(1) Startup procedure

Start up the linear servo referring to the following procedure.

Setting of the servo motor selection switch (SW3) (Refer to section 3.14.)

Execution of installation and wiring

Set the linear servo motor series and linear servo motor type.

(Refer to (2) of this section.)

(Note) Settings of the linear encoder direction and the linear servo motor

direction (Refer to (3) in this section.)

What is the type of linear encoder?

Incremental linear encoder Absolute position linear encoder

(Note) Setting of the linear encoder resolution (Refer to (4) in this section.)

(Note) Execution of the magnetic pole detection (Refer to section

13.5.2 (3).)

Change to the setting not requiring the magnetic pole detection (Refer to section 13.5.2 (3).)

(Note) Positioning operation check (Refer to section 13.5.4.)

Positioning operation check using the controller (Refer to section 13.5.5.)

Home position return (Refer to section 13.5.3.)


Note. MR Configurator is used.

13 - 14


(2) Set the linear servo motor series and linear servo motor type.

To use the linear servo motor, set the linear servo motor series and linear servo motor type with parameter

No. PA17 (Linear servo motor series setting) and No. PA18 (Linear servo motor type setting). (Refer to section 13.6.2.)

(3) Settings of the linear encoder direction and the linear servo motor direction

Set the positive direction of linear servo motor to match with the increase direction of linear encoder feedback using the first digit (Encoder pulse count polarity selection) of the parameter No.PC27.

Parameter No.PC27

Encoder pulse count polarity selection

0: Linear servo motor positive direction and linear encoder increase direction

1: Linear servo motor positive direction and linear encoder decrease direction

(a) Parameter setting method

1) Confirm the positive direction of linear servo motor the relationship of the moving direction of linear servo motor to commands is determined by the setting of the parameter No.PA14 as follows.

Parameter No.PA14 setting value

0

1

Moving direction of linear servo motor

Address increase command Address decrease command

Positive direction

Negative direction

Negative direction

Positive direction

The positive/negative directions of the linear servo motor are as shown below.

Negative direction

Negative direction

Secondary side

Secondary side Positive direction

Positive direction

Table

Primary side

Primary side

LM-H2 series

Positive direction

Negative direction

LM-U2 series

Secondary side

Primary side

LM-K2 series

2) Confirm the increase direction of linear encoder.

3) If the positive direction of the linear servo motor matches with the increase direction of linear encoder, set the parameter No.PC27 to " 0". If not, set the parameter to " 1".

(b) Confirmation method

Confirm the positive direction of linear servo motor and the increase direction of linear encoder using the following procedure.

1) Move the linear servo motor manually to the positive direction in the servo off status.

2) Confirm the motor speed (positive and negative) at that time using MR Configurator.

13 - 15


3) If the parameter No.PC27 is set to " 0" and the positive direction of linear servo motor matches with the increase direction of linear encoder, the motor speed will be a positive value by making the linear servo motor work to the positive direction. If the positive direction of linear servo motor does not match with the increase direction of linear encoder, the motor speed will be a negative value. If the parameter No.PC27 is set to " 1" and the positive direction of linear servo motor matches with the increase direction of linear encoder, the motor speed will be a negative value by making the linear servo motor work to the positive direction.

(4) Setting of the linear encoder resolution

Set the ratio to the linear encoder resolution using the parameter No.PS02 (Linear encoder resolution setting numerator) and parameter No.PS03 (Linear encoder resolution setting denominator).

POINT

When using this parameter, turn the power off once after setting the parameter

No.PA19 to " D", and then turn it on again.


(a) Parameter setting

Set the value as the following equation.

Parameter No.PS02 (Linear encoder resolution setting numerator)

Parameter No.PS03 (Linear encoder resolution setting denominator)

Linear encoder resolution [ m]

(b) Parameter setting example

When the linear encoder resolution is 0.5 m

Parameter No.PS02

Parameter No.PS03

Linear encoder resolution 0.5 m

1

2

The following shows the simplified chart for the setting value of parameter Nos.PS02 and PS03.

Linear encoder resolution ( m)

Setting value Parameter No PS03 100 50 20 10 5 2 1 1

POINT

When setting the wrong value to the parameter Nos. PS02 and PS03, they may not operate properly.

Servo alarm (27. and 42. ) may occur at positioning operation or magnetic pole detection.

13 - 16


13.5.2 Magnetic pole detection

Make sure to perform the magnetic pole detection before starting the positioning operation in order to match the positional relationship between the linear servo motor and the linear encoder.

(1) Preparation for the magnetic pole detection

POINT



For the magnetic pole detection, the test operation mode (positioning operation) of MR Configurator is used.

Turn the power of servo amplifier off and set the test operation select switch (SW2-1) as shown below. By turning the power on, it switches to the test operation mode.

SW2

5

6

7

8

9

A

B

E

1 0

F

SW1

TEST

SW2

ON 4E

1 2

Set SW2-1 to "UP"

1 2

(2) Magnetic pole detection

WARNING

Note that the magnetic pole detection is automatically started simultaneously with turning ON the servo-on command.

CAUTION

If the magnetic pole detection is not executed properly, the linear servo motor may run unexpectedly.

UP

DOWN

13 - 17


POINT

Establish the machine configuration using the stroke limits (FLS and RLS). If the stroke limits (FLS and RLS) do not exist, it may cause the machine damage by a collision.

At the magnetic pole detection, it is not predictable whether it moves to the positive direction or the negative direction.

Setting the parameter No.PS09 (Magnetic pole detection voltage level) may cause the occurrence of overload, overcurrent, magnetic pole detection alarm, etc.

When performing the positioning operation from the positioning controller, set the sequence which confirms the normal completion of magnetic pole detection and the servo-on status, then outputs the positioning command. If outputting the positioning command before the Ready (RD-A/RD-B) turns ON, the command may not be accepted or the servo alarm may occur.

After the magnetic pole detection, check the accuracy of position with the test operation (positioning operation) of MR Configurator.

If a gap is generated to the positional relationship between the linear encoder and the linear servo motor when using the absolute position linear encoder, carry out the magnetic pole detection again.

The accuracy of magnetic pole detection will be improved by being operated in the no-load condition.

The servo alarm may occur when the linear encoder is not mounted properly or when the setting (parameter Nos. PS02 and PS03) of linear encoder resolution or the setting value of parameter No.PS09 (magnetic detection voltage level) is not correct.

On the machine of which friction becomes 30 or more than the rated thrust, it may not operate properly after the magnetic pole detection.

On the machine of which imbalance thrust becomes 20 or more than the rated thrust at the horizontal axis, it may not operate properly after the magnetic pole detection.

For the following cases, the magnetic pole detection is required.

1) When using the incremental linear encoder (Refer to (2) (a) in this section)

2) When using the absolute position linear encoder and matching with the cases indicated below (Refer to (2) (b) in this section)

At the system setup (at the first startup of equipment)

When the servo amplifier is replaced

When the linear servo motor (primary side (coil) or secondary side (magnet)) is replaced

When the linear encoder (scale or head) is replaced or its installation is changed

13 - 18


(a) For the incremental linear encoder

For the incremental linear encoder, the magnetic pole detection is required every time the power is turned on. By turning ON the servo-on command from the controller after the power-on, the magnetic pole detection is automatically carried out. Therefore, there is no need to set the parameter (first digit of parameter No.PS01) for executing the magnetic pole detection.

1) Timing chart

Servo-on command

Base circuit

Ready (RD)

ON

OF

ON

OF

ON

OF

95ms

15s or less

Magnetic pole detection time (Note)

Note. The magnetic pole detection time indicates the operation time when the stroke limits

(FLS and RLS) is ON.

2) Linear servo motor movement (when FLS and RLS are ON)

Servo-on position

(Magnetic pole detection start position)

RLS

(Note 2)

FLS

(Note 1)

(Note 2)

Magnetic pole detection complete position

Note 1. When the stroke limit (FLS or RLS) turns OFF during the magnetic pole detection, the operation of magnetic pole detection is carried on to the opposite direction. When both FLS and RLS are OFF, the magnetic pole detection error (27. ) occurs.

2. The following shows the pitch against magnetic pole.

Linear servo motor series

Pitch against magnetic pole

[mm]

LM-H2

LM-U2

(Medium thrust)

LM-K2

48 30 48

13 - 19


3) Linear servo motor operation (when FLS or RLS is OFF)

When the FLS or RLS is OFF at the servo-on, the magnetic pole detection is carried out as follows.

Moves to any magnetic pole detection start position at the same time as the servo-on

Magnetic pole detection start position Servo-on position

RLS FLS

(Note)


Returns to the magnetic pole detection start position after several reciprocating operation, and changes to the servo lock status after the completion of magnetic pole detection.

At this time, there may be a gap, approximately a quarter of the pitch against magnetic pole, from the start position.

Note. For the pitch against magnetic pole, refer to (2) (a) 2) Note 2 in this section.

(b) For the absolute position linear encoder

POINT

If a gap is generated to the positional relationship between the linear encoder and the linear servo motor when using the absolute position linear encoder, carry out the magnetic pole detection again.

Carry out the magnetic pole detection referring the following procedure.

1) Set the parameter No.PS01 (Linear function selection 1) to " always valid)".

Parameter No.PS01

1

1 (Magnetic pole detection

Magnetic pole detection always valid (factory setting)

2) Execute the magnetic pole detection. (Refer to (2) (a) 1) and 2) in this section)

3) Change the parameter No.PS01 to " completion of magnetic pole detection.

Parameter No.PS01

0

0 (Magnetic pole detection not valid)" after the normal

Magnetic pole detection invalid

By making the magnetic pole detection function invalid with the parameter No.PS01 after the magnetic pole detection, the magnetic pole detection for each power-on will be unnecessary.

13 - 20


(3) Setting of the magnetic pole detection voltage level

For the positioning detection method, set the magnetic pole detection voltage level with the parameter

No.PS09 (magnetic pole detection voltage level). Voltage level setting is not required when detecting magnetic poles by the minute position detection method.

(a) Guideline of parameter settings

Set the parameters referring to the following table.

Parameter No.PS09 setting value

(Guide value)

Small Medium Large

(Less than 10 (factory setting) More than 50)

Servo status

Thrust at operation

Overload, overcurrent alarm

Magnetic pole detection alarm

Magnetic pole detection accuracy

Small Large

Not frequently occurred Frequently occurred

Frequently occurred Not frequently occurred

Low High

(b) Setting procedure

1) By carrying out the magnetic pole operation, make the setting of parameter No.PS09 (magnetic pole detection voltage level) larger until the overload 1 (50. ), overload 2 (51. ), overvoltage (33.1), overload warning 1 (E1. ) and overload warning 2 (EC.1) occur. To get a rough idea, make it lager in "5". When these alarms and warnings occur during the magnetic pole detection by MR

Configurator, the test operation of MR Configurator is automatically completed and servo off status established.

2) Set the final setting value to approximately 70 of the value which is set at the occurrence of the overload 1 (50. ), overload 2 (51. ), overvoltage (33.1), overload warning 1 (E1. ) and overload warning 2 (EC.1). However, in the case where the initial magnetic pole detection error (27. ) occurs with this setting value, set the final setting value to the value intermediate between the setting value at the occurrence of the overload 1 (50. ), overload 2 (51. ), overvoltage (33.1), overload warning

1 (E1. ), overload warning 2 (EC.1) and the setting value at the occurrence of the magnetic pole detection alarm.

3) Carry out the magnetic pole detection again with the final setting value.

(c) Setting example

Linear encoder magnetic pole detection

Parameter No.PS09 setting value 30 35 40 45 65 70

Overload and overcurrent alarm

Existence or nonexistence

Carry out the magnetic pole detection repeatedly while making the setting value of the parameter No.PS09 larger.

An alarm has occurred when the setting value of the parameter

No.PS09 is set to 70.

Here, the final setting value of the parameter No.PS09 is set to 49 (the setting value at the occurrence of the overload and overcurrent alarm 70 0.7).

13 - 21


(4) Magnetic pole detection method using MR Configurator

The following shows the procedure of the magnetic pole detection using MR Configurator.

(a) Magnetic pole detection of the positioning detection method.

Magnetic pole detection

1) After confirming that the stroke limits (FLS and RLS) and the forced stop (EM1) are ON, turn the power of servo amplifier off once and then turn it on again.

2) After switching the test operation select switch (SW2-1) of the servo amplifier to "Up" turn the power of servo amplifier off once and then turn it on again.

3) Set parameter No.PS08 (Linear function selection 3) to " 0", and the magnetic pole detection method to "position detection method".

4) Change to "Magnetic pole detection always valid" by setting the paramete No.PS01 (Linear function selection 1) to " 1". (Note)

5) Turn the power of servo amplifier off once and then turn it on again.

6) Set the parameter No.PS09 (Magnetic detection voltage level) to "10" (guide value) as a guide.

7) Execute the "positive direction travel" or "negative direction travel" with the "positioning operation" of the MR Configrator test operation mode. Set the travel distance to "0" at this time.

The magnetic pole detection operation is carried out.

YES

Is the parameter No.PS09

(Magnetic pole detection voltage level) the final value?

NO

8) Has the magnetic pole detection alarm (27. ) occurred?

YES

Reset the alarm or turn the power of servo amplifier off once, and then turn the power on again.

NO

9) Have the overload alarms

(50. and 51. ), overcurrent alarm

(32. ) and overload warning

(E1. ) occurred?

YES

NO

Turn the power of servo amplifier off once and then turn it on again.

Reset the alarm or turn the power of servo amplifier off, and then turn the power on again.

Raise the value of parameter

No.PS09 in five.

Set 70 of the parameter

No.PS09 as the final setting vale.

In the case where the magnetic pole detection error (27. ) occurs with this setting value, set the final setting value to the value intermediate between the setting value at the occurrence of the overcurrent alarm (32. ) and the setting value at the occurrence of the magnetic pole detection alarm (27. ).

10) Change to "Magnetic pole detection invalid" by setting the parameter No.PS01 (Linear function selection 1) to " 0". (Note)

End

Note. When using an incremental type linear scale, the parameter No.PS01 setting is not required.

13 - 22


(b) pole detection by the minimal position detection method


1) After confirming that the stroke limits (FLS and RLS) and the forced stop (EM1) are ON, turn the power of servo amplifier off once and then turn it on again.

2) After switching the test operation select switch (SW2-1) of the servo amplifier to "Up" turn the power of servo amplifier off once and then turn it on again.

3) Set parameter No.PS08 (Linear function selection 3) to " 4", and the magnetic pole detection method to “minute position detection method”.

4) Change to "Magnetic pole detection always valid" by setting the paramete No.PS01 (Linear function selection 1) to " 1". (Note 1)


6) By using parameter No.PS17 (Minute position detection method function selection), set the load to mass of the linear servo motor primary side (coil) ratio. (Note 2)

7) Execute the "Positive direction movement" or "Negative direction movement" with the "positioning operation" of the MR Configrator test operation mode. Set the travel distance to "0" at this time.

The magnetic pole detection is carried out.

YES

Is the response of the minute position detection method, which is set by parameter

No.PS17 (Minute position detection method function selection), finalized?

NO

Do abnormal sounds and vibration occur during the magnetic pole detection?

NO

YES

Lower the response of the minute position detection method by two in parameter

No.PS17 (Minute position detection method function selection)

Does the travel distance during the magnetic pole detection has a problem? (Note 3)

Problem does not exist.

Problem exists.

Raise the response of the minute position detection method by one in parameter

No.PS17 (Minute position detection method function selection).

8) Change to "Magnetic pole detection invalid" by setting the parameter No.PS01 (Linear function selection 1) to " 0". (Note 1)

End

Note 1. When using the incremental system, parameter No.PS01 setting is not required.

2. When the load to mass of the linear servo motor primary side (coil) ratio is unknown, detect magnetic poles with the position detection method, perform auto tuning, and set an estimated value.

3. When detecting magnetic poles with the minute position detection method, the maximum travel distance of 0.5mm or less during the magnetic pole detection is acceptable. To shorten the travel distance, increase the response of the minute position detection method in parameter No.PS17 (Minute position detection method function selection).

13 - 23


(5) Magnetic pole detection at the replacement of servo amplifier

When replacing the servo amplifier, carry out the magnetic pole detection again. If the magnetic pole detection cannot be performed unavoidably, write the magnetic pole information from the servo amplifier before the replacement to the one after the replacement using MR Configurator.

(a) Procedures

1) Read the magnetic pole information of the servo amplifier before the replacement.

2) Write the read magnetic pole information to the servo amplifier after the replacement.

3) Perform the test operation with the torque limit for ensuring the safety, and confirm that there is no trouble.

(b) Transplant method of the magnetic pole information

1) How to read the magnetic pole information from the servo amplifier before the replacement a) Select "MR-J3-B Linear" from the system setting of MR Configurator. b) Confirm that the personal computer is connected to the servo amplifier, and select "Diagnostic" and then "Linear diagnostic". c) Click the "Magnetic pole information" button ( 1) in Figure) to open the magnetic pole information window. d) Click "Read All" of the magnetic pole information window. ( 2) in Figure) e) Confirm the data 1 and data 2 ( 3) in Figure) of the magnetic pole information window and take notes.

2) How to write the magnetic pole information to the servo amplifier after the replacement a) Select "MR-J3-B Linear" from the system setting of MR Configurator. b) Confirm that the personal computer is connected to the servo amplifier, and select "Diagnostic" and then "Linear diagnostic". c) Click the "Magnetic pole information" button ( 1) in Figure) to open the magnetic pole information window. d) Input the value of the magnetic pole information taken notes to the data 1 and data 2 ( 3) in

Figure) of the magnetic pole information window. e) Click "Write All" ( 4) in Figure) of the magnetic pole information window. f) Turn the power of servo amplifier off once, and then turn it on again.

13 - 24


2) 3) 4) 1)

13 - 25


13.5.3 Home position return

POINT

The incremental linear encoder and the absolute position linear encoder have different home position reference positions at the home position return.

(1) Incremental linear encoder

CAUTION

If the resolution or stop interval (the third digit of the parameter No.PS01) of the linear encoder is too large, it is very dangerous since it may crash into the stroke end.

(a) When the linear encoder home position (reference mark) exists in the home position return direction

The home position on the incremental linear encoder is a position per 1048576 pulses (changeable with the third digit of the parameter No.PS01), which is based on the linear encoder home position (reference mark) passed primarily after the start of home position return. Change the setting value of the parameter

No.PS01 according to the linear encoder resolution.

Parameter No.PS01

Stop interval setting at the home position return

Setting value

Stop interval

[pulse]

4

5

6

2

3

0

1

8192

131072

262144

1048576

4194304

16777216

67108864

For the proximity dog type home position return, the nearest home position reference position after turning the proximity dog signal off will be the home position.

The linear encoder home position must be set to only one during the whole stroke and to the position to be surely passed after the start of home position return. The encoder Z-phase pulse (LZ) cannot be used.

13 - 26


Servo motor speed

Proximity dog signal

0 r/min

ON

OFF


Home position return direction

Home position return speed

Creep speed

(Note)

1048576pulse

1048576 pulses n times

Linear servo motor position

Linear encoder home position

Note. Can be changed with the parameter No.PS01.

Home position

(b) When the linear encoder home position does not exist in the home position return direction

If the home position return is performed from the position where the linear encoder does not exist in the home position return direction, the controller will be a home position return error. Error contents differ depending on types of controller. In this chase, move it once with the JOG operation from the controller, etc. to the stroke end on the opposite side of the home position return direction, and then perform the home position return.



Servo motor speed

0 r/min

Creep speed

JOG operation


ON

OFF


Stroke end Linear encoder home position

Home position returnable area

Home position

Home position nonreturnable area

POINT

For surely carrying out the home position return, make sure to execute the home position return after moving it to the stroke end on the opposite side with the JOG operation from the controller, etc.

Change the setting value for the third digit of parameter No.PS01 according to the linear encoder resolution.

13 - 27


(2) Absolute position linear encoder

The home position reference position on the absolute position linear encoder is a position per 1048576 pulses (changeable with the third digit of the parameter No.PS01), which is based on the linear encoder home position (absolute position data 0).

For the proximity dog type home position return, the nearest home position reference position after turning the proximity dog signal off will be the home position. There is no restriction on the setting position for the home position of linear encoder. The encoder Z-phase pulse (LZ) cannot be used.



Servo motor speed

Creep speed


0 r/min

ON

OFF


(Note)

1048576pulse

1048576 pulses n times


Linear encoder home position Home position

Note. Can be changed with the parameter No.PS01.

POINT

The data set type home position return can be also carried out.

13 - 28


13.5.4 Test operation mode in MR Configurator

CAUTION

The test operation mode is designed for servo operation confirmation and not for machine operation confirmation. Do not use this mode with the machine. Always use the linear servo motor alone.

If an operation fault occurred, use the forced stop (EM1) to make a stop.

POINT

The content described in this section indicates the environment that servo amplifier and personal computer are directly connected.

When using MR-J3W- B, both of the A-axis and the B-axis go into the test operation mode, but only one of them can be operated.



By using a personal computer and the MR Configurator, you can execute, positioning operation, DO forced output program operation without connecting the servo system controller.

(1) Test operation mode

(a) Positioning operation

Positioning operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not.

Exercise control on the positioning operation screen of the MR Configurator.


Item Initial value Setting range

Travel distance [pulse]

Speed [r/min]


Repeat pattern

Dwell time

Number of repeat

1048576

200

1000

Positive dir. Negative dir.

2.0

1

0 to 99999999

0 to max. speed

0 to 50000

Positive dir. Negative dir.

Positive dir. Positive dir.

Negative dir. Positive dir.

Negative dir. Negative dir.

0.5 to 50.0

1 to 9999

2) Operation method



Pause

Click the "Positive direction movement" button.

Click the "Negative direction movement" button.

Click the "Pause" button.

(b) Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. Use this function for output signal wiring check, etc.

Exercise control on the DO forced output screen of the MR Configurator.

13 - 29


(c) Program operation

Positioning operation can be performed in two or more operation patterns combined, without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not.

Exercise control on the program operation screen of the MR Configurator. For full information, refer to the MR Configurator Installation Guide.

Start

Stop

Click the "Start" button.

Click the "Reset" button.

(2) Operation procedure

1) Switch power off.

2) Set SW2-1 to "UP".

SW2

Set SW2-1 to "UP"

UP

DOWN

1 2

Changing the SW2-1 setting to the "UP" position during power-on will not start the test operation mode.

3) Switch servo amplifier power on.

When initialization is over, the display shows the following screen.

After 2s

Flickering

After 2s

Flickering

4) Perform operation with the personal computer.

13.5.5 Operation from the controller

When establishing the absolute position detection system, the absolute position linear encoder is required.

An MR-BTCASE battery case and eight MR-BAT batteries are not required.

The linear servo motor can be used in combination with the following controllers.

Servo system controller Model

Motion controller

Positioning module

Q17 DCPU/Q17 HCPU/Q170MCPU

QD75MH /QD74MH /LD77MH

(1) Operation method

For the system using the incremental linear encoder, however, the magnetic pole detection is automatically performed at the first servo-on after turning the power on. For this reason, when performing the positioning operation, configure the sequence which surely confirms the servo-on status as the inter lock condition of the positioning command.

Also, some parameter settings and home position return method varies depending on types of controllers.

13 - 30


(2) Servo system controller setting

(a) Setting instructions

The following servo parameters will be valid by turning the power of servo amplifier off once and then turning it on again after writing to the servo amplifier from the controller.

Setting description

Setting item

Motion controller

Q17 DCPU/

Q17 HCPU/Q170MCPU

(Note 3) Positioning

QD74MH /QD75MH /

LD77MH

Linear encoder resolution unit

MR-J3-B Linear

Automatic setting

MR-J3-B Linear

Command resolution

Amplifier setting

Motor setting

No.

(Note 1)

Symbol

Name

PA01 **STY Control mode (Note 2)





PS01 **LIT1 Linear function selection 1

PS02 **LIM Linear encoder resolution setting

Numerator

PS03 **LID Linear encoder resolution setting

Denominator

PS04 *LIT2 Linear function selection 2

Servo parameters

PS05 LB1 Linear servo motor control position deviation error detection level

PS06 LB2 Linear servo motor control speed deviation error detection level

PS07 LB3 Linear servo motor control thrust deviation error detection level


PS09 LPWM Magnetic pole detection voltage level

PS10 LFH At magnetic pole detection current detection method Identification signal frequency

PS11 LIDH At magnetic pole detection current detection method Identification signal amplitude

PS12 This parameter is not used. (Note 2)

PS17 LTSTS Minute position detection method function selection Each

PS18 IDLV Minute position detection method identification signal amplitude

Parameter for positioning control

Unit setting

Number of pulses (AP)

Travel distance (AL)

Factory setting

0000h

100

0010h

0100h

0000h

0301h

1000

1000

0003h

0

0

100

0010h

30

5

100

500

0000h

0000h

0004h

Set as necessary. mm mm

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

0004h

Set as necessary.

Note 1. The parameter whose symbol preceded by * can be validated with the following conditions.



2. For the QD75 MH , make sure to set the factory setting.

3. GX Configurator-QP(SW2D5C-QD75P) of Ver.2.29F or later supports the MR-J3- B linear.

4. Note that the following.

When a servo amplifier parameter (servo parameter) is changed, the controller automatically reads the servo parameter and stores the new servo parameter in the buffer memory of the QD74MH , QD75MH or LD77MH. However, the new servo parameter is not reflected in the flash memory.

Right after the servo parameter is changed, if the QD74MH , QD75MH or LD77MH is turned off or reset, or if the control circuit power supply of the servo amplifier is turned off, the new servo parameter may not be reflected in the buffer memory. In this case, change the servo parameter again.

13 - 31


(b) Setting for the number of pulses (AP) and travel distance (AL)

User Controller Servo amplifier

Command [mm]

AP

AL

Linear servo motor

Position feedback [mm]

AL

AP

Speed feedback [mm/s]

Derivation

Linear encoder

The number of pulses (AP) and travel distance (AL) of the linear encoder are calculated in the following condition.

When the linear encoder resolution is 0.05 m

Number of pulses (AP) [pulse]

Travel distance (AL) [ m]

1

0.05

20

1

13 - 32


13.5.6 Functions

(1) Linear servo control error detection function

POINT

For the linear servo control error detection function, the position and speed deviation error detections are enabled as factory-set. (Parameter No.PS04:

3)

If the linear servo control gets unstable for some reasons, the linear servo motor may not operate properly.

The protective function for detecting this before happens and stopping the operation is the linear servo control error detection function.

As the linear servo control error detection function, there are three types of detection methods: position deviation, speed deviation and thrust deviation. An error is detected when each error detection function is enabled with the setting of the parameter No.PS04 (Linear function selection 2). The detection level can be changed with the parameter Nos. PS05, PS06 and PS07.

Servo amplifier

Linear servo motor Servo amplifier internal value

1) Model feedback position [mm]

3) Model feedback speed [mm/s]

5) Command thrust [%]

Linear encoder

Linear encoder

2) Feedback position [mm]

4) Feedback speed [mm/s]

6) Feedback thrust [%]

Figure 13.1 Summary of linear servo control error detection function

(a) Position deviation error detection

Set the parameter No.PS04 to " 1" to make the position deviation error detection enabled.

Parameter No.PS04

1

Position deviation error detection valid

If there is a deviation larger than the setting value (1 to 1000mm) of the parameter No.PS05 (Linear servo control position deviation error detection level) after comparing the model feedback position 1) and the feedback position 2) in Figure 13.1, the alarm (Linear servo control error 42. ) occurs, and the linear servo motor stops. The factory setting of parameter No.PS05 is 50mm. Change the setting value as necessary.

13 - 33


(b) Speed deviation error detection

Set the parameter No.PS04 to " 2" to make the speed deviation error detection enabled.

Parameter No.PS04

2

Speed deviation error detection valid

If there is a deviation larger than the setting value (1 to 5000mm/s) of the parameter No.PS06 (Linear servo control speed deviation error detection level) after comparing the model feedback speed 3) and the feedback speed 4) in Figure 13.1, the alarm (Linear servo control error 42. ) occurs, and the linear servo motor stops. The factory setting of parameter No.PS06 is 1,000mm/s. Change the setting value as necessary.

(c) Thrust deviation error detection

Set the parameter No.PS04 to " 4" to make the thrust deviation error detection enabled.

Parameter No.PS04

4

Thrust deviation error detection valid

If there is a deviation larger than the setting value (1 to 1,000 ) of the parameter No.PS07 (Linear servo control thrust deviation error detection level) after comparing the command thrust 5) and the feedback thrust 6) in Figure 13.1, the alarm (Linear servo control error 42. ) occurs, and the linear servo motor stops. The factory setting of parameter No.PS05 is 100 . Change the setting value as necessary.

(d) Detecting multiple deviation errors

Setting the parameter No.PS04 as shown below allows the linear servo motor to detect multiple deviation errors. For the error detection methods, refer to (1) (a), (b) and (c) in this section.

Parameter No.PS04

Setting value

3

5

6

7

Position deviation error detection

Speed deviation error detection

Thrust deviation error detection

13 - 34


(2) Auto tuning function

The auto tuning function during the linear servo operation is the same as that of normal servo, but the calculation method of load to motor mass ratio (J ratio) is different. The load to motor mass ratio (J ratio) on the linear servo is a mass ratio calculated dividing the load mass by the load to mass of the linear servo motor primary side (coil) ratio.

Example) Linear servo motor primary side (coil) mass

Load mass (excluding the motor primary side (coil) mass)

2kg

4kg

Mass ratio 4/2 Twice

Refer to chapter 6, other parameters set with the auto tuning function.

POINT

If not meeting with the following conditions, the auto tuning mode 1 may not operate properly.

The acceleration/deceleration time constant which takes less than 5s to reach to

2,000mm/s

(3) Machine analyzer function

The linear servo motor speed is 150mm/s or faster.

The load to mass of the linear servo motor primary side (coil) ratio is 100 times or smaller.

The acceleration/deceleration thrust is 10 or less of the rated thrust.

POINT

Make sure to carry out the machine analyzer function after the magnetic pole detection. If the magnetic pole detection is not executed, the function may not operate properly.

The stop position at the completion of machine analyzer can be any position.

13.5.7 Absolute position detection system

When using the linear servo motor for the absolute position detection system, the absolute position linear encoder is required. The backup of absolute position data is performed by the linear encoder. For this reason, there is no need to mount an MR-BTCASE battery case and MR-BAT battery for encoder on the servo amplifier.

Also, the alarm (25.1) and warnings (92.1, 9F.1 and E3. ) related to the absolute position are not detected.

13 - 35


13.6 Parameters

CAUTION


When the fixed values are indicated for any digits of a parameter, never change the values of the digits.



When using this servo amplifier in the position control mode. Basic setting parameters

(No.PA

)


(No.PB

)


(No.PC

)


(No.PD

)


(No.PS

)

Option setting parameter

(No.Po

)


When changing settings such as analog monitor output signal, use these parameters.


Use these parameters when setting specially for the linear servo motor.

These parameters are dedicated to MR-J3W.

13 - 36


13.6.1 Parameter write inhibit (Parameter No.PA19)

POINT


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

The next table indicates the parameters which are enabled for reference and write by the setting of parameter

No.PA19. Operation can be performed for the parameters marked .

Parameter Basic setting Gain/filter Extension setting

Setting

No.PA19 parameters parameters parameters operation setting No.PA

No.PB

No.PC


No.PD


No.PS

Option setting parameter

No.Po

0000h

Reference

Write

000Bh Reference

(factory setting) Write

000Ch

000Dh

Reference

Write

Reference

Write

Reference

000Eh

Write

Reference

100Bh

Write

100Ch

100Dh

100Eh

Reference

Write

Reference

Write

Reference

Write

Parameter

No.PA19 only

Parameter

No.PA19 only

Parameter

No.PA19 only

Parameter

No.PA19 only

13 - 37



)

(1) Parameter list

POINT




No. Symbol

PA03 *ABS Absolute position detection system



PA06

PA07




PA12

PA13

PA14 *POL Moving direction selection



PA18 **MTY


Name

PA17 **MSR Linear servo motor series setting Linear servo motor type setting

Setting

(Note 1)

Factory setting

(Note 2)

Unit Reference

Each axis

Each axis

Each axis

Each axis

Each axis

0000h This section

(2)

Common 0000h Section

5.1.4

Each axis

0000h This section

(2)

Common 0000h Section

5.1.6

Each axis

Each axis

0

1

1

0001h Section

5.1.7

12

Each axis

100 pulse This section

(2)

1000.0

1000.0

0000h

Each axis

Each axis section

4000 (2)

0

0000h

0000h

000Bh




13 - 38


(2) List of details

No. Symbol Name

This parameter is set as " 0 " (rotary servo motor) in the initial setting.

To use a linear servo motor, set to " 4 ".

Parameter No.PA01

0 0 0







0 0 0

Selection of absolute position detection system (refer to chapter

12)



If the absolute position detection system is enabled when the linear encoder of the incremental type is being used, parameter error (37.2) occurs.

Each axis

Factory

Setting setting

Each axis

Unit

Setting range name and function column.

name and function column.

POINT


Set the range, where in position (INP-A/INP-B) is output, in the command pulse unit.

Servo motor droop pulses

Command pulse

Droop pulses

Command pulse

In-position range [pulse]

Each axis

100 pulse 0 to

65535

ON

In position (INP-A/INP-B)

OFF

POINT


13 - 39


No. Symbol Name

PA14 *POL Moving direction selection

Select linear servo motor moving direction relative.

Linear servo motor moving direction

Setting When positioning address increases


0

1

Positive direction

Negative direction

Negative direction

Positive direction

The positive/negative directions of the linear servo motor are as shown below.

Negative direction

Negative direction

Secondary side

Positive direction

Secondary side Positive direction

Table

Primary side

Primary side

LM-H2series

Positive direction

Negative direction

LM-U2 series

Primary side

LM-K2 series

Secondary side

Factory

Setting setting

Each axis

Unit

Setting range

0 0 1


This parameter is made valid when parameter No.PC03 is set to " value)".


1 (initial

Set the encoder pulses output by the servo amplifier by division ratio.

Travel distance [pulse] of the linear encoder is divided by the set value.

Travel distance of linear encoder

Output pulse

Set value

[pulse]


Each axis

4000 1 to

65535

13 - 40


No. Symbol Name

PA16 *ENR2 Encoder output pulse 2

This parameter is made valid when parameter No.PC03 is set to " 3 ".


Set the encoder pulses output by the servo amplifier by parameter No.PA15 and parameter No.PA16.

Travel distance [pulse] of the linear encoder is multiplied by the set value.

Output pulse Travel distance of linear encoder

Set value of parameter No.PA15

[pulse]

Set value of parameter No.PA16

Factory

Setting setting

Each axis

Unit

Setting range

0 1 to

65535


When the set value is "0 (initial value)", it is internally treated as "1".

PA17 **MSR Linear servo motor series setting Linear servo motor type setting Each axis

0000h

PA18 **MTY Select the linear servo motor to be used. Set both of parameter No.PA17 and

PA18. Setting them incorrectly causes the motor combination error (1A.1).

Linear servo motor series

Primary side (coil) model name

Each axis

0000h

No.PA17 No.PA18

LM-H2

LM-H2P2B-24M-1SS0 00B3h 2201h

LM-U2PAB-05M-0SS0 00B4h A201h

LM-U2PBB-07M-1SS0 00B4h B201h

LM-U2

LM-U2PAF-15M-0SS0 00B4h A601h

LM-K2

Setting value

0000h

000Bh

000Ch

000Dh

000Eh

100Bh

100Ch

100Dh

100Eh

LM-K2P2A-02M-1SS1 00B8h 2101h


Operation

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Write

Reference

Reference

Reference

Reference

No.PA

No.PB

Parameters that can be controlled

No.PC

No.PD

No.PS

No.Po

PA19

PA19

PA19

PA19

Each 000Bh axis

13 - 41

Refer to name and function column.

Refer to name and function column.


13.6.3 Gain/Filter parameters (No.PB

)

(1) Parameter list

POINT




No. Symbol

PB19

PB20

Name

VRF1 Vibration suppression control vibration frequency setting

VRF2 Vibration suppression control resonance frequency setting

Setting

(Note 1)

Factory setting

(Note 2)

Unit Reference

PB01 FILT Section axis 5.2.2

0000h PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control)


Each axis

0


PB05

PB06 GD2


Load to mass of the linear servo motor primary side (coil) ratio

Each axis

Each axis

0 Section

5.2.2

500

7.0 Multiplier

( 1)

This section

(2)


PB08

PB09

PB10

PB11

PB12

PB13

PG2

VG2

VIC

VDC

NH1

Position loop gain

Speed loop gain


Speed differential compensation






Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

5.2.2

37 rad/s

823 rad/s

33.7 ms

980

0

0000h

4500 Hz

0000h

5.2.2

PB17 Automatic setting parameter

Each 3141 rad/s axis

100.0 Hz Each axis

Each axis

100.0 Hz

13 - 42


No. Symbol

PB21

PB22





PB26 *CDP Gain changing selection

PB27 CDL Gain changing condition

PB28 CDT Gain changing time constant

PB29 GD2B Gain changing - load to mass of the linear servo motor primary side (coil) ratio



Name





PB36

PB37

PB38

PB39

PB40

PB41

PB42

PB43

PB44

PB45

Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

Setting

(Note 1)

Factory setting

(Note 2)

Each axis

Unit Reference

0.00

0.00

0000h Section

5.2.2

0000h

0000h

0000h Section

5.2.2

10

1 ms

7.0 Multiplier

( 1)

This section

(2)

823 rad/s

5.2.2

33.7 ms

100.0 Hz

100.0 Hz

0.00

0.00

100

0.0

0.0

0.0

1125

1125

0004h

0.0

0000h




13 - 43


(2) List of details


PB06 GD2 Load to mass of the linear servo motor primary side (coil) ratio

Used to set the load mass ratio to the mass of the linear servo motor primary side (coil).

When auto tuning mode 1 and interpolation mode are selected, the result of auto tuning is automatically used. In this case, it varies between 0.0 and 100.0.

When parameter No.PA08 is set to " 2" or " 3", this parameter can be set manually.

PB29 GD2B Gain changing - load to mass of the linear servo motor primary side (coil) ratio

Used to set the load to mass of the linear servo motor primary side (coil) ratio when gain changing is valid.


No.PA08: 3).

Setting

Each axis

Factory setting

Unit

7.0 Multiplier

( 1)

Setting range

0.0 to

300.0

Each axis

7.0 Multiplier

( 1)

0.0 to

300.0

13 - 44



(1) Parameter list

)

POINT




No. Symbol


PC03 *ENRS Encoder output pulses selection





PC23

PC24

PC25

PC26

Name







PC13 Do not use it in a linear servo.

PC14





PC19

PC20

PC21 *BPS Alarm history clear

Setting

(Note 1)

Factory setting

(Note 2)

Unit Reference

Each axis

0

Common 0000h

Common 0001h

Common 0 mV section

(2)

Each axis

Each axis

5.3.2

0010h This

0000h section

(2) Each axis

Each axis

0000h

Each axis

Each axis

0000h Section

5.3.2

50 mm/s

This section

(2), (3)

Common 0

0 mV

Common

Each axis

0

0 Section

5.3.2

0000h

0000h

0000h

0000h Section

5.3.2

Each axis

0000h

0000h Section

5.3.2

0000h

0000h

0000h

0000h

0000h

13 - 45


No. Symbol


Name


PC29

PC30

PC31

PC32

Setting

(Note 1)

Factory setting

(Note 2)

Each axis

Unit Reference

0000h This

0000h

0000h section

(2)

0000h

0000h

0000h




(2) List of details

No. Symbol Name

Factory

Setting setting

Unit

Setting range

Each axis (Note)



Used to set the error excessive alarm level in mm unit.

When "0" is set in this parameter, the alarm level is 3mm. When a value other than "0" is set, the alarm level is the amount of the set value. However, the alarm level stays at 200mm even if a value exceeding "200" is set.

Note. Setting can be changed in parameter No.PC06.


Use to select the, encoder output pulse direction and encoder pulse output setting.

0 0

Each axis name and function column.

name and function column.

Encoder output pulse phase changing

Changes the phases of A/B-phase encoder output pulses.

Set value

Linear Servo motor moving direction

Positve direction Negotive direction

0

A-phase

B-phase

A-phase

B-phase

1

A-phase

B-phase

A-phase

B-phase

Encoder output pulse setting selection

0: Not used for the linear servo motor.

When this value is set, the parameter error (37.2) occurs.

3: A/B-phase pulse electronic gear setting

(Set with the electronic gear parameter No.PA15 and PA16.)


Select the encoder cable communication system selection.

0 0 0

Encoder cable communication system selection

0: Two-wire type

1: Four-wire type

Incorrect setting will result in an encoder alarm 1 (16.3).

13 - 46

Each axis name and function column.


No. Symbol Name


Select the error excessive alarm level setting for parameter No.PC01.

0 0 0

Error excessive alarm level setting selection

0: 1 [mm]unit

1: 0.1 [mm]unit

2: 0.01 [mm]unit

3: 0.001[mm]unit

Factory

Setting setting

Each axis

Unit


Used to set the output range of the zero speed (ZSP-A/ZSP-B).

Zero speed (ZSP-A/ZSP-B) has hysteresis width of 20mm/s.



0 0

Setting

0

1

4

5

6

2

3

9

D

7

8


Item

Linear servo motor speed ( 8V/max. speed)

Thrust ( 8V/max. thrust)

Linear servo motor speed ( 8V/max. speed)

Thrust ( 8V/max. thrust)

Current command ( 8V/max. current command)

Speed command ( 8V/max. speed)





Bus voltage ( 8V/400V)

Each axis

50 mm/s 0 to

10000

Common 0000h Refer name and function column.


0: A-axis

1: B-axis



0 0


The setting details are the same as analog monitor 1 output.

For the setting details, refer to parameter No.PC09.

Common 0001h Refer name and function column.


The setting details are the same as analog monitor 1 output.

For the setting details, refer to parameter No.PC09.


Set the communication method of the encoder cable (two-wire type/four-wire type) with parameter No.PC04.

0000h

13 - 47


No. Symbol Name


The polarity setting of the encoder connected to the CN2A and CN2B connector and the Z-phase connection judgement of the A/B/Z-phase input interface encoder.

0 0 0

Encoder pulse count polarity selection

0: Linear servo motor positive direction and linear encoder

1: pulse increase direction

Linear servo motor positive direction and linear encoder pulse decrease direction

Factory

Setting setting

Each axis

Unit


(3) Analog monitor


(a) Setting

Change the following digits of parameter No.PC09, PC10.

Parameter No.PC09

0 0




0: A-axis

1: B-axis

Parameter No.PC10

0 0




0: A-axis

1: B-axis

Parameters No.PC11 and PC12 can be used to set the offset voltages to the analog output voltages.

The setting range is between 999 and 999mV.

Parameter No.

PC11

PC12

Description



Setting range [mV]

999 to 999

13 - 48


(b) Set content

The servo amplifier is factory-set to output the linear servo motor speed to analog monitor 1 (MO1) and the torque to analog monitor (MO2). The setting can be changed as listed below by changing the parameter No.PC09 and PC10 value.

Refer to (3)(c) for the measurement point.

Setting Output item Description Setting Output item Description

0 Linear servo motor speed 8[V]

CCW direction

1 Thrust

8[V]


Max. speed Max. thrust

0

Max. speed 0

Max. thrust

2 Linear servo motor speed

CW direction

-8[V]

CW direction

8[V]

CCW direction

3 Thrust


Driving in CW

8[V]

-8[V]



(Note 1, 2, 3)

( 10V/100 pulses)

8[V]

CCW direction


(Max. thrust command)

CW direction

0


(Max. thrust command)

-8[V]

10[V]

CCW direction

100[pulse]

0

100[pulse]

CW direction

10[V]

-10[V]

CCW direction

(Note 1, 2, 3)

( 10V/10000 pulses)

10000[pulse]

0

10000[pulse]

CW direction

-10[V]

8[V]

0

400[V]

13 - 49

(Note 2)

Max. thrust

8[V]

0 Max. thrust

CCW direction

Max. speed

0

Max. speed

CW direction

10[V]

-8[V]

CCW direction

(Note 1, 2, 3)

( 10V/1000 pulses)

1000[pulse]

0

1000[pulse]

CW direction

10[V]

-10[V]

CCW direction

(Note 1, 2, 3)

( 10V/100000 pulses)

100000[pulse]

0

100000[pulse]

CW direction

8[V]

-10[V]

CCW direction

(Note 2, 4)

Max. speed

0

Max. speed

CW direction

-8[V]


Note 1. Encoder pulse unit.

2. Cannot be used in the torque loop mode.

3. Cannot be used in the speed loop mode.

4. This setting can be used with the servo amplifier whose software version is B3 or later and with MR Configurator whose software version is C5 or later.

(c) Analog monitor block diagram


Speed command

Differ- ential

Droop pulses

Speed command 2

Position control

Speed command

Current command

Speed control

Current control

PWM

Bus voltage

Current encoder

Linear servo motor

Current feedback Linear encoder

Differ- ential

Position feedback

Linear servo motor speed

Thrust

13 - 50



)

(1) Parameter list

POINT



No. Symbol Name


PD02 *DIA2 Input signal automatic ON selection


PD04

PD05

PD06

PD07 *D01 Output signal device selection 1 (CN3-12 for A-axis and CN3-25 for B-axis)


PD09 *D03 Output signal device selection 3 (CN3-11 for A-axis and CN3-24 for B-axis)


PD11

PD12

PD13



PD16

PD17

PD18

PD19

PD20

PD21

PD22

PD23

PD24

PD25

PD26

PD27

PD28

PD29

PD30

PD31

PD32

Setting

(Note 1)

Factory setting

(Note 2)

Each axis

Each axis

Each axis

Each axis

Unit Reference

0000h

0000h This

0020h section

(2)

0021h

0022h

0000h

0005h Section

5.4.2

0004h

0003h Section

0000h

5.4.2

0004h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h Section

5.4.2

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h




13 - 51


(2) List of details

No. Symbol Name

PD02 *DIA2 Input signal automatic ON selection

Select the input devices to be automatically turned ON.

0 0 0

Signal name

Factory setting

BIN HEX

Upper stroke limit

(FLS)

Lower stroke limit

(RLS)

0

0

0

0

BIN 0: Used as external input signal

BIN 1: Automatic ON

0

Factory

Setting setting

Each axis

Unit


For example, to turn ON RLS, the setting is " 2".

When the upper stroke limit (FLS) or the lower stroke limit (RLS) is used on the controller side, do not set to automatically ON since the magnetic pole detection signal is shared with the input signal.


)

(1) Parameter list

POINT




No. Symbol



Name

PS02 **LIM Linear encoder resolution setting Numerator

PS03 **LID Linear encoder resolution setting Denominator




Setting

(Note 1)

Factory setting

(Note 2)

Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

Unit Reference

0301h This section

1000 (2)

1000

0003h

0 mm

0 mm/s

Each axis

100

13 - 52


No. Symbol



Name

PS10 This parameter is not used. Do not change the value.

PS11

PS12

PS13

PS14

PS15

PS16

PS17 LTSTS Minute position detection method function selection



PS20

PS21

PS22

PS23

PS24

PS25

PS26

PS27

PS28

PS29

PS30

PS31

PS32

Setting

(Note 1)

Factory setting

(Note 2)

Each axis

Each axis

5

Unit Reference

0010h This

30 section

(2)

Each axis

Each axis

100

500

0000h

0

0000h

0000h

0000h This

0000h section

(2)

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h




13 - 53


(2) List of details

No. Symbol Name


The magnetic pole detection setting, the stop interval setting at home position return, the valid/invalid setting of the linear servo motor thermistor can be selected. (Refer to section 13.5.2.)

0

Linear servo motor magnetic pole detection setting

0: Magnetic pole detection invalid (This setting is valid only

with absolute position Iinear encoder.)

1: Magnetic pole always valid

Factory

Setting setting

Each axis

Unit


Linear servo motor thermistor valid/invalid setting

0: Valid

1: Invalid

When the linear servo motor without thermistor is used, this setting is invalid.

PS02 **LIM Linear encoder resolution setting Numerator

Set the linear encoder resolution in 1 m unit. (Refer to section 13.5.1 (4).)

Set the numerator for parameter No.PS02.

Linear encoder resolution ( m) LIM/LID

When "0" is set in this parameter, the factory setting is applied in the servo amplifier.

PS03 **LID Linear encoder resolution setting Denominator

Set the denominator for parameter No.PS03.


Each axis

1000 0 to

65535

Each axis

1000 0 to

65535

13 - 54


No. Symbol Name


Linear servo motor control error detection function and linear servo motor control error reset can be selected.

0 0

Linear servo motor control error detection function selection

(Refer to section 13.5.6 (1).)

0: Invalid

1: Position deviation error detection valid

2: Speed deviation error detection valid

3: Position/speed detection deviation error detection valid

4: Thrust deviation error detection valid

5: Position/thrust deviation error detection valid

6: Speed/thrust deviation error detection valid

7: Position/speed/thrust deviation error detection valid

Linear servo motor control error detection reset selection

Set the controller reset condition of the linear servo motor control error (42. ).

0: Reset impossible (Reset by switching OFF is possible.)

1: Reset possible

Factory

Setting setting

Each axis

Unit



Used to set the position deviation error detection level of the linear servo motor control error detection. When the difference between the model feedback position and the feedback position is bigger than this setting value, the linear servo motor control error (42.1). (Refer to section 13.5.6 (1).)

When "0" is set in this parameter, 50mm is set for detection level.


Used to set the speed deviation error detection level of the linear servo motor control error detection. When the difference between the model feedback speed and the feedback speed is bigger than this setting value, the linear servo motor control error is detected (42.2). (Refer to section 13.5.6 (1).)

When "0" is set in this parameter, 1000mm/s is set for detection level.


Used to set the thrust deviation error detection level of the linear servo motor control error detection. When the difference between the command thrust and the feedback thrust is bigger than this setting value, the linear servo motor control error is detected (42.3). (Refer to section 13.5.6 (1).)



The magnetic pole detection method can be selected. (Refer to section 13.5.2

(6).)

0 0 1

Selection of magnetic pole

0: Detection method

4: Minute position detection method

Each axis

Each axis

Each axis

Each axis


Used to set the direct current exciting voltage level during the magnetic pole detection. When the overload alarm (50. and 51. ) or overcurrent alarm (32. ) occurs, set the smaller value. When the initial magnetic pole detection error occurs during the magnetic pole detection, set the bigger value. (Refer to section

13.5.2 (3).)

Each axis

13 - 55

0 mm 0 to

1000

0 mm/s 0 to

5000

100

30

0 to

1000 name and function column.

0 to

100


No. Symbol Name


PS11

PS12

PS13

PS14

PS15

PS16


Used to set the response and the load to motor mass ratio of the minute position detection method.

To make the parameter valid, set parameter No.PS08 (Linear function selection 3) to " 4" (minute position detection method). (Refer to (4)(b) in section 13.5.2.)

Factory

Setting setting

5

100

500

0000h

0

0000h

0000h

Each axis

Unit


0 0

Response of the minute position detection method

Setting

0

5

6

3

4

7

1

2

Response

Low response

Medium response

Setting

8

9

A

B

C

D

E

F

Response

Medium response

High response

Selecting the load to mass of the linear servo motor primary side (coil) ratio, which decides the response of the minute position detection method

6

7

4

5

2

3

0

1

Setting

Load to motor mass ratio

Less than 10 times

10 times

20 times

30 times

40 times

50 times

60 times

70 times

Setting

E

F

C

D

A

B

8

9

Load to motor mass ratio

80 times

90 times

100 times

110 times

120 times

130 times

140 times

150 times or more

0000h to

006Fh


Used to set the identification signal amplitude for the minute position detection method. To make the parameter valid, set parameter No.PS08 (Linear function selection 3) to " 4". Identification signal is "100 " when "0" is set. (Refer to

(4)(b) in section 13.5.2.)


PS20

PS21

PS22

PS23

PS24

PS25

PS26

13 - 56

Each axis

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h


No. Symbol Name


PS28

PS29

PS30

PS31

PS32

13.6.7 Option setting parameter

Factory

Setting setting

0000h

0000h

0000h

0000h

0000h

0000h

Unit

Setting range

POINT




No. Symbol Name





Po05 This parameter is not used. Do not change the value.

Po06

Po07

Po08

Po09

Po10

Po11

Po12

Po13

Po14

Po15

Po16

Setting

(Note 1)

Factory setting

(Note 2)

Common 0000h

Common 0000h

Common 0000h

Common 0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

Unit Reference

Section

5.5.2




13 - 57


13.7 Troubleshooting

POINT

When an alarm with "Each axis" indicated in the "Stop method" column occurs, the servo motor in the non-alarm-occurring axis can continue running.

If an alarm/warning has occurred, refer to this chapter and remove its cause.

13.7.1 Alarms and warning list

When an error occurs during operation, the corresponding alarm or warning is displayed.

If any alarm has occurred, refer to section 13.7.2 and section 8.3; if any warning has occurred, refer to section

13.7.3 and section 8.4, and take the appropriate action. When an alarm occurs, ALM-A/ALM-B turns OFF.

After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm deactivation column.

Display Name Power

OFF ON

Alarm deactivation


Detection method

(Note 3)

Stop method

(Note 4)

10 Undervoltage

11 Switch setting error

12 Memory error 1 (RAM)

15 Memory error 2 (EEP-ROM)

16 Encoder initial communication error 1





20 Encoder normal communication error 1



27 Initial magnetic pole detection error

28 Linear encoder error 2

2A Linear encoder error 1

30 Regenerative error

31 Overspeed

32 Overcurrent

33 Overvoltage




42 Linear servo control error

45 Main circuit device overheat

46 Linear servo motor overheat


50 Overload 1

51 Overload 2

8A USB communication time-out error

8E USB communication error

888 Watchdog

Each axis Each axis

Each axis Each axis

Each axis Each axis

Each axis Each axis

Each axis Each axis

Each axis Each axis

Each axis All axis

Each axis Each axis

Each axis Each axis

Each axis Each axis

Each axis

Each axis

Each axis

All axis

Each axis Each axis

Each axis Each axis

Each axis Each axis

Each axis Each axis

(Note Each axis Each axis

1) (Note Each axis Each axis



Each axis Each axis

13 - 58


Display Name Power

OFF ON

Alarm deactivation


91 Main circuit device overheat warning

96 Home position setting warning

E0 Excessive regeneration warning

E1 Overload warning 1

E2 Linear servo motor overheat warning

Detection method

(Note 3)

Common

Each axis

Common

Each axis

Each axis

Each axis

Common

Common

Common





EB The other axis fault warning



Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.


3. Alarms and warnings are detected in the following axes.

Each axis: Alarms and warnings are detected in the A-axis and the B-axis separately.

Common: Alarms and warnings are detected in the A-axis and the B-axis together.

4. When an alarm or a warning occurs, the axes stop as below.

Each axis: Only the axis that detected the alarm or warning stops.

All axis: All axes stop.

5. The alarm can be deactivated by setting parameter No.PS04 to "1 ."

Each axis

Each axis

Each axis

Stop method

(Note 4)

All axis

All axis

All axis

13 - 59


13.7.2 Remedies for alarms

CAUTION

When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur.


POINT

When any of the following alarms has occurred, do not deactivate the alarm and resume operation repeatedly. To do so will cause the servo amplifier/servo motor to fail. Remove the cause of occurrence, and leave a cooling time of more than 30 minutes before resuming operation. To protect the main circuit elements, any of these servo alarms cannot be deactivated from the servo system controller until the specified time elapses after its occurrence. Judging the load changing condition until the alarm occurs, the servo amplifier calculates this specified time automatically.

Regenerative error (30. )

Linear servo motor overheat (46. )

Overload 2 (51. )

Main circuit device overheat (45. )

Overload 1 (50. )

The alarm can be deactivated by switching power off, then on or by the error reset command CPU reset from the servo system controller. For details, refer to section

13.7.1.

When an alarm occurs, the malfunction (ALM-A/ALM-B) switches off and the dynamic brake is operated to stop the servo motor. At this time, the display indicates the alarm No.

The servo motor comes to a stop. Remove the cause of the alarm in accordance with this section. Use the MR

Configurator to refer to a factor of alarm occurrence.

Alarm No.10 Name: Undervoltage Stop method: All axes stop

Alarm description

Display Name

Voltage of the control circuit power has dropped.

Voltage of the main circuit power has dropped.


10.1 Voltage drop in the control circuit power

10.2 Voltage drop in the main circuit power

Same as for the rotary servo motor.


13 - 60


Alarm No.11

Alarm description

Display Name


Rotary axis setting switch is incorrectly set.


Servo motor selection switch is incorrect set.

Cause Checkpoint setting error



Stop method: All axis stop

Finding

11.3 setting error

Servo motor selection switch setting error


(2) Control mode is incorrectly set by the parameter.


(SW3) setting.




PA01 setting.

"

Rotary servo motor:

0 "

"

Linear servo motor:

4 "

"

Direct drive motor:

6 "


Setting is correct.


Action


Check (2).


11.4 Servo motor selection switch setting error 2

(1) Wrong encoder is connected.


Check the linear encoder.

Rotary servo motor: servo motor

Linear servo motor: linear encoder


(SW3) setting.




Wrong linear encoder is connected.

Right linear encoder is connected.


Check (2).


Alarm No.12

Alarm description

Display Name

Name: Memory error (RAM)

Interior part of the servo amplifier (CPU) is faulty.

Interior part of the servo amplifier (custom IC) is faulty.

Cause Checkpoint


Finding

12.1 CPU built-in RAM error




12.3 Custom IC RAM error

Action

Alarm No.13

Alarm description

Display Name

Name: Clock error

Fault is found in the printed board.

There is a clock error transmitted from the controller.

Cause Checkpoint


Finding

13.1 Clock error Same as for the rotary servo motor.


Action

13 - 61


Alarm No.15

Alarm description

Display Name at power on

Interior part of the servo amplifier (EEP-ROM) is faulty.

Cause Checkpoint


Refer to section 8.3. during operation

Finding Action

Alarm No.16

Alarm description

Display Name


Error occurs in the communication between the linear encoder and the servo amplifier.


16.1

16.2





(3) Servo amplifier is faulty. Check the reproducibility of the error.

No problem found.

Problem found.

No problem found.

Reproduced.

Check (2).


Check (3).


Not reproduced. Examine checkpoints described in the alarm display "16.3".

(1) Encoder cable is faulty. Examine checkpoints described in the alarm display "16.1". Encoder receive data error 2 (2) Fault is generated from the surrounding environment.

(3) Replace the servo amplifier. receive (1) data error 3

When using only one axis, select the motorless operation for the axis to which the servo motor is not connected.

(2) The encoder cable is unplugged.


(4)

(5)

Two-wire/four-wire type parameter setting is incorrect.

Signal from the linear encoder cannot be received.


Check if parameter No.

PC05 is set to motor-less operation for the unused axis.


Check for breakage and short of the encoder cable.

Check the shield.


PC04 setting.

Two-wire type: "00 "

Four-wire type: "10 "

Connect to a properly operating linear encoder.


Problem found.

Motor-less operation is not set.

Motor-less operation is set.




No problem found.


Alarm does not occur. Replace the linear

Alarm occurs.

Not reproduced.

Repair the cable.

Select motor-less operation

Check (2).

Connect properly.

Check (4).

Correct the setting. encoder.

Check (6).





13 - 62


Alarm No.16

Alarm description

Display Name


Error occurs in the communication between the linear encoder and the servo amplifier.


16.5

16.6

16.7







Problem found. Repair the cable.





No problem found.

Problem found.

No problem found.






Check (2).


Check (3).


Alarm No.17

Alarm description

Display Name

Name: Board error

Interior part of the servo amplifier is faulty.

Cause Checkpoint error




Finding data error

17.3 Custom IC error

17.4 Amplifier detection signal error error

17.6 DIP switch error

Action

Alarm No.19

Alarm description

Display Name


Interior part of the servo amplifier (FLASH-ROM) is faulty.



1 error Same as for the rotary servo motor.


2

Action

13 - 63


Alarm No.1A

Alarm description

Display Name

Name: Motor combination error Stop method: Corresponding axis stops



1A.1 Motor combination error

(2) Linear servo setting is connected to an incorrect linear servo motor or vice versa. selected in the parameter.

(3) The linear servo motor, which requires the parameter No.Po04 setting, is being used.

" the linear servo motor and its combination with the servo amplifier.


PA01 setting.

Rotary servo motor:

0 "

"

Linear servo motor:

4 "

"

Direct drive motor:

6 "


Po04 setting. incorrect.

Combination is correct.

Linear servo motor is selected.

Rotary servo motor is selected. combination.

Check (2).

Check the combination, then check (3).

Select the linear servo motor.


Alarm No.1E

Alarm description


Encoder is faulty.

Checkpoint Display Name Cause

1E.1 Encoder failure Same as for the rotary servo motor.



Finding Action

Alarm No.1F

Alarm description

Display Name


Connected linear encoder is not compatible.

Cause Checkpoint


Finding Action


(1) Incompatible linear encoder is connected to the servo amplifier.

Check the model name of the linear encoder.

Incompatible linear encoder.

Replace the linear encoder.

(2) Information in the linear encoder is incorrect.

Check the linear encoder

ID from the system information display of MR

Configurator. encoder.

ID is incorrect. Replace the linear encoder.

Alarm No.20

Alarm description

Display Name


Error is found in the communication between the linear encoder and the servo amplifier.


20.1 Encoder receive data error 1




Check the shield.



Problem found.

No problem found.

Problem found.

No problem found.

Not reproduced.

Repair the cable.

Check (2).


Check (3).

Replace the servo amplifier. described in the alarm display "20.3".

13 - 64


Alarm No.20

Alarm description

Display Name


Error is found in the communication between the linear encoder and the servo amplifier.


20.2

20.5

20.6

20.7





(3) Servo amplifier is faulty. receive (1) The encoder cable is data error 3 unplugged.


(2) Encoder cable is faulty. Check for breakage and short of the encoder cable.




Connect properly.


Problem found.

No problem found.

Problem found.

Repair or replace the cable.

Check (3).

Take measures against noise.





No problem found.

Not reproduced.

Check (4).





Check for external noise, surrounding air temperature, and other factors.



Problem found.

Problem found.

No problem found.

Problem found.


Repair the cable.

Check (2).


(3) Linear encoder is faulty. Replace the linear encoder and check the reproducibility of the error.


No problem found.


Check (3).

Replace the linear encoder.



(3) Linear encoder is faulty.





13 - 65


Alarm No.21

Alarm description

Display Name


Error is found in the linear encoder data.

Cause Checkpoint

(1) Linear encoder is faulty. Replace the linear encoder and check the


Finding


Action

Replace the linear encoder. error




Alarm No.24

Alarm description

Display Name

Name: Main circuit error Stop method: All axes stop

Ground fault occurs at servo motor power cable of the servo amplifier.

Ground fault occurs at servo motor.



Refer to section 8.3. detected at hardware detection circuit detected at software detection function

Action

Alarm No.27

Alarm description

Display Name

Name: Initial magnetic pole detection error Stop method: Corresponding axis stops

Initial magnetic pole detection cannot be performed properly.

Cause Checkpoint Finding Action detection abnormal termination detection time out error something.

(2) Wiring fault of the power cable.

(3)

(4)

Resolution of the linear encoder and the resolution setting of the parameter are different.

Polarity of the linear encoder is incorrect.

(Installation direction is incorrect.)

(5) Accuracy of the initial magnetic pole detection is not satisfactory.

(1) Only one of the magnetic pole detection limit switches is ON. struck something.


Review the parameter

No.PS02 and PS03 settings.

Check polarities of the linear encoder and the linear servo motor.

Travel distance during the magnetic pole detection is short.

Check the status of the limit switch.

Machine struck something.

Move the start position of the magnetic pole detection.


Problem found. Modify the wiring.


Setting is correct.

The polarity is incorrect.

Travel distance is short.

Problem found.


Check (4).



No.PS09 setting.

Remove the cause.

Change the location of the magnetic pole detection.

(2) Excitation level during the initial magnetic pole detection is small.

Travel distance during the magnetic pole detection is short.

Normal.

Travel distance is short.


No.PS09 setting.

13 - 66


Alarm No.27

Alarm description

Display Name

Name: Initial magnetic pole detection error Stop method: Corresponding axis stops

Initial magnetic pole detection cannot be performed properly.

Cause Checkpoint Finding Action detection limit switch error detection estimated error

(1) Both of the magnetic pole detection limit switches are OFF.

(1) The estimated value obtained from the magnetic pole detection is faulty.

Check that the limit switches are ON.

Limit switches are

OFF.

Turn the limit switches

ON.


Examine checkpoints described in the alarm display "27.1". detection position deviation error increases during the magnetic pole detection.

Examine checkpoints described in the alarm display "27.1". detection speed deviation error detection current error increases during the magnetic pole detection.

(1) The current reaches the alarm level during the magnetic pole detection.


Alarm No.28

Alarm description

Display Name

Name: Linear encoder error 2

Cause Checkpoint


Fault is found in the surrounding environment of the linear encoder.

Finding Action environment error

(1) Temperature of the linear encoder is high.

(2) Signal level from the linear encoder drops.

Check the temperature of the linear encoder.

Check the installation of the linear encoder.

Temperature is high. Consult the linear encoder manufacturer.

Temperature is low. Check (2).

Problem found. Modify the installation of the linear encoder.

Alarm No.2A

Alarm description

Display Name


Error signal from the linear encoder is received.

Cause Checkpoint


Finding Action side error 1

(1) Installation positions of the linear encoder and the head are faulty.

Adjust the positions of the linear encoder and the head, and check the reproducibility of the error.

Not reproduced. Use in the adjusted positions.


(3) Alarm of the linear encoder.


Check the details of section 13.7.4.

Problem found.

No problem found.

Improve the detail information No.1 of the linear encoder manufacturer.


Check (3).

Consult the linear encoder manufacturer.

13 - 67


Alarm No.2A

Alarm description

Display Name



Cause Checkpoint side error 2




Finding

Not reproduced.

Action

Use in the adjusted positions. side error 3 side error 4 side error 5





Problem found.



No problem found.


Not reproduced.





Problem found.



No problem found.


Not reproduced.





Problem found.



No problem found.


Not reproduced.





Problem found.

No problem found.



Check (3).


Use in the adjusted positions.


Check (3).




Check (3).




Check (3).


13 - 68


Alarm No.2A

Alarm description

Display Name



Cause Checkpoint side error 6




Finding

Not reproduced.

Action

Use in the adjusted positions. side error 7 side error 8





Problem found.



No problem found.


Not reproduced.





Problem found.



No problem found.


Not reproduced.





Problem found.

No problem found.



Check (3).




Check (3).




Check (3).


13 - 69


Alarm No.30

Alarm description

Display Name

Name: Regenerative error Stop method: All axes stop


Regenerative transistor in the servo amplifier is faulty.







Alarm No.31

Alarm description

Display Name

Name: Overspeed Stop method: Corresponding axis stops

Linear servo motor speed exceeds the instantaneous permissible speed.

Cause Checkpoint Finding Action speed motor Same as for the rotary servo motor.


Alarm No.32

Alarm description

Display Name

Name: Overcurrent Stop method: All axes stop

Current that flew is the permissible current of the servo amplifier or higher.


32.1 Overcurrent detected at hardware detection circuit

(during operation).

32.2 Overcurrent detected at software detection function

(during operation).


(during a stop).

32.4 Overcurrent detected at software detection function

(during a stop).



Action

Alarm No.33

Alarm description

Display Name

Name: Overvoltage

Bus voltage exceeds 400VDC.

Cause voltage error



Checkpoint


Finding Action

13 - 70


Alarm No.34

Alarm description

Display Name



Cause Checkpoint Finding Action data error

34.2 SSCNET communication connector connection error

34.3 Communication data error signal detection


Alarm No.35

Alarm description

Display Name



Cause Checkpoint


Finding Action




Alarm No.36

Alarm description

Display Name


SSCNET communication error (Continuous communication error for about 70ms.)





Alarm No.37

Alarm description

Display Name


Settings in the servo amplifier are incorrect.

Cause Checkpoint


Finding Action range error



13 - 71


Alarm No.42

Alarm description

Display Name

Name: Linear servo control error

Linear servo control error occurs.

Cause

42.1 Linear servo control error on the positioning detection

(1) Resolution of the linear encoder and the resolution setting of the parameter are different.

(2)

(3) Connection of the linear servo motor is incorrect.

(4)



Initial magnetic pole detection is not performed. reaches the detection level.

Checkpoint




Check the wiring.

Perform the magnetic pole detection again, and check the reproducibility of the error.

Check the operation status.

(Check the number of droop pulses.)

42.2 Linear servo control error on the speed detection

(1)

(2)





(4) Initial magnetic pole detection is not performed.

(5) Speed deviation reaches the detection level.




Check the wiring.



(Calculate the deviation between the speed command and the linear servo motor speed.)


Finding


Setting is correct.


Problem found.

Normal.

Not reproduced.

Deviation is large.


Setting is correct.


Problem found.

Normal.

Not reproduced.

Deviation is large.

Action


Check (2).



Perform the magnetic pole detection.

Review the operation status.


No.PS05 (Linear servo motor control position deviation error detection level) setting as required.


Check (2).






No.PS06 (Linear servo motor control speed deviation error detection level) setting as required.

13 - 72


Alarm No.42

Alarm description

Display Name

Name: Linear servo control error

Linear servo control error occurs.

Cause

42.3 Linear servo control error on the thrust detection

(1)

(2)





Checkpoint




Check the wiring.


(5) Thrust deviation reaches the detection level.


Finding


Setting is correct.


Problem found.



(Calculate the deviation between the current command and the torque.)

Normal.

Not reproduced.

Deviation is large.

Action


Check (2).






No.PS07 (Linear servo motor control thrust deviation error detection level) setting as required.

Alarm No.45

Alarm description


Inside of the servo amplifier overheats.

Checkpoint Display Name Cause


Refer to section 8.3. abnormal temperature



Finding Action

13 - 73


Alarm No.46

Alarm description

Display Name

Name: Servo motor overheat

Linear servo motor overheats abnormally.

Cause Checkpoint motor thermal sensor error of the linear servo motor is over 40 .

Check the ambient temperature of the linear servo motor.


Finding temperature is over

40 .

Action temperature of the servo motor.

46.3 Thermistor cable disconnection error

(2)

(3) Thermal sensor fault in

(1) The thermistor cable is disconnected.

(2)

The linear servo motor is overloaded. the linear servo motor

The thermistor cable is disconnected.


Configurator.

Check the linear servo motor temperature at alarm occurrence.

Check if the thermistor cable is connected

Check the thermistor cable.

The ambient temperature is 40 or less.

The effective load ratio is large.

Check 2).

Reduce the load or check the operation pattern.

The effective load ratio is small.

Check 3).

The linear servo motor temperature is low.

Replace the linear servo motor.

Not connected.

Disconnected.

Connect the cable.

Repair the lead.

Is not disconnected. Replace the linear servo motor.

Alarm No.47

Alarm description

Display Name


Cooling fan speed of the servo amplifier is decreased.

Cooling fan speed drops to the alarm level or lower.

Cause Checkpoint


Finding

47.1 Cooling fan stop error

47.2 Decreased cooling fan speed error



Action

13 - 74


Alarm No.50

Alarm description

Display Name



Cause Checkpoint Finding Action error 1 during operation excess of its continuous output current.

Check the effective load ratio.


Reduce load.



Check (2).


Check for oscillation in motor.


Oscillation is occurring.

Adjust the gain.

50.2 Thermal overload error 2 during operation occurring.





(1) Machine struck something. Check if the machine struck something.

Not reset.

Not reproduced.

Machine struck.






(3) Incorrect connections to/from the linear servo motor.


No problem found.

Problem found.

No problem found.

Check (3).


Check (4).

(4)

(5)









Setting is correct.



Check (5).




Replace the servo motor, and check the

Not reproduced.

Not reproduced.







13 - 75


Alarm No.50

Alarm description

Display Name





(1) Machine struck something. Examine checkpoints described in the alarm display "50.2".

(2) Power cable is cut. to/from the linear servo motor.


(5) Polarity of the linear encoder is incorrect.

(Installation direction is incorrect.) error 1 during a stop





(10) Servo amplifier is faulty. excess of its continuous output current.


Configurator.


Reduce load.



Check (2).

(2) Hunting occurs during servo lock.

Check for hunting.





Hunting occurs.

Hunting does not occur.

Not reset.

Not reproduced.

Adjust the gain.

Check (3).



13 - 76


Alarm No.50

Alarm description

Display Name




50.5 Thermal overload error 2 during a stop

(1) Machine struck something. Check if the machine struck something.



(3) Incorrect connections to/from the linear servo motor.






No problem found.

Problem found.

No problem found.


Setting is correct.

Check (3).


Check (4).


Check (5).

(4)

(5)








Replace the servo motor, and check the


Not reproduced.

Not reproduced.




50.6




Thermal overload error 4 during operation


(1) Machine struck something. Examine checkpoints described in the alarm display "50.5".










13 - 77


Alarm No.51

Alarm description

Display Name





(1)

(2)

Power cable is cut.

Incorrect connections to/from the linear servo motor.

(3) Misconnection of encoder cable.




Check the encoder cable connection.







Replace the servo motor, and check the something.



Check the torque during the operation.




Replace the servo amplifier, and check the reproducibility of the error.

Problem found.

No problem found.

Modify the wiring.

Check (2).


Problem found.

No problem found.


Setting is correct.


Not reproduced.

Not reproduced.

Machine struck.


Check (4).


Check (5).





Torque is saturated. Review the operation


Not reproduced.

Review the operation pattern. pattern.

Check (10).


13 - 78


Alarm No.51

Alarm description

Display Name





(1) Power cable is cut. to/from the linear servo motor.

(3) Misconnection of encoder cable.






Examine checkpoints described in the alarm display "51.1". something.



Alarm No.52

Alarm description

Name: Error excessive Stop method: Corresponding axis stops

The droop pulses existing between the model position and the actual servo motor position exceeds the alarm level.

Checkpoint Finding Action Display Name Cause


Refer to section 8.3. pulse existing between the model position and the actual servo motor position

52.4 Maximum deviation at 0 torque limit

Alarm No.8A

Alarm description

Display Name

Name: USB communication time-out error Stop method: All axes stop

Communication between the servo amplifier and a communication device (PC, etc.) stops for the specified time or longer.


8A.1 USB communication time-out for the specified time or longer



13 - 79


Alarm No.8E

Alarm description

Display Name

Name: USB communication error Stop method: All axes stop










13.7.3 Remedies for warnings

POINT

When any of the following alarms has occurred, do not resume operation by switching power of the servo amplifier OFF/ON repeatedly. The servo amplifier and servo motor may become faulty. If the power of the servo amplifier is switched

OFF/ON during the alarms, allow more than 30 minutes for cooling before resuming operation.


Excessive regenerative warning (E0. )

Overload warning 1 (E1. )

When a warning whose stop method is all axis stop in the following table occurs, the servo amplifier goes into the servo-off status and the servo motor stops at the warning occurrence. If any other warning occurs, operation can be continued but an alarm may take place or proper operation may not be performed.

Remove the cause of warning according to this section. Use the MR Configurator to refer to a factor of warning occurrence.

Alarm No.91

Alarm description

Display Name

Name: Main circuit device overheat warning

Stop method: Axes can operate (warning detected at both axes).

The temperature inside of the servo amplifier exceeds the warning level.



Refer to section 8.4. device overheat warning

91.2 Board temperature warning

13 - 80


Alarm No.96 Name: Home position setting warning

Stop method: Axes can operate (detected by the corresponding axis).

Alarm description

Display Name

Home positioning cannot be made.

Cause

96.1 INP error at home positioning


Refer to section 8.4. input error at home positioning

Checkpoint Finding Action

Alarm No.E0

Warning description

Display Name

Name: Excessive regeneration warning




E0.1 Excessive regeneration warning



Alarm No.E1

Alarm description

Display Name



There is a possibility that overload alarm (50. , 51. ) may occur.

Cause Checkpoint Finding Action warning 1 during operation

Refer to section 8.4. warning 2 during operation warning 3 during operation warning 4 during operation warning 1 during a stop warning 2 during a stop warning 3 during a stop warning 4 during a stop

13 - 81


Alarm No.E2 Name: Linear servo motor overheat warning


Alarm description

Display Name motor overheat warning

The linear servo motor overheat (46) may occur.


Examine checkpoints described in the alarm display "46.2". (1) The linear servo motor temperature reaches 85 of the alarm level of the linear servo motor overheat (46.2).

Action

Alarm No.E4

Alarm description

Display Name

Name: Parameter warning


At parameter write, write to parameter outside of the setting range is attempted.

Cause Checkpoint Finding Action range error warning


Alarm No.E6

Alarm description

Name: Servo forced stop warning

Forced stop signal is turned off.

Display Name warning

Cause



Checkpoint


Finding Action

Alarm No.E7

Alarm description

Display Name

Name: Controller forced stop warning Stop method: All axes stop

Forced stop signal is input from the servo system controller.

Cause Checkpoint Finding Action forced Same as for the rotary servo motor. stop warning Refer to section 8.4.

Alarm No.E8

Alarm description

Display Name

Name: Cooling fan speed reduction warning


The speed of cooling fan drops to or below the warning level.


E8.1 Decreased cooling fan speed warning



Alarm No.E9

Alarm description

Display Name


Cause Checkpoint

Stop method: All axes stop (warning detected at both axes)

Servo-on command is input when the main circuit power is off.

Bus voltage drops when linear servo motor is running below 50m/s.

Finding Action on at main circuit off signal Same as for the rotary servo motor.


E9.2 Bus voltage drop during low speed operation on at main circuit off

13 - 82


Alarm No.EB

Alarm description

Display Name

Name: The other axis fault warning

Stop method: All axes stop (warning detected at both axes)

In the other axis, alarm demanding all axes stop (11. , 15. , 17. , 24. and 32. ) is output.


EB.1 The other axis fault warning



Alarm No.EC

Alarm description

Display Name



The operation, in which current exceeding the rating flows intensively in any of U, V and W phases of the servo motor, is repeated.


2 Refer to section 8.4.

Alarm No.ED

Alarm description

Name: Output watt excess warning


The status, in which the output wattage (speed x torque) of the servo motor exceed the rated output, continues steadily.

Checkpoint Finding Action Display Name excess

Cause



13 - 83


13.7.4 Detailed explanation of linear encoder error 1 (2A. )

If the cause of Linear encoder error 1 (2A. ) occurrence is not identified, confirm the details shown on the following table according to the alarm detailed information for the alarm history display of MR Configurator, and then contact with the linear encoder manufacturer.

Table 13.1 Detailed explanation of linear encoder error 1 (2A. ) for each manufacturer

Detail Linear encoder error 1 (2A. ) details

Corporation

Magnescale Co., Ltd.

No. AT343A/AT543A ST741/ST743

Heidenhain

Corporation

2A.8 7 Optical overspeed Overspeed error

2A.7 6 ROM RAM error

Servo alarm

Signal strength alarm

2A.5

2A.3

2A.1

4

2

0

CPU error

Photoelectric error

2A.2 1

Photoelectric capacitive data mismatch

Initialization error

Transducer error

Hardware error


Overspeed error

Encoder alarm

Encoder warning

EEPROM error

CPU error

ABS data error

INC data error

Scale level error

INC/ABS data mismatch error


Renishaw Inc.

Overspeed

Level error

As an example, the following describes the detailed information when Linear encoder error 1(2A. ) occurs in the linear encoder AT343A manufactured by Mitutoyo Corporation.

The value is displayed in hexadecimal. Convert it to decimal to read.

3

In this case, the alarm detail of the linear encoder error (2A. ) is "3".

An alarm detail is displayed in hexadecimal (h) in MR Configurator, but it is displayed in decimal in MR-J3W-B.

In this example, confirm items with number "3" in the Detail column. The occurrence of the Photoelectric error is identified.

13 - 84

14. USING A DIRECT DRIVE MOTOR


The drive motor is available for servo amplifiers of which software version is B3 or

CAUTION above.

When using the direct drive motor, read the following items of SSCNET interface

Direct Drive Servo MR-J3- B-RJ080W Instruction Manual (SH(NA)030079).

Safety Instructions

2. DIRECT DRIVE MOTOR

8. CHARACTERISTICS (except Overload protection characteristics and Dynamic brake characteristics)


14.1.1 Summary

The fields of semiconductor/LCD manufacturing systems, mounters, and others have strong demands for high accuracy and high efficiency. Therefore, the number of systems using a direct drive motor for a drive axis has been increasing. The direct drive servo system includes the following features.

(1) Performance

(a) The direct drive servo system ensures the high-rigidity and the high-torque. A high-resolution encoder enables the high-accuracy control.

(b) The high-resolution encoder contributes to the high-accuracy indexing.

(c) Since transmission mechanism is no longer required, no backlash occurs. In addition, the settling time is reduced, and the high-frequency operation is enabled.

(d) Since transmission mechanism is no longer required, the direct drive motor does not deteriorate with time.

14 - 1


(2) Mechanism

(a) The motor's low profile design contributes to compact moving part of the machine and a low center of gravity for enhanced equipment stability.

(b) The motor has an inner rotor with hollow shaft which enables cables and pipes to be passed through.

(c) Lubrication and the maintenance due to abrasion are not required.

The following shows the differences between the direct drive motor and the rotary servo motor.

Category Item

Differences

Direct drive motor Rotary servo motor

Remarks

External I/O signal Stroke limit input signal (FLS, RLS)

Required (for magnetic pole detection)

Not required Automatically turns on in the parameter setting.

Motor pole adjustment



Absolute position encoder battery unit

(MR-BTCASE + MR-

BAT 8)

(default setting)

Required Required after the power is turned on.

For the absolute position detection system, you can disable the magnetic pole detection with parameter No.PS01. (Refer to (2) (b) of

14.4.2.)

Alarm/Warning storage unit

(MR-BTAS01)

Alarms and warnings only for direct drive servo

Added Added or changed alarms and warnings

Encoder error 3 (21. )

Absolute position erased (25. )

Initial magnetic pole detection error (27. )

Encoder counter error (2B. )

Servo control error (42. )

Direct drive motor overheat (46. )


Battery warning (9F. )

Direct drive motor overheat warning (E2.1)

14.1.2 Combinations of servo amplifier and direct drive motor

The following shows the combinations of servo amplifier and direct drive motor. The drive motor is available for servo amplifiers of which software version is B3 or above.

Direct drive motor


TM-RFM002C20

TM-RFM004C20

TM-RFM006C20

TM-RFM006E20

TM-RFM012E20

TM-RFM018E20

TM-RFM012G20

TM-RFM040J10

14 - 2


14.1.3 Configuration including peripheral equipment

CAUTION

Connecting a direct drive motor for different axis to the CNP3A or CNP3B connector may cause a malfunction.

POINT

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

When using the direct drive motor, turn on SW3.

(Note 2)

Power supply

R S T

Servo amplifier

MR Configurator

Personal computer

CN5


(MCCB) or fuse

L

1

L

2

L

3

CNP1

CN3

Magnetic contactor

(MC)


(Note 2) Regenerative option

P

V

U

W

D

CNP2 CN1A

I/O signal

Servo system controller or Front axis servo amplifier CN1B

Line noise filter

(FR-BSF01)

W

V

U

CNP3A

CNP3B

CN1B

CN2A


CN1A or Cap

CN2B

L

21

L

11

CN4

B-axis direct drive motor

(Note 1)

Battery unit

(Note 3)

Absolute position storage unit

MR-BTAS01

(Note 3)


MR-BTAS01

A-axis direct drive motor

NO

SW3

A-axis

B-axis

Note 1. The battery unit consists of a battery case (MR-BTCASE) and 8 batteries (MR-BAT). The unit is used for the absolute position detection system in the position control mode. (Refer to section 12.3.)

2. For 1-phase 200VAC to 230VAC, connect the power supply to L1 and L2. Leave L3 open. Refer to section 1.3 for the power supply specification.

3. The absolute position storage unit is used for the absolute position detection system.

4. Always connect between P and D terminals. When using the regenerative option, refer to section 11.2.

14 - 3


14.2 Connection of servo amplifier and direct drive motor

CAUTION

Connect the servo amplifier power output (U, V, and W) to the direct drive motor power input (U, V, and W) directly. Do not let a magnetic contactor, etc. intervene.


Servo amplifier

U

V

W

Direct drive motor

U

V

W

M

Servo amplifier

U

V

W

Direct drive motor

U

V

W

M

(1) Connection instructions


CAUTION

Connect the wires to the correct phase terminals (U, V, and W) of the servo amplifier and direct drive motor. Otherwise, the direct drive motor operates normally.

Do not connect AC power supply directly to the direct drive motor. Otherwise, it may cause a malfunction.

POINT

Refer to section 14.8 for the specifications of the encoder cable to use.

This section explains the connection of the direct drive motor power (U, V, and W). Use of the optional connector set is recommended for connection between the servo amplifier and direct drive motor. Refer to section 14.8 for details of the options.

For grounding, connect the grounding lead wire from the servo motor to the protective earth (PE) terminal of the servo amplifier, and then connect the wire from the servo amplifier to the ground via the protective earth of the cabinet. Do not connect the wire directly to the protective earth of the cabinet.

Cabinet

Direct drive motor

Servo amplifier

PE terminal

14 - 4


(2) Power supply cable wiring diagrams

Fabricate a cable as shown below.

Refer to section 14.3.2 (1) for the wires used for the cable.

30m or less

Servo amplifier

U

V

W

Direct drive motor

U

V

W

M


WARNING


Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

Ground the servo amplifier and the direct drive motor securely.

Do not attempt to wire the servo amplifier and direct drive motor until they have been installed. Otherwise, it may cause an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock.

Wire the equipment correctly and securely. Otherwise, the direct drive motor may operate unexpectedly, resulting in injury.

Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.

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

The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop (EM1) and other protective circuits may not operate.


24VDC 24VDC

DOCOM DOCOM

CAUTION


DICOM

RA



DICOM

RA


Electromagnetic interference may be given to the electronic equipment used near the servo amplifier. Use a noise filter, etc. to minimize the influence of electromagnetic interference.

Do not install a power capacitor, surge killer, or radio noise filter (FR-BIF option) on the power wire of the direct drive motor.

14 - 5


CAUTION






Servo amplifier

U

V

W

Direct drive motor

U

V

W

M

Servo amplifier

U

V

W

Direct drive motor

U

V

W

M

14.3.1 Notes of this chapter

This chapter does not include the following items. For the items, refer to the corresponding sections below.

Item Reference

Explanation of power supply system

Signal (device) explanations

Alarm occurrence timing chart

Interface

Section 3.3

Section 3.5

Section 3.6

Section 3.7 (except internal connection diagrams)

Treatment of cable shield external conductor

SSCNET cable connection

Section 3.8

Section 3.9

Control axis selection Section 3.13

14 - 6


14.3.2 Input power supply circuit

CAUTION


When alarms are occurring in both axes of A and B, shut off the main circuit power supply. Not doing so may cause a fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor.


Connecting a direct drive motor for different axis to the CNP3A or CNP3B connector may cause a malfunction.

POINT

Even if alarm has occurred, do not switch off the control circuit power supply. When the control circuit power supply has been switched off, optical module does not operate, and optical transmission of SSCNET communication is interrupted.

Therefore, the next axis servo amplifier displays "AA" at the indicator and turns into base circuit shut-off. The direct drive motor stops with starting dynamic brake.

For details of the signals, refer to section 3.3.



Servo amplifier

U

V

W

Direct drive motor

U

V

W

M

Servo amplifier

U

V

W

Direct drive motor

U

V

W

M

Wire the power supply/main circuit so that the main circuit power supply is shut off and the servo-on command turned off as soon as an alarm occurring, an enabled servo forced stop, or an enabled controller forced stop. A molded-case circuit breaker (MCCB) must be used with the input cables of the main circuit power supply.

14 - 7


(1) Selection example of wires

POINT


Selection condition of wire size is as follows.

Construction condition: One wire is constructed in the air.


Use the 600V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire). The following table shows the wire size selection example.

Table 14.1 Wire size selection example (HIV wire)

Servo amplifier 1) L

1

/L

2

/L

3

/

(Note 3)

2) L

11

/L

21

Wire [mm 2 ] (Note 1)

3) U/V/W/

(Note 2, 3)

MR-J3W-22B

MR-J3W-44B

2 (AWG14)

MR-J3W-77B

MR-J3W-1010B


2. The wire size is for extension cables used when the wiring length is longer than 10m.

3. Use the crimp terminal specified as below for the PE terminal of the servo amplifier.

Crimp terminal: FVD2-4

Tool: YNT-1614

Manufacturer: Japan Solderless Terminals

Tightening torque: 1.2N m

14 - 8



(Note 9)

Power supply

MCCB

(Note 3)

Malfunction

RA1(A-axis)

RA2(B-axis)

(Note 8)

MC

(Note 1)


RA3

OFF

Forced stop

(Note 6)

L

2

Servo amplifier

CNP1

L

1

(Note 10)

CNP3A

U

L

3

CNP2

P

V

W

C

D

CN2A

L

11

L

21

PE( )

ON

MC

(Note 5)

MC

SK

(Note 2)

Encoder cable


U

V

W

Motor

M

Encoder


(Note 10)

CNP3B

U

V

W

(Note 5)

U

V

W

Motor

M

CN2B

(Note 2)

Encoder cable

Encoder

(Note 4)


CN3

EM1

DOCOM

CN3

DOCOM

DICOM

SW3 (Note 7)

ALM-A

ON

A-axis ALM-B

B-axis

24VDC

RA1

RA2

A-axis malfunction

(Note 3)

B-axis malfunction

(Note 3)

(Note 4)

Note 1. Always connect between P and D terminals. When using the regenerative option, refer to section 11.2.

2. Fabricate the encoder cables according to 14.8.1. When you use the cables for the absolute position detection system, absolute position units are required.

3. If disabling malfunction (ALM-A/ALM-B) output with the parameter, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. This example is to continue the operation in another axis even if an alarm occurs either A-axis or B-axis. When stopping operation of both axes at an alarm occurrence for one axis, connect RA1 and RA2 in series.

4. This is for sink I/O interface. For source I/O interface, refer to section 3.7.3.

5. Refer to section 14.2 for wiring power lines.

6. Configure up the circuit which shuts off main circuit power with external circuit at forced stop 1 (EM1) off.

7. This connection example is for using a direct drive motor. Turn on SW3.


8. Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of contacts) of

80ms or less.

9. For 1-phase 200VAC to 230VAC, connect the power supply to L1 and L2. Leave L3 open. Refer to section 1.3 for the power supply specification.


14 - 9



Servo amplifier

(Note 2)

(Note 1)

24VDC

DICOM

CN3

23

DOCOM

EM1

26

10

Approx

5.6k

DI1-A

DI2-A

7

8

DI3-A

DI1-B

9

20

DI2-B

DI3-B

21

22

Approx

5.6k

<Isolated>

USB

VBUS

D

D

GND

CN5

1

2

3

5

CN3

11 ALM-A

12

24

MBR-A

ALM-B

(Note 3)

RA

25 MBR-B

(Note 3)

RA

(Note 2)

CN3

3

16

4

17

5

18

6

19

14

LA-A

LAR-A

LB-A

LBR-A

LA-B

LAR-B

LB-B

LBR-B

LG


(35mA or less)

CN3

2 MO1

Analog monitor

P5

15

1

MO2

LG

CN2A

3

4

2

MR

MRR

LG

5 THM

6 THM

1 P5

(Note 5)

10VDC

10VDC

(Note 6)


MR

MRR

LG

THM

THM

P5

7

8

10

6

11

9

(Note 4)

Encoder

CNP3A

2A

E

M

P5


CN2B

3

4

2

MR

MRR

LG

5 THM

6 THM

1 P5

(Note 5)

MR

MRR

LG

THM

THM

P5

6

11

9

7

8

10

(Note 4)

Encoder

CNP3B

2A

E

M

14 - 10


Note 1. Signal can be assigned for these pins with the controller setting. For contents of signals, refer to the instruction manual of the controller.


3. When you using a direct drive motor, use MBR (Electromagnetic brake interlock) for an external brake mechanism.

4. The encoder detects speed, position, and temperature of the direct drive motor.

5. The encoder cable should be fabricated by the customer. (Refer to section 14.8.1.)

6. The connection is for incremental system. For the connection for the absolute position detection system, refer to the following diagram.

P5

CN2A

3

4

2

MR

MRR

LG

5 THM1

6 THM2

1 P5

9 BAT


MR-BTAS01

MR

MRR

LG

THM1

THM2

P5

BAT

7

8

10

6

11

9

2

7

8

10

6

11

9

2

1

MR

MRR

LG

THM1

THM2

P5

BAT

VB


MR

MRR

LG

THM1

THM2

P5

BAT

VB

9

2

1

7

8

10

6

11

Encoder

CNP3A

2A

P5

CN2B

3

4

2

MR

MRR

LG

5 THM1

6 THM2

1 P5

9 BAT


MR-BTAS01

MR

MRR

LG

THM1

THM2

P5

BAT

7

8

10

6

11

9

2

7

8

10

6

11

9

2

1

MR

MRR

LG

THM1

THM2

P5

BAT

VB

E

M


MR

MRR

LG

THM1

THM2

P5

BAT

VB

9

2

1

7

8

10

6

11

Encoder

CNP3B

2A

E

M

14.4 Operation and functions

POINT

When using a linear servo motor, turn on SW3.

SW3

ON

14 - 11



Start up the direct drive servo in the following procedure.

Setting of the servo motor select switch (SW3) (Refer to section 3.14)

Perform this procedure once at startup

Execution of installation and wiring

Incremental system

Absolute position detection system?


Can you manually turn on the Z-phase pulse of the direct drive motor?

No

(Note 1) Execution of the magnetic pole detection (Refer to section 14.4.2)

Yes

Z-phase pulse of the direct drive motor is turned on by the JOG operation (Note 1 and 2)

Z-phase pulse of the direct drive motor is turned on manually (Note 3)

Change to the setting not requiring the magnetic pole detection (Refer to section 14.4.2 (2))

Turn the servo amplifier power supply off and on (Note 2)

(Note 1) Positioning operation check using the test operation mode

Positioning operation check using the controller (Refer to section 14.4.3)

Home position return (Refer to the manual of the controller.)


Note 1. Use MR Configurator.

2. For the absolute position detection system, always turn on the Z-phase pulse of the direct drive motor while the servo amplifier power is on, and then turn the servo amplifier power supply off and on again. By turning off and on the power supply, the absolute position becomes confirmed. Without this operation, the absolute position will not be regained properly, and a warning will occur at the controller.

3. If the Z-phase pulse of the direct drive motor can be turned on manually, the Z-phase pulse does not have to be turned on by the magnetic pole detection or the JOG operation.

For this operation, always connect the direct drive motor encoder and the servo amplifier, and turn on only the control circuit power supply of the servo amplifier (L

11

and L

21

) (turn off the main circuit power supply L

1

, L

2

, and L

3

). Perform this operation by considering the safety.

14 - 12


14.4.2 Magnetic pole detection

POINT

The magnetic pole detection is not required for the configured absolute position detection system where the Z-phase pulse of the direct drive motor can be turned on manually.

For this operation, always connect the direct drive motor encoder and the servo amplifier and turn on the control circuit power supply of the servo amplifier. Perform this operation by considering the safety.

Before the positioning operation of the direct drive motor, make sure to perform the magnetic pole detection.

Before starting up the equipment, perform the test operation (positioning operation) of MR Configurator.

(1) Preparation for the magnetic pole detection

POINT

When the test operation mode is selected with the test operation select switch


For the magnetic pole detection, use the test operation mode (positioning operation) of MR Configurator.

Turn off the servo amplifier power, and set the test operation select switch (SW2-1) as shown below.

Turning on the power enables the test operation mode.

5

6

7

8

9

A

B

E

1

0

F

SW1

TEST

SW2

ON 4E

1 2

Set SW2-1 to "UP"

SW2

1 2

UP

DOWN

14 - 13


(2) Operation at the magnetic pole detection

WARNING

Note that the magnetic pole detection automatically starts simultaneously with the turning-on of the servo-on command.

CAUTION

If the magnetic pole detection is not executed properly, the direct drive motor may operates unexpectedly.

POINT

Make a machine components for using stroke limits (FLS/RLS). If stroke limits

(FLS/RLS) are not used, the machine may be damaged due to a collision.

At the magnetic pole detection, whether the motor rotates in the forward or reverse direction is unpredictable.

Depending on the setting value of Parameter No.PL09 (Magnetic pole detection voltage level), an overload, overcurrent, magnetic pole detection alarm, or others may occur.

When performing the positioning operation from a controller, use the sequence which confirms the normal completion of the magnetic pole detection and the servo-on status, then outputs the positioning command. If the controller outputs the positioning command before Ready (RD) turns on, the command may not be accepted or a servo alarm may occur.

After the magnetic pole detection, check the positioning accuracy with the test operation (positioning operation function) of MR Configurator.

The accuracy of the magnetic pole detection improves with no load.

The magnetic pole detection is required in the following cases.

1) Using the motor in the incremental system (Refer to (2) (a) of this section.)

2) Using the absolute position detection system with the following cases. (Refer to (2) (b) of this section.)

When the system is set up (at the first startup of equipment)

When the direct drive motor is replaced

When the Z-phase pulse of the direct drive motor is not turned on manually

When Absolute position erased (25. ) is occurred

14 - 14


(a) Incremental system

For the incremental system, the magnetic pole detection is required every time the power is turned on.

By turning on the servo-on command from the controller after the power-on, the magnetic pole detection is automatically carried out. Therefore, you do not need to set the parameter (first digit of parameter

No.PS01) for executing the magnetic pole detection.

1) Timing chart

Servo-on command

ON

OFF

Base circuit

Ready (RD)

ON

OFF

ON

OFF

95ms

15s or less

Magnetic pole detection time (Note)

Note. The magnetic pole detection time indicates the operation time when the stroke limits

(FLS and RLS) are on.

2) Direct drive motor movement (when FLS and RLS are on)

Center of direct drive motor rotation part

(Note) RLS FLS (Note)

Servo-on position (Magnetic pole detection start position)


10deg or less

Note. When the stroke limit (FLS or RLS) turns off during the magnetic pole detection, the magnetic pole detection is carried on to the opposite direction. When both FLS and RLS are off, Initial magnetic pole detection error (27) will occur.

3) Direct drive motor movement (when FLS or RLS is off)

When FLS or RLS is off at servo-on, the magnetic pole detection is carried out as follows.

RLS

Center of direct drive motor rotation part

FLS

Servo-on position

Magnetic pole detection start position

After the machine moves to the position where the stroke limit (FLS and RLS) is set, the magnetic pole detection starts.


10deg or less

14 - 15


(b) Absolute position detection system

POINT

Turn on the Z-phase pulse of the direct drive motor in JOG operation after the magnetic pole detection.

Perform the magnetic pole detection in the following procedure.

1) Set parameter No.PS01 (Special function selection 1) to " enabled)".

Parameter No.PS01

1

1 (Magnetic pole detection

Magnetic pole detection always valid (initial value)

2) Execute the magnetic pole detection. (Refer to (2) (a) 1) and 2) of this section.)

3) After the completion of the magnetic pole detection, change Parameter No.PS01 to "

(Magnetic pole detection disabled)".

Parameter No.PS01

0

Magnetic pole detection invalid

0

After the magnetic pole detection, by turning on the Z-phase pulse of the direct drive motor in JOG operation and by disabling the magnetic pole detection function with Parameter No.PS01, the magnetic pole detection after each power-on is not required.

(3) Magnetic pole detection method setting

Set the magnetic pole detection method using the first digit of parameter No.PS08 (Magnetic pole detection method selection).

Parameter No.PS08

Method selection for the magnetic pole detection

0: Position detection method


14 - 16


(4) Setting of the magnetic pole detection voltage level by the position detection method

For the magnetic pole detection by the position detection method, set the voltage level with parameter

No.PS09 (Magnetic pole detection voltage level). For the magnetic pole detection by the minute position detection method, the voltage level setting is not required.

(a) Guideline of parameter settings

Set the parameters by referring to the following table.

Parameter No.PS09 setting value

(guide value)

Servo status

Small Medium Large

(Less than 10 (Default value) More than 50)

Torques required for operation

Overload, overcurrent alarm

Magnetic pole detection alarm

Magnetic pole detection accuracy

Small

Seldom occurs

Frequently occurs

Low

Large

Frequently occurs

Seldom occurs

High

(b) Setting procedure

1) Perform the magnetic pole detection, and increase the setting value of parameter No.PS09

(Magnetic pole detection voltage level) until Overload 1 (50. ), Overload 2 (51. ), Overload warning 1 (E1. ), and Overload warning 2 (EC.1) occur. Increase the setting value by "five" as a guide value. When these alarms and warnings occur during the magnetic pole detection by using

MR Configurator, the test operation of MR Configurator automatically completes and the servo-off status is established.

2) Specify the setting value to approximately 70 of the value of Overload 1 (50. ), Overload 2

(51. ), Overload warning 1 (E1. ), and Overload warning 2 (EC.1) occurrence as the final setting value. However, if Initial magnetic pole detection error (27. ) occurs with this value, specify a value intermediate between the value set at [AL.50 Overload 1], [AL.51 Overload 2], [AL.E1 Overload warning 1], or [AL.EC Overload warning 2] occurrence and the value set at the magnetic pole detection alarm occurrence, as the final setting value.

3) Perform the magnetic pole detection again with the final setting value.

(c) Setting example


Parameter No.PS09 setting value 30

Overload and overcurrent alarm Existence or nonexistence

35 40 45 65 70

Carry out the magnetic pole detection repeatedly while making the setting value of the parameter No.PS09 larger.

An alarm has occurred when the setting value of the parameter

No.PS09 is set to 70.

In this example, the final setting value of parameter No.PS09 is 49 (setting value at the alarm occurrence = 70 0.7).

14 - 17


(5) Magnetic pole detection method by using MR Configurator

The following shows the magnetic pole detection procedure by using MR Configurator.

(a) Magnetic pole detection by the position detection method


1) After confirming that the stroke limits (FLS and RLS) and the forced stop (EM1) are on, turn the power of servo amplifier off once and then turn it on again.

2) After switching the test operation select switch (SW2-1) of the servo amplifier to "Up", turn the power of servo amplifier off once and then turn it on again.

3) Set parameter No.PS08 (Special function selection 3) to " 0", and the magnetic pole detection method to "position detection method".

4) Change to "Magnetic pole detection always valid" by setting the parameter No.PS01 (Special function selection 1) to " 1". (Note)


6) Set the parameter No.PS09 (Magnetic detection voltage level) to "F10" (guide value) as a guide.

7) Execute the "forward rotation" or "reverse rotation" with the "positioning operat" of the MR

Configurator test operation mode. Set the travel distance to "0" at this time.


YES Is the parameter No.PS09

(Magnetic pole detection voltage level) the final value?

NO

Has the magnetic pole detection alarm (27) occurred?

NO

YES Reset the alarm or turn the power of servo amplifier off once, and then turn the power on again.

Raise the value of parameter

No.PS09 in five.

Have the overload alarms (50 and

51), overcurrent alarm (32) and overload warning (E1) occurred?

YES

NO

Turn the power of servo amplifier off once and then turn it on again.

Reset the alarm or turn the power of servo amplifier off, and then turn the power on again.

8) Change to "Magnetic pole detection invalid" by setting the parameter No.PS01 (Special function selection 1) to " 0". (Note)

End

Set approximately 70 of the parameter No.PS09 as the final setting vale.

In the case where the magnetic pole detection error (27) occurs with this setting value, set the final setting value to the value intermediate between the setting value at the occurrence of the overload alarms

(50 and 51), overcurrent alarm (32), overload warning (E1) and the setting value at the occurrence of the magnetic pole detection alarm (27).

Note. For the incremental system, the parameter No.PS01 setting is not required.

14 - 18


(b) Magnetic pole detection by the minute position detection method


1) After confirming that the stroke limits (FLS and RLS) and the forced stop (EM1) are on, turn the power of servo amplifier off once and then turn it on again.

2) After switching the test operation select switch (SW2-1) of the servo amplifier to "Up", turn the power of servo amplifier off once and then turn it on again.

3) Set parameter No.PS08 (Special function selection 3) to " 4", and the magnetic pole detection method to "minute position detection method".

4) Change to "Magnetic pole detection always valid" by setting the parameter No.PS01 (Special function selection 1) to " 1". (Note 1)


6) Set the load inertia moment ratio of the direct drive motor with parameter No.PS17 (Minute position detection method function selection). (Note 2)

7) Execute the "forward rotation" or "reverse rotation" with the "positioning operatation" of the MR

Configurator test operation mode. Set the travel distance to "0" at this time.


YES

Is the response of the minute position detection method,

which is set by parameter No.PS17 (Minute position detection method function selection),

finalized?

NO

Do abnormal sounds and vibration occur during the magnetic pole detection?

NO

YES

Lower the response of the minute position detection method by two in parameter No.PS17

(Minute position detection method function selection), and use the value as the finalized value.

Does the travel distance during the magnetic pole detection has a problem? (Note 3)

Problem does not exist

Problem exists

Raise the response of the minute position detection method by one in parameter No.PS17

(Minute position detection method function selection).

8) Change to "Magnetic pole detection invalid" by setting the parameter No.PS01 (Special function selection 1) to " 0". (Note 1)

End

Note 1. For the incremental system, the parameter No.PS01 setting is not required.

2. If the load to direct drive motor inertia ratio is unknown, perform the magnetic pole detection by the position detection method, and then perform the auto tuning to set an estimated value.

For the magnetic pole detection by the minute position detection method, the maximum rotation angle at the magnetic pole detection must be five degrees or less. To shorten the travel distance, increase the response by the minute position detection method in parameter No.PS17 (Function selection for minute position detection method).

14 - 19


(c) State transition of the servo amplifier display (3-digit, 7-segment LED) at the magnetic pole detection

When the magnetic pole detection with MR Configurator is normally executed, the servo amplifier display (3-digit, 7-segment LED) shows the state as below.

Servo-off status

Detecting magnetic poles

Magnetic pole detection completed

(servo-on status)

Decimal point flickers.

14.4.3 Operation from controller

To configure the absolute position detection system by using the direct drive motor, the battery unit (MR-

BTCASE MR-BAT 8) and the absolute position storage unit MR-BTAS01 are required.

The direct drive servo can be used with any of the following controllers.

Servo system controller Model Software version (Note)

Motion controller

Positioning module

Q17 DCPU

SV13/SV22 00H or above

SV43 00B or above

Q170MCPU

QD75MH

LD77MH

SV13/SV22 00G or above

SV43

101120000000000-B or above

All software versions

Note. For software versions and other details, refer to each servo system controller manual.

(1) Operation method

Positioning operation from the controller is basically performed like the MR-J3W- B servo amplifier.

For the incremental system, the magnetic pole detection is automatically performed at the first servo-on after the power-on. For this reason, when performing the positioning operation, create the sequence which surely confirms the servo-on status as the inter lock condition of the positioning command.

Also, some parameter settings and the home position return differ according to the controller type.

14 - 20


(2) Servo system controller setting

(a) Setting precautions

The following servo parameters will be enabled by cycling the servo amplifier power after the controller writes the parameters to the servo amplifier.

Set content

Setting item Motion controller

Q17 DCPU/Q170MCPU

(Note 3)

Positioning module

QD75MH /LD77MH

Servo parameter

Servo amplifier setting

Motor setting

MR-J3-B DD MR-J3-B DD (Note 4)

Automatic setting

No.

(Note 1)

Symbol

PA01 **STY Control mode (Note 2)

PC01 *ERZ Error excessive alarm level

PS10

Name

Default value

0000h

0


PD03 This parameter is not used. (Note 2)

0010h

0020h

PD04 0021h

PS01 **LIT1 Special function selection 1 0301h

PS04 *LIT2 Special function selection 2

PS05

LB1 Servo control position deviation error detection level

PS06

PS07

LB2 Servo control speed deviation error detection level

LB3 Servo control torque deviation error detection level



This parameter is not used. (Note 2)

0003h

0

0

100

0010h

30

5

Set the items as required.

0060h 0060h

Set QD75MH with sequence program.

When you start up the direct drive motor, initial values of these parameters should be set. Refer to (b) and (c) of this section.

PS11

PS12

100

500

0000h

PS17

LTSTS Minute position detection method function selection

PS18

IDLV Minute position detection method identification signal amplitude

0000h

Note 1. The parameter whose symbol is preceded by * is enabled with the following conditions:

*: After setting the parameter, power off and on the servo amplifier or reset the controller.

**: After setting the parameter, cycle the power of the servo amplifier.

2. For QD75MH , make sure to set the default value.

3. Note the followings.

If the parameter (servo parameter) of servo amplifier has been changed, it automatically reads the servo parameter and stores in the buffer memory of QD75MH /LD77MH . However, it does not reflect to the flash ROM.

When turning off, resetting the power of QD75MH /LD77MH or turning off the control circuit power supply of servo amplifier right after changing the servo parameter, the servo parameter may not reflect to the buffer memory of QD75MH /LD77MH . In such a case, change it again.

4. Set QD75MH with sequence program. (Refer to (b) of this section.)

14 - 21


(b) Sequence program example of servo parameters on the positioning module

POINT

For QD75MH , the parameter error (37. ) will occur if servo parameters are not initialized.

The number of write time to the flash ROM is limited to 100,000. Therefore, try to write to the flash ROM only when changing the servo parameter instead of writing with every sequence program. When controlling multiple axes, write the servo parameters to all axes.

1) Sequence program example when QD75MH is used.

The following shows the example of writing the axis No.1 servo parameter to the flash ROM.

After changing the servo parameter, turn on the power of QD75MH again or reset the CPU, then send the setting value to the servo amplifier. Refer to (2) (c) of this section for the address of the special setting parameters (No.PS ) of the servo parameters.

(Note 1)

Write condition

TOP H0

TOP H0

TOP H0

TOP H0

K30100 K6

K30101 H0060

K30164 K0

K30166 H0010

K1

K1

K1

K1

TOP H0 K30198 H0020 K1

TOP H0 K30199 H0021 K1

TOP H0 K30268 H0301 K1

TOP H0

TOP H0

TOP

TOP

H0

H0

K30271 H0003

K30272 K0

K30273 K0

K30274 K100

K1

K1

K1

K1

TOP H0 K30275 H0010

TOP H0 K30276 K30

K1

K1

TOP H0 K30277 K5 K1

TOP H0 K30278 K100 K1

TOP

TOP

H0

H0

TOP H0

TOP H0

K30279 K500 K1

K30284 H0000 K1

K30285 H0000

K1900 K1

K1

K1

Servo amplifier series

Setting of the servo parameter No.PA01

Setting of the servo parameter No.PC01

Setting of the servo parameter No.PC03

Setting of the servo parameter No.PD03

Setting of the servo parameter No.PD04

Setting of the servo parameter No.PS01





Setting of the servo parameter No.PS08 (Note 2)







Write to flash ROM

Note 1. Configure a sequence program where the servo parameters are written to the flash ROM only when a servo parameter is changed.

2. Change the sequence program of the servo parameter No.PS08 to the following sequence program for the magnetic pole detection without the stroke limit (FLS and RLS).

TOP H0 K30275 K0110 K1

Setting of the servo parameter

No.PS08

However, do not change to this sequence program if using the stroke limit (FLS and RLS) at the QD75MH side.

14 - 22


2) Initialization of the servo parameter at the startup of direct drive servo a) Before turning the power of servo amplifier on, write the servo parameter default value, which is unique to the direct drive servo, to the flash ROM of QD75MH referring to the sequence program example shown in (2) (b) of this section. b) After completion of writing to the flash ROM, turn the power of servo amplifier on.

POINT

Once the default values are written to the flash ROM at startup, servo parameters are not required to be written at next power on or later. If the module write with GX

Configurator-QP has been performed using QD75MH , however, initialize the servo parameters again.

14 - 23


(c) QD75MH buffer memory address of special setting parameters (No.PS )

Description

No.

Symbol

(Note)

Name

PS01

PS02

**LIT1 Special function selection 1

This parameter is not used.

PS03


Servo control position deviation error

PS05 LB1 detection level

Servo control speed deviation error detection

PS06 LB2 level

Servo control torque deviation error detection

PS07 LB3 level


PS09

PS10

PS11

PS12

LPWM Magnetic pole detection voltage level


PS13

PS14

PS15

PS16

Minute position detection method function

PS17 LTSTS selection

Minute position detection method

PS18 IDLV identification signal amplitude

PS19 This parameter is not used.

PS20

PS21

PS22

PS23

PS24

PS25

PS26

PS27

PS28

PS29

PS30

PS31

PS32

Default value

0301h

1000h

0003h

Unit

Note. The parameter whose symbol is preceded by * is enabled with the following conditions:

*: After setting the parameter, power off and on the servo amplifier or reset the controller.

**: After setting the parameter, cycle the power of the servo amplifier.

Axis 1

30268

30269

30271

Buffer memory address

Axis 2

30468

30469

30471

Axis 3

30668

30669

30671

Axis 4

30868

30869

30871

0 0.01rev

30272 30472 30672 30872

0 r/min 30273 30473 30673 30873

100

0010h

30

5

100

0000h

0000h

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

30274 30474 30674 30874

30275 30475 30675 30875

30276 30476 30676 30876

30277 30477 30677 30877

30278 30478 30678 30878

30279 30479 30679 30879

30280 30480 30680 30880

30281 30481 30681 30881

30282 30482 30682 30882

30285 30485 30685 30885

30286 30486 30686 30886

30287 30487 30687 30887

30288 30488 30688 30888

30289 30489 30689 30889

30290 30490 30690 30890

30291 30491 30691 30891

30292 30492 30692 30892

30293 30493 30693 30893

30294 30494 30694 30894

30295 30495 30695 30895

30296 30496 30696 30896

30297 30497 30697 30897

30298 30498 30698 30898

14 - 24


14.4.4 Function

(1) Servo control error detection function

POINT

For the servo control error detection function, the position and speed deviation error detections are enabled by default. (parameter No.PS04: 3)

If the servo control gets unstable for some reasons, the direct drive motor may not operate properly. To detect this state and to stop operation, the servo control error detection function is used as a protective function.

The servo control error detection function has three different detection methods: the position deviation, speed deviation, and torque deviation. An error is detected when each method is enabled with parameter

No.PS04 (Special function selection 4). The detection level can be changed with parameter Nos.PS05,

PS06 and PS07.

Servo amplifier

Direct drive motor

Servo amplifier internal value

1) Model feedback position [rev]

3) Model feedback rotation speed [r/min]

5) Command torque [ ]

Encoder

2) Feedback position [rev]

4) Feedback rotation speed [r/min]

6) Feedback torque [ ]

Encoder

Figure 14.1 Outline of servo control error detection function

(a) Position deviation error detection

Set parameter No.PS04 to " 1" to enable the position deviation error detection.

Parameter No.PS04

1

Position deviation error detection valid

When you compare the model feedback position ( 1)) and the feedback position ( 2)) in figure 14.1, if the deviation is more than the value of parameter No.PS05 (Servo control position deviation error detection level) (1 rev to 1000 rev), the alarm (Servo control error 42. ) will occur and the motor will stop. The default value of parameter No.PS05 is 0.09rev. Change the set value as required.

14 - 25


(b) Speed deviation error detection

Set parameter No.PS04 to " 1" to enable the speed deviation error detection.

Parameter No.PS04

2

Speed deviation error detection valid

When you compare the model feedback position ( 3)) and the feedback position ( 4)) in figure 14.1, if the deviation is more than the value of parameter No.PS06 (Servo control speed deviation error detection level) (1 rev to 2000 rev), the alarm (Servo control error 42. ) will occur and the motor will stop. The default value of parameter No.PS06 is 100r/min. Change the set value as required.

(c) Torque deviation error detection

Set parameter No.PS04 to " 4" to enable the torque deviation error detection.

Parameter No.PS04

4

Torque deviation error detection valid

When you compare the command torque ( 5)) and the feedback torque ( 6)) in figure 14.1, if the deviation is more than the value of parameter No.PS07 (Servo control torque deviation error detection level) (1 to 1000 ), the alarm (Servo control error 42. ) will occur and the motor will stop. The default value of parameter No.PS05 is 100 . Change the set value as required.

(d) Detecting multiple deviation errors

When parameter No.PS04 is set as follows, multiple deviation errors can be detected. For the error detection methods, refer to (1) (a), (b), and (c) of this section.

Parameter No.PS04

Setting value

Position deviation error detection

4

5

6

7

1

2

3

Speed deviation error detection

Torque deviation error detection

14 - 26


14.5 Parameters

Never make a drastic adjustment or change to the parameter values as doing so will

CAUTION make the operation unstable.

If fixed values are written in the digits of a parameter, do not change these values.



Make basic setting with these parameters. Basic setting parameters

(No.PA

)


(No.PB

)


(No.PC

)


(No.PD

)


(No.PS

)


(No.Po

)


When changing settings such as analog monitor output signal, use these parameters.


Use these parameters when setting specially for the direct drive servo.

These are only for MR-J3W.

14 - 27


14.5.1 Parameter writing inhibit (parameter No.PA19)

POINT

To enable the parameter value, cycle the power or reset the controller after setting the parameter.

In the default setting, this servo amplifier allows changes to the all parameter settings. With the setting of parameter No.PA19, write can be disabled to prevent accidental changes.


Parameter

No.PA19 setting

Setting operation


No.PA


No.PB


No.PC


No.PD


No.Po


No.PS

0000h

Reference

Writing

000Bh

(Default value)

Reference

Writing

000Ch

000Dh

000Eh

100Bh

100Ch

100Dh

100Eh

Reference

Writing

Reference

Writing

Reference

Writing

Reference

Reference

Reference

Reference

PA19

PA19

PA19

PA19

14 - 28



)

(1) Parameter list

POINT

The parameter whose symbol is preceded by * is enabled with the following conditions:

* : After setting the parameter, cycle the power or reset the controller.

**: After setting the parameter, cycle the power.

No. Symbol Name

Each/ common

(Note 1)

Each

Default value

(Note 2)

0000h

Unit Reference



Common 0000h

Each

Common

0000h

0000h

(2) of this section

Section

5.1.4

(2) of this section

Section

5.1.6

PA05 This parameter is not used. Do not change this value by any means.

PA06

PA07




Each

Each

Each

0

1

1

0001h

12

100

Section

5.1.7 pulse (2) of this section


PA12

PA13


1000.0

1000.0

0000h

0


Each

Each 4000

(2) of this section

Section

5.1.10


PA17

PA18

PA19 *BLK Parameter writing inhibit

0

0000h

0000h

000Bh Each Section

14.5.1

Note 1. Each: Set parameters for each axis of A and B.

Common: Set parameters for common axis of A and B. Be sure to set the same value to the both axes. When the setting values are different, the value set at last will be enabled.

2. The values are common in A-axis and B-axis.

14 - 29


(2) Detail list



" 0 " (Rotary servo motor) is selected as the initial value.

When using the direct drive motor, always select " 6 ".

Parameter No.PA01

0 0 0

Each/ common

Default value

Unit

Setting range







Each 0000h

0 0 0

Selection of absolute position detection system

(Refer to chapter 12)



If the absolute position detection system is enabled when the incremental system is being used, parameter error (37.2) occurs.

POINT



Select a rotation direction of the direct drive motor.

Direct drive motor rotation direction

Setting value When positioning address increases


0

1

CCW

CW

CW

CCW

Forward rotation (CCW)

Each 0



0/1

Reverse rotaion (CW)

POINT


14 - 30



Each/ common

Default value

Unit


Setting value

Operation No.

PA

No.

PB

No.

PC

No.

PD

No.

PS

No.

Po

Each 000Bh Refer to


Reference

0000h

Writing

Reference

000Bh

Writing

Reference

000Ch

Writing

Reference

000Dh

Writing

Reference

000Eh

Writing

Reference

100Bh

PA19

Reference

100Ch

PA19

Reference

100Dh

PA19

Reference

100Eh

PA19

Setting range

14 - 31


14.5.3 Gain/filter parameters (No.PB

)

POINT




No. Symbol

PB01

PB13

PB17



PB20 VRF2 Vibration suppression control resonance frequency setting

PB21

PB22

PB23

PB24

PB25

PB26

PB27

PB28

FILT


PB08 PG2 Position loop gain

PB09 VG2 Speed loop gain


NH1



Automatic setting parameter

VFBF Low-pass filter selection

*CDP Gain changing selection



Name

Adaptive tuning mode (adaptive filter II)

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.


PB05

PB06 GD2

PB11 VDC Speed differential compensation



*MVS Slight vibration suppression control selection

CDL

CDT

This parameter is not used. Do not change this value by any means.

Ratio of load inertia moment to direct drive motor inertia moment




PB29 GD2B Gain changing ratio of load inertia moment to direct drive motor inertia moment




Each

Each

Each

Each

Each

Each

Each

Each

Each

Each

Each

Each

Each

Each/ common

(Note 1)

Default value

(Note 2)

Unit Reference

Each 0000h Section

5.2.2

Each 0000h

Each

Each

Each

Each

Each

Each

Each

Each

Each

24

37

823

33.7

980

0

4500

0

0

500

7.0

0000h

4500

0000h

3141

100.0

100.0

0.00

0.00

0000h

Hz rad/s

Hz

Hz

Section

5.2.2

Multip lier rad/s rad/s

Section

5.2.2 rad/s ms

Hz Section

5.2.2

0000h

0000h

0000h

10

1 ms

Section

5.2.2

Section

5.5.2

37

823

33.7 lier rad/s rad/s ms

14 - 32


No. Symbol Name




PB36

PB37

PB38

PB39

PB40

PB41

PB42

PB43

PB44

PB45

Each/ common

(Note 1)

Each

Default value

(Note 2)

100.0

0.00

0.00

100

0.0

0.0

0.0

1125

1125

0004h

0.0

0000h

Unit Reference

Hz Section




14 - 33



)

POINT




No. Symbol Name

Each/ common

(Note 1)

Default value

(Note 2)

Unit Reference

PC01

PC02

PC08 This parameter is not used. Do not change this value by any means.






PC14


PC16

ERZ

MBR

Error excessive alarm level

Electromagnetic brake sequence output








PC19

PC20

Each

Each

Each

Each

Each

Each

Each

Common

Common

Common

Common

Common

Each

0

0

0010h

0000h

0

0

0

0 rev ms

Section

5.3.2

0000h

0000h

50 r/min

0

0000h

0001h

0 mV

Section

5.3.2 mV

0000h

0000h

Section

5.3.2

Section

5.3.2

0000h

0000h

0000h

PC21 Section

5.3.2


PC23

0000h

0000h

PC24

PC25

PC26



Each

0000h

0000h

0000h

0000h

0000h

Section

5.3.2

PC29

PC30

PC31

PC32

0000h

0000h

0000h

0000h




14 - 34



)

POINT


*: After setting the parameter, cycle the power or reset the controller.

No. Symbol Name

PD01 This parameter is not used. Do not change this value by any means.

PD02

PD03

PD04

PD05

PD06

PD07 *D01 Output signal device selection 1 (A-axis: CN3-12, B-axis: CN3-25)

Each/ common

(Note 1)

Default value

(Note 2)

0000h

0000h

0020h

0021h

0022h

0000h

0005h

Unit Reference


PD09 *D03 Output signal device selection 3 (A-axis: CN3-11, B-axis: CN3-24)

Each

Each

0004h

0003h

Section

5.4.2

Section

5.4.2


PD11

PD12

PD13


0000h

0004h

0000h

0000h

0000h Each

0

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0

0

0000h

0000h

0000h

0000h

Section

5.4.2


PD16

PD17

PD18

PD19

PD20

PD21

PD22

PD23

PD24

PD25

PD26

PD27

PD28

PD29

PD30

PD31

PD32




14 - 35



)

(1) Parameter list

POINT




No. Symbol

PS01 **LIT1 Special function selection 1

Name

PS02

PS03



PS05 LB1 Servo control position deviation error detection level

PS06 LB2 Servo control speed deviation error detection level

PS07 LB3 Servo control torque deviation error detection level



PS10 This parameter is not used. Do not change this value by any means.

PS11

PS12

PS13

PS14

PS15

PS16




PS20

PS21

PS22

PS23

PS24

PS25

PS26

PS27

PS28

PS29

PS30

PS31

PS32

Each/ common

(Note 1)

Each

Each

Each

Each

Each

Each

Each

Each

Each

Default value

(Note 2)

0301h

1000

1000

0003h

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0

100

0010h

30

5

100

500

0000h

0

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

Unit Reference

0.01 rev r/min

(2) of this section

(2) of this section

(2) of this section




14 - 36


(2) Detail list


PS01 **LIT1 Special function selection 1

The magnetic pole detection setting and the valid/invalid setting of the direct drive motor thermistor can be selected. (Refer to section 14.4.2.)

Direct drive motor magnetic pole detection setting is unnecessary for an incremental system.

Each/ common

Default value

Each 0301h

Unit

0 0

Setting range


Direct drive motor magnetic pole detection setting

0: Magnetic pole detection invalid

1: Magnetic pole always valid

Direct drive motor thermistor valid/invalid setting

0: Thermistor error detection valid

1: Thermistor error detection invalid

POINT

To protect the direct drive motor from overheating, usually fabricate a cable that includes a thermistor wire. Set the thermistor error detection to be valid with this parameter.


PS03


Servo control error detection function and servo control error reset can be selected.

0 0

1000

1000


Servo control error detection function selection


0: Invalid

1: Position deviation error detection valid

2: Speed deviation error detection valid

3: Position/speed detection deviation error

detection valid

4: Torque deviation error detection valid

5: Position/torque deviation error detection valid

6: Speed/torque deviation error detection valid

7: Position/speed/torque deviation error detection

valid

Servo control error detection reset selection

Set the controller reset condition of the servo control error detection (42. ).

0: Reset impossible (Reset by switching off is

possible.)

1: Reset possible

PS05 LB1 Servo control position deviation error detection level

This is used to set the position deviation error detection level of the servo control error detection. When the deviation between a model feedback position and actual feedback position is larger than the setting value, Servo control error (42.1) will occur.


Setting "0" will be regarded as 0.09rev by the servo amplifier.

PS06 LB2 Servo control speed deviation error detection level

This is used to set the speed deviation error detection level of the servo control error detection. When the deviation between a model feedback speed and actual feedback speed is larger than the setting value, Servo control error (42.2) will occur. (Refer to section 14.4.4.)

Setting "0" will be regarded as 100r/min by the servo amplifier.

Each 0 to

1000

Each 0 r/min to

2000

14 - 37



PS07 LB3 Servo control torque deviation error detection level

This is used to set the torque deviation error detection level of the servo control error detection. When the deviation between a command torque and actual feedback torque is larger than the setting value, Servo control error (42.3) will occur. (Refer to section 14.4.4.)

Setting "0" will be regarded as 100 by the servo amplifier.


Select the valid/invalid setting of the stroke limit and the magnetic pole detection method for the magnetic pole detection.

(Refer to section 14.4.2 (3).)

When not using the stroke limit (FLS and RLS) of the servo amplifier, invalidate the stroke limit for the magnetic pole detection.

Each/ common

Default value

Unit

Setting range

Each 100 0

1000


0 1

Method selection for the magnetic pole detection

0: Position detection method


Valid/invalid setting of the stroke limit (FLS and

RLS) for the magnetic pole detection

0: Valid

1: Invalid


This is used to set a direct current exciting voltage level during the magnetic pole detection. When overload alarm (50.

and 51.

) or overcurrent alarm (32.

) occurs, set the smaller value. If Initial magnetic pole detection error occurs during the magnetic pole detection, increase the setting value. (Refer to section 14.4.2 (2).)


PS11

PS12

PS13

PS14

PS15

PS16

Each 30 0 to 100

5

100

500

0000h

0

0000h

0000h

14 - 38




Set the response and the load to motor inertia moment ratio of the minute position detection method.

To make the parameter valid, set parameter No.PS08 (Special function selection 3) to " 4" (minute position detection method). (Refer to section 14.4.2 (5).)

Each/ common

Default value

Unit

Setting range


0 0

Response of the minute position detection method

Setting

0

1

2

5

6

3

4

7

Response

Low response

Middle response

Setting

8

D

E

B

C

F

9

A

Response

Middle response

High response

Selecting the load inertia moment ratio at the direct drive motor, which decides the response of the minute position detection method

Setting

6

7

4

5

2

3

0

1


Less than 10 times

10 times

20 times

30 times

40 times

50 times

60 times

70 times

Setting

E

F

C

D

A

B

8

9


80 times

90 times

100 times

110 times

120 times

130 times

140 times

150 times or more


Used to set the identification signal amplitude for the minute position detection method. To make the parameter valid, set parameter No.PS08 (Special function selection 3) to " 4". Identification signal is "100 " when "0000h" is set. (Refer to section 14.4.2 (5).)


PS20

PS21

PS22

PS23

PS24

PS25

PS26

PS27

PS28

PS29

PS30

PS31

PS32

Each 0000h 0000h to

006Fh

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

14 - 39



)

POINT




No. Symbol Name





Po05 This parameter is not used. Do not change this value by any means.

Po06

Po07

Po08

Po09

Po10

Po11

Po12

Po13

Po14

Po15

Po16

Each/ common

(Note 1)

Common

Common

Common

Common

Default value

(Note 2)

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

Unit Reference

Section

5.5.2




14 - 40



POINT

If an alarm which indicates each axis in the stop method column occurs, the axis without the alarm operates the servo motor as per normal.

If an alarm/warning has occurred, refer to this section and remove its cause.

14.6.1 Alarm and warning list

When an error occurs during operation, the corresponding alarm or warning is displayed. Refer to section 14.6.2 and 8.3 for alarms, and section 14.6.3 and 8.4 for warnings to take an appropriate action. When an alarm occurs,

ALM-A/ALM-B will turn off.

After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is removed.

Stop

Display Name Power off to on

Error reset

CPU reset system

(Note 3) system

(Note 4)

10 Undervoltage

11 Switch setting error

12 Memory error 1 (RAM)

15 Memory error 2 (EEP-ROM)

16 Encoder initial communication error 1








25 Absolute position erased

27 Initial magnetic pole detection error

2B Encoder counter error

(Note 1) (Note 1) (Note 1)

31 Overspeed

32 Overcurrent

33 Overvoltage




(Note 2)

42

45

Servo control error

Main circuit device overheat

(Note 1)

(Note 5)

(Note 1)

(Note 5)

(Note 1)

Each Each

14 - 41


Display Name Power off to on

46 Direct drive motor overheat

(Note 1)


(Note 1)

(Note 1)

8A USB communication time-out error

8E USB communication error

888 Watchdog

91 Main circuit device overheat warning

92 Battery cable disconnection warning

96 Home position setting warning

Error reset

(Note 1)

(Note 1)

(Note 1)

CPU reset

(Note 1)

(Note 1)

(Note 1) system

(Note 3)

Stop system

(Note 4)

Each Each

Each Each

Each Each

E0

E1

E2

E3

Excessive regeneration warning

Overload warning 1

Direct drive motor overheat warning

Absolute position counter warning





EB The other axis error warning



Note 1. Wait for about 30 minutes as cooling time after removing the cause of occurrence, then deactivate the alarm.


3. Indicates detected axis of alarm/warning.

Each: Alarm/warning will be detected for each axis.

Common: Alarm/warning will be detected as a common axis.

4. When an alarm/warning occurs, following axis will stop.

Each axis: Only detected axis will stop.

All axes: All axes will stop.

5. To cancel it, set parameter No.PS04 to "1 ".

Common

Each

Each

Each

Common

Each

Each

Each

Each

Common All axes

Common All axes

Common

Common All axes

Each All axes

Each

Each

14 - 42


14.6.2 Remedies for alarms

CAUTION

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Otherwise, it may cause injury.

If Absolute position erased (25.1) occurs, always make home position setting again.

Otherwise, it may cause an unexpected operation.


POINT

When any of the following alarms has occurred, do not cycle the power repeatedly to restart. Doing so will cause a malfunction of the servo amplifier and direct drive motor. Remove its cause and allow about 30 minutes for cooling before resuming the operation. To protect the main circuit elements, any of these servo alarms cannot be deactivated from the servo system controller until the specified time elapses after its occurrence. Judging the load changing condition until the alarm occurs, the servo amplifier calculates this specified time automatically.

Regenerative error (30. ) Main circuit device overheat (45. )

Overload 1 (50. )

Overload 2 (51. )

Direct drive motor overheat (46. )

To deactivate the alarm, cycle the power, command the error reset, or CPU reset from the servo system controller. For details, refer to section 14.6.1.

When an alarm occurs, Malfunction (ALM-A/ALM-B) switches off and the dynamic brake is operated to stop the direct drive motor. At this time, the display indicates the alarm No.

Remove the cause of the alarm in accordance with this section. Use MR Configurator to refer to the cause of alarm occurrence.

Alarm No.: 10 Name: Undervoltage Stop system: All axes

Alarm content

Display Detail name

The voltage of the control circuit power supply has dropped.

The voltage of the main circuit power supply has dropped.

Cause Check method Check result Action

Same as for the rotary servo motors.




14 - 43


Alarm No.: 11

Alarm content

Display Detail name setting error


Rotary axis setting switch was incorrectly set.

DIP switch was incorrectly set.

Servo motor selection switch was incorrect set.

Cause Check method


Refer to section 8.3. setting error select switch setting error select switch setting error 2

Alarm No.: 12

Alarm content

Display Detail name

RAM error


Name: Memory error 1 (RAM)

A part (CPU) in the servo amplifier is failure.

A part (custom IC) in the servo amplifier is failure.

Cause Check method



Stop system: All axes

Check result


Check result

RAM error

Alarm No.: 13

Alarm content

Display Detail name

13.1 Clock error

Name: Clock error

Fault was found in the printed board.

A clock error transmitted from the controller occurred.

Cause Check method



Alarm No.: 15

Alarm content

Display Detail name

Name: Memory error 2 (EEP-ROM)

A part (EEP-ROM) in the servo amplifier is failure.

Cause Check method error Same as for the rotary servo motors. at power on Refer to section 8.3.


Check result


Check result during operation

Action

Action

Action

Action

14 - 44


Alarm No.: 16

Alarm content

Display Detail name




16.5 Encoder transmission data error 1



Name: Encoder initial communication error 1 Stop system: Each axis

An error occurred in the communication between the encoder and the servo amplifier.

Cause Check method Check result



Alarm No.: 17

Alarm content

Display Detail name error

17.2 Current feedback data error

17.3 Custom IC error

17.4 Amplifier detection signal error

Name: Board error

A part in the servo amplifier is failure

Cause Check method




Check result error

17.6 DIP switch error

Alarm No.: 19

Alarm content

Display Detail name

19.1 Flash-ROM error 1

19.2 Flash-ROM error 2


A part (Flash-ROM) in the servo amplifier is failure.

Cause Check method




Check result

Action

Action

Action

14 - 45


Alarm No.: 1A

Alarm content

Display Detail name

1A.1 Motor combination error

Name: Servo motor combination error Stop system: Each axis



1) Combination of servo amplifier and servo motor is incorrect.

2) Rotary servo setting was selected in the parameter.

Check the model name of the direct drive motor and corresponding servo amplifier.

The combination is not correct.

The combination is correct.

Direct drive motor was selected.

Action

Use them in the correct combination.

Check 2).

Use them in the correct combination.

Check the parameter

No. PA01 setting.

Rotary servo motor:

" 0 "

Linear servo motor:

" 4 "

Direct drive motor:

" 6 "

Alarm No.: 1E

Alarm content

Display Detail name


The encoder is malfunctioning.

Cause Check method

1E.1 Encoder failure Same as for the rotary servo motors.


Stop system: Each axis

Check result Action

Alarm No.: 1F

Alarm content

Display Detail name


Alarm No.: 20

Alarm content

Display Detail name







Name: Encoder initial communication error 3 Stop system: Each axis

The connected encoder is not compatible with the servo amplifier.




Name: Encoder normal communication error 1 Stop system: Each axis

An error occurred in the communication between the encoder and the servo amplifier.




Action

Action

14 - 46


Alarm No.: 21

Alarm content



Error is found in the encoder data.

Cause Check method




Check result Action update error waveform error

1) Something near the device caused it.

2) Encoder failure


Replace the direct drive motor, and then check the repeatability.

Problem found. Take countermeasures against its cause.

No problem found. Check 2).

It is not repeatable. Replace the direct drive motor.

Alarm No.: 24

Alarm content

Display Detail name detected by hardware detection circuit

Name: Main circuit error Stop system: All axes

Ground fault occurred at the servo motor power lines of the servo amplifier.

A ground fault occurred at the servo motor.




Action detected by software detection function

14 - 47


Alarm No.: 25

Alarm content

Display Detail name

25.1 Absolute position data erase

Name: Absolute position erased Stop system: Each axis

An error was found in the absolute position data.

Power was switched on for the first time in the absolute position detection system.

When the alarm occurs, startup the direct drive servo again, and then make home position setting.


Performed. 1) Power was switched on for the first time in the absolute position detection system.


2) The battery was removed

(replaced) when the control circuit power supply was off.


Not performed.

Performed.

Check that the battery is mounted, and make home position return.

Check 2).

Check that the battery is mounted, and make home position return.

3) The battery voltage is low.

(Battery is consumed.)

4) The battery cable is faulty.

5) Encoder cable is faulty.

Check the battery voltage with a tester.



Check the voltage on the motor side.

Not performed.

Below 3.0VDC.

3.0VDC or more.

Problem found.

Check 3).


Check 4).

Replace the battery cable.


Problem found. Repair or replace the encoder cable.


6) The absolute position storage unit is malfunctioning.

7) Encoder failure

Check if it occurs with a new absolute position storage unit.

Check if it occurs with a new battery.

It does not occur.

It occurs.

It occurs.

Replace the absolute position storage unit.

Check 7).


Alarm No.: 27

Alarm content

Display Detail name detection abnormal termination detection time out error detection limit switch error

Name: Initial magnetic pole detection error Stop system: Each axis

The initial magnetic pole detection was not completed properly.


1) A moving part collided against the machine.

Check if it collided. It collided.

Action

Move the start position of the magnetic pole detection.

2) Power line wiring failure

It did not collided.

Problem found.

Check 2).

Correct the wiring.


3) Accuracy of the initial magnetic pole detection is not satisfactory.

1) Only one of the magnetic pole detection limit switches is on.

2) The magnetic pole detection voltage level is small.

1) Both of the magnetic pole detection limit switches are off.

The servo motor power lines are not routed correctly.

The travel distance at the magnetic pole detection is short.

Check the limit switches.

The travel distance at the magnetic pole detection is short.

Check if the limit switches are off.

It is too short.

Problem found. Remove the cause.

Change the location of the magnetic pole detection.


It is too short.

They are off.


No.PS09 setting.


No.PS09 setting.

Turn on the limit switches.

14 - 48


Alarm No.: 27

Alarm content

Display Detail name detection estimated error

Name: Initial magnetic pole detection error Stop system: Each axis

The initial magnetic pole detection was not completed properly.


1) The estimated value of magnetic pole detection is not correct.

Check it with the check method for alarm display "27.1".

Check it with the check method for alarm display "27.1". increased during the magnetic pole detection.

Action detection position deviation error detection speed deviation error detection current error

1) Speed deviation increased during the magnetic pole detection.

1) The current reached the alarm level during the magnetic pole detection.



Alarm No.: 28

Alarm content

Display Detail name

2B.1 Encoder counter error 1

Name: Encoder counter error Stop system: Each axis

Data which encoder created is failure.

When the alarm occurs, startup the direct drive servo again, and then make home position setting.


1) Encoder cable is faulty. Check the condition of the shielded part.

The shielded part is broken.

Repair the cable.


3) Encoder failure

Check the noise, ambient temperature, etc.

The shielded part has no problem.

Problem found.

Check 2).

Take countermeasures against its cause.


Replace the direct drive motor, and then check the repeatability.

It is not repeatable. Replace the direct drive motor.

Check it with the check method for alarm display "2B.1". 2B.2 Encoder 1) Encoder cable is faulty. counter error 2 2) Something near the device caused it.

Alarm No.: 30

Alarm content

Name: Regenerative error Stop system: All axes


A regenerative transistor in the servo amplifier is malfunctioning.




Display Detail name




14 - 49


Alarm No.: 31

Alarm content


Alarm No.: 32

Alarm content

Display Detail name


(during operation)

32.2 Overcurrent detected at software detection function (during operation)


(during a stop)

Name: Overspeed Stop system: Each axis

Direct drive motor speed exceeded the instantaneous permissible speed.




Name: Overcurrent Stop system: All axes

Current that flew is higher than the permissible current of the servo amplifier.




32.4 Overcurrent detected at software detection function (during a stop)

Alarm No.: 33

Alarm content

Display Detail name voltage error

Name: Overvoltage

The value of the bus voltage exceeded 400VDC.

Cause Check method




Check result

Action

Action

Action

14 - 50


Alarm No.: 34

Alarm content

Display Detail name

34.1 SSCNET receive data error

34.2 SSCNET communication connector connection error

34.3 SSCNET communication data error

Name: SSCNET receive error 1 Stop system: Each axis

SSCNET communication is malfunctioning. (continuous communication error with 3.5ms interval)



Refer to section 8.3. signal detection

Alarm No.: 35

Alarm content

Display Detail name


Alarm No.: 36

Alarm content

Display Detail name




Cause Check method




Check result Action

Name: SSCNET receive error 2 Stop system: Each axis

SSCNET communication is malfunctioning. (intermittent communication error with about 70ms interval)




Alarm No.: 37

Alarm content

Display Detail name

37.1 Parameter setting range error



Cause



Check method


Check result


Action

14 - 51


Alarm No.: 42

Alarm content

Display Detail name

42.1 Servo control error by position deviation

Name: Servo control error

A servo control error occurred.

Cause

1) Connection of the direct drive motor is not correct.

Check method

Check the wiring.

2) The initial magnetic pole detection was not executed.

3) The position deviation reached the detection level.

Execute the magnetic pole detection again, and then check the repeatability.


(Check the value of droop pulses.)


Check result

Problem found.

Action

Wire it correctly.


It is not repeatable. Execute the magnetic pole detection.

It is repeatable. Check 3).

42.2 Servo control error by speed deviation



Check the wiring.

The deviation is large.


Review the setting of parameter No.PS05 (Servo control position deviation error detection level) as required.

Wire it correctly. Problem found.




3) The speed deviation reached the detection level.



(Calculate the deviation between the speed command and direct drive motor speed.)

Check the wiring.


Review the operation status. Review the setting of parameter No.PS06

(Servo control speed deviation error detection level) as required.

Wire it correctly. 42.3 Servo control error by torque detection


Problem found.



3) The thrust deviation reached the detection level.



(Calculate the deviation between the current command and torque.)





Review the setting of parameter No.PS07 (Servo control torque deviation error detection level) as required.

Alarm No.: 45

Alarm content

Display Detail name


Inside of the servo amplifier overheated.

Cause Check method device overheat error





Check result Action

14 - 52


Alarm No.: 46

Alarm content

Display Detail name

46.1 Encoder thermal sensor error

Name: Direct drive motor overheat

The direct drive motor overheated.

Cause



Check method motor thermal sensor error disconnected error


Check result Action

1) Ambient temperature of the direct drive motor has exceeded 40 .

2) The direct drive motor has been under overload status.

3) The thermal sensor in the direct drive motor is malfunctioning.

1) A thermistor wire is not connected.

2) The thermistor wire is disconnected.

Check the ambient temperature of the direct drive motor.

Check the effective load ratio.

Check the direct drive motor temperature when the alarm occurs.

Check if the thermistor wire is connected.

Check the thermistor wire.

It is over 40 .

It is 40 or less.

The effective load ratio is large.

The effective load ratio is small.

Lower the ambient temperature of the direct drive motor.

Check 2).

Reduce the load or review the operation pattern.

Check 3).

The direct drive motor temperature is low.

Replace the direct drive motor.

It is not connected. Connect it.

It is connected. Check 2).

It is disconnected. Repair the lead wire.

It is not disconnected. Replace the direct drive motor.

Alarm No.: 47

Alarm content

Display Detail name stop error


The speed of the servo amplifier cooling fan decreased.

The speed decreased to the alarm level or less.

Cause Check method




Check result Action speed reduction error

14 - 53


Alarm No.: 50

Alarm content

Display Detail name







Name: Overload 1 Stop system: Each axis

Load exceeded overload protection characteristic of servo amplifier.




Action

Alarm No.: 51

Alarm content

Display Detail name


Maximum output current flowed for several seconds continuously due to machine collision or the like.






Alarm No.: 52

Alarm content

Display Detail name pulses

Name: Error excessive Stop system: Each axis

The droop pulses existing between the model position and the actual servo motor position reached the alarm level.



Refer to section 8.3. during 0 torque limit

Alarm No.: 8A

Alarm content

Display Detail name

8A.1 USB communication time-out error

Name: USB communication time-out error Stop system: All axes

Communication between the servo amplifier and a communication device (PC, etc.) stopped for the specified time or longer.




14 - 54


Alarm No.: 8E

Alarm content

Display Detail name






Name: USB communication error Stop system: All axes

The USB communication error occurred between the servo amplifier and communication device (e.g. personal computer).




14 - 55


14.6.3 Remedies for warnings

CAUTION

If Absolute position counter warning (E3. ) occurs, always make home position setting again. Otherwise, it may cause an unexpected operation.

POINT

When any of the following alarms has occurred, do not cycle the power of the servo amplifier repeatedly to restart. Doing so will cause a malfunction of the servo amplifier and direct drive motor. If the power of the servo amplifier is switched off/on during the alarms, allow more than 30 minutes for cooling before resuming operation.

Excessive regeneration warning (E0. )


Overload warning (E1. ) Direct drive motor overheat warning (E2. )

When a warning whose stop system is "All axis" in the following table occurs, the servo amplifier will be the servo-off status and the servo motor will stop at the warning occurrence. If any other warning occurs, operation can be continued but an alarm may take place or proper operation may not be performed.

Eliminate the cause of the warning according to this section. Use MR Configurator to refer to the cause of warning occurrence.

Warning No.: 91 Name: Main circuit device overheat warning Stop method: No stop (common detection)

Warning description

Display Detail name

The temperature inside of the servo amplifier reached a warning level.

Cause Check method Check result Action device overheat warning

91.2 Board temperature warning



Alarm No.: 92

Warning description

Display Detail name

Name: Battery cable disconnection warning

Absolute position detection system battery voltage is low.

Stop method: No stop (each-axis detection)


92.1 Encoder 1) The absolute position disconnection warning signal storage unit has not connected. detection 2) Battery cable is disconnected.

3) Battery voltage dropped.

(detected by encoder)

4) An encoder cable is disconnected.

Check if the absolute position storage unit is connected.

Check the battery cable.


Check if the encoder cable is disconnected.

It is not connected. Connect the absolute

It is connected.

Problem found. position storage unit.

Check 2).


Repair the cable.


It is below 3.0VDC. Replace the battery.

It is 3.0VDC or more. Check 4).

It is disconnected. Repair or replace the encoder cable.

14 - 56


Warning No.: 96

Warning description

Display Detail name

Name: Home position setting warning

Home position setting could not be made.

Cause Check method at home positioning error Same as for the rotary servo motors.



Check result Action error at home positioning

Alarm No.: 9F

Warning description

Display Detail name

9F.1 Low battery

9F.2 Battery degradation

Name: Battery warning

Absolute position detection system battery voltage is low.





1) The absolute position storage unit has not connected.

Check if the absolute position storage unit is connected.

2) The battery has deteriorated. (detected by encoder)


It is not connected. Connect the absolute

It is connected.

It is not repeatable. position storage unit.

Check 2).


Warning No.: 91

Warning description

Display Detail name

E0.1 Excessive regeneration warning

Name: Excessive regeneration warning Stop method: No stop (common detection)





14 - 57


Warning No.: E1

Warning description

Display Detail name

E1.1 Thermal overload warning 1 during operation




E1.5 Thermal overload warning 1 during a stop




Warning No.: E2

Warning description

Display Detail name motor overheat warning


Overload alarm (50. , 51. ) may occur.

Cause Check method




Check result Action

Name: Direct drive motor overheat warning

Direct drive motor overheat (46. ) may occur.

Cause Check method


Check result

Check it with the check method for alarm No. "46.2".

Action

1) The direct drive motor temperature reached 85 of the alarm level of Direct drive motor overheat

(46.2).

14 - 58


Alarm No.: E3

Warning description

Name: Absolute position counter warning Stop method: No stop (each-axis detection)

The multi-revolution counter value of the absolute position encoder exceeded the maximum range.

Absolute position encoder pulses are faulty.

Cause Check method Check result Action Display Detail name

E3.1 Absolute position counter travel distance excess warning


Refer to section 8.4. absolute position counter error warning

Warning No.: E4

Warning description

Display Detail name

E4.1 Parameter setting range error warning

Warning No.: E6

Warning description

Display Detail name

Name: Parameter warning Stop method: No stop (each-axis detection)

Out of the setting range was attempted to write during parameter writing.




Name: Servo forced stop warning

Forced stop signal was turned off.

Cause



Check method


Check result Action warning

Warning No.: E7

Warning description

Display Detail name

E7.1 Controller forced stop warning

Name: Controller forced stop warning Stop system: All axes

The forced stop signal of the servo system controller was enabled.

Check method Check result Cause



Action

Warning No.: E8

Warning description

Display Detail name

E8.1 Decreased cooling fan speed warning

Name: Cooling fan speed reduction warning Stop method: No stop (common detection)

The cooling fan speed decreased to the warning occurrence level or less.




Warning No.: E9

Warning description

Display Detail name


Cause Check method

Stop system: All axes (common detection)

The servo-on command was inputted with main circuit power supply off.

The bus voltage dropped during the direct drive motor driving under 50r/min.

Check result Action

E9.1 Ready-off signal on during main circuit off drop during low speed operation signal on during main circuit off



14 - 59


Warning No.: EB

Warning description

Display Detail name

EB.1 The other axis error warning

Warning No.: EC

Warning description

Display Detail name

EC.1 Overload warning 2

Warning No.: ED

Warning description

Display Detail name excess

Name: The other axis error warning Stop system: All axes (each-axis detection)

In the other axis, an alarm demanding all axes stop (11. , 15. , 17. , 24. , and 32. ) occurred.




Name: Overload warning 2 Stop method: No stop (each-axis detection)

Operation, in which a current exceeding the rating flew intensively in any of the U, V, and W phases of the servo motor, was repeated.




Name: Output watt excess warning Stop method: No stop (each-axis detection)

The status, in which the output wattage (speed torque) of the direct drive motor exceeded the rated output, continued steadily.

Check method Check result Action Cause



14 - 60


14.7 Characteristics

14.7.1 Overload protection characteristics

An electronic thermal is built in the servo amplifier to protect the servo amplifier, the direct drive motor, and direct drive motor power lines from overloads.

Overload 1 alarm (50. ) occurs if overload operation performed is above the electronic thermal protection curve shown in fig. 14.2. Overload 2 alarm (51. ) occurs if the maximum current is applied continuously for several seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken line in the graph.

For the system where the unbalanced torque occurs, such as a vertical axis system, it is recommended that the unbalanced torque of the machine be kept at 70 or less of the motor's rated torque. When mounting MR-J3W-

44B closely, use it with 90 or lower of the effective load ratio.

The MR-J3W servo amplifier has solid-state direct drive motor overload protection for each axis. (The direct drive motor overload current (full load current) is set on the basis of 115 rated current of the servo amplifier.)

1000

Operating

100

Servo lock

10

1

0.1

0 50 100 150 200 250 300

(Note) Load ratio [ ]

MR-J3W-44B/MR-J3W-77B/MR-J3W-1010B

Note. If operation that generates torque more than 100 of the rating is performed with an abnormally high frequency in a direct drive motor stop status (servo-lock status) or in a 30r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal protection.

Fig. 14.2 Electronic thermal protection characteristics

14 - 61


14.7.2 Dynamic brake characteristics

POINT

Dynamic brake operates at occurrence of alarm, Servo forced stop warning (E6.1), and Controller forced stop warning (E7.1), and when power is turned off. Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency.

(1) Dynamic brake operation

Maximum usage time of dynamic brake for a machine operating under recommended load to motor inertia ratio is 1000 time while decelerating from rated speed to a stop with frequency of once in 10 minutes.

Be sure to enable Forced stop (EM1) after the direct drive motor stops when using

Forced stop (EM1) frequently in other than emergency.

(a) Calculation of coasting distance

Fig. 14.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 14.1 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the direct drive motor and machine operation speeds. (Refer to (1) (b) of this section.)

ON

Forced stop (EM1)

OFF


Machine speed

V

0 t e

Time

Fig. 14.3 Dynamic brake operation diagram

L max

V

0

60 t e 1

J

L

J

M

......................................................................................................................(14.1)

L max

: Maximum coasting distance .................................................................................................... [mm][in]

Vo : Machine's fast feed speed ..........................................................................................[mm/min][in/min]

J

M

: direct drive motor inertia moment ....................................................................[ 10

-4

kg m

2

][oz in

2

]

J

L

: Load moment of inertia converted into equivalent value on direct drive motor rotor

··························································································································[ 10

-4

kg m

2

][oz in

2

] t e

: Dynamic brake time constant ............................................................................................................[s]

: Delay time of control section (Note)...................................................................................................[s]

Note. There is internal relay delay time of about 10ms.

14 - 62


(b) Dynamic brake time constant

The following shows necessary dynamic brake time constant τ for equation 14.1.

30

25

20

15

10

5

0

0 100

002 004

006

200 300

Speed [r/min]

400 500

70

60

50

40

30

20

10

0

0

018

006

012

100 200 300

Speed [r/min]

400 500

60

50

40

30

20

10

0

0

TM-RFM C20 TM-RFM E20

100

012

200 300

Speed [r/min]

400 500

80

70

60

50

40

30

20

10

0

0

040

50 100

Speed [r/min]

150 200

TM-RFM G20 TM-RFM J10

(2) Permissible load to motor inertia ratio when the dynamic brake is used

Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the ratio may exceed the value, contact your local sales office.

The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the direct drive motor.

The value in the parenthesis shows the value at the rated speed of the direct drive motor.

Direct drive motor

TM-RFM002C20

TM-RFM004C20

TM-RFM006C20

MR-J3W-22B MR-J3W-44B MR-J3W-77B MR-J3W-1010B


100 (300) 100 (300)

100 (300) 100 (300) 100 (300)

100 (300) 100 (300)

TM-RFM006E20 100 (300) 100 (300)

TM-RFM012E20 100 (300) 100 (300)

TM-RFM018E20

TM-RFM012G20 50 (300) 50 (300)

TM-RFM040J10 50 (200) 50 (200)

14 - 63


14.8 Options for direct drive motor

WARNING

Before connecting any option or peripheral equipment, turn off the power and wait for

15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

CAUTION

Use specified auxiliary equipment and options. Otherwise, it may cause a malfunction or fire.

14.8.1 Cable/connector sets

POINT

The IP rating indicated is the cable's or connector's protection against ingress of dust and water when the cable or connector is connected to a servo amplifier or direct drive motor.

If the IP rating of the cable, connector, servo amplifier and direct drive motor vary, the overall IP rating depends on the lowest IP rating of all components.

Purchase the cable and connector options indicated in this section.

(1) Cable combinations

Servo amplifier

For incremental system

3)

4) 5)

6)

(Note 1)

CNP3

CNP3

CN2A

CN2B

(Note 1)

For absolute position detection system

1)

1)

2)

Power supply connect


MR-BTAS01 (Note 2)

Encoder connector

Direct drive motor

TM-RFM

Note 1. Options for B-axis are the same as for A-axis.

2. Always make connection for use in an absolute position detection system. (Refer to section 14.8.2.)

14 - 64


No. Product


Model

MR-J3DDCNS


MR-J3DDSPS

Description

For connection between servo amplifier and direct drive motor.

For connection between servo amplifier and absolute position storage unit.

Refer to section 14.8.1 (2) for details. set

MR-PWCNF

For connection between absolute position storage unit and direct drive motor.


Plug: CE05-6A14S-2SD-D (DDK)

Cable clamp: YSO14-9 to 11 (Daiwa Dengyo)

Applicable cable

Applicable wire size: 0.3mm

2

(AWG22) to

1.25mm

2

(AWG16)

Overall diameter of cable: 8.3 to 11.3mm

For TM-RFM C20

For TM-RFM C20

Application

IP67

IP67

IP67

IP67 set Cable clamp: CE3057-10A-1-D

(DDK)

Applicable cable

Applicable wire size: 2mm

2

(AWG14) to 3.5mm

2

(AWG12)

Overall diameter of cable: 10.5 to 14.1mm

For TM-RFM G20

IP67 set Cable clamp: CE3057-12A-1-D

(DDK)

Applicable cable


2

(AWG10) to 8mm

2

(AWG8)

Overall diameter of cable: 12.5 to 16mm

For TM-RFM040J10

For TM-RFM120J10 set Cable clamp: CE3057-20A-1-D

(DDK)

Applicable cable

Applicable wire size: 14mm 2 (AWG6) to 22mm 2

(AWG4)

Overall diameter of cable: 22 to 23.8mm

For TM-RFM240J10

Be sure to use this when correspon ding to EN

IP67

14 - 65


(2) Encoder connector set

(a) MR-J3DDCNS

This connector set is used to fabricate an encoder cable for the incremental system or the absolute position detection system (between the servo amplifier and the absolute position storage unit).

Parts Description

Connector set MR-J3DDCNS (option)

Servo amplifier-side connector


Shell kit: 36310-3200-008

(3M)

Encoder side or absolute position storage unit (connect from servo amplifier) side connector

Plug: RM15WTPZK-12S or


Cord clamp: JR13WCCA-8(72)

(Hirose Electric)

(Molex)


2

(AWG 23) to 0.5mm

2

(AWG20)

(b) MR-J3DDSPS

This connector set is used to fabricate an encoder cable for the absolute position detection system

(between the absolute position storage unit and the direct drive motor).

Parts Description

Connector set MR-J3DDSPS (option)

Absolute position storage unit-side connector

Plug: RM15WTPZ-12P(72)



Plug: RM15WTPZK-12S


(Hirose Electric)

(Hirose Electric)


2

(AWG 23) to 0.5mm

2

(AWG20)

(3) Fabricating encoder cables

POINT

The encoder cables should be fabricated by the customer. When fabricating the cable, prepare the following parts (a) or (b), and fabricate it according to the wiring diagram in (c).

Fabricate the encoder cable to be 50m or shorter between the servo amplifier and the direct drive motor.

To configure the absolute position detection system by using the direct drive motor, the battery unit (MR-BTCASE MR-BAT 8) and the absolute position storage unit

MR-BTAS01 are required.

For the absolute position detection system, refer to chapter 12.

Replacing battery unit (MR-BTCASE MR-BAT 8) should be during control circuit power supply on.

Replacing the unit during control circuit power supply off will cause Absolute position erased alarm (25.1).

14 - 66


(a) Combinations of encoder cables

1) For incremental system

Servo amplifier

50m or less

CN2A

CN2B

(Note 2) a)

(Note 1) Encoder cable A) b)

Direct drive motor

TM-RFM

Note 1. Refer to section (3) (b) 1) of this section for details.

2. Options for B-axis are the same as for A-axis.

2) For absolute position detection system

Servo amplifier

50m or less

CN2A

CN2B

(Note 3)

(Note 1) Encoder cable A) a) b)

(Note 2) Encoder cable B) c)


MR-BTAS01 b)

Direct drive motor

TM-RFM

Note 1. Refer to section (3) (b) 2) of this section for details.

2. Refer to section (3) (b) 3) of this section for details.

3. Options for B-axis are the same as for A-axis.

4. For cables of 20m or longer, contact your local sales office.

14 - 67


(b) Wiring diagram of encoder cable

1) Encoder cable A) a) Connector details


Shell kit: 36310-3200-008

(3M) a) CNP2A/CNP2B connector


(Molex)

2

LG

1

P5

4

MRR

6

THM2

3

MR

5

THM1

8

7

10

9

View seen from wiring side. (Note 1) or

2

LG

1

P5

4

MRR

3

MR

6

THM2

5

THM1

8

7

10

9

View seen from wiring side. (Note 1) b) Encoder connector

Straight plug: RM15WTPZK-12S


(Hirose Electric)

Recommended cable: 20276 VSVPAWG

#23 6P KB-0492

(Note 3)

(Bando Densen)

2

1 9

P5

8

MRR

3

10

LG

11

THM2

12

6

THM1

7

MR

4 5

FG

View seen from the wiring side. (Note 2)

Note 1.

2.

3.

Do not connect anything to the pins shown as . Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally.

Do not connect anything to the pins shown as .

Purchase from Toa Electric Industry Co. Ltd., Nagoya Branch b) Internal wiring diagram a) CNP2A/CNP2B connector

P5

LG

1

2 b) Encoder connector

9 P5

10 LG

MR

MRR

THM1

THM2

SD

5

6

3

4

Plate

7

8

6

11

5

MR

MRR

THM1

THM2

FG

Refer to the following table for the required wires to fabricate the encoder cable.

Core size

Conductor resistance of one core

0.25mm

2 63.6 /km or less

Overall diameter

8.2mm

14 - 68


2) Encoder cable b) a) Connector details


Shell kit: 36310-3200-008

(3M) c) CNP2A/CNP2B connector


(Molex)

2

LG

1

P5

4

MRR

6

THM2

3

MR

5

THM1

8

7

10

9

BAT

View seen from wiring side. (Note 1) or

2

LG

1

P5

4

MRR

3

MR

6

THM2

5

THM1

8

7

10

9

BAT

View seen from wiring side. (Note 1) d) Absolute position storage unit connector



(Hirose Electric)


#23 6P KB-0492

(Note 3)

(Bando Densen)

1 9

P5

8

MRR

2

BAT

3

10

LG

11

THM2

12

6

THM1

7

MR

4 5

FG

View seen from the wiring side. (Note 2)

Note 1.

2.

3.

Do not connect anything to the pins shown as . Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally.


Purchase from Toa Electric Industry Co. Ltd., Nagoya Branch b) Cable internal wiring diagram

When the distance between the servo amplifier and the direct drive motor is within 20m (Note) a) CNP2A/CNP2B connector

P5

LG

1

2 b) Absolute position storage unit connector

9 P5

10 LG

MR

MRR

THM1

THM2

BAT

SD

5

6

3

4

9

Plate

7

8

6

11

2

MR

MRR

THM1

THM2

BAT

5 FG

Note. For cables of 20m or longer, contact your local sales office.


Core size


0.25mm

2

63.6 /km or less

Cable OD

6.2mm

14 - 69


3) Encoder cable c) a) Connector details e) Absolute position storage unit connector

Straight plug: RM15WTPZ-12P(72)


(Hirose Electric)


#23 6P KB-0492

(Note 2)

(Bando Densen) f) Encoder connector



(Hirose Electric)


#23 6P KB-0492

(Note 2)

(Bando Densen)

8

MRR

5

FG

9

P5

7

MR

6

THM1

12

11

THM2

10

LG

3

2

BAT

4

1

VB

2

BAT

1

VB

10

LG

9

P5

12

8

MRR

7

MR

3 11

THM2

6

THM1

4 5

FG

View seen from the wiring side. (Note 1) View seen from the wiring side. (Note 1)

Note 1.

2.


Purchase from Toa Electric Industry Co. Ltd., Nagoya Branch b) Internal wiring diagram

When the distance between the servo amplifier and the direct drive motor is within 20m (Note) b) Encoder connector c) Absolute position storage unit connector

P5

LG

9

10

9

10

P5

LG

MR

MRR

THM1

THM2

VB

BAT

FG

1

2

5

7

8

6

11 11

1

2

7

8

6

MR

MRR

THM1

THM2

VB

BAT

5 FG

Note. For cables of 20m or longer, contact your local sales office.


Core size


0.25mm

2 63.6 /km or less

Overall diameter

8.2mm

14 - 70


14.8.2 Absolute position storage unit MR-BTAS01

POINT

Replacing the MR-BTAS01 absolute position storage unit will erase the absolute position. Start up the direct drive motor again and perform home positioning according to section 14.4.1.

Replacing battery unit (MR-BTCASE MR-BAT 8) should be during control circuit power supply on.

Replacing the unit during control circuit power supply off will cause Absolute position erased (25.1).

Absolute position erased (25.1) will occur if the encoder cable is disconnected.

To configure the absolute position detection system by using the direct drive motor, the battery unit (MR-

BTCASE MR-BAT 8) and the absolute position storage unit MR-BTAS01 are required.

(1) Connection method with the encoder cable

Refer to section 14.8.1 (3) (a) 2).

(2) Dimensions

[Unit: mm]

RM15WTRZB-12P(72)

(For servo amplifier)

19 19

RM15WTRZB-12S(72)

(For encoder)

16

<Mounting screw size>

M5

2- 6 mounting hole

5

R3

5

Mounting surface A (Note)

Mounting surface B (Note)

5 69.8

79.8

5

R3

Mass: 0.26[kg] (0.57 [lb])

Note. When mounting the unit outside the cabinet, fix the mounting surface A with four screws. When mounting the unit inside the cabinet, you can also fix the mounting surface B with two screws.

14 - 71


(3) Environment

The following table indicates the environment for the absolute position storage unit.

Item Environment

Ambient temperature

Ambient humidity

Ambience

Altitude

Operation 0 to 55 (non-freezing)

Storage 20 to 65 (non-freezing)

Operation 90 RH or less (non-condensing)

Storage 90 RH or less (non-condensing)

Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, oil and water.


1000m or less above sea level

When the mounting surface A is fixed: 49m/s 2 (directions of X, Y, and Z axes)

When the mounting surface B is fixed: 5.9m/s 2 (directions of X, Y, and Z axes)

14 - 72

15. MR-J3W-0303BN6 SERVO AMPLIFIER


This chapter explains MR-J3W-0303BN6 servo amplifier. The contents of this chapter are only for MR-J3W-

0303BN6 servo amplifier. Refer to the corresponding sections for each item below.

Item Reference

Normal gain adjustment

Special adjustment functions

Chapter 6

Chapter 7


POINT

This section does not include the following items. For details of the items, refer to each section of the detailed description field.

Function list

Item


Section 1.4

15 - 1


15.1.1 Function block diagram

The function block diagram of this servo is shown below.

Main circuit power supply: 48VDC

48VDC

Circuit protector RA

Servo amplifier

PM


0

Regenerative

TR

CHARGE lamp

24

24VDC



Circuit protector

24VDC

Inverter (A)

Current detector

Inverter (B)

Current detector

Base amplifier

Regenerative brake

Overcurrent

A

Current detection

A

Overvoltage

Overcurrent

B

Current detection

B

Control (A)

Model position control (A)

Model speed control (A)

Virtual encoder

Virtual motor

Control (B)

Model position control (B)

Model speed control (B)

Virtual encoder

Virtual motor

Actual position control (A)

Actual speed control (A)

Current control (A)

Actual position control (B)

Actual speed control (B)

Current control (B)

U

V

W

A-axis Servo motor

U

V

W

M

RA

24VDC

B1

B


B2

V

W

Encoder

U

B-axis Servo motor

U

V

W

M

RA

24VDC

B1

B


B2

Encoder

MR-

J3BAT

Battery + Mounting attachment

(for absolute position detection system)

I/F

Control

USB D/A

CN1A CN1B CN5

Controller or servo amplifier

Servo amplifier or cap

Personal computer

USB

CN3

Analog monitor

(2 channels)

Digital I/O control

15 - 2


15.1.2 Servo amplifier standard specifications

Servo amplifier

MR-J3W-0303BN6

Item

Rated output

Output

Main circuit power supply input

30W (A-axis) 30W (B-axis)

Rated voltage

Rated current [A] 2.4

3-phase 48VAC

2.4

Voltage 48VDC/24V

[A] 48VDC, 2.4A/24VDC, 4.8A Rated current


48VDC, within 15 /24VDC, within 10


Inrush current

Refer to section 15.8.2.



Voltage 24VDC

Rated current [A] 0.5


Power consumption [W]

Within 10

10

Interface power supply

Inrush current

Voltage

Current capacity [A]

Capacitor regeneration

Reusable regenerative energy (Note 3)

Rotary servo motor

Moment of inertia J equivalent to permissible charging amount (Note 4)

[ 10

-4 kg m

2

]

Control method


[J]

[W]

Dynamic brake


24VDC 10

0.25 (Note 1)

0.9

0.18

Sine-wave PWM control, current control method

1.3

Built-in (Note 5)

Protective functions

Structure

Environment

Mass

Close mounting

Ambient temperature

Operation

Storage

[ ]

[ ]

[ ]

[ ] thermal), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage, instantaneous power failure protection, overspeed protection, and error excessive protection

Natural-cooling, open (IP rating: IP20)

(Note 2)





Ambient humidity

Operation

Storage


Ambience

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

1000m or less above sea level Altitude


5.9m/s

[kg]

[lb]

2

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

0.3

0.66

15 - 3


Note 1. 0.25A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points.

2. Operate the servo amplifier at 75 load ratio and at the ambient temperatures of 0 to 45 .

3. Regenerative energy is generated when the machine, whose moment of inertia is equivalent to the permissible charging amount, decelerates from the rated speed to stop.

4. This is moment of inertia when the motor decelerates from the rated speed to stop. It will be moment of inertia for two axes when two motors decelerate simultaneously. It will be moment of inertia for each axis when multiple motors do not decelerate simultaneously.

5. Electronic dynamic brake deceleration is built-in. It will not operate while the control circuit power supply is off. In addition, It will not be operate depending on the contents of alarms and warnings. Refer to chapter 8 for details.

15 - 4


15.1.3 Model designation

(1) Rating plate

AC SERVO

SER.S28001001

MODEL

POWER

INPUT

MR-J3W-0303BN6

: 30W×2 (A, B)

: 0.5A DC24V, 4.8A DC24V/2.4A DC48V

OUTPUT : 3PH48V 0-360Hz 2.4A×2 (A, B)

STD.: IEC/EN61800-5-1 MAN.: IB(NA)0300148

Max. Surrounding Air Temp.: 55°C

IP20

TOKYO 100-8310, JAPAN MADE IN JAPAN

Serial number

Model

Capacity

Applicable power supply

Rated output current

Standard, Manual number

Ambient temperature

IP rating

KC mark number,


Country of origin

(2) Model

The following describes what each block of a model name indicates. Not all combinations of the symbols are available.

Series name

Main circuit power supply: 48VDC/24VDC

Interface

Symbol

B

BN

Interface

SSCNET

Rated output

Symbol

Rated output [W]

A axis B axis

0303 30 30

Rating plate

15.1.4 Combination with servo motor

The following table lists combinations of servo amplifiers and servo motors. The same combinations is applied to the servo motors with an electromagnetic brake.

Servo motor

MR-J3W-0303BN6

A-axis B-axis

HG-AK0136

HG-AK0236

HG-AK0336

15 - 5


15.1.5 Parts identification

Name/Application

Display

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

USB communication connector (CN5)

Connect the personal computer.



Section 4.3

Section 11.4

3

5

6

7 8

0 1

2 F

9 A

B

D

E

Section 3.13

I/O signal connector (CN3)

Used to connect digital I/O signals.

More over an analog monitor is output.

Section 15.3.2

Section 15.3.4

SW


Used to perform the test operation mode by using MR Configurator.

Section 3.13

For manufacturer setting (Be sure to set to the "Down" position).

1 2

Battery connector (CN4)

Used to connect the battery for absolute position data backup. Battery is not required in fully closed control.

Section 15.10

SSCNET cable connector (CN1A)

Used to connect the servo system controller or the front axis servo amplifier.

Section 3.9

SSCNET cable connector (CN1B)

Used to connect the rear axis servo amplifier. For the final axis, puts a cap.

Section 3.9

Rating plate

A-axis servo motor encoder connector (CN2A)

Used to connect the A-axis servo motor encoder.

B-axis servo motor encoder connector (CN2B)

Used to connect the B-axis servo motor encoder.

Control circuit power voltage error lamp (24V ERROR)

When a voltage of the control circuit power voltage

(24VDC) is out of permissible range, this will light in yellow.

Main circuit power supply connector (CNP1)

Connect the input power supply.

Charge lamp (CHARGE)

When the main circuit is charged, this will light in red.

While this lamp is lit, do not reconnect the cables.

Section 15.3.4

Section 15.9.1

Section 15.3.4

Section 15.9.1

Section 15.4.2

Section 15.3.1

Section 15.9.1

A-axis servo motor power output connector (CNP2A)

Connect the A-axis servo motor.

B-axis servo motor power output connector (CNP2B)

Connect the B-axis servo motor.

Section 15.3.1

Section 15.3.3

Section 15.3.1

Section 15.3.3

15 - 6


15.1.6 Configuration including peripheral equipment

CAUTION


POINT

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

MR Configurator

Personal computer

CN5


48VDC power

supply

24VDC power

supply

Circuit protector

Relay


24VDC power

supply

CN3

CN4

24

0

PM

MR-J3BAT

CN1A

CN1B

CN2A

CN2B

CNP2A

CNP2B

Servo motor

Servo motor

PM 0 24

Circuit protector

15 - 7


15.2 Installation (direction and clearances)

WARNING To prevent electric shock, ground each equipment securely.

CAUTION

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

Install the equipment on incombustible material. Installing it directly or close to combustibles will lead to a fire.

Install the equipment in a load-bearing place in accordance with the Instruction

Manual.

Do not get on or put heavy load on the equipment. Otherwise, it may cause injury.

Use the equipment within the specified environment. (For the environment, refer to section 1.3.)

Provide an adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier.

Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.

Do not drop or strike the servo amplifier. Isolate it from all impact loads.

Do not install or operate a faulty servo amplifier.

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

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

The servo amplifier must be installed in a metal cabinet.

The equipment must be installed in the specified direction. Otherwise, it may cause a malfunction.

Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. Otherwise, it may cause a malfunction.

POINT


Item


Function list Section 1.4

When using heat generating equipment, install them with full consideration of heat generation so that the servo amplifier is not affected.

Install the servo amplifier on a perpendicular wall in the correct vertical direction.

15 - 8


(1) Installation of one servo amplifier

Control box

40mm or more

Servo amplifier

10mm or more

Control box

10mm or more

Wiring allowance

80mm

Top

Bottom

40mm or more

(2) Installation of two or more servo amplifiers

POINT

You can mount the MR-J3W-0303BN6 servo amplifiers closely. When mounting them closely, operate the servo amplifier at 75 load ratio and at the ambient temperatures of 0 to 45 .

Not to make inside the cabinet stuffy, circulate air by making the clearances between top/bottom and inside cabinets larger.

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

Control box Control box

100mm or more

5mm or more

1mm

100mm or more

1mm

30mm or more

30mm or more

Top

30mm or more

40mm or more

Leaving clearance

15 - 9

40mm or more

Mounting closely

Bottom



WARNING


Before wiring, turn off the power and check that the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.


Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock.








24VDC 24VDC

DOCOM DOCOM

CAUTION


DICOM

RA



DICOM

RA


Electromagnetic interference may be given to the electronic equipment used near the servo amplifier. Use a noise filter, etc. to minimize the influence of electromagnetic interference.

Do not install a power capacitor, surge killer or radio noise filter (FR-BIF option) with the power line of the servo motor.




Servo amplifier

U

V

W

U

Servo motor

V

W

M

Servo amplifier

U

V

W

U

Servo motor

V

W

M

15 - 10


POINT


15.3.1 Input power supply circuit

Treatment of cable shield external conductor

SSCNET cable connection

Control axis selection

Item


Section 3.8

Section 3.9

Section 3.13

CAUTION

Always connect a circuit protector between the power supply and power supply voltage input terminals (24, 0, and PM) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a circuit protector is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions.




POINT

Even if alarm has occurred, do not switch off the control circuit power supply. When the control circuit power supply has been switched off, optical module does not operate, and optical transmission of SSCNET communication is interrupted.

Therefore, the next axis servo amplifier displays "AA" at the indicator and turns into base circuit shut-off. The servo motor will stop.

Wire the power supply/main circuit so that the main circuit power supply is shut off and the servo-on command turned off as soon as an alarm occurring, an enabled servo forced stop, or an enabled controller forced stop. A circuit protector must be used with the input cables of the power supply.

15 - 11



24VDC

(Note 1)

Circuit protector

48VDC

(Note 1)

(Note 3)

Malfunction

RA1(A-axis)


RA3

RA2(B-axis)

Forced stop

(Note 6)

OFF

RA4

0

Servo amplifier

CNP1

24

(Note 7)

CNP2A

U

PM

(Note 8)

V

W

ON

RA4

RA4

(Note 5)

CN2A

(Note 2)

Encoder cable

A-axis servo motor

U

V

W

Motor

M

Encoder


24VDC

(Note 1)

Circuit protector

B-axis servo motor

(Note 7)

CNP2B

U

V

W

(Note 5)

CN2B

(Note 2)

Encoder cable

U

V

W

Motor

M

Encoder

(Note 4)


CN3

EM1

DOCOM

CN3

DOCOM

DICOM

ALM-A

ALM-B

24VDC

RA1

RA2

A-axis malfunction

(Note 3)

B-axis malfunction

(Note 3)

(Note 4)

Note 1. Use reinforced insulating type for 24VDC and 48VDC power supply. Connect at power supply part for - side wiring (0V). Refer to section 15.3.3 (1) (c) for selecting power supply.

2. For the encoder cable, using optional cable is recommended. Refer to section 15.9.1 for selection of the cable.

3. If disabling malfunction (ALM-A/ALM-B) output with the parameter, configure up the circuit which switches off the main circuit power supply after detection of alarm occurrence on the controller side. This example is to continue the operation in another axis even if an alarm occurs either A-axis or B-axis. When stopping operation of both axes at an alarm occurrence for one axis, connect RA1 and RA2 in series.


5. Refer to section 15.3.6 for wiring power lines.

6. Configure up the circuit which shuts off main circuit power with external circuit at forced stop 1 (EM1) off.


8. The noiseless grounding ( ) terminals of CNP2A and CNP2B are connected to the noiseless grounding ( ) terminal of CNP1 in the servo amplifier. Be sure to ground from the noiseless grounding ( ) terminal of CNP1 to the grounding terminal of the cabinet.

15 - 12


15.3.2 I/O signal connection example

10m or less 10m or less

(Note 15)

(Note 14)

(Note 3, 4) Forced

A-axis upper stroke limit (FLS)

A-axis lower stroke limit (RLS)

A-axis proximity dog (DOG)

B-axis upper stroke limit (FLS)

B-axis lower stroke limit (RLS)

B-axis proximity dog (DOG)

(Note 5)

MR Configurator


Personal computer

Servo amplifier

(1 axis 2 axis)

(Note 10)

24VDC

DICOM

DOCOM

EM1

(Note 12)

CN3

(Note 12)

CN3

23

11 ALM-A

26

10

12 MBR-A

DI1-A

DI2-A

7

8

24 ALM-B

25 MBR-B

DI3-A

DI1-B

9

20

DI2-B

DI3-B

21

22

3

16

LA-A

LAR-A

4 LB-A

17 LBR-A USB cable

MR-J3USBCBL3M

(option)

CN5

5 LA-B

18 LAR-B

6 LB-B

19

14

15

LBR-B

LG

2 MO1

1 LG

MO2

(Note 6)

SSCNET cable

(option)

CN1A

Plate SD

(Note 2)

2m or less

SW

RA1

RA2

RA3

RA4

A-axis malfunction

(Note 11)

A-axis electromagnetic brake interlock

B-axis malfunction

(Note11)

B-axis electromagnetic brake interlock

A-axis encoder A-phase pulse (Differential line driver)

A-axis encoder B-phase pulse (Differential line driver)

B-axis encoder A-phase pulse (Differential line driver)

B-axis encoder B-phase pulse (Differential line driver)

Analog monitor 1

Analog monitor 2

(Note 13, 14)

Output voltage: 10V 5V

Maximum current: 1mA

SW (Note 8)

1 2

CNP1

(Note 1)

MR-J3W-B

(3 axis 4 axis)

CN1A SW

(Note 7)

CN1B

SW (Note 8)

1 2

(Note 6)

SSCNET cable

(option)

(Note 9)

Cap

MR-J3W-B

(n-1 axis n axis)

CN1A SW

(Note 7)

CN1B

SW (Note 8)

1 2

15 - 13


Note 1. To prevent electric shock, be sure to connect the noiseless grounding ( ) of CNP1 of the servo amplifier to the grounding terminal of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output signals, disabling Forced stop (EM1) and other protective circuits.

3. If the controller does not have forced stop function, always install the forced stop switch (normally closed contact).

" will disable 4. Always turn on Forced stop (EM1) for driving. (normally closed contact) Setting the parameter No.PA04 to " 1

Forced stop (EM1).

5. Use MRZJW3-SETUP 221E. (Refer to section 11.4.)

6. Use SSCNET cables listed in the following table.

Cable Cable model Cable length

MR-J3BUS M 0.15m to 3m Standard cord inside cabinet

Standard cable outside cabinet

Long-distance cable

MR-J3BUS M-A 5m to 20m

MR-J3BUS M-B 30m to 50m

7. The wiring of the third and subsequent axes is omitted.

8. Up to 16 axes can be connected. Refer to section 3.13 for setting of axis selection.

9. Make sure to cap the unused CN1B connector.

10. Supply 24VDC 10 250mA current for interfaces from outside. 250mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.7.2 (1) that gives the current value necessary for the interface.

11. Malfunction (ALM-A/ALM-B) will be on in normal alarm-free condition. (Normally closed contact)

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

13. The signals can be changed by parameter No.PD07 and PD09.


15. Devices can be assigned for DI1-A, DI2-A, DI3-A DI1-B, DI2-B, and DI3-B with controller setting. For devices that can be assigned, refer to the controller instruction manual. The following devices can be assigned for Q173DCPU, Q172DCPU, Q173HCPU,

Q172HCPU, Q170MCPU, QD74MH , QD75MH , LD77MH , Q173DSCPU, Q172DSCPU, and QD77MS. For Q173DSCPU,

Q172DSCPU, or QD77MS, use a controller in the SSCNET mode.

15 - 14


15.3.3 Explanation of power supply system

(1) Signal explanations

POINT

Do not connect anything to the pins for manufacturer setting.

(a) Pin assignment and connector applications

Servo amplifier

CNP1

24 4

0 3

PM 2

Connector Name

1 CNP1 Power supply connector

Function/application

Input main circuit power supply and control circuit power supply.

CNP2A

(Note) (Note)

U W

3

2

1

CNP2A

CNP2B

A-axis servo motor power

Connect with the A-axis servo motor. output connector

B-axis servo motor power

Connect with the B-axis servo motor. output connector

V

B A

CNP2B

(Note) (Note) 3

U W

B

V

A

2

1

Note. It is for manufacturer setting. Do not connect anything to the pins for manufacturer setting.

(b) Detailed explanation

Symbol

Connection target

(application)

Description

24

0

PM

U/V/W/

Main circuit/control circuit power supply

Used to connect of the control circuit power supply (24VDC).

Used to connect of the main circuit power supply and control circuit power supply.

Used to connect of the main circuit power supply (48VDC).

Servo motor power

Connect to the servo motor power terminals (U, V, W, and ). Connect the servo amplifier power output (U, V, W, and ) to the servo motor power input

(U, V, W, and ) directly. Do not let a magnetic contactor, etc. intervene.


Noiseless grounding Connect this to the grounding terminal of cabinet.

15 - 15


(c) Selection of the main circuit/control circuit power supply

The inrush current at power on will be large because a resistance for protecting inrush current is not built-in in the main circuit power supply of the servo amplifier. The electric capacity of the capacitor is approximately 560 F. When the load characteristic (overcurrent protection criteria) of the power unit is current fold back method, the power cannot startup. Be careful to select power. Especially when the power is turned ON/OFF on the power unit output side, approximately 100 s to 300 s instantaneous current will flowed at power on due to capacitor charge. Therefore, a power unit such as one which operates overcurrent at 1ms or less cannot be used.

In addition, when using a switching power supply for input power supply of the control circuit power supply, use a reinforced insulating type. A circuit to protect inrush current at power on is built-in in the control circuit power supply.

(2) Power-on sequence

(a) Power-on procedure

1) When wiring the power supply, be sure to use a circuit protector for the power supply (24, 0, and PM) as shown in section 15.3.1. Configure up an external sequence so that the relay connected to PM turns off when an alarm occurs in both axes of A and B.

2) When using a 48VDC power supply, 24 and 0 should be turned on simultaneously with PM and 0, or should be turned on before PM and 0. If the control circuit power supply is turned on with the main circuit power supply off, and then the servo-on command is transmitted, Main circuit off warning

(AL.E9) will occur. Turning on the main circuit power supply stops the warning and starts the normal operation.

3) The servo amplifier receives the servo-on command within 3s after the main circuit power supply is switched on. (Refer to (2) (b) of this section.)

(b) Timing chart

Servo-on command accepted

(3s)

Power supply

Base circuit

Servo-on command

(from controller)

ON

OFF

ON

OFF

ON

OFF

95ms 10ms 95ms

15 - 16


(c) Forced stop

CAUTION

Provide an external forced stop circuit to ensure that operation can be stopped and power switched off immediately.

If the controller does not have a forced stop function, configure a circuit which shut off the main circuit power supply simultaneously with EM1 off at forced stop. When EM1 is turned off, dynamic brake will start to stop the servo motor. During this sequence, the display shows Servo forced stop warning (E6.1).

During normal operation, do not use Forced stop (EM1) to alternate stop and drive. The the servo amplifier life may be shortened.

Servo amplifier

(Note)

EM1

DOCOM Forced stop

Note. This is for sink I/O interface. For source I/O interface, refer to section 3.7.3.

(3) Wiring CNP1

POINT

For the wire sizes used for wiring, refer to section 15.9.1.

CNP1 wiring connector is supplied with the servo amplifier.

(a) Connector

Servo amplifier

CNP1

15 - 17


Connector applications

For CNP1

Table 15.1 Connector and applicable wire

Receptacle assembly

FK-MCP1.5/4-ST-3.5 or equivalent

Applicable wire size

AWG24 to

AWG16

Stripped length

[mm]

Open tool

(b) Cable connection procedure

1) Termination of the cables

Solid wire: After the sheath has been stripped, the cable can be used as it is.

Sheath Core wires

Manufacturer

Approx. 9mm

Twisted wire: Use the cable after stripping the sheath without twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause a contact fault.

2) Inserting wire a) Solid wire

Insert the cable to the end.

Solid wire b) Stranded wire

Insert the wire to the end with pushing down the button with a small flat head screwdriver, etc.

Release button

Stranded wire

15 - 18


15.3.4 Connectors and pin assignment

POINT

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

For details of the devices and signals, refer to section 3.5 (2).

CN5 (USB connector)


CN3

CN2A

5B 5A

SH

4B

LG

4A

P5

3B 3A

2B 2A

1B

M

1A

MR

CN2B

5B 5A

SH

4B

LG

4A

P5

3B 3A

CN4

CN1A

Connector for

SSCNET cable for previous servo amplifier axis

CN1B

Connector for

SSCNET cable for next servo amplifier axis

1 14

2

LG

15

LG

MO1

4

LB-A

6

LB-B

8

DI2-A

3

LA-A

5

17

LBR-A

LAR-A

18

LA-B

MO2

19

16

LAR-B

7

LBR-B

20

DI1-A

21

DI1-B

9

DI2-B

22

10

DI3-A

23

DI3-B

EM1

11

DICOM

24

12

ALM-A

25

ALM-B

MBR-A MBR-B

13 26

DOCOM

2B 2A

1B

M

1A

MR

The Tyco Electronics make connector is shown.

When using any other connector, refer to section

11.1.2.

The frames of the CN2A,

CN2B and CN3 connectors are connected to the noiseless grounding terminal in the amplifier.

Connector Name

CN1A

CN1B

CN2A

CN2B

CN3

Connector for SSCNET cable for previous servo amplifier axis

Connector for SSCNET cable for next servo amplifier axis

Connector for A-axis encoder

Connector for B-axis encoder

I/O signal connector

Function/application

Used for connection with the controller or previous axis servo amplifier.

Used for connection with the next axis servo amplifier or for connection of the cap.

Connect with the A-axis servo motor encoder.

Connect with the B-axis servo motor encoder.

Used to connect I/O signals.

When using it as absolute position detection system, connect to battery. Before connecting battery, turn off the main circuit power supply and check that the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether

CN5

Replace the battery with main circuit power-off and with control circuit power-on.

Replacing the battery with the control circuit power-off results in loosing absolute position data.

Communication connector (USB) The personal computer is connected.

15 - 19


15.3.5 Alarm occurrence timing chart

CAUTION

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


POINT

If Servo-on (SON) is turned on during the electronic dynamic brake is operating, the servo-on status will not be enabled until electromagnetic brake is released.

The time constant " " for the electronic dynamic brake will be shorter than that of normal dynamic brake. Therefore, coasting distance will be longer than that of normal dynamic brake. For how to set the electronic dynamic brake, refer to parameter No.PF06 and PF12.

When an alarm occurs in the servo amplifier, the electronic dynamic brake will operate and stop the servo motor.

Shut off the main circuit power supply by the external sequence as soon as an alarm occurs. To deactivate the alarm, cycle the control circuit power or give the error reset or CPU reset command from the servo system controller. However, the alarm cannot be deactivated unless its cause is removed.

15 - 20


(1) Timing chart

(a) When an all-axis stop alarm occurred

ON

Main circuit

Control circuit

power

OFF

ON

Base circuit

OFF

Power ON

The brake operates during the time set in Pr. PF12.

Base circuit

ON

Base circuit

ON (EDB)

Base circuit

ON

A-axis

B-axis

Dynamic brake

Servo-on command

(from controller)

Alarm

Reset command

Base circuit

Dynamic brake

Servo-on command

(from controller)

Alarm

Reset command

Base circuit

ON (EDB)

Base circuit

ON

Base circuit

ON (EDB)

Power ON

Base circuit

ON

ON

OFF

ON

OFF

Servo-on command

Brake operation

Servo-on command

Brake operation Brake operation

Servo-on command

ON

No alarm


No alarm


No alarm


No alarm

OFF

ON

Reset operation

OFF

ON

Base circuit

ON

Base circuit

ON (EDB)

Base circuit

ON

Base circuit

ON (EDB)

Base circuit

ON

Base circuit

ON (EDB)

Base circuit

ON

OFF

ON

Brake operation Brake operation Brake operation

OFF

ON

Servo-on command

Servo-on command

Servo-on command

OFF

ON

No alarm


No alarm


No alarm


No alarm

OFF

ON

OFF

Power on

1.5s

Occurrence of

Fault cause removed all axis stop alarm

50ms or more Fault cause

Alarm reset Occurrence of all axis stop alarm removedAlarm reset

Reset operation

50ms or more 60ms (Note 1)

Main circuit power supply shut-off

(Note 2)

Main circuit power supply on

Note 1. It is different according to the operation status.

2. The dynamic brake does not operate while the control circuit power supply is cut.

15 - 21


A-axis

B-axis

(b) When a corresponding axis stop alarm occurred

ON

Main circuit

Control circuit

power

OFF

ON

Base circuit

OFF

Power ON

The brake operates during the time set in Pr. PF12.

Base circuit

ON

Base circuit

ON (EDB)

Base circuit

ON

Base circuit

ON (EDB)

Power ON

Base circuit

ON

Dynamic brake

ON

OFF

Servo-on command

(from controller)

ON

OFF

Alarm

Reset command

ON

OFF

ON

OFF

Servo-on command

No alarm

Brake operation

Occurrence of each axis alarm

Reset operation

No alarm

Servo-on command

Brake operation


No alarm

Base circuit

Dynamic brake

ON

OFF

ON

OFF

Base circuit

ON

Base circuit

ON (EDB)

Brake operation

Base circuit

ON

Base circuit

ON (EDB)

Brake operation

Base circuit

ON

Servo-on command

(from controller)

ON

OFF

Alarm

Reset command

ON

OFF

Servo-on command

No alarm


No alarm

Servo-on command


No alarm

ON

OFF

Power on

1.5s


Fault cause removed

50ms or more

Alarm reset Occurrence of all Power shutoff

Fault cause removedAlarm reset

Power on axis stop alarm

Reset operation

50ms or more 60ms (Note 1)

Main circuit power supply shut-off

(Note 2)

Main circuit power supply on

Note 1. It is different according to the operation status.

2. The dynamic brake does not operate while the control circuit power supply is cut.

(2) Supplementary explanation

(a) Overcurrent/Overload 1/Overload 2

Driving the servo motor by cycling the control circuit power repeatedly to restart without removing the cause of an occurring alarm of Overcurrent (32. )/Overload 1 (50. )/Overload 2 (51. ) will raise temperature. Doing so may result in a malfunction of the servo amplifier or servo motor. Remove its cause and allow about 30 minutes for cooling before resuming the operation.

(b) Regenerative error

Driving the servo motor by cycling the control circuit power repeatedly to restart without removing the cause of an occurring Regenerative error (30. ) will raise the temperature of regenerative resistor.

Doing so may result in a malfunction of the servo amplifier or servo motor.

(c) Instantaneous power failure

Undervoltage (10. ) occurs on the following conditions.

A power failure occurred for 15 ms at the control circuit power supply and recovered.

Bus voltage dropped to 24VDC, 15VDC/48VDC, 35VDC on the servo-on status.

15 - 22


15.3.6 Connection of servo amplifier and HG-AK series servo motor

WARNING


Ground the servo motor securely.

Do not attempt to wire the servo motor until it has been mounted. Otherwise, it may cause an electric shock.



CAUTION




Do not install a power capacitor, surge killer or radio noise filter (FR-BIF option) with the power line of the servo motor.




Servo amplifier

U

V

W

U

Servo motor

V

W

M

Servo amplifier

U

V

W

U

Servo motor

V

W

M

(1) Connection instructions

CAUTION

To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and

W) of the servo amplifier and servo motor.

Do not connect AC power supply directly to the servo motor. Otherwise, it may cause a malfunction.

Do not use a power supply for the electromagnetic brake with other 24VDC power supplies. Always use the power supply designed exclusively for the electromagnetic brake. Otherwise, it may cause a malfunction.

POINT

Refer to section 15.7.1 for selection of the encoder cable.

Refer to "Servo Motor Instruction Manual (Vol. 2)" for the selection of a surge absorber for the electromagnetic brake.

Connect the servo amplifier and servo motor by connecting an encoder cable and servo motor power cable.

15 - 23


Ground wire from the servo motor to grounding terminal of cabinet via noiseless grounding terminal of the servo amplifier and ground it from cabinet to the ground. Do not connect the wire directly to the grounding terminal of the cabinet.

Control box


CNP2A/CNP2B

Grounding terminal

CNP1

(2) Wiring

POINT

For details of MR-J3W03PWCBL M-A-H and MR-J3W03PWBRCBL M-A-H cables, refer to section 15.7.1.

(a) Standard servo motor (without electromagnetic brake)

30m or less

Servo amplifier

0.2m

Servo motor

CNP2A

MR-J3W03PWCBL M-A-H

Power cable attached to the servo motor

Servo motor

CNP2B

CNP1 MR-J3W03PWCBL M-A-H

15 - 24


(b) Servo motor with electromagnetic brake

Servo amplifier

CNP2A

30m or less

MR-J3W03PWBRCBL M-A-H

CNP2B

CNP1

(Note 4)


(Note 2)

MBR-A

RA2

ALM-A

RA1

(Note 1)

MBR-B

RA4

ALM-B

RA3

(Note 1)

Please fabricate these.


0.2m

Servo motor

(Note 3) Power cable attached to the servo motor

(Note 3)

Servo motor

Power cable attached to the servo motor



3. Do not use a power supply for the electromagnetic brake with other 24VDC power supplies.

4. Create the circuit in order to shut off by interlocking with the emergency stop switch.

15 - 25


15.3.7 Servo motor with an electromagnetic brake

(1) Precautions

Configure an electromagnetic brake circuit so that it is activated also by an external

EMG stop switch.


MBR-B).


Servo motor

RA

B

U

24VDC

CAUTION


The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking.

Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly.

Do not use the 24VDC interface power supply for the electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake. Otherwise, it may cause a malfunction.

POINT

Refer to "Servo Motor Instruction Manual (Vol. 2)" for specifications such as the power supply capacity and operation delay time of the electromagnetic brake.

Refer to "Servo Motor Instruction Manual (Vol. 2)" for the selection of a surge absorber for the electromagnetic brake.

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

1) The brake will operate when the power (24VDC) turns off.

2) Turn off the servo-on command after the servo motor stopped.

15 - 26


(a) Connection diagram

Servo amplifier

24VDC

DOCOM

EM1

EM1

DICOM

DICOM ALM-A RA1

MBR-A

ALM-B

MBR-B

RA2

RA3

RA4

(Note 1)


(Note 2)

RA5

ALM-A

RA1

MBR-A

RA2

B1

U

B2

A-axis servo motor

B

B-axis servo motor

ALM-B

RA3

MBR-B

RA4

B1

U

B2

B

Note 1. Do not use a power supply for the electromagnetic brake with other 24VDC power supplies.

2. Create the circuit in order to shut off by interlocking with the emergency stop switch.

(b) Setting

In parameter No.PC02 (Electromagnetic brake sequence output), set the time delay (Tb) from electromagnetic brake operation to base circuit shut-off at a servo-off as in the timing chart in (2) of this section.

15 - 27


(2) Timing chart

(a) Servo-on command (from controller) on/off

When servo-on command is turned off, the servo lock will be released after Tb [ms], and the servo motor will coast. If the electromagnetic brake is enabled during servo-lock, the brake life may be shorter.

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

Servo motor speed 0 r/min

(95ms)

Coasting

Tb

Base circuit

ON

OFF


(MBR-A/MBR-B)

(Note 1) ON

OFF

Servo-on command

(from controller)

ON

OFF

Ready-on command

(from controller)

ON

OFF

(95ms)

(Note 3)


Operation command

(from controller)


0 r/min

Release

Activate

Release delay time and external relay (Note 2)

Note 1. ON: Electromagnetic brake is not activated.


2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of external circuit relay. For the release delay time of electromagnetic brake, refer to "Servo Motor Instruction Manual (Vol. 2)".

3. Give the operation command from the controller after the electromagnetic brake is released.

15 - 28


(b) ON/OFF of the forced stop command (from controller) or EM1 (Forced stop)

Servo motor speed

Dynamic brake enabled time

Dynamic brake

Dynamic brake



Electromagnetic brake release

(210ms)

Base circuit

ON

OFF


(MBR-A/MBR-B)

(Note) ON

OFF


(210ms)

Forced stop command

(from controller) or

Forced stop (EM1)

Invalid (ON)

Valid (OFF)



(c) Alarm occurrence

POINT

When an alarm occurs, the dynamic brake will not operate and the servo motor will coast. Refer to chapter 8 for details.

Dynamic brake

Dynamic brake



Servo motor speed


Base circuit


(MBR-A/MBR-B)

ON

OFF

(Note) ON

OFF

Alarm (ALM-A/ALM-B)

No (ON)

Yes (OFF)




15 - 29


(d) Main circuit power supply off

Main circuit power supply off causes Undervoltage alarm (10) and will be (c) of this section.

(e) Control circuit power supply off

POINT

While the control circuit power supply is off, the dynamic brake does not operate.

Servo motor speed


ON

OFF

(20ms)

Coasting



(f) Ready-off command from controller

Servo motor speed


Base circuit


(MBR-A/MBR-B)

Ready-on command

(For controller)

ON

OFF

(Note) ON

OFF

No (ON)

Yes (OFF)

Dynamic brake

Dynamic brake






15 - 30


15.3.8 Grounding


WARNING To prevent electric shock, be sure to connect the noiseless grounding ( ) terminal of the servo amplifier to the grounding terminal of the cabinet.

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


24VDC

(Note 1)

Circuit protector

Servo amplifier

CNP1

24

CN2A

A-axis servo motor

Encoder

0

PM

48VDC

(Note 1)

RA

CNP2A

U

V

W

M

(Note 2)

U

V

W


24VDC

(Note 1)

Circuit protector B-axis servo motor

CN2B

Encoder

CNP2B

U

V

W

CNP1

(Note 2)

U

V

W

M

Outer box

Grounding terminal

Note 1. For power supply specifications, refer to section 15.1.2.

2. of the servo motor must be connected to of the CNP2A/CNP2B connector. Do not connect the wire directly to the grounding terminal of the cabinet.

15 - 31


15.4 Startup

WARNING

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

CAUTION

Before starting operation, check the parameters. Improper settings may cause some machines to operate unexpectedly.

Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on or for some time after power-off. Otherwise, it may cause a burn injury and parts damaged.

During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.

POINT

When using either A-axis or B-axis without connecting servo motor, set parameter

No.PC05 to " 1" to select the motor-less operation.


Item

Servo amplifier display

Test operation

Test operation mode


Section 4.3

Section 4.4

Section 4.5

15 - 32


When switching power on for the first time, follow this section to make a startup.


Setting of main circuit power supply voltage

Wiring check

Surrounding environment check

Axis No. settings

Parameter setting

Test operation of servo motor alone in test operation mode



Gain adjustment

Actual operation

Check that the parameter No.Po04 is set to the input voltage for the main circuit power supply. 24VDC: 1 , 48VDC/24VDC: 0

Check whether the servo amplifier and servo motor are wired correctly using visual inspection, DO forced output function (section 4.5.1), etc. (Refer to section

15.4.3.)

Check the surrounding environment of the servo amplifier and servo motor.


Confirm that the axis No. settings for rotary axis setting switch (SW1) and servo system controller are consistent. (Refer to section 3.13.)

Set the parameters as necessary, such as the control mode. (Refer to chapter

5.)

For the test operation, with the servo motor disconnected from the machine and operated at the speed as low as possible, check whether the servo motor rotates correctly. (Refer to section 4.5.)

For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible, give commands to the servo amplifier and check whether the servo motor rotates correctly.

After connecting the servo motor with the machine, check machine motions with sending operation commands from the controller.

Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)

Stop giving commands and stop operation.

Stop

15.4.2 Troubleshooting during "24V ERROR" lamp on.

(1) When Overvoltage is applied to the control circuit in the servo amplifier, power supply to the circuit will be shut off and the "24V ERROR" lamp will turn on. Then, the 3-digit, 7-segment LED on display will turn off.

Immediately turn off the power and check the wiring, etc. to the main circuit power supply (48VDC).

(2) If the "24V ERROR" lamp turned on with the 3-digit, 7-segment LED on, the control circuit power supply voltage (24VDC) may be failure. Check that the voltage of the control circuit power supply is 21.6V or more.

15 - 33


15.4.3 Wiring check

(1) Power supply system wiring

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

(a) Power supply system wiring

The power supplied to the power input terminals (24, 0, and PM) of the servo amplifier should satisfy the defined specifications. (Refer to section 1.3.)

(b) Connection of servo amplifier and servo motor

1) The servo motor power terminals (U, V, and W) should match in phase with the servo motor power input terminals (U, V, and W).

Servo amplifier

U

V

U

Servo motor

V

W

M

W

2) The power supplied to the servo amplifier should not be connected to the servo motor power terminals (U, V, and W). Doing so will fail the connected servo amplifier and servo motor.


M

24VDC

24 0 P

U V W

48VDC

3) The grounding terminal of the servo motor should be connected to the noiseless grounding terminal of the servo amplifier.


CNP2A/

CNP2B

M

CNP

(2) I/O signal wiring

(a) The I/O signals should be connected correctly.

Use DO forced output to forcibly turn on/off the pins of the CN3 connector. This function can be used to perform a wiring check. In this case, switch on the control circuit power supply only.

(b) 24VDC or higher voltage is not applied to the pins of the CN3 connector.

(c) SD and DOCOM of the CN3 connector is not shorted.

Servo amplifier

CN3

DOCOM

SD

15 - 34


15.4.4 Surrounding environment

(1) Cable routing

(a) The wiring cables should not be stressed.

(b) The encoder cable should not be used in excess of its bending life. (Refer to section 10.4.)

(c) The connector of the servo motor should not be stressed.

(2) Environment

Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.

15 - 35


15.5 Parameters

POINT

This section explains parameters only for MR-J3W-0303BN6. Refer to chapter 5 for the other parameters.


)

No. Symbol

Parameter

Name


Each/ common

Default value

Unit

Setting range

Each 000Bh Refer to the text.

POINT

To enable the parameter value, cycle the power or reset the controller after setting the parameter.

In the factory setting, this servo amplifier allows changes to the basic setting parameter, the gain/filter parameter and the extension setting parameter settings. With the setting of parameter No.PA19, write can be disabled to prevent accidental changes.


PA19 setting

Setting operation


No.PA


No.PB


No.PC


No.PD

(Note)


No.PS


No.Po

Manufacturer setting parameters

No.PE

Other function parameters

No.PF

0000h Reference

Writing

000Bh Reference

(default value) Writing

000Ch Reference

000Dh

000Eh

00ABh

100Bh

Writing

Reference

Writing

Reference

Writing

Reference

Writing

Reference

100Ch

100Dh

100Eh

10ABh

Reference

Reference

Reference

Reference

PA19

PA19

PA19

PA19

PA19

Note. When using a rotary servo motor, you do not use the parameter.

15 - 36


Other function parameters (No.PF

) cannot be writable by using the "Parameter block" tab of MR

Configurator or MR Configurator2. When making Other function parameters (No.PF

) writable, open the

"Parameter setting" window and input "00AB" or "10AB" to parameter No.PA19.

(1) MR Configurator

(2) MR Configurator2

15 - 37



)

(1) Detail list



Select a signal to output to Analog monitor 1 (MO1). (Refer to (2) of this section.)

0 0

Setting

0

1

4

5

6

2

3

9

D

E

7

8


Item

Servo motor speed (10 4V/max. speed)

Torque (10 4V/max. torque)

Servo motor speed (10 4V/max. speed)

Torque (10 4V/max. torque)

Current command (10 4V/max. current command)

Speed command (10 4V/max. speed)

Droop pulses (10 5V/100 pulses)




Bus voltage (10 5V/400V)

Speed command 2 (10 4V/max. speed)


0: A-axis

1: B-axis

Each/ common

Default value

Unit

Setting range

Common 0000h Refer to



Select a signal to output to Analog monitor 2 (MO2). (Refer to (2) of this section.)

0 0



No.PC09.



No.PC09.



15 - 38


(2) Analog monitor


(a) Setting

The following shows changing digits of parameter No.PC09 and PC10.

Parameter No.PC09

0 0




0: A-axis

1: B-axis

Parameter No.PC10

0 0




0: A-axis

1: B-axis

You can set offset voltages to the analog output voltages in parameter No.PC11/PC12. Setting value is

999mV to 999mV.

Parameter No.

PC11

PC12

Description

This is used to set the offset voltage of Analog monitor 1

(MO1).

This is used to set the offset voltage of Analog monitor 2

(MO2).

Setting range [mV]

999 to 999

(b) Set content

The servo amplifier outputs the servo motor speed to Analog monitor 1 (MO1) and torque to Analog monitor 2 (MO2) by default. The setting can be changed as listed below by changing parameter

No.PC09 and PC10.

Refer to (c) for the measurement point.

Setting value

Output item

0 Servo motor speed

Description

14[V]

CCW direction

Setting value

Output item

1 Torque

Description

Driving in

CCW direction

14[V]

10[V]

CW direction Driving in

CW direction

10[V]

6[V]

6[V]



15 - 39


Setting value

Output item

2 Servo motor speed

Description

CW direction

14[V]

CCW direction

Setting value

Output item

3 Torque

10[V]

Description

Driving in

CW direction

14[V]

Driving in

CCW direction

10[V]



CW direction

14[V]

10[V]

6[V]

CCW direction



0



(Note 2) 14[V]

CW direction

10[V]

6[V]

CCW direction


(Note 1, 2, 3)

( 10V/100pulses)

15[V]

CW direction

10[V]

5[V]

CCW direction

100[pulse] 0 100[pulse]

(Note 1, 2, 3)

( 10V/1000pulses)

15[V]

CW direction

10[V]

5[V]

CCW direction

1000[pulse] 0 1000[pulse]

(Note 1, 2, 3)

( 10V/10000pulses)

15[V]

CW direction

10[V]

5[V]

CCW direction

10000[pulse] 0 10000[pulse]

(Note 1, 2, 3)

( 10V/100000pulses)

15[V]

CW direction

10[V]

5[V]

CCW direction

100000[pulse] 0 100000[pulse]

15[V]

10[V]

E Speed command 2

(Note 2, 4) 14[V]

CW direction

10[V]

6[V]

CCW direction


0 100[V]

Note 1. It is in the encoder pulse unit.

2. This cannot be used in the torque control mode.

3. This cannot be used in the speed control mode.

4. This setting can be used with the servo amplifier with software version B3 or later, and with MR Configurator2 with software version

C5 or later.

15 - 40


(c) Analog monitor block diagram


Speed command

Differ- ential

(Note)

Droop pulses

Speed command 2

Position control

Speed command

Current command

Speed control

Bus voltage

Current control

PWM

Current encoder

M Servo motor

Current feedback Encoder

Differ- ential

Position feedback data returned to a controller

Position feedback

Servo motor speed

Torque

Note. It is DC power.

15 - 41


15.5.3 Manufacturer setting parameters (No.PE

)

No. Symbol Name

PE25

PE26

PE27

PE28

PE29

PE30

PE31

PE32

PE16

PE17

PE18

PE19

PE20

PE21

PE22

PE23

PE24

PE33

PE34

PE35

PE36

PE37

PE38

PE39

PE40

PE08

PE09

PE10

PE11

PE12

PE13

PE14

PE15

PE01

PE02

PE03

PE04

PE05

PE06

PE07


Note. The values are common in A-axis and B-axis.

15 - 42

Each/ common

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0111h

20

0000h

0000h

0000h

0000h

0000h

0000h

400

100

10

0000h

0000h

0

40

FFFEh

Default value

(Note)

0000h

0102h

0002h

1

1

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

0000h

Unit


15.5.4 Other function parameters (No.PF

)

POINT

Each parameter name of Other function parameters (No.PF

) are displayed as manufacturer settings in the parameter setting window of MR Configurator and MR

Configurator2. However, you can set parameter No.PF06 and PF12. The other parameters are for manufacturer. Do not change them.


PF06 *FOP5 Function selection F-5

Electronic dynamic brake selection

0 0 0

Electronic dynamic brake selection

0: Automatic setting

2: Disabled

Set Electronic dynamic brake operating time with parameter No.PF12 (DBT).

Setting "0" enables the electronic dynamic brake.

PF12 DBT Electronic dynamic brake operating time

Set a operating time for the electronic dynamic brake.

Communication with the controller cannot be made during the electronic dynamic brake operation due to SSCNET communication brake.

When reconnecting servo amplifier to the communication, be sure to perform after the setting value of the electronic dynamic brake operating time has passed and after checking that the motor has stopped.


)

Each/ common

Default value

Unit

Setting range


10000

POINT

Each parameter name of Option setting parameters (No.Po

) are displayed as manufacturer settings in the parameter setting window of MR Configurator and MR

Configurator2. However, you can set parameter No.Po04. The other parameters are for manufacturer. Do not change them.

No. Symbol

Po04 **OOP

2

Name and function

Each/ common

Default value

Unit

Setting range

Function selection O-2

0 0 0

HG-AK servo motor main circuit power supply selection

0: 48VDC selection

1: 24VDC selection

Select a voltage to connect to the main circuit power supply for connecting a HG-AK servo motor.

When using a HG-AK servo motor with 24VDC, set the parameter to "1 ".

Overvoltage (33.1) will occur if "1 " is set and used with

48VDC.



15 - 43



POINT

This section explains troubleshooting only for MR-J3W-0303BN6. For the troubleshooting other than MR-J3W-0303BN6, refer to chapter 8.

Alarm No.: 10

Alarm content

Display Detail name



Name: Undervoltage

Cause Check method




Check result

Check the control circuit power supply connector.

1) The control circuit power supply connector was disconnected. Loose connection

2) The voltage of the control circuit power supply is low.

Check if the voltage of the control circuit power supply is lower than

17VDC.

Check if the power has a problem.

Action

The connector was disconnected or connected loosely.

Connect it correctly.

It has no problem. Check 2).

It is lower than

17VDC.

Increase the voltage of the control circuit power supply.

The voltage is over

17VDC.

It has a problem.

Check 3).

Review the power. 3) An instantaneous power failure has occurred for longer than 15ms.

1) The main circuit power supply connector was disconnected.

2) The voltage of the main circuit power supply is low.

Check the main circuit It is disconnected. power supply connector. It has no problem.

Connect it correctly.

Check 2).

Increase the voltage of the main circuit power supply.

3) The alarm has occurred during acceleration.

Check if the voltage of the main circuit power supply is 35VDC or lower when 48VDC is set for the main circuit power supply, or 15VDC or lower when 24VDC is set for the main circuit power supply.

The voltage of the main circuit power supply is 35VDC or lower when 48VDC is set for the main circuit power supply, or 15VDC or lower when 24VDC is set for the main circuit power supply.

It is over 35VDC when 48VDC is set or over 15VDC when

24VDC is set.

The bus voltage is

35VDC or higher when

48VDC is set for the main circuit power supply, or 15VDC or higher when 24VDC is set for the main circuit power supply.

The voltage is

35VDC or lower when 48VDC is set for the main circuit power supply, or

15VDC or lower when 24VDC is set for the main circuit power supply.

Check 3) and 4).

Increase the acceleration time constant. Or increase the power supply capacity.

15 - 44


Alarm No.: 10

Alarm content

Display Detail name


Name: Undervoltage

Cause Check method




Check result

4) The servo amplifier is malfunctioning.


Configurator.

The voltage of the main circuit power supply is 35VDC when 48VDC is set for the main circuit power supply, or

15VDC when

24VDC is set for the main circuit power supply. However, the measured bus voltage value with

MR Configurator is lower than 35VDC when 48VDC is set for the main circuit power supply, or lower than 15VDC when 24VDC is set for the main circuit power supply.

Action


15 - 45


Alarm No.: 30

Alarm content

Display Detail name


Name: Regenerative error Stop system: All axes

Permissible regenerative power of regenerative resistor was exceeded.

A regenerative transistor in the servo amplifier is malfunctioning.


1) The setting of regenerative resistor is incorrect.

Check the regenerative resistor and parameter

No.PA02 setting.

The setting value is incorrect.

Action

Set it correctly.

2) Power supply voltage high. Check the input power

3) The regenerative load ratio has been over 100 . supply voltage.


Configurator when alarm occurs.

It is set correctly.

The voltage is

70VDC or higher when 48VDC is set for the main circuit power supply, or

50VDC or higher when 24VDC is set for the main circuit power supply.

The voltage is lower than 70VDC when

48VDC is set for the main circuit power supply, or lower than

50VDC when

24VDC is set for the main circuit power supply.

100 or more

Check 2).

Reduce the power supply voltage.

Check 3).

Reduce the frequency of positioning.


Reduce the load.

Use a regenerative option if it is not being used.

Check the applied voltage of the main circuit is

48VDC when 24VDC is set for the main circuit power supply.

15 - 46


Alarm No.: 31

Alarm content

Display Detail name

31.1 Abnormal speed

Name: Overspeed Stop system: Each axis

The servo motor seed has exceeded the permissible instantaneous speed.


1) The command from the controller is excessive.

2) The servo motor was driven with maximum torque and the speed overshot.

3) The servo system is unstable and oscillating.

Check if the command from the controller is over the permissible speed.

Check if the torque at acceleration is the maximum torque.

Check if the servo motor is oscillating.

The command was over the permissible speed.

The command was below the permissible speed.

It is the maximum torque.

It is lower than the maximum torque.

It is oscillating.

It is not oscillating.

Action


Check 2).

Increase the acceleration/deceleration time constant. Or reduce the load.

Check 3).

Adjust the servo gain with the auto tuning. Or reduce the load.



Increase the acceleration time constant.

4) The velocity waveform has overshot.

Check if it is overshooting because the acceleration time constant is short.

It is overshooting.

Check 4).

Increase the acceleration/deceleration time constant.

Check 5).

5) The speed overshot when the voltage was recovered from a temporary bus voltage drop during driving.

Check if a temporary bus voltage drop occurs during driving.

It is not overshooting.

The bus voltage dropped.

Check the power supply capacity of the 24VDC main circuit power supply.

Increase the voltage of the

24VDC main circuit power supply within the permissible range.

Change the voltage of the main circuit power to

48VDC.


Check 6).

6) Encoder failure

Bus voltage did not drop.

It is lower. Replace the servo motor. Check if the alarm is occurring when the actual speed of the servo motor is permissible instantaneous speed or lower.

15 - 47


Alarm No.: 32

Alarm content

Display Detail name


(during driving)

32.2 Overcurrent detected at software detection function (during driving)

Name: Overcurrent Stop system: All axes

A current higher than the permissible current was applied to the servo amplifier.



The alarm occurs even after removing power cables (U/V/W).

It occurs.

Action


2) Ground fault or short of a servo motor power.

It does not occur.

It is shorted.

It is not shorted.

Check 2).


Check 3).

3) The servo motor is malfunctioning.

Check if only the servo motor power cable is shorted.

Remove power cables of the servo motor side and check insulation of the motor (between U,

V, W, and ).

A ground fault occurred at the servo motor.

A ground fault did not occur at the servo motor.

Problem found.


Check 4).


1) The servo gain is high.


Check if an oscillation is occurring.

It is occurring.

Take countermeasures against its cause.

Reduce the speed loop gain.



It did not occur. Check 2).

Check it with the check method for alarm display "32.1". 2) The servo amplifier is malfunctioning.

3) Ground fault or short of a servo motor power.

4) The servo motor is malfunctioning.


15 - 48


Alarm No.: 33

Alarm content

Display Detail name voltage error

Name: Overvoltage Stop system: All axes

The voltage is 35VDC or lower when 48VDC is set for the main circuit power supply, or 15VDC or lower when



1) Lack of regenerative capacity

Set a larger deceleration time constant, and then check the repeatability.

2) Power supply voltage high. Check the input voltage.

It is not repeatable.

It is repeatable.

The voltage is

75VDC or higher when 48VDC is set for the main circuit power supply, or

55VDC or higher when 24VDC is set for the main circuit power supply.

The voltage is less than 75VDC when

48VDC is set for the main circuit power supply, or less than

55VDC when


Use a regenerative option if it is not being used.


Check 5).

Reduce the input voltage.


15 - 49


Alarm No.: 50

Alarm content

Display Detail name




Load exceeded overload protection characteristic of servo amplifier.


1) The electromagnetic brake is operating.

Check if the electromagnetic brake does not operate during operation.

The brake is operating.

Action

Review the wiring.

2) Servo amplifier was used in excess of its continuous output current.

3) The servo system is unstable and resonating.

4) The motor was driven without taking a cooling time after the overload alarm occurred.


Configurator.

Check if it is resonating.

Check if the alarm was released after 30 minutes from alarm occurrence.

The brake is not operating.

The effective load ratio is high.

Check 2).

Reduce the load.


Switch to a larger capacity servo motor.

Check 3). The effective load ratio is small.

It is resonating. Adjust gains.



It is not resonating. Check 4).

It was not released. Take enough time before resetting the alarm.

It was released. Check 5).


1) The electromagnetic brake is operating.

Replace the servo amplifier, and then check the repeatability.

Check if the electromagnetic brake does not operate during a stop.

It is not repeatable. Replace the servo amplifier.

2) Servo amplifier was used in excess of its continuous output current.

3) Hunting occurs during servo-lock.

4) The motor was driven without taking a cooling time after the overload alarm occurred.



Configurator.

Check if the hunting is occurring.

Check if the alarm was released after 30 minutes from alarm occurrence.

Replace the servo amplifier, and then check the repeatability.

The brake is operating.

The brake is not operating.

The effective load ratio is high.

Review the wiring.

Check 2).

Reduce the load.


Switch to a larger capacity servo motor.

Check 3). The effective load ratio is small.

The hunting is occurring.

Make gain adjustment.

The hunting is not occurring.

Check 4).

It was not released. Take enough time before resetting the alarm.

It was released. Check 5).

It is not repeatable. Replace the servo amplifier.

15 - 50


Alarm No.: 9F

Warning description

Display Detail name

9F.1 Low battery

Name: Battery warning Stop method: No stop (each-axis detection)

Battery voltage for absolute position detection system decreased.


1) Battery voltage dropped.

(Detected with the servo amplifier.)


It is below 3.3VDC. Replace the battery.

Alarm No.: E9

Warning description

Display Detail name

E9.1 Ready-on signal on during main circuit off drop during low speed operation on during main circuit off


Cause Check method

Stop system: All axes (common detection)

The servo-on command was inputted with main circuit power supply off.

The bus voltage dropped during the servo motor driving under 50r/min.

Check result Action

1) The main circuit power supply is off.

Check if the main circuit power supply is inputted.

It is not inputted. Turn on the main circuit power supply.

It is inputted. Check 2).

Check the main circuit It is disconnected. Connect it correctly. power supply connector. It has no problem. Check 3).


3) The bus voltage is lower than 38VDC when 48VDC is set for the main circuit power supply, or lower than


4) The bus voltage dropped during the servo motor driving with under 50r/min.

1) The main circuit power supply is off.


Configurator.


Configurator.



18VDC when




15VDC when


Review the wiring.

Check the power supply capacity.


Increase the acceleration time constant.

Check it with the check method for alarm display "E9.1".


3) The bus voltage is lower than 38VDC when 48VDC is set for the main circuit power supply, or lower than


15 - 51


15.7 Dimensions

6

[Unit: mm]

2- 6 mounting hole

6

30

CN5

CN3

CN4

CN1A

CN1B

CN2A

CN2B

CNP1

CNP2A

CNP2B

(80)

(68)

Terminal

CNP1

24 4

0

PM

3

2

1

100

(29)

MR-J3W03BATSET is mounted.

Mass: 0.3 [kg] (0.66 [lb])

(6)

Mounting screw

Screw size: M5

Tightening torque: 1.87 [N m]

(30)

2-M5 screw

15 - 52



15.8 Characteristics

POINT


Cable bending life

15.8.1 Overload protection characteristics

Item


Section 10.4

An electronic thermal is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power lines from overloads.

Overload 1 alarm (50. ) occurs if overload operation performed is above the electronic thermal protection curve shown in fig. 15.1. Overload 2 alarm (51. ) occurs if the maximum current is applied continuously for several seconds due to machine collision, etc. Use the equipment on the left-side area of the continuous or broken line in the graph.

For the system where the unbalanced torque occurs, such as a vertical axis system, it is recommended that the unbalanced torque of the machine be kept at 70 or less of the motor's rated torque. When mounting MR-J3W-

40303BN6 closely, use it with 75 or lower effective load ratio.

The MR-J3W servo amplifiers have servo motor overload protection function for each axis. (The servo motor overload current (full load current) is set on the basis of 115 rated current of the servo amplifier.)

1000

In operation

100

10

In servo lock

1

0.1

0 50 100 150 200 250 300

(Note) Load ratio [ ]

HG-AK0136/0236/0336

Note. If operation that generates torque more than 100 of the rating is performed with an abnormally high frequency in a servo motor stop status (servo-lock status) or in a

30r/min or less low-speed operation status, the servo amplifier may malfunction regardless of the electronic thermal protection.

Fig. 15.1 Electronic thermal protection characteristics

15 - 53


15.8.2 Power supply capacity and generated loss

Amount of heat generated by the servo amplifier

Table 15.2 indicates the required power supply capacities for main circuit and losses generated under rated load of the servo amplifier. For thermal design of an enclosed type cabinet, use the values in the table in consideration for the worst operating conditions. The actual amount of generated heat will be intermediate between values at rated torque and servo-off according to the duty used during operation. When the servo motor is run at less than the maximum speed, the required power supply capacity for main circuit will be smaller than the value in the table, but the servo amplifier's generated heat will not change.

The values in the table shows when the same motor is used for both A-axis and B-axis. When using different motors for each axis, estimate the values with averages of the motors.

Table 15.2 Power supply capacity and generated loss per servo amplifier at rated output

Servo motor

2

Main circuit

(48VDC/24VDC)

Required power supply capacity [W]

(Note) Servo amplifier-generated heat [W]

At rated output With servo-off

15.8.3 Dynamic brake characteristics

Note. Heat generated during regeneration is not included in the servo amplifier-generated heat.

POINT

The dynamic brake of MR-J3W-0303BN6 is an electronic type.

Dynamic brake operates at occurrence of alarm, Servo forced stop warning (E6.1), and Controller forced stop warning (E7.1), and when power is turned off. Do not use dynamic brake to stop in a normal operation as it is the function to stop in emergency.

Be sure to enable Forced stop (EM1) after servo motor stops when using Forced stop (EM1) frequently in other than emergency.

The time constant " " for the electronic dynamic brake will be shorter than that of normal dynamic brake. Therefore, coasting distance will be longer than that of normal dynamic brake. For how to set the electronic dynamic brake, refer to parameter No. PF06 and PF12.

15 - 54


(1) Dynamic brake operation

(a) Calculation of coasting distance

Fig. 15.2 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use equation 15.2 to calculate an approximate coasting distance to a stop. The dynamic brake time constant varies with the servo motor and machine operation speeds. (Refer to (2) of this section.)

ON

Forced stop (EM1)

OFF


Machine speed

V

0 t e

Time

Fig. 15.2 Dynamic brake operation diagram t

L max

V

0

60 t e 1

J

L

J

M

......................................................................................................................(15.1)

L max

: Maximum coasting distance ......................................................................................................... [mm]

J

J

M

L e

: Moment of inertia of the servo motor...............................................................[ 10 -4 kg m 2 ][oz in 2 ]

: Load inertia moment converted into equivalent value on servo motor shaft

··························································································································[ 10

-4

kg m

2

][oz in

2

]

: Dynamic brake deceleration ..............................................................................................................[s]

: Delay time of control section..............................................................................................................[s]

The processing delay time about 3.5ms.

(b) Dynamic brake time constant

The following shows necessary dynamic brake time constant τ for equation 15.1.

0.0025

0136

0.0020

0236

0.0015

0.0010

0.0005

0336

0

0 1000 2000 3000 4000 5000 6000

Speed [r/min]

HG-AK series

15 - 55


(2) Permissible load to motor inertia ratio when the dynamic brake is used

Use the dynamic brake under the load to motor inertia ratio indicated in the following table. If the ratio is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the ratio may exceed the value, contact your local sales office.

The values of the permissible load to motor inertia ratio in the table are the values at the maximum rotation speed of the servo motor.

Servo motor Load to motor inertia ratio series [multiplier]

HG-AK 30

15.8.4 Inrush currents at power-on of main circuit and control circuit

The following shows inrush current (reference) when the maximum permissible voltage (main circuit: 55.2VDC, control circuit: 26.4VDC) is applied on the conditions: main circuit power supply capacity; 48V/600W, control circuit power supply capacity; 24V/100W, wiring length; 1m.

Inrush current

Servo amplifier

Main circuit power supply (PM, 0) Control circuit power supply (24, 0)

MR-J3W-0303BN6 160A (attenuated to approx. 2A in 1ms) 1A (attenuated to approx. 0A in 30ms)

Since large inrush currents flow in the power supplies, always use circuit protectors.

For circuit protectors, it is recommended that the inertia delay type, which is not tripped by an inrush current, be used.

15 - 56


15.9 Options and peripheral equipment

WARNING

Before connecting options and peripheral equipment, turn off the power supply and check that the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

CAUTION

Use specified auxiliary equipment and options. Otherwise, it may cause a malfunction or fire.

15.9.1 Cable/connector sets

POINT


Item

MR Configurator

Relays (recommended)

Noise reduction techniques

Junction terminal block MR-TB26A


Section 11.4

Section 11.8

Section 11.9

Section 11.12

POINT

The IP rating indicated is the cable's or connector's protection against ingress of dust and water when the cable or connector is connected to a servo amplifier or servo motor. If the IP rating of the cable, connector, servo amplifier and servo motor vary, the overall IP rating depends on the lowest IP rating of all components.

Please purchase the cable and connector options indicated in this section.

15 - 57


(1) Combinations of cable/connector sets

Personal computer

5)

CN5

9)

8)

6) 7)

Servo amplifier

CN3

CN4

CN1A

CN1B

CN2A


(Note 1)

CN2B

CNP1

2) 3) 4) CNP2A

CNP2B

1)

11)

(Note 2)

10)

Servo amplifier

CN5

CN3

CN4

2) 3) 4)

19)

11)

(Note 2)

CN1A

CN1B

CN2A

CN2B

CNP1

CNP2A

CNP2B

Cap

(packed with

the servo amplifier)

12)

13) 14)

15)

16)

17) 18)

HG-AK servo motor

Note 1. Options for B-axis are the same as for A-axis.

2. Please purchase the battery set at first use. Only MR-J3BAT can be purchased for replacement. Use one battery to configure the absolute position detection system.

No. Name Model Description Application

Supplied with servo amplifier

2) SSCNET cable MR-J3BUS M

Cable length:

0.15m to 3m

(Refer to section

11.1.5.)

Quantity: 1

Model: FK-MCP1,5/4-ST-3,5 or equivalent

(Phoenix Contact)


2

(AWG26) to 1.5mm

2

(AWG16)

Insulator OD: to 2.9mm

Connector: PF-2D103

(JAE)

Connector: PF-2D103

(JAE)

3) SSCNET cable MR-J3BUS M-

A

Cable length:

5m to 20m

(Refer to section

11.1.5.)

Standard cord inside cabinet

Standard cable outside cabinet

15 - 58


No. Name Model

4) SSCNET cable MR-J3BUS M-

B

Cable length:

30m to 50m

(Refer to section

11.1.5.)


(JAE)

MR-

J3USBCBL3M

Cable length: 3m

CN5 connector mini-B connector (5 pins)

Description


(JAE)

Personal computer connector

A connector


Shell kit: 10326-52F0-008

(3M or equivalent)

Application

Longdistance cable

For connection with PC-AT compatible personal computer

Quantity: 1

Quantity: 20

8) Junction terminal block cable

MR-

TBNATBL M

Cable length:

0.5m/1m

(Refer to section

11.12.)

Junction terminal block connector


Shell kit: 10326-3210-000

(3M or equivalent)

Servo amplifier-side connector


Shell kit: 10326-3210-000

(3M or equivalent)

9) Junction terminal block

MR-TB26A Refer to section 11.12.

10) Battery set MR-

J3W03BATSET

(Refer to section

15.10.)

Battery extension cable

11) Battery MR-J3BAT

(Refer to section

15.10.)

12) Encoder cable MR-

J3W03ENCBL

M-A-H

Cable length:

1m/2m/5m/10m/

20m/30m

Refer to (2) of this section for details.

MR-J3BAT

14) connector set

15) Servo motor power cable

2P

MR-J3W03CN2-

20P

MR-

J3W03PWCBL

M-A-H

Cable length:

1m/2m/5m/10m/

20m/30m



Mounting attachment for MR-J3BAT

For junction terminal block connection

Long bending life

Quantity: 2 of each

Quantity: 20 of each

Long bending life

15 - 59


No. Name

16) Servo motor power cable

Model

MR-

J3W03PWBRC

BL M-A-H

Cable length:

1m/2m/5m/10m/

20m/30m

Description


Application

Long bending life Servo motor with an electromagnetic brake

18) connector set

19) Junction cable for battery connection

J3W03CNP2-2P

MR-

J3W03CNP2-

20P

MR-

J3W03BTCBL03

M


Quantity: 2 of each

Quantity: 20 of each

For connection of battery

Use this cable with an encoder cable.

(2) Encoder cable

These cables are encoder cables for the HG-AK series servo motors. The numbers in the cable length field of the table indicate the symbol filling the square " " in the cable model. The cables of the lengths with the symbols are available.

Cable model length


1m 2m 5m 10m 20m 30m

Application

MR-J3W03ENCBL M-

A-H

1 2 5 10 20 30 Long bending life

For encoder


Servo amplifier

CN2A or

CN2B

MR-J3W03ENCBL M-A-H

1) 2) (Note) Encoder connector

Servo motor

HG-AK

Note. Pull out the connector with pushing down the lock lever on the connector. There is not need to use the lock lever of the encoder cable.

Lock lever

15 - 60


Cable model

MR-

J3W03ENCBL M-

A-H

1) CN2A/CN2B side connector

Rec.housing: 1-1827862-5

Contact: 1827587-2


(TE Connectivity)

5B

BAT

4B

LG

3B

5A

SD

4A

P5

3A

2B 2A

1B

MRR

1A

MR

Note. Do not connect anything to the pins shown as

.

2) Encoder-side connector

Tab housing: J21DPM-10V-KX

Contact: SJ2M-01GF-M1.0N

Crimping tool: YRS-8861

(JST)

5A 5B

BAT

4A

LG

3A

SHD

4B

P5

3B

2A 2B

1A

MRR

1B

MR


.

(b) Cable internal wiring diagram

MR-J3W03ENCBL M-A-H

CN2A/CN2B side connector

(Note 2)


P5

LG

4A

4B

4B

4A

P5

LG

BAT

MR

MRR

SD

5B

1A

1B

5A

(Note 1)

5A BAT

1B

1A

MR

MRR

5B SHD

Note 1. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system.

2. When the cable is 20m or 30m, the wiring of P5 and LG will be three pairs.


When fabricating the cable, prepare the following parts, and fabricate it according to the wiring diagram

(2) (b) of this section. Refer to section 15.9.2 for the specifications of the cable to use.

Parts Description

Connector set MR-J3W03CN2-2P, MR-J3W03CN2-20P


Rec.housing: 1-1827862-5

Contact: 1827587-2

(TE Connectivity)

Encoder-side connector



(JST)

15 - 61


(3) Servo motor power cable

These cables are servo motor power cables for the HG-AK series servo motors. The numbers in the cable length field of the table indicate the symbol filling the square " " in the cable model. The cables of the lengths with the symbols are available. Refer to section 15.4 when wiring.

Cable model length


1m 2m 5m 10m 20m 30m

Application

1 2 5 10 20 30 MR-J3W03PWCBL M-

A-H

MR-

J3W03PWBRCBL M-A-

H

1 2 5 10 20 30

Long bending life

Long bending life

Standard servo motor (without electromagnetic brake)

Servo motor with electromagnetic brake


Servo amplifier

MR-J3W03PWCBL M-A-H

CNP2A or

CNP2B

1) or

2) (Note)



1) 2) (Note)

Servo motor

HG-AK

Note. Pull out the connector with pushing down the lock lever on the power connector. There is not need to use the lock lever of the servo motor power cable.

Lock lever

Cable model

MR-

J3W03PWCBL M-

A-H

MR-

J3W03PWBRCBL

M-A-H

1) CN2A/CN2B side connector

Rec. housing: 1-1827864-3 or equivalent

Contact: 1871745-1


(TE Connectivity)

3B 3A

2B

U

1B

E

2A

W

1A

V


.

2) Servo motor-side connector



Crimping tool: YRF-1120

(JST)

3A 3B

B1 B2

2A

U

2B

W

1A

E

1B

V


.

15 - 62



MR-J3W03PWCBL M-A-H

V

E

W

U

CNP2A/CNP2B side connector

1A

1B

2A

2B

Black

Red

Motor power supply side connector

White

Yellow/green

1B

1A

V

E

2B W

2A U


CNP2A/CNP2B side connector

V

E

W

U

1A

1B

2A

2B

White

Yellow/green

Black

Red

Motor power supply side connector

1B

1A

2B

2A

V

E

W

U

3B B1

3A B2

(c) When fabricating the servo motor power cable

When fabricating the servo motor power cable, prepare the following parts, and fabricate it according to the wiring diagram (3) (b) of this section. Refer to section 15.9.2 for the specifications of the cable to use.

Parts Description

Connector set MR-J3W03CNP2-2P, MR-J3W03CNP2-20P


Rec. housing: 1-1827864-3 or equivalent

Contact: 1871745-1

(TE Connectivity)

Servo motor-side connector


Contact: BJ2M-21GF-M1.0N

(JST)

15 - 63


15.9.2 Selection example of wires

POINT

Refer to section 11.1.5 for SSCNET cable.


To comply with the UL/CSA standard, use the wires shown in appendix 4 for wiring.

To comply with other standards, use a wire that is complied with each standard.

Selection conditions of wire size is as follows.

Construction condition: One wire is constructed in the air.


(1) Wires for power supply wiring

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent. The following table shows the wire size selection example.


24VDC power supply

1)

Encoder cable

CNP1

24

0

PM

CN2A

48VDC power supply CNP2A


2)

B1

B2

3)

Servo motor

Encoder cable

CN2B


CNP2B

B1

B2

3)

600V polyvinyl chloride insulated wires (IV wires) and 600V grade heat-resistant polyvinyl chloride insulated wires (HIV wires) are common size.

Table 15.3 Wire size selection example (IV/HIV wire)

Wire (Note 1)

Servo amplifier

1) 24/0/PM/ 2) B1/B2

MR-J3W-0303BN6 AWG16 (Note 2, 3) AWG19 1.25mm

2

(AWG16)


2. Insulator OD: 2.9mm

3. Voltage drop will occur according to line impedance and current supplied to the servo amplifier. Be sure to use this wire.

15 - 64


(2) For cables

To fabricate encoder cables and servo motor power cables, use the following cables or equivalent.

Table 15.4 Wires for option cables

Encoder cable

Servo motor power cable

MR-

J3W03ENCBL

M-A-H

MR-

J3W03PWCBL

M-A-H

MR-

J3W03PWBRC

BL M-A-H

Length

Type Model

[m]

Core size

1 to 10 AWG22

20/30 AWG22

1 to 30 AWG19

1 to 30 AWG19

Number of cores

Characteristics of one core

Structure

[Wires/mm]


[ /km]

(Note 1)

Insulation coating

OD d [mm]

6 70/0.08 56 or less

10

4

4

70/0.08

150/008

150/0.08

56 or less

29.1 or less

29.1 or less

(Note 2)

Overall diameter

[mm]

Wire model

1.17

1.17

7.1 0.3 (Note 3) TPE SVP

70/0.08 (AWG#22 or equivalent)-3P KB-2237-2

(Bando Densen)

7.7 0.3 (Note 3) TPE SVP

70/0.08 (AWG#22 or equivalent)-5P

(Bando Densen)

1.63 5.7 0.5 (Note 4) RMFES-

A(CL3X) AWG19 4-cores

(Dyden)

1.63 5.7 0.5 (Note 4) RMFES-

A(CL3X) AWG19 4-cores

(Dyden)

Note 1. d is as shown below. d

Conductor Insulation sheath

2. Standard OD Maximum OD is about 10 greater.

3. Purchase from Toa Electric Industry Co. Ltd.

4. Purchase from Taisei Co., Ltd.

15.9.3 Circuit protector

Power supply specification Circuit protector (Note)

Control circuit power supply (24VDC) CP30-BA 1P 1-M 1A

Main circuit power supply (48VDC) CP30-BA 1P 1-M 5A

Control circuit power supply/main circuit power supply (24VDC)

CP30-BA 1P 1-M 10A

Note. For operation characteristics, use an intermediate speed type.

15 - 65


15.10 Absolute position detection system

CAUTION

If Absolute position erased (25.1) or Absolute position counter warning (E3. ) has occurred, always perform home position setting again. Otherwise, it may cause an unexpected operation.

POINT

For HG-AK series servo motors, if the encoder cable is disconnected, absolute position data will be erased. After disconnecting the encoder cable, always execute home position setting and then positioning operation.


Item

Confirmation of absolute position data


Section 12.4

15.10.1 Features

For normal operation, as shown below, the encoder consists of a detector designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions.

The absolute position detection system always detects the absolute position of the machine and keeps it batterybacked, independently of whether the servo system controller power is on or off. Therefore, once home position return is made at the time of machine installation, home position return is not needed when power is switched on thereafter.

If a power failure or a fault occurs, restoration is easy.

Servo system controller Servo amplifier

Position data

Current

Home position

LS0

CYC0

LS

Detecting the number of revolutions

CYC

Detecting the position within one revolution

MR-J3BAT

Battery

Servo motor

1 pulse/rev accumulative revolution counter

Within one-revolution counter

High speed serial communication

15 - 66


15.10.2 Specifications

WARNING

Before mounting battery, check the control circuit power supply on, turn off the main circuit power supply, and check that the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

POINT





Replace the battery with control circuit power supply on and with main circuit power supply off. Replacing battery with the control circuit power off will erase the absolute position data.

(1) Specification list

System

Battery

Item Description

Maximum revolution range

Electronic battery backup type

Lithium battery (primary battery, nominal 3.6V)

Type: MR-J3BAT

Home position 32767 rev.

(Note 1) Maximum speed at power failure 500r/min

Approximately 10,000 hours/2 axes (equipment power supply: off, ambient temperature: 25 ) (Note 4)

(Note 2) Battery backup time

Approximately 20,000 hours/1 axis (equipment power supply: off, ambient temperature: 25 )

(Note 3) Battery life 5 years from date of manufacture

Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like

2. Time to hold data by a battery with power off. Replace the batteries within three years since the operation start whether the power supply is on/off. If the battery is used out of specification, Absolute position erased (25) may occur.

3. Quality of battery degrades by the storage condition. It is recommend that the battery be used within two years from the production date. The life of battery is five years from the production date regardless of the connection.

4. Even if the absolute position detection system is used with one axis, the battery backup time will be approximately 10,000 hours.

15 - 67


(2) Structure

Servo amplifier

CN4

CN1A

SSCNET cable

CN1B

CN2A

Cap

CN2B

Controller

Servo motor

CN1C

MR-J3BAT


Set " 1" in parameter No.PA03 to enable the absolute position detection system.

Parameter No.PA03

1

Absolute position detection system selection



(4) Year and month of manufacture of MR-J3BAT

Production year and month of the MR-J3BAT are indicated in a serial number on the rating plate of the battery back face.

The year and month of manufacture are indicated by the last one digit of the year and 1 to 9, X(10), Y(11),

Z(12).

For October 2004, the Serial No. is like, "SERIAL: 4X ".

MELSERVO

3.6V,2000mAh

SERIAL 4X

MR-J3BAT

MITSUBISHI ELECTRIC CORPORATION

MADE IN JAPAN


15 - 68


15.10.3 Battery replacement procedure

WARNING

Before mounting battery, turn off the main circuit power supply and check that the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

POINT





(1) When replacing battery with the control circuit power on

POINT

Replacing battery with the control circuit power off will erase the absolute position data.

Replacing battery with the control circuit power on will not erase the absolute position data. Refer to section

15.10.4 for mounting procedure of battery on the servo amplifier.

To replace battery with the control circuit power off, refer to (2) of this section.

(2) When replacing battery with the control circuit power off

Replacing battery with the control circuit power off will erase the absolute position data, but battery can be replaced without erasing the absolute position data in the following procedure.

In this procedure, MR-J3W03BTCBL03M battery connection cable is required.

MR-J3W03BTCBL03M cannot be added after home position is set. Make sure to connect MR-

J3W03BTCBL03M between the servo amplifier and the encoder cable when setting up the encoder cable.

Refer to section 12.5 for the replacement procedure of the battery.

Servo amplifier

CN4

CN2A or

CN2B

(Note)

MR-J3W03BTCBL03M Encoder cable

MR-J3BAT

Servo motor

Note. Make sure to install MR-J3W03BTCBL03M when setting up the encoder cable.

15 - 69


15.10.4 Battery mounting/removing procedure

(1) Battery mounting procedure

3) Insert the connector of the

battery extension cable to CN4.

(Note)

2) Connect a battery

extension cable to

the battery.

(2) Battery removing procedure

1) Mount the mounting attachment

for MR-J3BAT on the servo amplifier.

Note. Be careful not to catch battery extension cable on peripheral equipment or by your fingers. Doing so may cause a disconnection of the CN4 connector due to stress on the connector connection part.

1) Push down the lever of the

mounting attachment for MR-J3BAT.

15 - 70

2) Pull out the battery.


15.10.5 Procedure to replace battery with the control circuit power off

(1) Preparation for battery replacement

For the battery replacement, battery for backup is required separately from the battery to be replaced.

Prepare the following batteries.

Name Number and Use Remarks

MR-J3BAT

1 for backup

1 for replacement

Battery within two years from the production date.

15 - 71


(2) Replacement procedure

Servo amplifier

CN4

CN2A or

CN2B

MR-J3W03BTCBL03M

Step 1

Connect MR-J3BAT for backup to the battery connector of

MR-J3W03BTCBL03M.

Old MR-J3BAT

MR-J3BAT for backup

(Note)

New MR-J3BAT

Servo amplifier

CN4

CN2A or

CN2B

MR-J3W03BTCBL03M

Servo amplifier

CN4

CN2A or

CN2B

MR-J3W03BTCBL03M

New MR-J3BAT

MR-J3BAT for backup

Step 2

Remove old MR-J3BAT from the servo amplifier.

Note. When replacing MR-J3BAT, connect/disconnect the junction-side connector.

Step 3

Mount new MR-J3BAT to the servo amplifier. Connect the lead wire plug of MR-J3BAT to the battery extension cable connected to the CN4 connector of the servo amplifier.

New MR-J3BAT

MR-J3BAT for backup

Servo amplifier

CN4

CN2A or

CN2B

MR-J3W03BTCBL03M

New MR-J3BAT

MR-J3BAT for backup

Step 4

Remove the MR-J3BAT for backup from the battery connector of MR-J3W03BTCBL03M, and the procedure is completed.

15 - 72

APPENDIX

App. 1 Difference between MR-J3-B and MR-J3W-B

App. 1.1 Parameter change list

Parameter

No.

PA01 Control mode

Difference

Name Setting from MR-J3-B

Each axis

Common

None

Specification added

Comment

The parameter only supports the regenerative resistor connected to MR-J3W-B.

PA03 Absolute position detection system Each axis

Common PA04 Function selection A-1

PA05 to

PA07


PA08 Auto tuning mode

PA09 Auto tuning response

PA10 In-position range

PA11 to

PA13


PA14

Rotation direction selection

(Moving direction selection)

PA15 Encoder output pulses

Each axis

Each axis

Each axis

Each axis

None

Each axis Function added A/B-phase pulse electronic gear setting is added.

PA16 Encoder output pulses 2

PA17

PA18

PA19

Linear servo motor series setting

Linear servo motor type setting

Parameter write inhibit


Each axis New

Used to set a motor ID during the linear servo motor drive.

Each axis

Each axis

New

None

Used to set a motor ID during the linear servo motor drive.

Parameter

No.

PB01

Difference


Adaptive tuning mode (Adaptive filter ) Each

Specification change

Comment

Tuning mode is deleted.

PB02

Vibration suppression control filter tuning mode (advanced vibration suppression control)

PB03 This parameter is not used.

PB04 Feed forward gain

Each axis

Each axis


Tuning mode is deleted.


PB06 Load to motor inertia moment ratio

PB07 Model loop gain

PB08 Position loop gain

PB09 Speed loop gain

PB10 Speed integral compensation

PB11 Speed differential compensation


Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

PB13 Machine resonance suppression filter 1 Each axis

PB14 Notch form selection 1 Each axis

PB15 Machine resonance suppression filter 2 Each axis

PB16 Notch form selection 2 Each axis

Each axis PB18 Low-pass filter setting

PB19


Each axis

None

App. - 1

APPENDIX

Parameter

No.

PB20

Difference



Each axis

PB21

PB22


PB23 Low-pass filter selection Each axis

PB24

Slight vibration suppression control selection


PB26 Gain changing selection

PB27 Gain changing condition

PB28 Gain changing time constant

PB29

Gain changing load to motor inertia moment ratio

PB30 Gain changing position loop gain

PB31 Gain changing speed loop gain

PB32

PB33


Gain changing vibration suppression control vibration frequency setting

PB34

Gain changing vibration suppression control resonance frequency setting

PB35 to

PB45


Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

Each axis

None

Comment

Parameter

No.

Difference


Comment

PC01 Error excessive alarm level Each axis

PC02 Electromagnetic brake sequence output Each axis

PC03 Encoder output pulses selection

PC04 Function selection C-1

None


Each axis



PC07 Zero speed

PC08 This parameter is not used.

Each axis

Each axis

Each axis

None

PC09

PC10

Analog monitor 1 output

Analog monitor 2 output

Common

Common



The setting to select an output axis of the analog monitor is added.

The setting to select an output axis of the analog monitor is added.

PC11 Analog monitor 1 offset

PC12 Analog monitor 2 offset

PC13

PC14


Common

Common

None

PC15 Station number selection Common

Specification added

The setting to select a communicating axis of MR

Configurator is added.

PC16 This parameter is not used.


PC18 to

PC20


PC21 Alarm history clear

Each axis

Each axis

None

App. - 2

APPENDIX

Parameter

No.

Difference


PC22 to

PC26



PC28 to

PC32


Each axis None

Comment

Parameter

No.

PD01 This parameter is not used.

PD02 Input signal automatic ON selection

PD03 to

PD06

PD07

Difference



Output signal device selection 1

(A-axis: CN3-12 B-axis: CN3-25)

None

Each axis Function added Automatically ON function for FLS and RLS is added.

Each axis

None

Comment

Connector pin numbers are changed for MR-J3W.

PD08

PD09


Output signal device selection 3

(A-axis: CN3-11 B-axis: CN3-24)

Each axis




Cannot be assigned to MR-J3W-B.

Connector pin numbers are changed for MR-J3W.

PD10 to

PD13


Each axis None PD14 Function selection D-3

PD15 to

PD32


Parameter

No.

Difference


Comment

PF06 Function selection F-5 Each axis New addition

PF12 Electronic dynamic brake operating time Each axis New addition

Used for MR-J3W-0303BN6 servo amplifier.

Parameter

No.

Difference


PS01 Linear function selection 1

PS02

PS03

Linear encoder resolution setting

Numerator

Linear encoder resolution setting

Denominator


Linear servo motor control position

PS05 deviation error detection level

PS06

Linear servo motor control speed deviation error detection level

PS07

Each axis Function added






Linear servo motor control thrust deviation error detection level





PS09 Magnetic pole detection voltage level

PS10 to

PS16


PS17

PS18

Minute position detection method function selection

Minute position detection method identification signal amplitude

None



PS19 to

PS32

This parameter is not used. None

Comment

Not used for rotary servo motors. Used for linear servo motors. (Factory setting does not need to be changed.)

Not used for rotary servo motors. Used for linear servo motors.

App. - 3

APPENDIX

Parameter

No.

Difference


Comment

Po01 Function selection O-1

Po02

Axis selection for graphing analog data

(MR Configurator)

Common New addition All-alarm all axis stop function is added.

Common New addition

Axis selection for analog data channels in MR


Po03

Axis selection for graphing digtal data (MR

Configurator)

Po04 Function selection O-2

Common New addition

Axis selection for digital data channels in MR


Common New addition Used for MR-J3W-0303BN6 servo amplifier.

Po05 to

Po16

This parameter is not used. None

App. 1.2 Comparison of alarms and warnings

47

50

51

52

37

42

45

46

8A

8E

Warning

No.

Name

Detection method

Stop method

Difference from MR-J3-B

Comment Precautions

10 Undervoltage

11 Switch setting error Common All axis New alarm

Occurs when the rotary switch or the DIP switch setting is faulty.

12

13

15

16

17

19

1A

1E

1F

20

21

24

25

27

28

2A

30

31

32

Memory error 1 (RAM)

Clock error

Common All axis

Common All axis

Memory error 2 (EEP-ROM) Common All axis

Encoder initial communication error 1 Each axis Each axis

Board error

Memory error 3 (Flash-ROM)

Motor combination error

Common All axis

Common All axis

Each axis Each axis

Linear encoder error1

Regenerative error

Overspeed

Overcurrent

33 Overvoltage


35

36

Command frequency error

SSCNET receive error 2

Each axis Each axis

Each axis Each axis

Each axis Each axis

None

Encoder initial communication error 2 Each axis Each axis

Encoder normal communication error 2 Each axis Each axis

New alarm

New alarm

Occurs when the cause of an alarm exists at the encoder side.

Encoder initial communication error 3 Each axis Each axis New alarm Occurs when the encoder is not supported.

Encoder normal communication error 1 Each axis Each axis None

Occurs when the cause of an alarm exists at the encoder side.

Main circuit error

Absolute position erase

Initial magnetic pole detection error

Linear encoder error2

Each axis All axis

Each axis Each axis

None

Each axis Each axis New alarm Alarm for the use with a linear servo motor.



Common All axis

Each axis Each axis

Each axis All axis

Parameter error

Linear servo control error

Main circuit device overheat

Servo motor overheat

Cooling fan error

Overload 1

Overload 2

Error excessive

USB communication time-out error

USB communication error

Each axis Each axis


Common All axis

Each axis Each axis

Common All axis

Each axis Each axis

Each axis Each axis

Each axis Each axis

None

Common All axis

Common All axis

App. - 4

APPENDIX

Warning

No.

91

92

96

9F

E1

E2

E3

E9

EB

EC

ED

E4

E6

E7

E8

Name

Main circuit device overheat warning

Detection method

Common

Stop method

Battery cable disconnection warning

Home position setting warning

Battery warning regeneration

Overload warning 1

Linear servo motor overheat warning

Absolute position counter warning

Each axis

Each axis

Each axis

Common

Each axis

Each axis

Each axis

Parameter warning

Servo forced stop warning

Each axis

Common All axis

Controller forced stop warning Common All axis

Cooling fan speed reduction warning Common

Main circuit off warning

The other axis fault warning

Overload warning 2

Output watt excess warning

Common

Each axis All axis

Each axis

Each axis

Difference from MR-J3-B

Comment Precautions

New warning

Occurs when the temperature inside the servo amplifier reaches the warning level.

None

New alarm Alarm for the use with a linear servo motor.

None

App. 2 Signal layout recording paper

CN3

2

MO1

4

LB-A

6

LB-B

8

1

DI1-A

21

14

LG

7

15

LBR-B

LG

3

LA-A

5

17

LBR-A

LAR-A

18

LA-B

MO2

19

16

LAR-B

20

DI1-B

DI2-A

9

DI2-B

22

10

DI3-A

23

DI3-B

EM1

11

DICOM

24

12 25

13 26

DOCOM

App. - 5

APPENDIX

App. 3 COMPLIANCE WITH CE MARKING

App. 3.1 What is CE marking?

The CE marking is mandatory and must be affixed to specific products placed on the European Union. When a product conforms to the requirements, the CE marking must be affixed to the product. The CE marking also applies to machines and equipment incorporating servos.

(1) EMC directive

The EMC directive applies to the servo units alone. This servo is designed to comply with the EMC directive. The EMC directive also applies the servo-incorporated machines and equipment. This requires the EMC filters to be used with the servo-incorporated machines and equipment to comply with the EMC directive. For specific EMC directive conforming methods, refer to the EMC Installation Guidelines

(IB(NA)67310).

(2) Low voltage directive

The low voltage directive applies also to servo units alone. This servo is designed to comply with the low voltage directive.

App. 3.2 For compliance

Be sure to perform an appearance inspection of every unit before installation. In addition, have a final performance inspection on the entire machine/system, and keep the inspection record.

(1) Servo amplifiers and servo motors used

Use the servo amplifiers and servo motors which standard product.

Servo amplifier : MR-J3W-0303BN6 MR-J3W- B

Servo motor series : HG-AK HF-MP HF-KP HF-SP HC-UP HC-LP HG-JP

(2) Structure

(a) MR-J3W-0303BN6

Control box

Reinforced insulating type

24VDC power supply for control circuit


48VDC/24VDC power supply for main circuit

Circuit protector

Circuit protector

Relay

Servo amplifier

Servo motor

M

M

App. - 6

APPENDIX

(b) MR-J3W-22B to MR-J3W-1010B

The control circuit provide safe separation to the main circuit in the servo amplifier.

No-fise breaker

MCCB

Control box


24VDC power supply

Magnetic contactor

MC

Servo amplifier

Servo motor

M

M

(3) Environment

(a) Operate the servo amplifier at pollution degree 2 or 1 set forth in EN 60664-1. For this purpose, install the servo amplifier in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54).

(b) Use the product under the following conditions.

Item Environment

(Note)

Ambient temperature

Ambient humidity

Altitude

Operation

Storage,

Transportation

[ ]

[ ]

[ ]

[ ]

Operation, Storage,

Transportation

Operation, Storage

Transportation

0 to 55

32 to 131

20 to 65

4 to 149

90 RH or less

1000m or less

10000m or less

Note. Ambient temperature is the internal temperature of the control box.

(4) Power supply

(a) This servo amplifier can be supplied from star-connected supply with earthed neutral point of overvoltage category III set forth in EN 60664-1. However, when using the neutral point of 400V system for single phase supply, a reinforced insulating transformer is required in the power input section.

(b) For the interface power supply, use a 24VDC power supply with reinforced insulation on I/O terminals.

(5) Grounding (except MR-J3W-0303BN6)

(a) To prevent an electric shock, the PE terminal (marked ) of the servo amplifier must be connected to the PE of the control box.

(b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect cables to the terminals one-to-one.

PE terminals

PE terminals

App. - 7

APPENDIX

(c) If an earth leakage circuit breaker is used, always earth the protective earth (PE) terminal of the servo amplifier to prevent an electric shock.

(6) Wiring and installation

(a) The wires to be connected to the terminal block of the servo amplifier must have crimping terminals provided with insulating tubes to prevent contact with adjacent terminals.

Insulating tube

Wire

Crimping terminal

(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standardcompliant power connector sets are available as options.

(c) The Servo amplifier must be installed in the metal cabinet (control box).

(7) Peripheral devices, options

(a) Use the circuit breaker and magnetic contactor models which are EN Standard-compliant products given this Servo Amplifier Instruction Manual. Use a residual current device (RCD) of type B. When it is not used, provide insulation between the servo amplifier and other device by double insulation or reinforced insulation, or install a transformer between the main power supply and servo amplifier.

(b) The sizes of the wires given this Servo Amplifier Instruction Manual meet the following conditions. For use in any other conditions, follow Table 6 and Annex D of EN 60204-1.

Ambient temperature: 40 (104 )

Sheath : PVC (polyvinyl chloride)

Installation on wall surface or open cable tray

(c) Use the EMC filter for noise reduction.

(8) Performing EMC tests

When EMC tests are run on a machine/device into which the servo amplifier has been installed, it must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment/electrical equipment specifications.

App. - 8

APPENDIX

App. 4 COMPLIANCE WITH UL/CSA STANDARD

This servo amplifier complies with UL 508C and CSA C22.2 No.14 standard.

Refer to section 1.3 (2) for the servo amplifier model names described in the tables and figures.

(1) Servo amplifiers and servo motors used

Use the servo amplifiers and servo motors which standard product.

Servo motor

MR-J3W-

0303BN6

MR-J3W-22B MR-J3W-44B MR-J3W-77B

MR-J3W-

1010B

A-axis/B-axis A-axis/B-axis A-axis/B-axis A-axis/B-axis A-axis/B-axis

HG-AK0136

HG-AK0236

HG-AK0336

HF-MP053

HF-MP13

HF-MP23

(Note1)

(Note1)

HF-MP43 (Note1)

HF-MP73

HF-KP053

HF-KP13

(Note1)

(Note1)

HF-KP23

HF-KP43 (Note1)

HF-KP73

(Note1)

HF-SP81

HF-SP102

HC-LP102

HF-JP53

HF-JP73

(Note2)

(Note2)

(Note2, 3)

(Note2)

(Note1)

Note 1. When using this servo amplifier with software version B2 or below, it is required to set parameter No.Po04 to " 1 ". For the servo amplier with software version B3 or above, setting the parameter is not required.

2. The servo motor is available for servo amplifiers with software version B3 or above.

3. For this combination, the maximum torque of the HF-JP53 servo motor will be 400 of rated torque.

(2) Installation

The MR-J3W series have been approved as the products which have been installed in the electrical enclosure.

The minimum enclosure size is based on 150 of each MR-J3W combination.

And also, design the enclosure so that the ambient temperature in the enclosure is 55 (131 ) or less, refer to the spec manual.

The Servo amplifier must be installed in the metal cabinet (control box).

App. - 9

APPENDIX

(3) Short circuit rating (SCCR: Short Circuit Current Rating)

Suitable For Use In A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical Amperes,

500V Maximum.

(4) Flange

Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat dissipation effect.

Flange size

[mm] HG-AK HF-MP HF-KP HF-SP HC-UP HC-LP HF-JP

150 150 3

0136/0236/

0336

250 250 6

250 250 12

51/81

43 43

52/102

(5) Capacitor discharge time

The capacitor discharge time is as follows. To ensure safety, do not touch the charging section for 15 minutes after power-off. (except MR-J3W-0303BN6)

Servo amplifier Discharge time (min)

MR-J3W-22B 5

MR-J3W-44B 6

MR-J3W-77B/

MR-J3W-1010B

11

(6) Overload protection characteristics

An electronic thermal relay is built in the servo amplifier to protect the servo motor, servo amplifier and servo motor power line from overloads. The operation characteristics of the electronic thermal relay are shown below. It is recommended to use an unbalanced torque-generated machine, such as a vertical motion shaft, so that unbalanced torque is not more than 70 of the rated torque. When closely mounting

MR-J3W-0303BN6, use it with 75 or less effective load torque, and with ambient temperature between 0 to 45 . When closely mounting MR-J3W-44B, use it with 90 or less of effective load torque.

Servo amplifier MR-J3W series have each solid-state servo motor overload protection. (The motor full load current is 115 rated current.)

App. - 10

APPENDIX

1000

During servo lock

100

During operation

100

10

During servo lock

During operation

10

1 1

0.1

0 100

Load ratio [ ]

200 300

0.1

0 100 200

Load ratio [ ]

300 400

HF-MP053/13

HF-KP053/13

HG-AK0136/0236/0336

HF-MP23/43/73

HF-KP23/43/73

HF-SP51/81/52/102

HC-UP72

HC-LP52/102

HF-JP53/73/103

(7) Selection example of wires

To comply with the UL/CSA Standard, use UL-approved copper wires rated at 60/75 (140/167 ) for wiring.

Wires (Note 1)

Servo amplifier

L

1

(Note 3)

L

2

L

3

L

11

L

21

(Note 2, 3)

U V W P C P D

(Note 2)

B1 B2

THM1

THM2

24 0 PM

MR-J3W-

0303BN6

MR-J3W-22B

MR-J3W-44B

MR-J3W-77B

MR-J3W-

1010B

AWG19

2mm 2 (AWG14)

1.25mm

2

(AWG16)


2. This wire size indicates the size of cable extension which is used when the wiring length exceeds 10m.

3. Use the crimping terminal specified as below for the PE terminal of the servo amplifier.

Crimping terminal: FVD2-4

Tool (body) : YNT-1614

0.2mm

2

(AWG24)

AWG16

(Note 4)

Tightening torque: 1.2 N m

4. Insulator OD : 2.9mm

App. - 11

APPENDIX

(8) About wiring protection

For installation in United States, branch circuit protection must be provided, in accordance with the National

Electrical Code and any applicable local codes and per the table below.

For installation in Canada, branch circuit protection must be provided, in accordance with the Canada

Electrical Code and any applicable provincial codes and per the table below.

Use the molded-case circuit breaker or a Class T fuse indicated in the table below.

(a) MR-J3W-0303BN6

Power supply specification Circuit protector (Note)

Control circuit power supply (24VDC) CP30-BA 1P 1-M 1A

Main circuit power supply (48VDC) CP30-BA 1P 1-M 5A

Control circuit power supply/Main circuit power supply (24VDC)

CP30-BA 1P 1-M 10A

Note. For operation characteristics, use an intermediate speed type.


Servo motor total output

Molded-case circuit breaker (Note)

Current Voltage AC [V]

300W or less 30A frame 5A

From over 300W to 600W 30A frame 10A

From over 600W to 1kW 30A frame 15A

From over 1kW to 2.0kW 30A frame 20A

240

Current [A]

Fuse

Voltage AC [V]

15

20

20

30

300

Note. Listed no-fuse breakers are for when the power factor improving reactor is not used.

(9) Options, peripheral devices

Use the UL/CSA Standard-compliant products.


(a) MR-J3W-0303BN6


24VDC

Circuit protector

48VDC Relay

CNP1

Servo amplifier

CNP2A

24

0

PM

U

V

W

A-axis servo motor

U

V

W


24VDC

Circuit protector

U

V

W

CNP2B

B-axis servo motor

U

V

W

App. - 12

APPENDIX


Power supply

MCCB or fuse

MC

CNP1

Servo amplifier

CNP3A

L

1

L

2

L

3

U

V

W

A-axis servo motor

U

V

W

U

V

W

CNP3B

B-axis servo motor

U

V

W

(11) Approval mark of UL/CSA standards

This servo amplifier complies with UL and CSA standards and is labeled with the corresponding approval mark.

Approval mark: NRTL Listing to UL 508C

Testing by TÜV Rheinland according to UL and CSA standards

App. - 13

APPENDIX

App. 5 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods

United Nations Recommendations on the Transport of Dangerous Goods Rev. 15 (hereinafter

Recommendations of the United Nations) has been issued. To reflect this, transport regulations for lithium metal batteries are partially revised in the Technical Instruction (ICAO-TI) by the International Civil Aviation

Organization (ICAO) and the International Maritime Dangerous Goods Code (IMDG Code) by the International

Maritime Organization (IMO).

To comply the instruction and code, we have modified the indication on the package for general-purpose AC servo batteries.

(1) Target model

Battery (Cell): MR-J3BAT, MR-BAT, A6BAT

Battery unit (Battery): MR-J2M-BT

(2) Purpose

Safer transportation of lithium metal batteries.

(3) Change in regulations

The following points are changed for lithium metal batteries transportation by sea or air due to

Recommendations of the United Nations Rev. 15 and ICAO-TI 2009-2010 edition. For lithium metal batteries, cells are classified as UN3090, and batteries contained in or packed with equipment are classified as UN3091.

(a) A package containing 24 cells or 12 batteries or less that are not contained in equipment are no longer exempt from the following: attachment of a handling label, submission of the Shipper's Declaration for

Dangerous Goods, and a 1.2m drop test.

(b) A battery handling label (size: 120 110mm) is required. Emergency telephone number must be filled out in the additional handling information of the Shipper's Declaration for Dangerous Goods.

(c) New handling label design containing battery illustration (Figure) must be used.

Figure. Example of Mitsubishi Label with Battery Illustration (size: 120 110mm)

(4) Action taken by Mitsubishi

The following caution will be added to the packages of the target batteries.

"Containing lithium metal battery. Regulations apply for transportation."

App. - 14

APPENDIX

(5) Transportation precaution for customers

For sea or air transportation, the handling label (Figure) is required for the package of a Mitsubishi cell or battery and the outer package containing several packages of Mitsubishi cells or batteries. Documentations like the handling label in the specified design and the Shipper's Declaration for Dangerous Goods are required. Please attach the documentations to the packages. The above change will not affect the function and performance of the product.

App. 6 Symbol for the new EU Battery Directive

Symbol for the new EU Battery Directive (2006/66/EC) that is plastered to general-purpose AC servo battery is explained here.

Note. This symbol mark is for EU countries only.

This symbol mark is according to the directive 2006/66/EC Article 20 Information for end-users and

Annex II.

Your MITSUBISHI ELECTRIC product is designed and manufactured with high quality materials and components which can be recycled and/or reused.

This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately from your household waste.

If a chemical symbol is printed beneath the symbol shown above, this chemical symbol means that the battery or accumulator contains a heavy metal at a certain concentration. This will be indicated as follows.

Hg: mercury (0.0005 ), Cd: cadmium (0.002 ), Pb: lead (0.004 )

In the European Union there are separate collection systems for used batteries and accumulators.

Please, dispose of batteries and accumulators correctly at your local community waste collection/recycling centre.

Please, help us to conserve the environment we live in!

App. - 15

APPENDIX

App. 7 Recommended cable for servo amplifier power supply

The following information is as of September 2012. For the latest information, contact the manufacturer.

Manufacturer: Mitsubishi Electric System & Service Co., Ltd.

<Sales office> FA PRODUCT DIVISION mail: [email protected]

(1) Specifications

Primary side power supply cable

1) Main circuit power supply

2) Control circuit power supply

4)

Built-in regenerative resistor short circuit connector

SC-EMP01CBL

M-L

SC-ECP01CBL

M-L

SC-ERG01CBL

M-L

SC-ERG02CBL01

M-L

A symbol " " in the model name indicates a cable length.

Motor side power supply cable

Insulator size material

Minimum bend radius

AWG14 3pcs.

AWG16 2pcs.

PVC (red, white, blue)

PVC

(red, white)

30mm

30mm

AWG14 2pcs.

30mm

Insulation outer diameter

Applicable standard

(wire part)

Approximately

3.6mm

Approximately

3.2mm UL 1063/

MTW

Approximately

3.6mm

AWG14 1pcs.

PVC (black)

Material

Insulator

Outer sheath

Minimum bend radius

Finished outer diameter

Applicable standard

(wire part)

SC-EPWS1CBL

5) Standard

Direct connection to

M- -L rotary servo (up to 10m)

Long

Approximately

AWG18 4C 50mm

6.2mm

UL 13/CL3

6) bending

SC-EPWS1CBL

ETFE

Approximately

5.7mm

UL AWM

2103 life

M- -H

7) Linear servo (up to 10m) AWG18 4C 50mm

Approximately

6.2mm

UL 13/CL3

8)

Linear servo (more than

10m)/junction connection to rotary servo (more than

10m)

Standard

SC-EPWS2CBL

M-L

PVBC

Approximately

90mm

11.1mm

UL AWM

2501

9) Linear servo (up to 10m)

Approximately

AWG19 4C 40mm

5.7mm

UL AWM

2103

Linear servo (more than

10)

10m)/junction connection to rotary servo (more than

10m)

Long bending life

SC-EPWS2CBL

M-H

AWG14 4C

ETFE

75mm

Approximately

10.5mm

UL AWM

2501


A symbol " " in the model name is "A1" or "A2". A1: Load side lead, A2: Opposite-toload side lead.

The characters "-H" or "-L" at the end of a model name indicate a bending life. A model name with the characters "-H" has a long bending life. A model name with the characters “-L” has a standard bending life.

App. - 16

APPENDIX

(2) Outline drawing

1) [SC-EMP01CBL M-L]

Amplifier side

24 L [m]

Power supply side

2) [SC-ECP01CBL M-L]

Amplifier side

23 L [m]

[Unit: mm]

Power supply side

3) [SC-ERG01CBL M-L]

Amplifier side

23 L [m]

Regenerative option side

4) [SC-ERG02CBL01M-L]

Amplifier side

23

5)/6) [SC-EPWS1CBL M- -L/

SC-EPWS1CBL M- -H]

Amplifier side

23

200

L [m] 30

Motor side

7) 8)/9) 10) [SC-EPWS2CBL M-L/

SC-EPWS2CBL M-H]

Motor side Amplifier side

23

200

L [m]

200

Cable outer diameter: 5) Standard Approximately 6.2

6) Long bending life Approximately 5.7


Cable outer diameter: 7) Standard 10m or less Approximately 6.2

8) Standard 11 to 30m Approximately 11.1

9) Long bending life 10m or less Approximately 5.7

10)Long bending life 11 to 30m Approximately 10.5

App. - 17

REVISIONS

Print Data *Manual Number

*The manual number is given on the bottom left of the back cover.

Revision

Mar. 2010 SH(NA)030073-A First edition

Dec. 2011 SH(NA)030073-B Section 2.4(2)(3) The description is changed.

Nov. 2012 SH(NA)030073-C MR-J3W-0303BN6 and MR-J3W-1010B servo amplifiers are added.

HF-SP81/HF-SP102/HC-LP102/HF-JP53/HF-JP73/HF-JP103/HG-AK0136/HG-

AK0236/HG-AK0336 servo motors are added.

LM-K2 linear servo motor is added.

Direct drive motor is added.

Section 3.11.1

Section 3.11.1 (1)

Section 3.11.2 (1)

Section 3.11.3 (1)

Section 3.11.3 (2)

Section 3.13

Section 3.14

Chapter 4

Section 4.4

Section 4.5.1

Section 4.5.1 (2)

Chapter 5

Section 5.1

Section 5.1.3

Section 5.1.4

Section 5.1.5

Section 5.1.7

Section 5.1.8

«About the manual»

Section 1.1

Section 1.3

Section 1.4

Section 1.5 (2)

Section 1.6

Section 3.1

Section 3.3.1 (2)

Section 3.3.3

Section 3.3.3 (2)

Section 3.5 (2)(b)

Section 3.7.1

Section 3.7.2 (4)

Section 3.10.2 (1)(b)

Section 3.10.2 (2)(a)

Section 3.10.2 (2)(b)

The table is changed.

The sentences are changed.

Servo motor is added.

Note 3 is changed.

The sentences about gain changing function are added.

The diagram is changed.

The table is changed and the sentences are added.

The sentences are added to CAUTION.

Note 5 is changed.

MR-J3W-1010B is added.

The sentences of POINT is changed.

Added.

The sentences of INP-A/INP-B, SA-A/SA-B, TLC-A/TLC-

B and ABSV-A/ABSV-B are changed or added.

VLC-A/VLC-B is added.

The part of diagram is changed.

Note is added.

The connector model is changed.

Note 2 and 3 are added.

Servo motor and connector are added.

The part of POINT is changed.


The ready-on command is added to the diagram.



The sentences are added to POINT.


The part of table is changed.




The diagram is changed.

The sentences are added to CAUTION.

POINT is partially deleted.


The setting value is added.


The setting value is added.


POINT is added.

The sentences in POINT are changed.


Nov. 2012 SH(NA)030073-C Section 5.1.9

Section 5.2.2

Section 5.3.2

Section 5.3.3 (2)

Section 5.3.3 (3)

Section 5.4

Section 5.4.2

Section 5.5

Chapter 6

Section 7.5

Section 7.5.2

Chapter 8

Section 8.1

Section 8.2

Section 8.3

Section 8.4

Section 9.1 (2)

Section 10.1

Section 10.2

Section 10.3

Section 10.5

Section 11.1.1

Section 11.1.2 (5)(b)

Section 11.2

Section 11.2 (2)(a)

Section 11.4 (1)

Section 11.4 (2)

Section 11.5 Table11.1

Section 11.5 (2)

Section 11.6

Section 11.7

Section 11.9 (2)(b)

Section 11.10

Section 11.11

Section 11.12 (2)

Revision

The setting content is changed.

PB24: The setting content is changed.

PC01: The sentences are changed.

PC09: The setting content is changed.

PC17: The sentences are changed.

"Speed command 2" is added, Note 2 to 4 are added.

"Speed command 2" is added.

The factory setting of PD20 to PD23 are changed.

PD07: The table is changed, Note is added and changed.

Po02: The setting content of the first digit is changed.

Po03: The setting content of the first digit is changed.

Po04: The setting content is changed.

POINT is added.



The sentences in POINT are changed.

MR-J3W-0303BN6 is added.

POINT is added.

16.3(1): Added.

45.5: Changed from 45.2.

46.1: Name is changed.


E3: The content is changed.

E9.3: Added.

EB.1: (1) to (3) are added.


The part of diagram is changed.

Servo motor and Note 2 are added.

Servo motor is added.

HF-JP series is added.


Servo amplifier and servo motor are added.

Connector set is added.

Note is added.


MR-RB3B is added.

The contents are entirely changed.




The recommended cables of "Servo motor power cable" and "Electromagnetic brake cable" are changed.

The sentences are added.

The table is changed.

The table is changed and the sentences are added.

The surge killer is changed.

Servo amplifier and servo motor are added.




Nov. 2012 SH(NA)030073-C Chapter 13

Chapter 14

Chapter 15

App. 1.1

App. 3.2

App. 4

Revision

The contents are entirely changed.

Added.

Added.

PF06, PF12 and Po04 are added.

MR-J3W-0303BN6 is added.

MR-J3W-0303BN6 and MR-J3W-1010B servo amplifier are added.

HG-AK and HF-JP series servo motor are added.

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.

Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

© 2010 MITSUBISHI ELECTRIC CORPORATION

USA

Germany

Italy

China

Taiwan

Korea

Singapore

Mitsubishi Electric Automation Inc.

500 Corporate Woods Parkway, Vernon Hills, IL 60061, USA

Mitsubishi Electric Europe B.V. German Branch

Gothaer Strasse 8, D-40880 Ratingen, Germany

Mitsubishi Electric Europe B.V. Italian Branch

Viale Colleoni 7

1-20041 Agrate Brianza (Milano), Italy

Mitsubishi Electric Automation (China) Ltd.

4F Zhi Fu Plazz, No. 80 Xin Chang Road

Shanghai 200003, China

Setsuyo Enterprise Co., Ltd.

6F, No.105 Wu-Kung 3rd Rd, Wu-Ku Hsiang, Taipei Hsine, Taiwan

Mitsubishi Electric Automation Korea Co., Ltd.

3F, 1480-6, Gayang-dong, Gangseo-gu, Seoul

157-200, Korea

Mitsubishi Electric Asia Pte, Ltd.

307 Alexandra Road #05-01/02,

Mitsubishi Electric Building Singapore 159943

Tel/Fax

Tel

Fax

: +1-847-478-2100

: +1-847-478-0327

Tel

Fax

: +49-2102-486-0

: +49-2102-486-1120

Tel

Fax

: +39-39-60531

: +39-39-6053312

Tel

Fax

: +86-21-6120-0808

: +86-21-6121-2444

Tel

Fax

: +886-2-2299-2499

: +886-2-2299-2509

Tel

Fax

: +82-2-3660-9552

: +82-2-3664-8372

Tel : +65-6470-2460

Fax : +65-6476-7439

Warranty

1. Warranty period and coverage

We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the

Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.

[Term]

The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.

[Limitations]

(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.

It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.

(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.

(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;

(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware or software problem

(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval

(iii) 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 responsibility for compensation against loss of opportunity, secondary loss, etc.

Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company, any damages to products other than the Product, and also compensation for any replacement work, readjustment, start-up test run of local machines and the Product and any other operations conducted by you.

5. Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.

6. Application and use of the Product

(1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external system to General-Purpose AC Servo when any failure or malfunction occurs.

(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.

Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used

In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.

We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.

SH(NA)030073-C

MODEL

MODEL

CODE

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

SH (NA) 030073-C (1211) MEE Printed in Japan

This Instruction Manual uses recycled paper.

Specifications subject to change without notice.

General-Purpose AC Servo

J3W

Series

SSCNET interface 2-axis AC Servo Amplifier

MODEL

MR-J3W-0303BN6

MR-J3W- B

SERVO AMPLIFIER

INSTRUCTION MANUAL

The following servo motors will be available in the future. All specifications of followings may be changed without notice.

HG-AK0136B

HG-AK0236B

HG-AK0336B

For situations of conformity with UL/CSA standard of the MR-J3W-0303BN6 servo amplifier, contact your local sales office.

C