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Mitsubishi Electric MR-J3-B Instruction Manual
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Mitsubishi Electric MR-J3-B Instruction Manual

Mitsubishi Electric MR-J3-B Instruction Manual

Melservo-j3 series servo amplifier
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General-Purpose AC Servo
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Summary of Contents for Mitsubishi Electric MR-J3-B

  • Page 1 General-Purpose AC Servo Series SSCNET Compatible MODEL MR-J3- B SERVO AMPLIFIER INSTRUCTION MANUAL...

  • Page 2: Safety Instructions

    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 and appended documents carefully and can use the equipment correctly.
  • Page 3 1. To prevent electric shock, note the following: WARNING Before wiring or inspection, switch power off and wait for more than 15 minutes. Then, confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock. 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.
  • Page 4 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 weights. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder.
  • Page 5 (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may misoperate. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo motor and servo amplifier. Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly. Do not connect AC power directly to the servo motor.
  • Page 6 (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 electromagnetic brake or an external brake mechanism for the purpose of prevention.
  • Page 7 About processing of waste When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of each country (area). FOR MAXIMUM SAFETY These products have been manufactured as a general-purpose part for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.
  • Page 8 COMPLIANCE WITH EC DIRECTIVES 1. WHAT ARE EC DIRECTIVES? The EC directives were issued to standardize the regulations of the EU countries and ensure smooth distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January, 1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January, 1997) of the EC directives require that products to be sold should meet their fundamental safety requirements and carry the CE marks (CE marking).
  • Page 9 (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 IEC60664-1. However, when using the neutral point of 400V system for single phasesupply, a reinforced reinforced insulating transformer is required in the power input section.
  • Page 10 (7) Auxiliary equipment and options (a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant products of the models described in Section 11.9. Use a type B (Note) breaker. 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.
  • Page 11 CONFORMANCE WITH UL/C-UL STANDARD (1) Servo amplifiers and servo motors used Use the servo amplifiers and servo motors which comply with the standard model. Servo amplifier :MR-J3-10B to MR-J3-700B MR-J3-10B1 to MR-J3-40B1 Servo motor :HF-MP HF-KP HF-SP (2) Installation Install a fan of 100CFM (2.8m /min) air flow 4 in (10.16 cm) above the servo amplifier or provide cooling of at least equivalent capability.
  • Page 12 Electrical Code and any applicable provincial codes. <<About the manuals>> This Instruction Manual and the MELSERVO Servo Motor Instruction Manual are required if you use the General-Purpose AC servo MR-J3-B for the first time. Always purchase them and use the MR-J3-B safely. Relevant manuals Manual name Manual No.
  • Page 13 MEMO A - 12...

  • Page 14: Table Of Contents

    CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -18 1.1 Introduction............................... 1 - 1 1.2 Function block diagram..........................1 - 2 1.3 Servo amplifier standard specifications....................1 - 4 1.4 Function list .............................. 1 - 5 1.5 Model code definition ..........................1 - 6 1.6 Combination with servo motor .........................
  • Page 15 3.10.1 Connection instructions........................3 -28 3.10.2 Power supply cable wiring diagrams ..................... 3 -29 3.11 Servo motor with electromagnetic brake....................3 -31 3.11.1 Safety precautions.......................... 3 -31 3.11.2 Timing charts ..........................3 -32 3.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor) ............. 3 -34 3.12 Grounding..............................
  • Page 16 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 6.1.2 Adjustment using servo configuration software ................6 - 2 6.2 Auto tuning ............................... 6 - 3 6.2.1 Auto tuning mode ..........................
  • Page 17 11. OPTIONS AND AUXILIARY EQUIPMENT 11- 1 to 11 - 52 11.1 Cable/Connector Sets........................... 11- 1 11.1.1 Combinations of cable/connector sets ..................11- 2 11.1.2 Encoder cable/connector sets ....................... 11- 7 11.1.3 Motor power supply cables ......................11-16 11.1.4 Motor brake cables........................11-17 11.1.5 SSCNET cable ...........................

  • Page 18: Functions And Configuration

    The Mitsubishi MELSERVO-J3 series general-purpose AC servo has further higher performance and higher functions compared to the current MELSERVO-J2-Super series. The MR-J3-B servo amplifier connects to servo system controller and others via high speed synchronous network and operates by directly reading position data. The rotation speed/direction control of servo motor and the high accuracy positioning are executed with the data from command module.

  • Page 19: Function Block Diagram

    1. FUNCTIONS AND CONFIGURATION 1.2 Function block diagram The function block diagram of this servo is shown below. (1) MR-J3-350B or less Power factor Regenerative improving DC reactor brake option Servo amplifier Servo motor (Note2) (Note1) Power supply 3-phase Current 200 to detector CHARGE...
  • Page 20 1. FUNCTIONS AND CONFIGURATION (2) MR-J3-500B MR-J3-700B Power factor Regenerative improving DC reactor brake option Servo amplifier Servo motor Power supply Current 3-phase detector 200 to Regene- 230VAC rative CHARGE lamp Dynamic brake Electro- Control magnetic circuit power brake supply Regenerative Base amplifier Voltage...

  • Page 21: Servo Amplifier Standard Specifications

    1. FUNCTIONS AND CONFIGURATION 1.3 Servo amplifier standard specifications Servo Amplifier 100B 200B 350B 500B 700B 10B1 20B1 40B1 MR-J3- Item 3-phase 200 to 230VAC, 1-phase 100V to Voltage/frequency 50/60Hz or 1-phase 230VAC, 3-phase 200 to 230VAC, 50/60Hz 120VAC, 50/60Hz 50/60Hz 3-phase 200 to 230VAC: 170 to 253VAC...

  • Page 22: Function List

    1. FUNCTIONS AND CONFIGURATION 1.4 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field. Function Description Reference High-resolution encoder of 262144 pulses/rev is used as a servo motor High-resolution encoder encoder.

  • Page 23: Model Code Definition

    3PH+1PH200-230V 60Hz 1.3A 1PH 230V 50/60Hz Rated output current 170V 0-360Hz 1.1A OUTPUT : SERIAL : A34230001 Serial number PASSED MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN (2) Model MR-J3-100B or less MR-J3-200B 350B Power supply Series Symbol Power supply 3-phase 200 to 230VAC...

  • Page 24: Combination With Servo Motor

    1. FUNCTIONS AND CONFIGURATION 1.6 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors. The same combinations apply to the models with electromagnetic brakes. Servo motors Servo amplifier HF-SP HF-MP HF-KP 1000r/min 2000r/min MR-J3-10B (1) 053 13 053 13 MR-J3-20B (1)

  • Page 25: Structure

    1. FUNCTIONS AND CONFIGURATION 1.7 Structure 1.7.1 Parts identification (1) MR-J3-100B or less Detailed Name/Application Explanation Display The 3-digit, seven-segment LED shows the servo Chapter 4 status and alarm number. Rotary axis setting switch (SW1) Used to set the axis No. of servo amplifier. Section 3.13 ON 4E Test operation select switch (SW2-1)
  • Page 26 1. FUNCTIONS AND CONFIGURATION (2) MR-J3-200B MR-J3-350B Detailed Name/Application Explanation Display The 3-digit, seven-segment LED shows the servo Chapter 4 status and alarm number. Rotary axis setting switch (SW1) Used to set the axis No. of servo amplifier. Section 3.13 ON 4E Test operation select switch (SW2-1) Used to perform the test operation...
  • Page 27 1. FUNCTIONS AND CONFIGURATION (3) MR-J3-500B POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Detailed Name/Application Explanation Display The 3-digit, seven-segment LED shows the servo Chapter 4 status and alarm number. Rotary axis setting switch (SW1) Used to set the axis No.
  • Page 28 1. FUNCTIONS AND CONFIGURATION (4) MR-J3-700B POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to Section 1.7.2. Detailed Name/Application Explanation Display The 3-digit, seven-segment LED shows the servo Chapter 4 status and alarm number. Rotary axis setting switch (SW1) Used to set the axis No.

  • Page 29: Removal And Reinstallation Of The

    1. FUNCTIONS AND CONFIGURATION 1.7.2 Removal and reinstallation of the front cover Before removing or reinstalling the front cover, make sure that the charge lamp is CAUTION off more than 15 minutes after power off. Otherwise, you may get an electric shock. For MR-J3-500B or more Removal of the front cover Hold the ends of lower side of the front cover with...
  • Page 30 1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Front cover setting tab Insert the front cover setting tabs into the sockets of Pull up the cover, supporting at point servo amplifier (2 places). Setting tab Push the setting tabs until they click. 1 - 13...

  • Page 31: Configuration Including Auxiliary Equipment

    1. FUNCTIONS AND CONFIGURATION 1.8 Configuration including auxiliary equipment POINT Equipment other than the servo amplifier and servo motor are optional or recommended products. (1) MR-J3-100B or less (a) For 3-phase 200V to 230VAC or 1-phase 230VAC Personal MR Configurator (Note3) R S T computer...
  • Page 32 1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC MR Configurator Personal computer (Servo configuration software) 1-phase 100V to 120VAC power supply Servo amplifier No-fuse breaker (NFB) or fuse Junction terminal block Magnetic (Note2) contactor (MC) Servo system CN1A controller or Front axis Power factor servo amplifier...
  • Page 33 1. FUNCTIONS AND CONFIGURATION (2) MR-J3-200B MR-J3-350B R S T 3-phase 200V to 230VAC power supply No-fuse breaker (NFB) or fuse Magnetic contactor (MC) MR Configurator Personal computer (Servo configuration software) (Note2) (Note3) Line noise filter (FR-BSF01) Servo amplifier Junction terminal block Servo system...
  • Page 34 1. FUNCTIONS AND CONFIGURATION (3) MR-J3-500B R S T 3-phase 200V to 230VAC power MR Configurator supply Personal computer (Servo configuration software) No-fuse breaker (NFB) or fuse Servo amplifier Junction terminal Magnetic block contactor (MC) (Note2) (Note1) Battery unit Servo system CN1A MR-J3BAT controller or Front axis...
  • Page 35 1. FUNCTIONS AND CONFIGURATION (4) MR-J3-700B R S T MR Configurator Personal 3-phase 200V computer (Servo configuration to 230VAC power software) supply No-fuse breaker Servo amplifier (NFB) or fuse Junction Magnetic terminal contactor block (MC) (Note1) Battery unit (Note2) MR-J3BAT Servo system Line noise filter CN1A...

  • Page 36: Installation

    2. INSTALLATION 2. INSTALLATION Stacking in excess of the limited number of products is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual.

  • Page 37: Keep Out Foreign Materials

    2. INSTALLATION (2) Installation of two or more servo amplifiers POINT Mounting closely is available for a combination of servo amplifiers of 3.5kw or less. The servo amplifiers of 5kw or more can not be mounted closely. Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions.

  • Page 38: Sscnet Cable Laying

    2. INSTALLATION 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.
  • Page 39 2. INSTALLATION (4) 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).

  • Page 40: Inspection Items

    2. INSTALLATION 2.5 Inspection Items Before starting maintenance and/or inspection, make sure that the charge lamp is off more than 15 minutes after power-off. Then, confirm that the voltage is safe in the tester or the like. Otherwise, you may get an electric shock. WARNING Any person who is involved in inspection should be fully competent to do the work.
  • Page 41 2. INSTALLATION MEMO 2 - 6...

  • Page 42: Signals And Wiring

    3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. Before starting wiring, switch power off, then wait for more than 15 minutes, and after the charge lamp has gone off, make sure that the voltage is safe in the tester or like.

  • Page 43: Input Power Supply Circuit

    3. SIGNALS AND WIRING 3.1 Input power supply circuit When the servo amplifier has become faulty, switch power off on the servo amplifier power side. Continuous flow of a large current may cause a fire. Use the trouble signal to switch main circuit power supply off. Otherwise, a CAUTION regenerative brake transistor fault or the like may overheat the regenerative brake resistor, causing a fire.
  • Page 44 3. SIGNALS AND WIRING (2) For 1-phase 230VAC power supply to MR-J3-10B to MR-J3-70B (Note4) Controller Alarm forced stop Forced stop Servo amplifier Servo motor CNP1 1-phase CNP3 (Note 3) 230VAC Motor (Note 1) CNP2 (Note 2) (Note 3) Encoder Encoder cable 24VDC Forced stop...
  • Page 45 3. SIGNALS AND WIRING (3) For MR-J3-10B1 to MR-J3-40B1 (Note4) Controller Alarm forced stop Forced stop Servo amplifier Servo motor CNP1 1-phase CNP3 (Note 3) 100 to Blank Motor 120VAC (Note 1) CNP2 (Note 2) (Note 3) Encoder Encoder cable 24VDC Forced stop DOCOM...
  • Page 46 3. SIGNALS AND WIRING (4) MR-J3-500B MR-J3-700B (Note4) Controller Alarm forced stop Forced stop Servo amplifier Servo motor 3-phase (Note 3) Built-in 200 to regenerative Motor 230VAC brake resistor (Note 2) (Note 3) Encoder Encoder cable (Note 1) 24VDC Forced stop (Note 5) DICO DOCOM...

  • Page 47: I/O Signal Connection Example

    Plate both directions (option) 2m Max CN1A (Note8) CN1B (Note1) Between electrodes MR-J3-B (Note7) (2 axis) CN1A (Note8) CN1B MR-J3-B (Note7) (3 axis) (Note6) SSCNET cable CN1A (option) SW2 (Note8) CN1B MR-J3-B (Note7) (n axis) CN1A (Note9) SW2 (Note8) CN1B...
  • Page 48 3. SIGNALS AND WIRING Note 1 To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the servo amplifier to the protective earth (PE) of the control box. 2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will be faulty and will not output signals, disabling the forced stop (EM1) and other protective circuits.

  • Page 49: Explanation Of Power Supply System

    3. SIGNALS AND WIRING 3.3 Explanation of Power Supply System 3.3.1 Signal explanations POINT For the layout of connector and terminal block, refer to outline drawings in Chapter 9. Connection Target Abbreviation Description (Application) Supply the following power to L .

  • Page 50: Power-On Sequence

    3. SIGNALS AND WIRING 3.3.2 Power-on sequence (1) Power-on procedure 1) Always wire the power supply as shown in above Section 3.1 using the magnetic contactor with the main circuit power supply (three-phase 200V: L , single-phase 230V signal-phase 100V: L Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs.

  • Page 51: Cnp1, Cnp2, Cnp3 Wiring Method

    3. SIGNALS AND WIRING 3.3.3 CNP1, CNP2, CNP3 wiring method POINT Refer to Table 11.1 in Section 11.8 for the wire sizes used for wiring. MR-J3-500B or more does not have these connectors. Use the supplied servo amplifier power supply connectors for wiring of CNP1, CNP2 and CNP3. (1) MR-J3-100B or less (a) Servo amplifier power supply connectors (Note)
  • Page 52 3. SIGNALS AND WIRING (c) The twin type connector for CNP2 (L ): 721-2105/026-000 (WAGO) it is used for control circuit power supply wiring. Refer to Appendix 3 for details of connector. Twin type connector for CNP2 CNP2 Power supply Rear axis or Front axis (2) MR-J3-200B MR-J3-350B...
  • Page 53 3. SIGNALS AND WIRING (b) Termination of the cables 1) CNP1 CNP3 Solid wire: After the sheath has been stripped, the cable can be used as it is. Sheath Core (0.276in) Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid a short caused by the loose wires of the core and the adjacent pole.
  • Page 54 3. SIGNALS AND WIRING (3) Insertion of cable into 54928-0610 54927-0510 and 54928-0310 (Molex) How to connect a cable to the servo amplifier power supply connector is shown below. (a) When using the supplied cable connection lever 1) The servo amplifier is packed with the cable connection lever 54932-0000 (Molex). [Unit: mm] 20.6 M X J...
  • Page 55 3. SIGNALS AND WIRING (b) Inserting the cable into the connector 1) Applicable flat-blade screwdriver dimensions Always use the screwdriver shown here to do the work. [Unit: mm] (R0.3) (22) (R0.3) 2) When using the flat-blade screwdriver - part 1 1) Insert the screwdriver into the square hole.
  • Page 56 3. SIGNALS AND WIRING 3) When using the flat-blade screwdriver - part 2 1) Insert the screwdriver into the 2) Push the screwdriver in the 3) With the screwdriver pushed, insert the cable in the square window at top of the direction of arrow.

  • Page 57: Connectors And Signal Arrangements

    3. SIGNALS AND WIRING 3.4 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. (1) Signal arrangement The servo amplifier front view shown is that of the MR-J3-20B or less. Refer to Chapter 9 Outline Drawings for the appearances and connector layouts of the other servo amplifiers.

  • Page 58: Signal (Device) Explanations

    3. SIGNALS AND WIRING 3.5 Signal (device) explanations For the I/O interfaces (symbols in I/O division column in the table), refer to Section 3.7.2. In the control mode field of the table The pin No.s in the connector pin No. column are those in the initial status. (1) Connector applications Connector Name...
  • Page 59 ON level, and ZPS 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-J3-B servo amplifier. Warning When using this signal, make it usable by the setting of DO-1 parameter No.PD07 to PD09.
  • Page 60 3. SIGNALS AND WIRING (C) Output signals Connector Pin Signal name Symbol Function/Application CN3-6 Encoder A-phase Outputs pulses per servo motor revolution set in parameter No. PA15 in the CN3-16 pulse differential line driver system. In CCW rotation of the servo motor, the encoder (Differential line B-phase pulse lags the encoder A-phase pulse by a phase angle of /2.

  • Page 61: Alarm Occurrence Timing Chart

    3. SIGNALS AND WIRING 3.6 Alarm occurrence timing chart 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 CAUTION operation. As soon as an alarm occurs, make the Servo off status and interrupt the main circuit power.

  • Page 62: Interfaces

    3. SIGNALS AND WIRING 3.7 Interfaces 3.7.1 Internal connection diagram Servo amplifier Approx Forced stop 5.6k DICOM (Note 3) (Note 2) Approx (Note 1) 5.6k (Note 3) 24VDC DICOM DOCOM <Isolated> Differential line driver output (3.5mA or less) Analog monitor DC 10V VBUS DC 10V...

  • Page 63: Detailed Description Of Interfaces

    3. SIGNALS AND WIRING 3.7.2 Detailed description of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in Section 3.5. Refer to this section and make connection with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor.
  • Page 64 3. SIGNALS AND WIRING (3) Encoder pulse output DO-2 (Differential line driver system) (a) Interface Max. output current: 35mA Servo amplifier Servo amplifier Am26LS32 or equivalent High-speed photocoupler (LB, LZ) (LB, LZ) (LBR, LZR) (LBR, LZR) b) Output pulse Servo motor CCW rotation 400 s or more (4) Analog output Servo amplifier...

  • Page 65: Source I/O Interfaces

    3. SIGNALS AND WIRING 3.7.3 Source I/O interfaces In this servo amplifier, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1 output signals are of source type. Perform wiring according to the following interfaces. (1) Digital input interface DI-1 Servo amplifier EM1,...

  • Page 66: Instructions For The 3M Connector

    3. SIGNALS AND WIRING 3.8 Instructions for the 3M connector In the case of the CN3 connector, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core...

  • Page 67: Sscnet Cable Connection

    3. SIGNALS AND WIRING 3.9 SSCNET cable connection POINT Do not see directly the light generated from CN1A CN1B connector of servo amplifier or the end of SSCNET cable. When the light gets into eye, may feel something is wrong for eye. (The light source of SSCNET corresponds to class1 defined in JISC6802 or IEC60825-1.) (1) SSCNET cable connection...
  • Page 68 3. SIGNALS AND WIRING 3) With holding a tab of SSCNET cable connector, make sure to insert it into CN1A CN1B connector of servo amplifier until you hear the click. If the end face of optical code tip is dirty, optical transmission is interrupted and it may cause malfunctions.

  • Page 69: Connection Of Servo Amplifier And Servo Motor

    3. SIGNALS AND WIRING 3.10 Connection of servo amplifier and servo motor 3.10.1 Connection instructions Insulate the connections of the power supply terminals to prevent an electric WARNING shock. Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier and servo motor.

  • Page 70: Power Supply Cable Wiring Diagrams

    3. SIGNALS AND WIRING 3.10.2 Power supply cable wiring diagrams (1) HF-MP service HF-KP series servo motor (a) When cable length is 10m or less 10m or less MR-PWS1CBL M-A1-L MR-PWS1CBL M-A2-L MR-PWS1CBL M-A1-H Servo amplifier Servo motor MR-PWS1CBL M-A2-H CNP3 AWG 19(red) AWG 19(white)
  • Page 71 3. SIGNALS AND WIRING (2) HF-SP series servo motor (a) Wiring diagrams Refer to Section 11.8 for the cables used for wiring. 50m or less Servo amplifier Servo motor CNP3 (Note 3) Forced stop Servo (EM1) alarm (Note2) 24VDC power supply for electromagnetic brake...

  • Page 72: Servo Motor With Electromagnetic Brake

    3. SIGNALS AND WIRING 3.11 Servo motor with electromagnetic brake 3.11.1 Safety precautions Configure the electromagnetic brake circuit so that it is activated not only by the interface unit signals but also by a forced stop (EM1). Contacts must be open when Circuit must be servo-off, when an alarm occurrence opened during...

  • Page 73: Timing Charts

    3. SIGNALS AND WIRING 3.11.2 Timing charts (1) Servo-on command (from controller) ON/OFF Tb [ms] after the servo-on is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set delay time (Tb) to about the same as the electromagnetic brake operation delay time to prevent a drop.
  • Page 74 3. SIGNALS AND WIRING (3) Alarm occurrence Dynamic brake Dynamic brake Electromagnetic brake Servo motor speed Electromagnetic brake (10ms) Base circuit Invalid(ON) Electromagnetic brake Electromagnetic operation delay time brake interlock (MBR) Valid(OFF) Alarm (4) Both main and control circuit power supplies off Dynamic brake Dynamic brake (10ms)

  • Page 75: Wiring Diagrams (Hf-Mp Series Hf-Kp Series Servo Motor)

    3. SIGNALS AND WIRING 3.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor) POINT For HF-SP series servo motors, refer to Section 3.10.2 (2). (1) When cable length is 10m or less 10m or less 24VDC power MR-BKS1CBL M-A1-L supply for MR-BKS1CBL M-A2-L electromagnetic MR-BKS1CBL M-A1-H...

  • Page 76: Grounding

    3. SIGNALS AND WIRING 3.12 Grounding Ground the servo amplifier and servo motor securely. WARNING To prevent an electric shock, always connect the protective earth (PE) terminal 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.

  • Page 77: Control Axis Selection

    3. SIGNALS AND WIRING 3.13 Control axis selection POINT The control axis number set to rotary axis setting switch (SW1) should be the same as the one set to the servo system controller. 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.

  • Page 78: Startup

    4. STARTUP 4. STARTUP Do not operate the switches with wet hands. You may get an electric shock. WARNING 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 brake resistor, servo motor, etc.

  • Page 79: Startup

    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 ) of the servo amplifier should satisfy the defined specifications.
  • Page 80 4. STARTUP 2) When regenerative brake option is used over 5kW The lead of built-in regenerative brake resistor connected to P terminal and D terminal of TE1 terminal block should not be connected. The generative brake option should be connected to P terminal and C terminal. A twisted cable should be used when wiring is over 5m and under 10m.

  • Page 81: Servo Amplifier Display

    4. STARTUP 4.2 Start up Connect the servo motor with a machine after confirming that the servo motor operates properly alone. (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.
  • Page 82 4. STARTUP 4.3 Servo amplifier display On the servo amplifier display (three-digit, seven-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. (1) Display sequence Servo amplifier power ON Waiting for servo system controller power to switch ON...
  • Page 83 4. STARTUP (2) Indication list Indication Status Description Power of the servo amplifier was switched on at the condition that the power of servo system controller is OFF. The axis No. set to the servo system controller does not match the axis No. set with the rotary axis setting switch (SW1) of the servo amplifier.

  • Page 84: Test Operation

    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 motorless operation. Refer to Section 4.5.2 for the motorless operation.

  • Page 85: Test Operation Mode

    4. STARTUP 4.5 Test operation mode 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 CAUTION use the servo motor alone. If an operation fault occurred, use the forced stop (EM1) to make a stop. POINT Always install a forced stop switch to enable a stop at occurrence of an alarm.
  • Page 86 4. STARTUP (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.

  • Page 87: Motorless Operation In Controller

    4. STARTUP 4.5.2 Motorless operation in controller POINT Use motor-less operation which is available by making the servo system controller parameter setting. Motorless operation is done while connected with the servo system controller. (1) Motorless 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.

  • Page 88: Parameters

    5. PARAMETERS Never adjust or change the parameter values extremely as it will make operation CAUTION instable. In the MR-J3-B servo amplifier, the parameters are classified into the following groups on a function basis. Parameter Group Main Description Basic setting parameters When using this servo amplifier in the position control mode, make basic setting with these (No.

  • Page 89: Parameter Write Inhibit

    5. PARAMETERS 5.1.2 Parameter write inhibit Parameter Initial Value Unit Setting Range Symbol Name PA19 *BLK Parameter write inhibit 000Bh Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. In the factory setting, this servo amplifier allows changes to the basic setting parameter, gain/filter parameter and extension setting parameter settings.

  • Page 90: Selection Of Regenerative Brake Option

    5. PARAMETERS 5.1.3 Selection of regenerative brake option Parameter Initial Value Unit Setting Range Symbol Name PA02 **REG Regenerative brake option 0000h Refer to the text. POINT This parameter value and switch power off once, then switch it on again to make that parameter setting valid.

  • Page 91: Forced Stop Input Selection

    5. PARAMETERS 5.1.5 Forced stop input selection Parameter Initial Value Unit Setting Range Symbol Name PA04 *AOP1 Function selection A-1 0000h Refer to the text. POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. The servo forced stop function is voidable.

  • Page 92: Auto Tuning

    5. PARAMETERS 5.1.6 Auto tuning Parameter Initial Value Unit Setting Range Symbol Name PA08 Auto tuning mode 0001h Refer to the text. PA09 Auto tuning response 1 to 32 Make gain adjustment using auto tuning. Refer to Section 6.2 for details. (1) Auto tuning mode (parameter No.

  • Page 93: In-Position Range

    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 Guideline for Machine Setting Response Setting...

  • Page 94: Selection Of Servo Motor Rotation Direction

    5. PARAMETERS 5.1.8 Selection of servo motor rotation direction Parameter Initial Value Unit Setting Range Symbol Name PA14 *POL Rotation direction selection POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. This parameter cannot be used in the speed control mode.
  • Page 95 5. PARAMETERS (1) For output pulse designation Set " " (initial value) 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: 5600 A B-phase output pulses...

  • Page 96: Gain/Filter Parameters (No. Pb )

    5. PARAMETERS 5.2 Gain/Filter Parameters (No. PB POINT Parameter whose symbol is preceded by * is made valid with the following conditions. * : Set the parameter value, switch power off once after setting, and then switch it on again, or perform the controller reset. 5.2.1 Parameter list Symbol Name...

  • Page 97: Detail List

    5. PARAMETERS Symbol Name Initial Value Unit PB42 For manufacturer setting 1125 PB43 0004h PB44 PB45 0000h 5.2.2 Detail list Initial Setting Symbol Name and Function Unit Value Range PB01 FILT Adaptive tuning mode (adaptive filter ) 0000h Select the setting method for filter tuning. Setting this parameter to " 1"...

  • Page 98: Pb04 Ffc Feed Forward Gain

    5. PARAMETERS Initial Setting Symbol Name and Function Unit Value Range PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control) 0000h This parameter cannot be used in the speed control mode. The vibration suppression is valid when the parameter No. PA08 (auto tuning) setting is "...

  • Page 99: Pb06 Gd2 Ratio Of Load Inertia Moment To Servo Motor Inertia Moment

    5. PARAMETERS Initial Setting Symbol Name and Function Unit Value Range PB06 Ratio of load inertia moment to servo motor inertia moment times 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 300.0 automatically used.
  • Page 100 5. PARAMETERS Initial Setting Symbol Name and Function Unit Value Range PB14 NHQ1 Notch shape selection 1 0000h Refer to Used to selection the machine resonance suppression filter 1. Name function column. Notch depth selection Setting value Depth Gain Deep -40dB -14dB -8dB...

  • Page 101: Pb22

    5. PARAMETERS Initial Setting Symbol Name and Function Unit Value Range PB18 Low pass filter setting 3141 rad/s Set the low pass filter. Setting parameter No. PB23 (low pass filter selection) to " " automatically 18000 changes this parameter. When parameter No. PB23 is set to " ", this parameter can be set manually.

  • Page 102: Pb27 Cdl Gain Changing Condition

    5. PARAMETERS Initial Setting Symbol Name and Function Unit Value Range PB26 *CDP Gain changing selection 0000h Refer to Select the gain changing condition. (Refer to Section 7.6.) Name function column. Gain changing selection Under any of the following conditions, the gains change on the basis of the parameter No.

  • Page 103: Pb34 Vrf2B Gain Changing Vibration Suppression Control Resonance Frequency Setting

    5. PARAMETERS Initial Setting Symbol Name and Function Unit Value Range PB34 VRF2B Gain changing - vibration suppression control - resonance frequency setting 100.0 This parameter cannot be used in the speed control mode. Set the resonance frequency for vibration suppression control when the gain changing 100.0 is valid.

  • Page 104: Extension Setting Parameters (No. Pc )

    5. PARAMETERS 5.3 Extension Setting Parameters (No. PC POINT Parameter whose symbol is preceded by * is made valid with the following conditions. * : Set the parameter value, switch power off once after setting, and then switch it on again, or perform the controller reset. **: Set the parameter value, switch power off once, and then switch it on again.

  • Page 105: List Of Details

    5. PARAMETERS 5.3.2 List of details Initial Setting Symbol Name and Function Unit Value Range PC01 *ERZ Error excessive alarm level This parameter cannot be used in the speed control mode. Set error excessive alarm level with rotation amount of servo motor. PC02 Electromagnetic brake sequence output Used to set the delay time (Tb) between electronic brake interlock (MBR) and the base...
  • Page 106 5. PARAMETERS Initial Setting Symbol Name and Function Unit Value Range PC09 MOD1 Analog monitor 1 output 0000h Refer to Used to selection the signal provided to the analog monitor 1 (MO1) output. (Refer to Name Section 5.3.3) function column. Analog monitor 1 (MO1) output selection Setting Item...
  • Page 107 5. PARAMETERS Initial Setting Symbol Name and Function Unit Value Range PC12 Analog monitor 2 offset -999 Used to set the offset voltage of the analog monitor2 (MO2) output. PC13 For manufacturer setting Do not change this value by any means. PC14 PC15 PC16...

  • Page 108: Analog Monitor

    5. PARAMETERS 5.3.3 Analog monitor The servo status can be output to two channels in terms of voltage. Use this function when using an ammeter to monitor the servo status or synchronizing the torque/speed with the other servo. (1) Setting Change the following digits of parameter No.
  • Page 109 5. PARAMETERS Setting Output item Description Setting Output item Description Droop pulses (Note) CCW direction Droop pulses (Note) CCW direction 10[V] 10[V] ( 10V/100 pulses) ( 10V/1000 pulses) 100[pulse] 1000[pulse] 100[pulse] 1000[pulse] -10[V] -10[V] CW direction CW direction Droop pulses CCW direction Droop pulses CCW direction...

  • Page 110: Alarm History Clear

    5. PARAMETERS (3) Analog monitor block diagram Speed Current Droop pulse command command Bus voltage Speed Differ- command Current encoder ential Position Speed Current Position Servo Motor control control control command Encoder Current feedback Differ- ential Position feedback Feedback position Servo Motor Torque speed...

  • Page 111: I/O Setting Parameters (No. Pd )

    5. PARAMETERS 5.4 I/O Setting Parameters (No. PD POINT Parameter whose symbol is preceded by * is made valid with the following conditions. * : Set the parameter value, switch power off once after setting, and then switch it on again, or perform the controller reset. 5.4.1 Parameter list Symbol Name...

  • Page 112: List Of Details

    5. PARAMETERS 5.4.2 List of details Initial Setting Symbol Name and Function Unit Value Range PD01 0000h For manufacturer setting Do not change this value by any means. PD02 0000h PD03 0000h PD04 0000h PD05 0000h PD06 0000h PD07 *DO1 Output signal device selection 1 (CN3-13) 0005h Refer to...
  • Page 113 5. PARAMETERS Initial Setting Symbol Name and Function Unit Value Range PD10 0000h For manufacturer setting Do not change this value by any means. PD11 0004h PD12 0000h PD13 0000h PD14 *DOP3 Function selection D-3 0000h Refer to Set the ALM output signal at warning occurrence. Name and function column.

  • Page 114: General Gain Adjustment

    6. GENERAL GAIN ADJUSTMENT 6. GENERAL 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.

  • Page 115: Adjustment Using Servo Configuration Software

    6. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Used when you want to match Interpolation made for 2 or more the position gain (PG1) axes? between 2 or more axes. Interpolation mode Normally not used for other purposes.
  • Page 116 6. GENERAL GAIN ADJUSTMENT 6.2 Auto tuning 6.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier.

  • Page 117: Auto Tuning Mode Operation

    6. GENERAL GAIN ADJUSTMENT 6.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Load inertia Automatic setting moment Encoder Loop gains Command Current Servo PG1,VG1 control motor PG2,VG2,VIC Current feedback Real-time auto Position/speed Set 0 or 1 to turn on. tuning section feedback Load inertia...

  • Page 118: Adjustment Procedure By Auto Tuning

    6. GENERAL GAIN ADJUSTMENT 6.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment.

  • Page 119: Response Level Setting In Auto Tuning Mode

    6. GENERAL GAIN ADJUSTMENT 6.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No. PA09) of the whole servo system. As the response level setting is increased, the trackability and settling time for a command decreases, but a too high response level will generate vibration.

  • Page 120: Manual Mode 1 (Simple Manual Adjustment)

    6. GENERAL GAIN ADJUSTMENT 6.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, filter tuning mode (parameter No. PB01) or machine resonance suppression filter (parameter No.
  • Page 121 6. GENERAL GAIN ADJUSTMENT (c)Adjustment description 1) Speed loop gain (parameter No. PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression: Speed loop gain setting Speed loop response...
  • Page 122 6. GENERAL GAIN ADJUSTMENT (2) For position control (a) Parameters The following parameters are used for gain adjustment: Parameter No. Abbreviation Name PB06 Ratio of load inertia moment to servo motor inertia moment PB07 Model loop gain PB08 Position loop gain PB09 Speed loop gain PB10...
  • Page 123 6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed loop gain (VG2: parameter No. PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression: Speed loop gain 2 setting Speed loop response...

  • Page 124: Interpolation Mode

    6. GENERAL GAIN ADJUSTMENT 6.4 Interpolation mode The interpolation mode is used to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, the model loop gain and speed loop gain which determine command trackability are set manually and the other parameter for gain adjustment are set automatically.

  • Page 125: Differences In Auto Tuning Between Melservo-J2 And Melservo-J2-Super

    6. GENERAL GAIN ADJUSTMENT 6.5 Differences in auto tuning between MELSERVO-J2 and MELSERVO-J2-Super To meet higher response demands, the MELSERVO-J3 series has been changed in response level setting range from the MELSERVO-J2S-Super series. The following table lists comparison of the response level setting.

  • Page 126: Special Adjustment Functions

    7. SPECIAL ADJUSTMENT FUNCTIONS 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in Chapter 7. 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.
  • Page 127 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive tuning mode (parameter No. PB01). Parameter No.60 0 0 0 Filter tuning mode selection Setting Filter adjustment mode Automatically set parameter Filter OFF (Note) Parameter No. PB13 Filter tuning mode Parameter No.
  • Page 128 7. SPECIAL ADJUSTMENT FUNCTIONS (3) Adaptive tuning mode procedure Adaptive tuning adjustment Operation Is the target response reached? Increase the response setting. Has vibration or unusual noise occurred? Execute or re-execute adaptive tuning. (Set parameter No. PB01 to "0001".) Tuning ends automatically after the If assumption fails after tuning is executed at predetermined period of time.

  • Page 129: Machine Resonance Suppression Filter

    7. SPECIAL ADJUSTMENT FUNCTIONS POINT "Filter OFF" enables a return to the factory-set initial value. When adaptive tuning is executed, vibration sound increases as an excitation signal is forcibly applied for several seconds. When adaptive tuning is executed, machine resonance is detected for a maximum of 10 seconds and a filter is generated.
  • Page 130 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters (a) Machine resonance suppression filter 1 (parameter No. PB13, PB14) Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1 (parameter No. PB13, PB14) When you have made adaptive filter tuning mode (parameter No. PB01) "manual mode", set up the machine resonance suppression filter 1 becomes effective.

  • Page 131: Advanced Vibration Suppression Control

    7. SPECIAL ADJUSTMENT FUNCTIONS 7.4 Advanced Vibration Suppression Control (1) Operation Vibration suppression control is used to further suppress machine end vibration, such as workpiece end vibration and base shake. The motor side operation is adjusted for positioning so that the machine does not shake.
  • Page 132 7. SPECIAL ADJUSTMENT FUNCTIONS (3) Vibration suppression control tuning mode procedure Vibration suppression control tuning adjustment Operation Is the target response reached? Increase the response setting. Has vibration of workpiece end/device increased? Stop operation. Execute or re-execute vibration suppression control tuning. (Set parameter No.
  • Page 133 7. SPECIAL ADJUSTMENT FUNCTIONS (4) Vibration suppression control manual mode Measure work end vibration and device shake with the machine analyzer or external measuring instrument, and set the vibration suppression control vibration frequency (parameter No. PB19) and vibration suppression control resonance frequency (parameter No. PB20) to set vibration suppression control manually.
  • Page 134 7. SPECIAL ADJUSTMENT FUNCTIONS POINT When machine end vibration does not show up in motor end vibration, the setting of the motor end vibration frequency does not produce an effect. When the anti-resonance frequency and resonance frequency can be confirmed using the machine analyzer or external FFT device, do not set the same value but set different values to improve the vibration suppression performance.

  • Page 135: Low-Pass Filter

    7. SPECIAL ADJUSTMENT FUNCTIONS 7.5 Low-pass filter (1) Function When a ballscrew or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque command.

  • Page 136: Function Block Diagram

    7. SPECIAL ADJUSTMENT FUNCTIONS 7.6.2 Function block diagram The valid loop gains PG2, VG2, VIC and GD2 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.

  • Page 137: Parameters

    7. SPECIAL ADJUSTMENT FUNCTIONS 7.6.3 Parameters When using the gain changing function, always set " 3" in parameter No. PA08 (auto tuning) to choose the manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode.
  • Page 138 7. SPECIAL ADJUSTMENT FUNCTIONS (1) Parameters No. PB06 to PB10 These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of ratio of load inertia moment to servo motor inertia moment, position loop gain, speed loop gain and speed integral compensation to be changed.

  • Page 139: Gain Changing Operation

    7. SPECIAL ADJUSTMENT FUNCTIONS 7.6.4 Gain changing operation This operation will be described by way of setting examples. (1) When you choose changing by external input (a) Setting Parameter No. Abbreviation Name Setting Unit PB07 Model loop gain rad/s Ratio of load inertia moment to servo motor PB06 times inertia moment...
  • Page 140 7. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation Name Setting Unit PB07 Model loop gain rad/s Ratio of load inertia moment to servo motor PB06 times inertia moment PB08 Position loop gain rad/s PB09 Speed loop gain 2...
  • Page 141 7. SPECIAL ADJUSTMENT FUNCTIONS MEMO 7 - 16...

  • Page 142: Troubleshooting

    8. TROUBLESHOOTING 8. TROUBLESHOOTING POINT As soon as an alarm occurs, make the Servo off status and interrupt the main circuit power. If an alarm/warning has occurred, refer to this chapter and remove its cause. 8.1 Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed.

  • Page 143: Remedies For Alarms

    8. TROUBLESHOOTING 8.2 Remedies for alarms 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) occurred, always make home position setting CAUTION again.
  • Page 144 8. TROUBLESHOOTING Display Name Definition Cause Action Memory error 1 RAM, memory fault Faulty parts in the servo amplifier Change the servo amplifier. (RAM) Checking method Clock error Printed board fault Alarm (any of 12 and 13) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables.
  • Page 145 8. TROUBLESHOOTING Display Name Definition Cause Action Regenerative Permissible 1. Wrong setting of parameter No. Set correctly. alarm regenerative power PA02 of the built-in 2. Built-in regenerative brake resistor Connect correctly regenerative brake or regenerative brake option is not resistor or connected.
  • Page 146 8. TROUBLESHOOTING Display Name Definition Cause Action Overvoltage Converter bus 1. Regenerative brake option is not Use the regenerative brake option. voltage exceeded used. 400VDC. 2. Though the regenerative brake Setcorrectly. option is used, the parameter No.PA02 setting is " 00 (not used)".
  • Page 147 8. TROUBLESHOOTING Display Name Definition Cause Action Main circuit Main circuit device 1. Servo amplifier faulty. Change the servo amplifier. device overheat overheat 2. The power supply was turned on The drive method is reviewed. and off continuously by overloaded status.

  • Page 148: Remedies For Warnings

    8. TROUBLESHOOTING Display Name Definition Cause Action Error excessive The deviation 1. Acceleration/deceleration time Increase the acceleration/deceleration time between the model constant is too small. constant. position and the 2. Torque limit value set with controller Increase the torque limit value. actual servo motor is too small.
  • Page 149 8. TROUBLESHOOTING Display Name Definition Cause Action Open battery Absolute position detection 1. Battery cable is open. Repair cable or changed. cable warning system battery voltage is 2. Battery voltage supplied from the servo Change battery. low. amplifier to the encoder fell to about 3V or less.

  • Page 150: Outline Drawings

    9. OUTLINE DRAWINGS 9. OUTLINE DRAWINGS 9.1 Servo Amplifier (1) MR-J3-10B MR-J3-20B MR-J3-10B1 MR-J3-20B1 [Unit: mm] 6 mounting hole (80) (Note) CNP1 (Note) CNP2 CNP3 (68) (25.5) With MR-J3BAT Note. This data applies to the 3-phase 200 to 230VAC and 1-phase 230VAC power supply models. For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout.
  • Page 151 9. OUTLINE DRAWINGS (2) MR-J3-40B MR-J3-60B MR-J3-40B1 [Unit: mm] 6 mounting hole (80) (Note) CNP1 (Note) CNP2 CNP3 CHARGE (68) (25.5) With MR-J3BAT Note. This data applies to the 3-phase 200 to 230VAC and 1-phase 230VAC power supply models. For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout. Mass: 1.0 [kg] (2.21 [lb]) Terminal signal layout Mounting screw...
  • Page 152 9. OUTLINE DRAWINGS (3) MR-J3-70B MR-J3-100B [Unit: mm] 6 mounting hole (80) CNP1 CNP2 CNP3 FAN WIND DIRECTION (68) (25.5) With MR-J3BAT Mass: 1.4 [kg] (3.09 [lb]) Terminal signal layout Mounting screw Screw size: M5 PE terminal Tightening torque: 3.24 [N m] (28.7 [lb in]) CNP1 Screw size: M4 Tightening torque: 1.2 [N m] (10 [lb in])
  • Page 153 9. OUTLINE DRAWINGS (4) MR-J3-200B MR-J3-350B [Unit: mm] 6 mounting hole (80) 21.4 FAN WIND (25.5) DIRECTION (68) With MR-J3BAT Mass: 1.4 [kg] (3.09 [lb]) Terminal signal layout Mounting screw Screw size: M5 Tightening torque: PE terminal 3.24 [N m] (28.7 [lb in]) CNP1 Screw size: M4 Tightening torque:...
  • Page 154 9. OUTLINE DRAWINGS (5) MR-J3-500B [Unit: mm] (80) 2- 6 mounting hole 131.5 68.5 Fan air Terminal layout orientation (Terminal cover open) With MR-J3BAT CHARGE 20.5 3 places for ground (M4) Mass: 4.6 [kg] (10.1 [lb]) Terminal signal layout Mounting screw Screw size: M5 Terminal screw: M4 Tightening torque: 3.24[N m] (28.7[ib in])
  • Page 155 9. OUTLINE DRAWINGS (6) MR-J3-700B [Unit: mm] (80) 2- 6 mounting hole Fan air Terminal layout orientation (Terminal cover open) With MR-J3BAT CHARGE 20.5 3 places for ground (M4) Mass: 6.2 [kg] (13.7[lb]) Terminal signal layout Mounting screw Screw size: M5 Terminal screw: M4 Tightening torque: 3.24[N m] (28.7[ib in]) Tightening torque: 1.2[N m]...

  • Page 156: Connector

    9. OUTLINE DRAWINGS 9.2 Connector (1) For CN1A CN1B connector [Unit: mm] F0-PF2D103 F0-PF2D103-S 17.6 17.6 20.9 20.9 (2) For CN2 connector Receptacle: 36210-0100JL Shell kit : 36310-3200-008 [Unit: mm] 39.5 34.8 9 - 7...
  • Page 157 9. OUTLINE DRAWINGS (3) For CN3 connector (a) Soldered type Model Connector : 10120-3000VE Shell kit : 10320-52F0-008 [Unit: mm] 12.0 14.0 Logo etc, are indicated here. 12.7 Each type of dimention Connector Shell kit 10120-3000VE 10320-52F0-008 22.0 33.3 (b) Threaded type Model Connector : 10120-3000VE...

  • Page 158: Characteristics

    10. CHARACTERISTICS 10. CHARACTERISTICS 10.1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier 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.

  • Page 159: Power Supply Equipment Capacity And Generated Loss

    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.
  • Page 160 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:...

  • Page 161: Dynamic Brake Characteristics

    10. CHARACTERISTICS 10.3 Dynamic brake characteristics 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.
  • Page 162 10. CHARACTERISTICS Use the dynamic brake at the load inertia moment indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi.

  • Page 163: Cable Flexing Life

    10. CHARACTERISTICS 10.4 Cable flexing life The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed values, provide a little allowance for these values. 1 10 5 10 1 10 a : Long flexing life encoder cable Long flexing life motor power cable 5 10 Long flexing life motor brake cable...

  • Page 164: Options And Auxiliary Equipment

    11. OPTIONS AND AUXILIARY EQUIPMENT 11. OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or auxiliary equipment, make sure that the charge WARNING lamp is off more than 15 minutes after power-off, then confirm the voltage with a tester or the like. Otherwise, you may get an electric shock. Use the specified auxiliary equipment and options.

  • Page 165: Combinations Of Cable/Connector Sets

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.1 Combinations of cable/connector sets Servo system Cont Parsonal computer 32)33)34) Servo amplifier Servo amplifier 1)2) Note CNP1 CN1A CN1A CNP2 32)33)34) CN1B CN1B CNP3 (Servo anplifier attachment) Direct connection type (cable length 10m or less, IP65) 15)16)17)18) Junction type (cable length more than 10m, IP20) 21)22)
  • Page 166 11. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application 1) Servo Supplied with amplifier servo power supply amplifiers of connector 1kW or less CNP1 CNP2 CNP3 connector: 54928-0610 connector: 54927-0510 connector: 54928-0310 (Molex) (Molex) (Molex) <Applicable cable example> Wire size: 0.14mm (AWG26) to 2.5mm (AWG14) REC.
  • Page 167 11. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application 9) Motor brake MR-BKS1CBL M-A1-L IP65 Brake connector cable Cable length: 2 5 10m Load side lead 10) Motor brake MR-BKS1CBL M-A1-H IP65 HF-MP series cable Cable length: 2 5 10m Load side lead HF-KP series Long flex life...
  • Page 168 11. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application 21) Encoder MR-EKCBL IP20 cable Cable length: 20 30m 22) Encoder MR-EKCBL IP20 cable Cable length: For HF-MP HF-KP series Long flex life 20 30 40 50m Refer to Section 11.1.2 (2) for details. 23) Encoder MR-ECNM IP20...
  • Page 169 11. OPTIONS AND AUXILIARY EQUIPMENT Product Model Description Application 32) SSCNET MR-J3BUS M Connector: PF-2D103 Connector: PF-2D103 Inside panel cable Cable length: 0.15 to 3m (Japan Aviation Electronics (Japan Aviation Electronics standard cord (Refer to Section 11.1.5.) Industry, Ltd.) Industry, Ltd.) 33) SSCNET MR-J3BUS M-A Outside panel...

  • Page 170: Encoder Cable/Connector Sets

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.2 Encoder cable/connector sets (1) MR-J3ENCBL M-A1-L/H MR-J3ENCBL M-A2-L/H These cables are encoder cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model.
  • Page 171 11. OPTIONS AND AUXILIARY EQUIPMENT (b) Cable internal wiring diagram MR-J3ENCBL2M-L/-H MR-J3ENCBL5M-L/-H MR-J3ENCBL10M-L/-H Encoder side Servo amplifier connector side connector Plate (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 "...
  • Page 172 11. OPTIONS AND AUXILIARY EQUIPMENT (a) Connection of servo amplifier and servo motor Servo amplifier MR-EKCBL M-L MR-J3JCBL03M-L MR-EKCBL M-H Cable length: 0.3m Servo motor HF-MP HF-KP Cable Model 1) CN2 Connector 2) Junction Connector MR-EKCBL (1) For soldering (2) For crimping Housing: 1-172161-9 Connector housing: 54593-1011 Connector housing: 51209-1001...
  • Page 173 11. OPTIONS AND AUXILIARY EQUIPMENT (b) Internal wiring diagram MR-EKCBL20M-L MR-EKCBL30M-L Servo amplifier side Encoder side Servo amplifier side Encoder side Plate (Note) CONT Plate (Note) MR-EKCBL20M-H MR-EKCBL30M-H MR-EKCBL40M-H Servo amplifier side Encoder side MR-EKCBL50M-H Servo amplifier side Encoder side Plate (Note) CONT...
  • Page 174 11. OPTIONS AND AUXILIARY EQUIPMENT (c) When fabricating the encoder cable When fabricating the cable, prepare the following parts and tool, and fabricate it according to the wiring diagram in (b). Refer to Section 11.8 for the specifications of the used cable. Parts/Tool Description Connector set...
  • Page 175 11. OPTIONS AND AUXILIARY EQUIPMENT (a) Connection of servo amplifier and servo motor MR-J3JCBL03M-A1-L Servo amplifier Servo motor HF-MP HF-KP MR-EKCBL M-L/-H MR-J3JCBL03M-A2-L Servo motor HF-MP HF-KP Cable Model 1) Junction Connector 2) For Encoder Connector MR-J3JCBL03M-A1-L Housing: 1-172169-9 Connector: 1674320-1 Contact: 1473226-1 Crimping tool for ground clip: 1596970-1 Cable clamp: 316454-1...
  • Page 176 11. OPTIONS AND AUXILIARY EQUIPMENT (4) MR-J3ENSCBL M-L MR-J3ENSCBL These cables are detector cables for HF-SP Series servomotors. 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.
  • Page 177 11. OPTIONS AND AUXILIARY EQUIPMENT (b) Internal wiring diagram MR-J3ENSCBL2M-L/H MR-J3ENSCBL20M-L MR-J3ENSCBL20M-H MR-J3ENSCBL30M-L MR-J3ENSCBL30M-H MR-J3ENSCBL5M-L/H MR-J3ENSCBL10M-L/H MR-J3ENSCBL40M-H Encoder side Servo amplifier MR-J3ENSCBL50M-H connector side connector Encoder side Servo amplifier Encoder side Servo amplifier connector side connector connector side connector Plate Plate Plate (c) When fabricating the encoder cable...
  • Page 178 11. OPTIONS AND AUXILIARY EQUIPMENT (5) MR-J3BTCBL03M This cable is a battery connection cable. Use this cable to retain the current position even if the detector cable is disconnected from the servo amplifier. Cable Cable Model Application Length MR-J3BTCBL03M 0.3m For HF-MP HF-KP HF-SP servo motor (a) Connection of servo amplifier and servo motor Servo amplifier...

  • Page 179: Motor Power Supply Cables

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.3 Motor power supply cables These cables are motor power supply cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model.

  • Page 180: Motor Brake Cables

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.4 Motor brake cables These cables are motor brake cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available.

  • Page 181: Sscnet Cable

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.5 SSCNET cable POINT Do not see directly the light generated from CN1A CN1B connector of servo amplifier or the end of SSCNET cable. When the light gets into eye, you may feel something is wrong for eye. (The light source of SSCNET corresponds to class1 defined in JISC6802 or IEC60825-1.) (1) Model explanations Numeral in the column of cable length on the table is a symbol put in the...
  • Page 182 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawings (a) MR-J3BUS015M [Unit: mm] (6.7) (15) (13.4) Protective tube (37.65) (20.9) (b) MR-J3BUS03M to MR-J3BUS3M Refer to the table of this section (1) for cable length (L). [Unit: mm] Protective tube (Note) (100) (100) Note.

  • Page 183: Regenerative Brake Options

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.2 Regenerative brake options The specified combinations of regenerative brake options and servo amplifiers CAUTION 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] Built-in Servo amplifier...
  • Page 184 11. OPTIONS AND AUXILIARY EQUIPMENT (b) Losses of servo motor and servo amplifier in regenerative mode The following table lists the efficiencies and other data of the servo motor and servo amplifier in the regenerative mode. Servo amplifier Inverse efficiency[%] Capacitor charging[J] MR-J3-10B MR-J3-10B1...
  • Page 185 11. OPTIONS AND AUXILIARY EQUIPMENT (4) Connection of the regenerative brake option POINT When the MR-RB50 MR-RB51 is used, a fan is required to cool it. The cooling fan should be prepared by the customer. For the sizes of wires used for wiring, refer to Section 11.8. The regenerative brake option will generate heat of about 100 .
  • Page 186 11. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J3-500B MR-J3-700B Always remove the wiring (across P-C) of the servo amplifier built-in regenerative brake resistor and fit the regenerative brake option across P-C. The G3 and G4 terminals act as a thermal protector. G3-G4 are opened when the regenerative brake option overheats abnormally.
  • Page 187 11. OPTIONS AND AUXILIARY EQUIPMENT The drawing below shows the MR-J3-500B. For built-in regenerative brake resistor lead terminal fixing screw, refer to Chapter 9. Built-in regenerative brake resistor lead terminal fixing screw For the MR-RB51 install the cooling fan as shown. [Unit : mm] Fan installation screw hole dimensions 2-M3 screw hole...
  • Page 188 11. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline dimension drawings (a) MR-RB032 MR-RB12 [Unit: mm] TE1 terminal block 6 mounting hole Terminal screw: M3 MR-RB Tightening torque: 0.5 to 0.6 [N m] (4 to 5 [lb in]) Mounting screw Screw: M5 Tightening torque: 3.2 [N m] (28.3 [lb in ]) Regenerative Variable dimensions...
  • Page 189 11. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-RB50 MR-RB51 [Unit: mm] Terminal block Fan mounting screw (2-M3 screw) 82.5 On opposite side Terminal screw: M4 Tightening torque: 1.2 [N m](10 [lb in]) 14 slot Mounting screw Screw : M6 Tightening torque: 5.4 [N m](47.79 [lb in]) Wind blows in the arrow direction.

  • Page 190: Brake Unit

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.3 Brake unit POINT The brake unit and resistor unit of other than 200V class are not applicable to the servo amplifier. The brake unit and resistor unit of the same capacity must be combined. The units of different capacities may result in damage.
  • Page 191 11. OPTIONS AND AUXILIARY EQUIPMENT The cables between the servo amplifier and brake unit and between the resistor unit and brake unit should be as short as possible. The cables longer than 5m should be twisted. If twisted, the cables must not be longer than 10m.

  • Page 192: Power Regeneration Converter

    11. OPTIONS AND AUXILIARY EQUIPMENT (b) Resistor unit (FR-BR) [Unit : mm] 2- D Control circuit (Note) terminals Main circuit terminals FR-BR-55K Two eye bolts are provided (as shown below). AA 5 Eye bolt Note: Ventilation ports are provided in both side faces and top face. The bottom face is open. Resistor Approx.
  • Page 193 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier Power factor improving reactor FR-BAL Power supply 3-phase 200V or 230VAC 24VDC Forced stop DOCOM DOCOM DICOM Trouble(Note 3) (Note 2) 5m(16.4ft) or less (Note 4) Ready output Alarm output R R X (Note 1) Phase detection...
  • Page 194 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions of the power regeneration converters [Unit : mm] Mounting foot (removable) 2- D hole Mounting foot movable Rating plate Display panel Front cover window Cooling fan Heat generation area outside mounting dimension Power Approx.

  • Page 195: Junction Terminal Block Ps7Dw-20V14B-F (Recommended)

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.5 Junction terminal block PS7DW-20V14B-F (Recommended) (1) How to use the junction terminal block Always use the junction terminal block (PS7W-20V14B-F(YOSHIDA ELECTRIC INDUSTRY)) with the option cable (MR-J2HBUS M) as a set. A connection example is shown below: Servo amplifier Cable clamp Junction terminal block...
  • Page 196 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawings of junction terminal block [Unit : mm] 44.11 7.62 TB.E M3 5L 1.42 M3 6L 11 - 33...

  • Page 197: Mr Configurator

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.6 MR Configurator The MR configurator (MRZJW3-SETUP221E) 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 Display, high speed monitor, trend graph Monitor Minimum resolution changes with the processing speed of the personal computer.

  • Page 198: Battery Unit Mr-J3Bat

    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 ". MELSERVO MR-J3BA 3.6V,2000mAh SERIAL MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN The year and month of manufacture 11 - 35...

  • Page 199: Recommended Wires

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.8 Recommended wires POINT Refer to Section 11.1.5 for SSCNET cable. (1) Wires for power supply wiring The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent. 3) Motor power supply lead 1) Main circuit power supply lead Servo motor...
  • Page 200 11. OPTIONS AND AUXILIARY EQUIPMENT Use wires 6) of the following sizes with the brake unit (FR-BU) and power regeneration converter (FR-RC). Model Wires[mm FR-BU-15K 3.5(AWG12) FR-BU-30K 5.5(AWG10) FR-BU-55K 14(AWG6) FR-RC-15K 14(AWG6) Table 11.2 Recommended crimping terminals Servo amplifier side crimping terminals Symbol Crimping terminal Applicable tool...
  • Page 201 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Wires for cables When fabricating a cable, use the wire models given in the following table or equivalent: Table 11.3 Wires for option cables Characteristics of one core (Note 3) Insulation Length Core size Number Conductor Type...

  • Page 202: No-Fuse Breakers, Fuses, Magnetic Contactors

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.9 No-fuse breakers, fuses, magnetic contactors Always use one no-fuse breaker and one magnetic contactor with one servo amplifier. When using a fuse instead of the no-fuse breaker, use the one having the specifications given in this section. Fuse Servo amplifier No-fuse breaker...

  • Page 203: Power Factor Improving Dc Reactor

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.10 Power Factor Improving DC Reactor POINT For the 100VAC power supply type (MR-J3- B1), the power factor improving DC reactor cannot be used. The power factor improving DC reactor increases the form factor of the servo amplifier's input current to improve the power factor.

  • Page 204: Power Factor Improving Reactors

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.11 Power factor improving reactors The power factor improving 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%.

  • Page 205: Surge Absorbers (Recommended)

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.13 Surge absorbers (Recommended) A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent. Insulate the wiring as shown in the diagram. Maximum rating Static Maximum capacity Varistor voltage Permissible circuit Surge Energy...
  • Page 206 11. OPTIONS AND AUXILIARY EQUIPMENT (c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables.
  • Page 207 11. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route 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.
  • Page 208 11. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge suppressor The recommended surge suppressor for installation to an AC relay, AC valve, AC electromagnetic brake or the like near the servo amplifier is shown below. Use this product or equivalent. Relay Surge suppressor Surge suppressor This distance should be short Surge suppressor...
  • Page 209 11. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] Earth plate Clamp section diagram 2- 5 hole 17.5 installation hole L or less (Note)M4 screw Note. Screw hole for grounding. Connect it to the earth plate of the control box. Type Accessory fittings Clamp fitting...
  • Page 210 11. OPTIONS AND AUXILIARY EQUIPMENT (d) Line noise filter (FR-BSF01, FR-BLF) 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.

  • Page 211: Leakage Current Breaker

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.15 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.
  • Page 212 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions: Servo Servo motor amplifier HF-KP43 MR-J3-40B Use a leakage current breaker generally available. Find the terms of Equation (11.2) from the diagram: 0.1 [mA] 1000 0.1 [mA]...

  • Page 213: Emc Filter (Recommended)

    11. OPTIONS AND AUXILIARY EQUIPMENT 11.16 EMC filter (Recommended) For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter: Some EMC filters are large in leakage current. (1) Combination with the servo amplifier Recommended filter Servo amplifier Mass [kg]([lb])
  • Page 214 11. OPTIONS AND AUXILIARY EQUIPMENT HF3030A-UN HF-3040A-UN Dimensions [mm] Model HF3030A-UN R3.25, length HF3040A-UN 11 - 51...
  • Page 215 11. OPTIONS AND AUXILIARY EQUIPMENT MEMO 11 - 52...

  • Page 216: Absolute Position Detection System

    12. ABSOLUTE POSITION DETECTION SYSTEM 12. ABSOLUTE POSITION DETECTION SYSTEM If an absolute position erase alarm (25) or absoluto position counter warning (E3) CAUTION has occurred, always perform home position setting again. Not doing so can cause runaway. 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.

  • Page 217: Specifications

    12. ABSOLUTE POSITION DETECTION SYSTEM 12.2 Specifications POINT Replace the battery with only the control circuit power ON. Removal of the battery with the control circuit power OFF will erase the absolute position data. (1) Specification list Item Description System Electronic battery backup system 1 piece of lithium battery ( primary battery, nominal 3.6V)

  • Page 218: Battery Installation Procedure

    12. ABSOLUTE POSITION DETECTION SYSTEM 12.3 Battery installation procedure Before starting battery installation procedure, make sure that the charge lamp is off more than 15 minutes after main circuit power is switched OFF. Then, confirm that WARNING the voltage between P-N terminals is safe in the tester or the like with control circuit power ON.

  • Page 219: Confirmation Of Absolute Position Detection Data

    12. ABSOLUTE POSITION DETECTION SYSTEM 12.4 Confirmation of absolute position detection data You can confirm the absolute position data with MR Configurator (servo configuration software). 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"...

  • Page 220: Appendix

    Appendix App 1. Parameter list POINT Parameter whose symbol is preceded by * is made valid with the following conditions. * : Set the parameter value, switch power off once after setting, and then switch it on again, or perform the controller reset. **: Set the parameter value, switch power off once, and then switch it on again.

  • Page 221: App 2. Signal Layout Recording Paper

    Appendix Extension setting parameters (PC I/O setting parameters (PD Symbol Name Symbol Name PC01 *ERZ Error excessive alarm level PD01 For manufacturer setting PC02 Electromagnetic brake sequence output PD06 PC03 *ENRS Encoder output pulses selection PC04 **COP1 Function selection C-1 PD07 *D01 Output signal device selection 1 (CN3-pin 13)

  • Page 222: App 3. Twin Type Connector : Outline Drawing For 721-2105/026-000(Wago)

    Appendix App 3. Twin type connector : Outline drawing for 721-2105/026-000(WAGO) [Unit: mm] Latch Coding finger Detecting hole 4 5( 20) (4 1.97( 0.788)) 26.45 15.1 5.25 4.75 2.75 Driver slot Wire inserting hole App - 3...

  • Page 223: App 4. Combination Of Servo Amplifier And Servo Motor

    Appendix App 4. Combination of servo amplifier and servo motor The servo amplifier software versions compatible with the servo motors are indicated in the parentheses. The servo amplifiers whose software versions are not indicated can be used regardless of the versions. Servo amplifier Servo motor (Software version)
  • Page 224 REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision May, 2005 SH(NA)030051-A First edition...
  • Page 225 MODEL MODEL CODE HEAD OFFICE:MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030051-A (0505) MEE Printed in Japan Specifications subject to change without notice.

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