Mitsubishi Electronics Digital Car Amplifier Mr J3 B Users Manual □B Instruction
MR-J3-B to the manual 76c7a409-5962-44be-a79b-fad4dbd4bfef
2015-02-09
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General-Purpose AC Servo J3 Series SSCNET Compatible MODEL MR-J3-B INSTRUCTIONMANUAL MODEL CODE 1CW202 J3 Series MR-J3- B Servo Amplifier Instruction Manual D MODEL MR-J3- B SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030051-D (0806) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications subject to change without notice. D Safety Instructions (Always read these instructions before using the equipment.) Do not attempt to install, operate, maintain or inspect the converter unit, servo amplifier (drive unit) 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 converter unit, servo amplifier (drive unit) 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 installation guide, 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 (20 minutes or for drive unit 30kW or more) until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) (L and L for drive unit 30kW or more) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier (converter unit), whether the charge lamp is off or not. Connect the converter unit, servo amplifier (drive unit) 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 converter unit, servo amplifier (drive unit) 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. During power-on or operation, do not open the front cover. You may get an electric shock. Do not operate the converter unit and servo amplifier (drive unit) with the front cover removed. Highvoltage terminals and charging area are exposed and you may get an electric shock. Except for wiring or periodic inspection, do not remove the front cover even if the power is off. The servo amplifier (drive unit) is charged and you may get an electric shock. 2. To prevent fire, note the following CAUTION Install the converter unit, servo amplifier (drive unit), 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 (MC) between the main circuit power supply and L1, L2, and L3 of the converter unit, servo amplifier (drive unit), and configure the wiring to be able to shut down the power supply on the side of the converter unit, servo amplifier (drive unit) power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may cause a fire when the converter unit, servo amplifier (drive unit) 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. 3. To prevent injury, note the follow 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 converter unit and servo amplifier (drive unit) 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. A- 2 4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc. (1) Transportation and installation CAUTION 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. Do not hold the front cover to transport the converter unit and servo amplifier (drive unit). The converter unit and servo amplifier (drive unit) may drop. Install the converter unit and servo amplifier (drive unit) 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 converter unit, servo amplifier (drive unit), and servo motor must be installed in the specified direction. Leave specified clearances between the converter unit, servo amplifier (drive unit), and control enclosure walls or other equipment. Do not install or operate the converter unit, servo amplifier (drive unit), and servo motor which has been damaged or has any parts missing. When you keep or use it, please fulfill the following environmental conditions. Conditions Environment Ambient temperature Converter unit servo amplifier (drive unit) Servo motor In [ ] 0 to 55 (non-freezing) 0 to 40 (non-freezing) operation [ ] 32 to 131 (non-freezing) 32 to 104 (non-freezing) [ ] 20 to 65 (non-freezing) [ ] 4 to 149 (non-freezing) In storage 15 to 70 (non-freezing) 5 to 158 (non-freezing) Ambient In operation 90%RH or less (non-condensing) humidity In storage 90%RH or less (non-condensing) 80%RH or less (non-condensing) Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m (3280 ft) above sea level HF-MP series HF-SP51 81 HF-KP series X, Y: 49 m/s2 HF-SP52 to 152 HF-SP524 to 1524 HC-RP Series 2 X, Y: 24.5 m/s HC-UP72 152 HF-SP121 201 HF-SP2024 3524 HF-SP301 421 (Note) Vibration 2 [m/s ] HF-SP202 352 HC-UP202 to 502 HF-SP502 702 HF-SP5024 7024 5.9 or less X: 9.8 m/s2 Y: 24.5 m/s2 HC-LP202 to 302 X: 19.6 m/s2 Y: 49 m/s2 HA-LP502 to 22K2 HA-LP701M4 15K1M4 HA-LP701M to 15K1M HA-LP6014 12K14 2 2 X: 11.7 m/s Y: 29.4 m/s HA-LP11K24 to 22K24 HA-LP15K1 to 37K1 HA-LP22K1M to 37K1M HA-LP30K2 37K2 HA-LP15K14 to 37K14 HA-LP22K1M4 to 50K1M4 HA-LP30K24 to 55K24 A- 3 X: 24.5 m/s2 Y: 29.4 m/s2 HC-LP52 to 152 HA-LP601 to 12K1 Note. Except the servo motor with reduction gear. X: 24.5 m/s2 Y: 49 m/s2 X, Y: 9.8 m/s2 CAUTION Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the converter unit, servo amplifier (drive unit), and servo motor. Do not drop or strike converter unit, servo amplifier (drive unit), 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 servo motor with reduction gear 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, consult Mitsubishi. (2) Wiring CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF (-H) option) between the servo motor and servo amplifier (drive unit). Connect the wires to the correct phase terminals (U, V, W) of the servo amplifier (drive unit) and servo motor. Otherwise, the servo motor does not operate properly. Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W) directly. Do not let a magnetic contactor, etc. intervene. Servo amplifier (drive unit) Servo motor U U V V M W W Servo motor U U V V Servo amplifier (drive unit) M W W Do not connect AC power directly to the servo motor. Otherwise, a fault may occur. The surge absorbing diode installed on the DC output signal relay of the servo amplifier (drive unit) must be wired in the specified direction. Otherwise, the forced stop (EM1) and other protective circuits may not operate. Servo amplifier (drive unit) Servo amplifier (drive unit) 24VDC 24VDC DOCOM DOCOM DICOM DICOM Control output signal Control output signal RA RA 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. A- 4 (3) Test run adjustment CAUTION Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. The parameter settings must not be changed excessively. Operation will be insatiable. (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 (drive unit) 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 converter unit and servo amplifier (drive unit). Burning or breaking a converter unit and servo amplifier (drive unit) may cause a toxic gas. Do not burn or break a converter unit and servo amplifier (drive unit). Use the converter unit and servo amplifier (drive unit) 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 the electromagnetic brake circuit so that it is activated not only by the servo amplifier (drive unit) signals but also by an external forced stop (EM1). Contacts must be open when servo-off, when an trouble (ALM) and when an electromagnetic brake interlock (MBR). Servo motor Circuit must be opened during forced stop (EM1). RA EM1 24VDC Electromagnetic brake When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. When power is restored after an instantaneous power failure, keep away from the machine because the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted). (6) Maintenance, inspection and parts replacement CAUTION With age, the electrolytic capacitor of the converter unit and servo amplifier (drive unit) 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 consult our sales representative. (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 About processing of waste When you discard converter unit and servo amplifier (drive unit), 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. Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine, passenger movement vehicles or under water relays, contact Mitsubishi. These products have been manufactured under strict quality control. However, when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system. EEP-ROM life The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the converter unit, servo amplifier (drive unit) and/or converter unit may fail when the EEP-ROM reaches the end of its useful life. Write to the EEP-ROM due to parameter setting changes Write to the EEP-ROM due to device changes 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 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). CE marking applies to machines and equipment into which servo have been installed. (1) EMC directive The EMC directive applies not to the servo units alone but to 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. Hence, they are designed to comply with the low voltage directive. This servo is certified by TUV, third-party assessment organization, to comply with the low voltage directive. (3) Machine directive Not being machines, the converter unit, servo amplifiers (drive unit) need not comply with this directive. 2. PRECAUTIONS FOR COMPLIANCE (1) Converter unit, servo amplifiers (drive unit), and servo motors used Use the converter unit, servo amplifiers (drive unit), and servo motors which comply with the standard model. Converter unit series :MR-J3-CR55K MR-J3-CR55K4 Servo amplifier (drive unit) series :MR-J3-10B to MR-J3-22KB MR-J3-10B1 to MR-J3-40B1 MR-J3-60B4 to MR-J3-22KB4 MR-J3-DU30KB to MR-J3-DU37KB MR-J3-DU30KB4 to MR-J3-DU55KB4 Servo motor series :HF-MP HF-KP HF-SP (Note) HF-SP 4 (Note) HC-RP HC-UP HC-LP HA-LP (Note) HA-LP 4 (Note) Note. For the latest information of compliance, contact Mitsubishi. A- 8 (2) Configuration The control circuit provide safe separation to the main circuit in the converter unit and servo amplifier (drive unit). (a) MR-J3-22KB(4) or less Control box Reinforced insulating type No-fuse breaker Magnetic contactor NFB MC 24VDC power supply Servo amplifier Servo motor M (b) MR-J3-DU30KB(4) or more Control box No-fuse breaker Magnetic contactor NFB MC Reinforced insulating type 24VDC power supply Converter unit Drive unit Servo motor M (3) Environment Operate the converter unit and servo amplifier (drive unit) at or above the contamination level 2 set forth in IEC60664-1. For this purpose, install the converter unit and servo amplifier (drive unit) in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54). (4) Power supply (a) This converter unit and servo amplifier (drive unit) 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 class for single-phase supply, a reinforced insulating transformer is required in the power input section. (b) When supplying interface power from external, use a 24VDC power supply which has been insulationreinforced in I/O. (5) Grounding (a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked converter unit and servo amplifier (drive unit) to the protective earth (PE) of the control box. A- 9 ) of the (b) Do not connect two ground cables to the same protective earth (PE) terminal. Always connect the cables to the terminals one-to-one. PE terminals PE terminals (c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals of the converter unit and servo amplifier (drive unit) must be connected to the corresponding earth terminals. (6) Wiring (a) The cables to be connected to the terminal block of the converter unit and servo amplifier (drive unit) must have crimping terminals provided with insulating tubes to prevent contact with adjacent terminals. Crimping terminal Insulating tube Cable (b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard compliant power connector sets are available from us as options. (Refer to section 11.1) (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 11.12 (Section 13.9.5 for 30kW or more). Use a type B (Note) breaker. When it is not used, provide insulation between the converter unit, servo amplifier (drive unit) and other device by double insulation or reinforced insulation, or install a transformer between the main power supply, converter unit and servo amplifier (drive unit). Note. Type A: AC and pulse detectable Type B: Both AC and DC detectable (b) The sizes of the cables described in section 11.8 meet the following requirements. To meet the other requirements, follow Table 5 and Appendix C in EN60204-1. Ambient temperature: 40 (104) [°C (°F)] Sheath: PVC (polyvinyl chloride) Installed on wall surface or open table 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 converter unit and servo amplifier (drive unit) has been installed, it must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment/electrical equipment specifications. For the other EMC directive guidelines on the converter unit and servo amplifier (drive unit), refer to the EMC Installation Guidelines(IB(NA)67310). A - 10 CONFORMANCE WITH UL/C-UL STANDARD (1) Converter unit, servo amplifiers (drive unit) and servo motors used Use the converter unit, servo amplifiers (drive unit) and servo motors which comply with the standard model. Converter unit series Servo amplifier (drive unit) series Servo motor series :MR-J3-CR55K MR-J3-CR55K4 :MR-J3-10B to MR-J3-22KB MR-J3-10B1 to MR-J3-40B1 MR-J3-60B4 to MR-J3-22KB4 MR-J3-DU30KB to MR-J3-DU37KB MR-J3-DU30KB4 to MR-J3-DU55KB4 :HF-MP HF-KP HF-SP (Note) HF-SP 4 (Note) HC-RP HC-UP HC-LP HA-LP (Note) HA-LP 4 (Note) Note. For the latest information of compliance, contact Mitsubishi. (2) Installation 3 Install a fan of 100CFM (2.8m /min) air flow 4[in] (10.16[cm]) above the servo amplifier (drive unit) or provide cooling of at least equivalent capability to ensure that the ambient temperature conforms to the environment conditions (55 or less). (3) Short circuit rating: SCCR (Short Circuit Current Rating) This servo amplifier (drive unit) conforms to the circuit whose peak current is limited to 100kA or less, 500Volts Maximum. Having been subjected to the short-circuit tests of the UL in the alternating-current circuit, the servo amplifier (drive unit) conforms to the above circuit. A - 11 (4) Capacitor discharge time The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for 15 minutes (more than 20 minutes in case drive unit is 30kW or more) after power-off. Servo amplifier MR-J3-10B MR-J3-40B 60B(4) Discharge time [min] 20B 1 10B1 20B1 2 MR-J3-70B 3 MR-J3-40B1 4 MR-J3-100B(4) 5 MR-J3-200B(4) MR-J3-350B4 350B 500B(4) 700B(4) 9 10 MR-J3-11KB(4) 4 MR-J3-15KB(4) 6 MR-J3-22KB(4) 8 Converter unit MR-J3-CR55K Drive unit MR-J3-DU30KB MR-J3-DU37KB MR-J3-DU30KB4 MR-J3-CR55K4 Discharge time [min] MR-J3-DU37KB4 20 MR-J3-DU45KB4 MR-J3-DU55KB4 (5) Options and auxiliary equipment Use UL/C-UL standard-compliant products. (6) Attachment of a servo motor For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE WITH UL/C-UL STANDARD” in the Servo Motor Instruction Manual (Vol.2). (7) 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. For installation in Canada, branch circuit protection must be provided, in accordance with the Canada Electrical Code and any applicable provincial codes. A - 12 <> This Instruction Manual and the MELSERVO Servo Motor Instruction Manual (Vol.2) 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. MELSERVO-J3 Series Instructions and Cautions for Safe Use of AC Servos (Enclosed in converter unit and servo amplifier (drive unit).) MELSERVO Servo Motor Instruction Manual Vol.2 IB(NA)0300077 SH(NA)030041 EMC Installation Guidelines IB(NA)67310 Details of MR-J3-CR55K(4) and MR-J3-DU30KB(4) to MR-J3-DU55KB4 are described in chapter 13 of this INSTRUCTION MANUAL. For the products of 30kW or more, refer to chapter 13. < > Wiring wires mentioned in this instruction manual are selected based on the ambient temperature of 40°C (104 ). A - 13 MEMO A - 14 CONTENTS 1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -28 1.1 Introduction............................................................................................................................................... 1 - 1 1.2 Function block diagram............................................................................................................................ 1 - 2 1.3 Servo amplifier standard specifications................................................................................................... 1 - 5 1.4 Function list .............................................................................................................................................. 1 - 7 1.5 Model code definition ............................................................................................................................... 1 - 8 1.6 Combination with servo motor ................................................................................................................ 1 -10 1.7 Structure .................................................................................................................................................. 1 -11 1.7.1 Parts identification ............................................................................................................................ 1 -11 1.7.2 Removal and reinstallation of the front cover.................................................................................. 1 -18 1.8 Configuration including auxiliary equipment........................................................................................... 1 -21 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 - 4 2.5 Inspection items ....................................................................................................................................... 2 - 6 2.6 Parts having service lives ........................................................................................................................ 2 - 6 3. SIGNALS AND WIRING 3 - 1 to 3 -52 3.1 Input power supply circuit ........................................................................................................................ 3 - 2 3.2 I/O signal connection example ............................................................................................................... 3 -10 3.3 Explanation of power supply system ...................................................................................................... 3 -12 3.3.1 Signal explanations .......................................................................................................................... 3 -12 3.3.2 Power-on sequence ......................................................................................................................... 3 -13 3.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................ 3 -14 3.4 Connectors and signal arrangements .................................................................................................... 3 -23 3.5 Signal (device) explanations................................................................................................................... 3 -24 3.6 Alarm occurrence timing chart................................................................................................................ 3 -27 3.7 Interfaces................................................................................................................................................. 3 -28 3.7.1 Internal connection diagram ............................................................................................................ 3 -28 3.7.2 Detailed description of interfaces..................................................................................................... 3 -29 3.7.3 Source I/O interfaces ....................................................................................................................... 3 -31 3.8 Treatment of cable shield external conductor ........................................................................................ 3 -32 3.9 SSCNET cable connection .................................................................................................................. 3 -33 3.10 Connection of servo amplifier and servo motor ................................................................................... 3 -35 3.10.1 Connection instructions.................................................................................................................. 3 -35 3.10.2 Power supply cable wiring diagrams ............................................................................................. 3 -36 3.11 Servo motor with an electromagnetic brake......................................................................................... 3 -46 3.11.1 Safety precautions ......................................................................................................................... 3 -46 3.11.2 Timing charts .................................................................................................................................. 3 -47 3.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor) ..................................................... 3 -50 3.12 Grounding.............................................................................................................................................. 3 -51 1 3.13 Control axis selection............................................................................................................................ 3 -52 4. STARTUP 4 - 1 to 4 -10 4.1 Switching power on for the first time ....................................................................................................... 4 - 1 4.1.1 Startup procedure.............................................................................................................................. 4 - 1 4.1.2 Wiring check ...................................................................................................................................... 4 - 2 4.1.3 Surrounding environment.................................................................................................................. 4 - 3 4.2 Start up ..................................................................................................................................................... 4 - 4 4.3 Servo amplifier display............................................................................................................................. 4 - 5 4.4 Test operation .......................................................................................................................................... 4 - 7 4.5 Test operation mode ................................................................................................................................ 4 - 8 4.5.1 Test operation mode in MR Configurator ......................................................................................... 4 - 8 4.5.2 Motorless operation in controller...................................................................................................... 4 -10 5. PARAMETERS 5 - 1 to 5 -28 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 regenerative option ....................................................................................................... 5 - 4 5.1.4 Using absolute position detection system ........................................................................................ 5 - 5 5.1.5 Forced stop input selection ............................................................................................................... 5 - 5 5.1.6 Auto tuning ........................................................................................................................................ 5 - 6 5.1.7 In-position range................................................................................................................................ 5 - 7 5.1.8 Selection of servo motor rotation direction ....................................................................................... 5 - 8 5.1.9 Encoder output pulse ........................................................................................................................ 5 - 8 5.2 Gain/filter parameters (No. PB )....................................................................................................... 5 - 10 5.2.1 Parameter list .................................................................................................................................. 5 - 10 5.2.2 Detail list ........................................................................................................................................... 5 -11 5.3 Extension setting parameters (No. PC ) ........................................................................................... 5 -18 5.3.1 Parameter list ................................................................................................................................... 5 -18 5.3.2 List of details..................................................................................................................................... 5 -19 5.3.3 Analog monitor ................................................................................................................................. 5 -22 5.3.4 Alarm history clear............................................................................................................................ 5 -24 5.4 I/O setting parameters (No. PD )....................................................................................................... 5 -25 5.4.1 Parameter list ................................................................................................................................... 5 -25 5.4.2 List of details..................................................................................................................................... 5 -26 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 MR Configurator................................................................................................... 6 - 2 6.2 Auto tuning ............................................................................................................................................... 6 - 3 6.2.1 Auto tuning mode .............................................................................................................................. 6 - 3 6.2.2 Auto tuning mode operation.............................................................................................................. 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 2 6.4 Interpolation mode .................................................................................................................................. 6 -11 6.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning................................ 6 -12 7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 1 to 7 -16 7.1 Function block diagram............................................................................................................................ 7 - 1 7.2 Adaptive filter ......................................................................................................................................... 7 - 1 7.3 Machine resonance suppression filter..................................................................................................... 7 - 4 7.4 Advanced vibration suppression control ................................................................................................. 7 - 6 7.5 Low-pass filter ......................................................................................................................................... 7 -10 7.6 Gain changing function ........................................................................................................................... 7 -10 7.6.1 Applications ...................................................................................................................................... 7 -10 7.6.2 Function block diagram.................................................................................................................... 7 -11 7.6.3 Parameters ....................................................................................................................................... 7 -12 7.6.4 Gain changing operation.................................................................................................................. 7 -14 8. TROUBLESHOOTING 8 - 1 to 8 -10 8.1 Alarms and warning list............................................................................................................................ 8 - 1 8.2 Remedies for alarms................................................................................................................................ 8 - 2 8.3 Remedies for warnings ............................................................................................................................ 8 - 8 9. OUTLINE DRAWINGS 9 - 1 to 9 -12 9.1 Servo amplifier ......................................................................................................................................... 9 - 1 9.2 Connector ................................................................................................................................................ 9 -10 10. CHARACTERISTICS 10- 1 to 10-10 10.1 Overload protection characteristics ...................................................................................................... 10- 1 10.2 Power supply equipment capacity and generated loss ....................................................................... 10- 3 10.3 Dynamic brake characteristics.............................................................................................................. 10- 6 10.3.1 Dynamic brake operation............................................................................................................... 10- 6 10.3.2 The dynamic brake at the load inertia moment............................................................................. 10- 9 10.4 Cable flexing life................................................................................................................................... 10-10 10.5 Inrush currents at power-on of main circuit and control circuit ........................................................... 10-10 11. OPTIONS AND AUXILIARY EQUIPMENT 11- 1 to 11-90 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- 8 11.1.3 Motor power supply cables ........................................................................................................... 11-17 11.1.4 Motor brake cables........................................................................................................................ 11-18 11.1.5 SSCNET cable ........................................................................................................................... 11-19 11.2 Regenerative options ........................................................................................................................... 11-21 11.3 FR-BU2-(H) Brake unit......................................................................................................................... 11-34 11.3.1 Selection ........................................................................................................................................ 11-35 11.3.2 Brake unit parameter setting......................................................................................................... 11-35 11.3.3 Connection example ..................................................................................................................... 11-36 3 11.3.4 Outline dimension drawings.......................................................................................................... 11-43 11.4 Power regeneration converter ............................................................................................................. 11-45 11.5 Power regeneration common converter .............................................................................................. 11-48 11.6 External dynamic brake ....................................................................................................................... 11-56 11.7 Junction terminal block PS7DW-20V14B-F (recommended)............................................................. 11-61 11.8 MR Configurator................................................................................................................................... 11-62 11.9 Battery MR-J3BAT ............................................................................................................................... 11-64 11.10 Heat sink outside mounting attachment (MR-J3ACN)...................................................................... 11-65 11.11 Selection example of wires ................................................................................................................ 11-67 11.12 No-fuse breakers, fuses, magnetic contactors ................................................................................. 11-72 11.13 Power factor improving DC reactor ................................................................................................... 11-72 11.14 Power factor improving AC reactors ................................................................................................. 11-74 11.15 Relays (recommended) ..................................................................................................................... 11-75 11.16 Surge absorbers (recommended) ..................................................................................................... 11-76 11.17 Noise reduction techniques ............................................................................................................... 11-76 11.18 Leakage current breaker.................................................................................................................... 11-83 11.19 EMC filter (recommended) ................................................................................................................ 11-85 12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 6 12.1 Features ................................................................................................................................................ 12- 1 12.2 Specifications ........................................................................................................................................ 12- 2 12.3 Battery installation procedure ............................................................................................................... 12- 3 12.4 Confirmation of absolute position detection data................................................................................. 12- 5 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13- 1 to 13-102 13.1. Functions and menus........................................................................................................................... 13- 1 13.1.1 Function block diagram.................................................................................................................. 13- 2 13.1.2 Packing list ..................................................................................................................................... 13- 4 13.1.3 Standard specifications.................................................................................................................. 13- 5 13.1.4 Model definition .............................................................................................................................. 13- 8 13.1.5 Combinations of converter units, drive unit and servo motors ..................................................... 13- 9 13.1.6 Parts identification ......................................................................................................................... 13-10 13.1.7 Removal and reinstallation of the terminal block cover ............................................................... 13-13 13.1.8 Servo system with auxiliary equipment ........................................................................................ 13-19 13.2 Installation ............................................................................................................................................ 13-20 13.2.1 Installation direction and clearances ............................................................................................ 13-21 13.2.2 Inspection ...................................................................................................................................... 13-22 13.3 Signals and wiring ................................................................................................................................ 13-23 13.3.1 Magnetic contactor control connector (CNP1) ............................................................................. 13-24 13.3.2 Input power supply circuit ............................................................................................................. 13-26 13.3.3 Terminal......................................................................................................................................... 13-31 13.3.4 How to use the connection bars ................................................................................................... 13-32 13.3.5 Connectors and signal arrangements .......................................................................................... 13-33 13.3.6 Converter unit signal (device) explanations ................................................................................. 13-35 13.3.7 Timing chart................................................................................................................................... 13-37 13.3.8 Servo motor side details ............................................................................................................... 13-47 13.4 Display section and operation section of the converter unit ............................................................... 13-49 4 13.4.1 Display flowchart ........................................................................................................................... 13-49 13.4.2 Status display mode...................................................................................................................... 13-50 13.4.3 Diagnostic mode............................................................................................................................ 13-51 13.4.4 Alarm mode ................................................................................................................................... 13-53 13.4.5 Parameter mode ........................................................................................................................... 13-54 13.5. Parameters for converter unit ............................................................................................................. 13-55 13.5.1 Parameter list ................................................................................................................................ 13-55 13.5.2 List of details.................................................................................................................................. 13-56 13.6 Troubleshooting ................................................................................................................................... 13-57 13.6.1 Converter unit................................................................................................................................ 13-57 13.6.2 Drive unit........................................................................................................................................ 13-62 13.7 Outline drawings .................................................................................................................................. 13-64 13.7.1 Converter unit (MR-J3-CR55K(4))................................................................................................ 13-64 13.7.2 Drive unit........................................................................................................................................ 13-65 13.8 Characteristics...................................................................................................................................... 13-67 13.8.1 Overload protection characteristics .............................................................................................. 13-67 13.8.2 Power supply equipment capacity and generated loss ............................................................... 13-68 13.8.3 Dynamic brake characteristics...................................................................................................... 13-69 13.8.4 Inrush currents at power-on of main circuit and control circuit .................................................... 13-72 13.9 Options ................................................................................................................................................. 13-72 13.9.1 Cables and connectors ................................................................................................................. 13-72 13.9.2 Regenerative option ...................................................................................................................... 13-75 13.9.3 External dynamic brake ................................................................................................................ 13-79 13.9.4 Selection example of wires ........................................................................................................... 13-82 13.9.5 No-fuse breakers, fuses, magnetic contactors............................................................................. 13-84 13.9.6 Power factor improving DC reactor .............................................................................................. 13-84 13.9.7 Line noise filter (FR-BLF).............................................................................................................. 13-85 13.9.8 Leakage current breaker............................................................................................................... 13-86 13.9.9 EMC filter (recommended)............................................................................................................ 13-88 13.9.10 FR-BU2-(H) Brake Unit ............................................................................................................... 13-90 APPENDIX App.- 1 to App.- 9 App. 1 Parameter list..................................................................................................................................App.- 1 App. 2 Signal layout recording paper ........................................................................................................App.- 3 App. 3 Twin type connector : Outline drawing for 721-2105/026-000 (WAGO).......................................App.- 3 App. 4 Change of connector sets to the RoHS compatible products.......................................................App.- 4 App. 5 MR-J3-200B-RT servo amplifier ....................................................................................................App.- 5 App. 6 Selection example of servo motor power cable ............................................................................App.- 9 5 MEMO 6 1. FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Introduction 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. SSCNET equipped by the MR-J3-B servo amplifier greatly improved its communication speed and noise tolerance by adopting optical communication system compared to the current SSCNET. For wiring distance, 50m of the maximum distance between electrodes is also offered. The torque limit with clamping circuit is put on the servo amplifier in order to protect the power transistor of main circuit from the overcurrent caused by rapid acceleration/deceleration or overload. In addition, torque limit value can be changed to desired value in the controller. As this new series has the USB communication function, a MR Configurator-installed personal computer or the like can be used to perform parameter setting, test operation, status display monitoring, gain adjustment, etc. With real-time auto tuning, you can automatically adjust the servo gains according to the machine. The MELSERVO-J3 series servo motor is with an absolute position encoder which has the resolution of 262144 pulses/rev to ensure more accurate control as compared to the MELSERVO-J2-Super series. Simply adding a battery to the servo amplifier makes up an absolute position detection system. This makes home position return unnecessary at power-on or alarm occurrence by setting a home position once. 1- 1 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 MR-J3-200B4 or less Power factor improving DC Regenerative reactor option Servo amplifier P1 (Note 2) Power supply MC D N( ) P( ) C Diode stack Relay Servo motor (Note 1) L1 L2 CHARGE lamp L3 Current detector Regenerative TR Control circuit power supply L21 U V V W W Dynamic brake (Note 3)Cooling fan L11 U RA Electromagnetic brake 24VDC B1 B2 Base amplifier Voltage detection Overcurrent protection Current detection M CN2 NFB P2 Encoder Position command input Model position control Virtual encoder Model speed control Virtual motor Model position Model speed Model torque Actual speed control USB I/F Control CN1A Current control CN3 CN5 CN1B Controller or Servo amplifier servo amplifier or cap D/A Personal computer USB Analog monitor (2 channels) MR-J3BAT CN4 Actual position control Optional battery (for absolute position detection system) Digital I/O control Note 1. The built-in regenerative resistor is not provided for the MR-J3-10B (1). 2. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open. There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.3 for the power supply specification. 3. Servo amplifiers MR-J3-70B or greater have a cooling fan. 1- 2 1. FUNCTIONS AND CONFIGURATION (2) MR-J3-350B4 MR-J3-500B(4) MR-J3-700B(4) Power factor improving DC Regenerative reactor option NFB (Note) Power supply MC P2 C N P Servo motor Diode stack Relay L1 L2 CHARGE lamp L3 Current detector Regenerative TR Control circuit power supply L21 U V V W W Dynamic brake Cooling fan L11 U RA Electromagnetic brake 24VDC B1 B2 Base amplifier Voltage detection Overcurrent protection Current detection M CN2 Servo amplifier P1 Encoder Position command input Model position control Virtual encoder Model speed control Virtual motor Model position Model speed Model torque Actual speed control USB I/F Control CN1A Current control CN3 CN5 CN1B Controller or Servo amplifier servo amplifier or cap D/A Personal computer USB Note. Refer to section 1.3 for the power supply specification. 1- 3 Analog monitor (2 channels) Digital I/O control MR-J3BAT CN4 Actual position control Optional battery (for absolute position detection system) 1. FUNCTIONS AND CONFIGURATION (3) MR-J3-11KB(4) to 22KB(4) Power factor improving DC Regenerative reactor option Servo amplifier (Note) Power supply MC Servo motor Diode stack Thyristor L1 L2 CHARGE lamp L3 Current detector Regenerative TR Control circuit power supply L21 U V V W W Dynamic brake Cooling fan L11 U RA Electromagnetic brake 24VDC B1 B2 Base amplifier Voltage detection Overcurrent protection Current detection M CN2 NFB C N P P1 Encoder Position command input Model position control Virtual encoder Model speed control Virtual motor Model position Model speed Model torque Actual speed control USB I/F Control CN1A Current control CN3 CN5 CN1B Controller or Servo amplifier servo amplifier or cap D/A Personal computer USB Note. Refer to section 1.3 for the power supply specification. 1- 4 Analog monitor (2 channels) Digital I/O control MR-J3BAT CN4 Actual position control Optional battery (for absolute position detection system) 1. FUNCTIONS AND CONFIGURATION 1.3 Servo amplifier standard specifications (1) 200V class, 100V class Servo amplifier MR-J310B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB 10B1 20B1 40B1 Power supply Item Voltage/frequency 3-phase or 1-phase 200 to 230VAC, 50/60Hz 3-phase 200 to 230VAC, 50/60Hz 1-phase 100V to 120VAC, 50/60Hz Permissible voltage fluctuation 3-phase or 1-phase 200 to 230VAC: 170 to 253VAC 3-phase 170 to 253VAC 1-phase 85 to 132VAC Permissible frequency fluctuation Within 5% Power supply capacity Refer to section 10.2 Inrush current Refer to section 10.5 Voltage, frequency Control circuit power supply 1-phase 200 to 230VAC, 50/60Hz 1-phase 100 to 120VAC, 50/60Hz 1-phase 170 to 253VAC 1-phase 85 to 132VAC Permissible voltage fluctuation Permissible frequency fluctuation Within 5% Input 30W 45W Inrush current Interface power supply Voltage 24VDC 10% Power supply capacity (Note 1) 150mA or more Control System Sine-wave PWM control, current control system Dynamic brake Built-in Self-cooled, open (IP00) Structure Environment Ambient humidity External option In operation In storage Built-in Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection. Protective functions Ambient temperature 30W Refer to section 10.5 [ ] (Note 2) 0 to 55 (non-freezing) [ ] [ Self-cooled, open (IP00) Force-cooling, open (IP00) 32 to 131 (non-freezing) ] 20 to 65 (non-freezing) [ ] 4 to 149 (non-freezing) In operation 90%RH or less (non-condensing) In storage Ambient Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m above sea level Vibration 5.9 [m/s ] or less Mass 2 [kg] 0.8 0.8 1.0 1.0 1.4 1.4 2.1 2.3 4.6 6.2 18 18 19 [lb] 1.76 1.76 2.21 2.21 3.09 3.09 4.63 5.07 10.1 13.7 39.7 39.7 41.9 0.8 0.8 1.0 1.76 1.76 2.21 Note 1. 150mA 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 the servo amplifier of 3.5kW or less, operate them at the ambient temperatures of 0 to 45 or at 75% or smaller effective load ratio. 1- 5 1. FUNCTIONS AND CONFIGURATION (2) 400V class Servo amplifier MR-J3- 60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4 Item Power supply Voltage/frequency 3-phase 380 to 480VAC, 50/60Hz Permissible voltage fluctuation 3-phase 323 to 528VAC Permissible frequency fluctuation Within 5% Power supply capacity Refer to section 10.2 Inrush current Refer to section 10.5 Voltage, frequency Control circuit power supply 1-phase 380 to 480VAC, 50/60Hz Permissible voltage fluctuation 1-phase 323 to 528VAC Permissible frequency fluctuation Within 5% Input 30W 45W Inrush current Interface power supply Refer to section 10.5 Voltage 24VDC 10% Power supply capacity (Note) 150mA Control System Sine-wave PWM control, current control system Dynamic brake Built-in Protective functions Self-cooled, open (IP00) Structure Environment Ambient temperature Ambient humidity External option Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection. In operation In storage [ Force-cooling, open (IP00) ] 0 to 55 (non-freezing) [ ] [ 32 to 131 (non-freezing) ] 20 to 65 (non-freezing) [ ] 4 to 149 (non-freezing) In operation 90%RH or less (non-condensing) In storage Ambient Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m above sea level Vibration 5.9 [m/s ] or less Mass 2 [kg] 1.7 1.7 2.1 4.6 4.6 6.2 18 18 19 [lb] 3.75 3.75 4.63 10.14 10.14 13.67 39.68 39.68 41.88 Note. 150mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. 1- 6 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 High-resolution encoder Absolute position detection system Gain changing function Advanced vibration suppression control Adaptive filter Low-pass filter Machine analyzer function Machine simulation Gain search function Slight vibration suppression control Auto tuning Brake unit Return converter Regenerative option Alarm history clear Output signal (DO) forced output Test operation mode Analog monitor output MR Configurator Description Reference High-resolution encoder of 262144 pulses/rev is used as a servo motor encoder. Merely setting a home position once makes home position return unnecessary at every power-on. You can switch between gains during rotation and gains during stop or use an input device to change gains during operation. Chapter 12 This function suppresses vibration at the arm end or residual vibration. Section 7.4 Section 7.6 Servo amplifier detects mechanical resonance and sets filter characteristics Section 7.2 automatically to suppress mechanical vibration. Suppresses high-frequency resonance which occurs as servo system Section 7.5 response is increased. Analyzes the frequency characteristic of the mechanical system by simply connecting a 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. MR Configurator is necessary for this function. Personal computer changes gains automatically and searches for overshootfree gains in a short time. MR Configurator is necessary for this function. Suppresses vibration of 1 pulse produced at a servo motor stop. Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies. Higher in performance than MR-J2-Super series servo amplifier. Used when the regenerative option cannot provide enough regenerative power. Can be used the 5kW or more servo amplifier. Used when the regenerative option cannot provide enough regenerative power. Can be used the 5kW or more servo amplifier. 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. 1- 7 Parameters No.PB24 Chapter 6 Section 11.3 Section 11.4 Section 11.2 Parameter No.PC21 Section 4.5.1 (1) (d) Section 4.5 Parameter No.PC09 Section 11.8 1. FUNCTIONS AND CONFIGURATION 1.5 Model code definition (1) Rating plate AC SERVO MR-J3-10B POWER : 100W INPUT : 0.9A 3PH+1PH200-230V 50Hz 3PH+1PH200-230V 60Hz 1.3A 1PH 200-230V 50/60Hz OUTPUT: 170V 0-360Hz 1.1A SERIAL : A34230001 1- 8 Model Capacity Applicable power supply Rated output current Serial number 1. FUNCTIONS AND CONFIGURATION (2) Model MR-J3-100B or less MR J3 Series MR-J3-60B4 100B4 B With no regenerative resistor Symbol Description Indicates a servo amplifier of 11k to 22kW -PX that does not use a regenerative resistor as standard accessory. Power supply Symbol Power supply (Note 1) 3-phase or 1-phase 200 None to 230VAC Rating plate MR-J3-200B(4) (Note 2) 1-phase 100 to 120VAC 1 4 3-phase 380 to 480VAC Rating plate MR-J3-350B Note 1. 1-phase 200 to 230V is supported by 750W or less. 2. 1-phase 100 to 120V is supported by 400W or less. SSCNET compatible Rated output Rated Symbol output [kW] 10 20 40 60 70 100 200 350 500 700 11K 15K 22K 0.1 0.2 0.4 0.6 0.75 1 2 3.5 5 7 11 15 22 Rating plate MR-J3-350B4 500B(4) Rating plate Rating plate MR-J3-700B(4) Rating plate MR-J3-11KB(4) to 22KB(4) Rating plate 1- 9 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 an electromagnetic brake and the models with a reduction gear. Servo motors Servo amplifier MR-J3-10B (1) HF-MP HF-KP 053 053 13 HF-SP 1000r/min 2000r/min 51 52 23 23 MR-J3-40B (1) 43 43 73 73 MR-J3-60B 81 MR-J3-200B 121 201 202 301 352 MR-J3-500B 421 502 MR-J3-700B 702 MR-J3-11KB MR-J3-15KB MR-J3-22KB Servo motors HA-LP 1000r/min 1500r/min 2000r/min 601 701M 702 11K1M 11K2 15K1M 15K2 22K1M 22K2 MR-J3-500B MR-J3-11KB MR-J3-15KB 502 MR-J3-22KB 801 12K1 15K1 20K1 25K1 Servo motors Servo amplifier HF-SP MR-J3-60B4 524 MR-J3-100B4 1024 MR-J3-200B4 MR-J3-350B4 1524 1500r/min 2000r/min 2024 3524 MR-J3-500B4 5024 MR-J3-700B4 7024 MR-J3-11KB4 HA-LP 1000r/min 6014 8014 12K14 52 102 152 MR-J3-350B MR-J3-700B HC-LP 72 MR-J3-100B Servo amplifier HC-UP 13 MR-J3-20B (1) MR-J3-70B HC-RP 701M4 11K1M4 11K24 MR-J3-15KB4 15K14 15K1M4 15K24 MR-J3-22KB4 20K14 22K1M4 22K24 1 - 10 102 103 153 203 353 503 152 152 202 202 352 502 302 1. FUNCTIONS AND CONFIGURATION 1.7 Structure 1.7.1 Parts identification (1) MR-J3-100B or less Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Detailed explanation Chapter 4 Rotary axis setting switch (SW1) 3456 2 B CDE F01 0 F 1 2 Used to set the axis No. of servo amplifier. Section 3.13 789 A B CDE SW1 TEST SW2 789 A 3456 SW1 ON 4F 1 2 Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator. SW2 1 2 Section 3.13 Spare (Be sure to set to the "Down" position). Main circuit power supply connector (CNP1) Connect the input power supply. Section 3.1 Section 3.3 USB communication connector (CN5) Connect the personal computer. Section 11.8 I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output. Section 3.2 Section 3.4 Control circuit connector (CNP2) Connect the control circuit power supply/regenerative option. Section 3.1 Section 3.3 SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier. Section 3.2 Section 3.4 SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final axis, puts a cap. Section 3.2 Section 3.4 Servo motor power connector (CNP3) Connect the servo motor. Section 3.1 Section 3.3 Encoder connector (CN2) Used to connect the servo motor encoder. Section 3.4 Section 11.1 Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Fixed part (2 places) Battery connector (CN4) Used to connect the battery for absolute position data backup. Section 11.9 Chapter 12 Battery holder Contains the battery for absolute position data backup. Section 12.3 Protective earth (PE) terminal ( Ground terminal. Section 3.1 Section 3.3 Rating plate 1 - 11 ) Section 1.5 1. FUNCTIONS AND CONFIGURATION (2) MR-J3-60B4 MR-J3-100B4 Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Detailed explanation Chapter 4 Rotary axis setting switch (SW1) 3456 2 F01 0 F 1 2 B CDE ON 4F 1 2 Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator. SW2 1 Fixed part (3 places) Used to set the axis No. of servo amplifier. Section 3.13 789 A B CDE SW1 TEST SW2 789 A 3456 SW1 2 Section 3.13 Spare (Be sure to set to the "Down" position). Main circuit power supply connector (CNP1) Connect the input power supply. Section 3.1 Section 3.3 USB communication connector (CN5) Connect the personal computer. Section 11.8 I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output. Section 3.2 Section 3.4 Control circuit connector (CNP2) Connect the control circuit power supply/regenerative option. Section 3.1 Section 3.3 SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier. Section 3.2 Section 3.4 SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final axis, puts a cap. Section 3.2 Section 3.4 Servo motor power connector (CNP3) Connect the servo motor. Section 3.1 Section 3.3 Encoder connector (CN2) Used to connect the servo motor encoder. Section 3.4 Section 11.1 Battery connector (CN4) Used to connect the battery for absolute position data backup. Section 11.9 Chapter 12 Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Battery holder Contains the battery for absolute position data backup. Section 12.3 Protective earth (PE) terminal ( Ground terminal. Section 3.1 Section 3.3 Rating plate 1 - 12 ) Section 1.5 1. FUNCTIONS AND CONFIGURATION (3) MR-J3-200B(4) Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Detailed explanation Chapter 4 Rotary axis setting switch (SW1) 0 F 1 2 34 56 2 F01 1 Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator. SW2 2 (Note) Fixed part (3 places) B CDE ON 4F 1 Cooling Fan Used to set the axis No. of servo amplifier. Section 3.13 789 A B C DE SW1 TEST SW2 789 A 3456 SW1 2 Section 3.13 Spare (Be sure to set to the "Down" position). Main circuit power supply connector (CNP1) Connect the input power supply. Section 3.1 Section 3.3 USB communication connector (CN5) Connect the personal computer. Section 11.8 I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output. Section 3.2 Section 3.4 SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier. Section 3.2 Section 3.4 Servo motor power connector (CNP3) Connect the servo motor. Section 3.1 Section 3.3 SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final axis, puts a cap. Section 3.2 Section 3.4 Encoder connector (CN2) Used to connect the servo motor encoder. Section 3.4 Section 11.1 Battery connector (CN4) Used to connect the battery for absolute position data backup. Section 11.9 Chapter 12 Control circuit connector (CNP2) Connect the control circuit power supply/regenerative option. Section 3.1 Section 3.3 Battery holder Contains the battery for absolute position data backup. Section 12.3 Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Protective earth (PE) terminal ( Ground terminal. Rating plate ) Section 3.1 Section 3.3 Section 1.5 Note. Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200B servo amplifier have been changed from January 2008 production. Model name of the existing servo amplifier is changed to MR-J3-200B-RT. For MR-J3-200B-RT, refer to appendix 5. 1 - 13 1. FUNCTIONS AND CONFIGURATION (4) MR-J3-350B Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Detailed explanation Chapter 4 Rotary axis setting switch (SW1) 34 56 2 B CDE F01 0 F 1 2 Used to set the axis No. of servo amplifier. Section 3.13 789 A B C DE SW1 TEST SW2 789 A 3456 SW1 ON 4F 1 2 Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator. SW2 1 2 Section 3.13 Spare (Be sure to set to the "Down" position). Main circuit power supply connector (CNP1) Connect the input power supply. Section 3.1 Section 3.3 USB communication connector (CN5) Connect the personal computer. Section 11.8 I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output. Section 3.2 Section 3.4 SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier. Section 3.2 Section 3.4 Servo motor power connector (CNP3) Connect the servo motor. Section 3.1 Section 3.3 SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final axis, puts a cap. Section 3.2 Section 3.4 Encoder connector (CN2) Used to connect the servo motor encoder. Section 3.4 Section 11.1 Battery connector (CN4) Used to connect the battery for absolute position data backup. Section 11.9 Chapter 12 Control circuit connector (CNP2) Connect the control circuit power supply/regenerative option. Section 3.1 Section 3.3 Battery holder Contains the battery for absolute position data backup. Section 12.3 Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Cooling fan Fixed part (3 places) Protective earth (PE) terminal ( Ground terminal. Rating plate 1 - 14 ) Section 3.1 Section 3.3 Section 1.5 1. FUNCTIONS AND CONFIGURATION (5) MR-J3-350B4 MR-J3-500B(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Detailed explanation Chapter 4 Rotary axis setting switch (SW1) 3456 2 B CDE F01 0 F 1 2 Used to set the axis No. of servo amplifier. Section 3.13 789 A B CDE SW1 TEST SW2 789 A 3456 SW1 ON 4F 1 2 1 Cooling fan Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator. SW2 2 Section 3.13 Spare (Be sure to set to the "Down" position). USB communication connector (CN5) Connect the personal computer. Section 11.8 I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output. Section 3.2 Section 3.4 Battery holder Contains the battery for absolute position data backup. Section 12.3 SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier. Section 3.2 Section 3.4 SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final axis, puts a cap. Section 3.2 Section 3.4 Encoder connector (CN2) Used to connect the servo motor encoder. Section 3.4 Section 11.1 Battery connector (CN4) Used to connect the battery for absolute position data backup. Section 11.9 Chapter 12 DC reactor terminal block (TE3) Used to connect the DC reactor. Section 3.4 Section 11.1 Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Fixed part (4 places) Main circuit terminal block (TE1) Used to connect the input power supply and servo motor. Section 3.1 Section 3.3 Control circuit terminal block (TE2) Used to connect the control circuit power supply. Section 3.1 Section 3.3 Protective earth (PE) terminal ( Ground terminal. Section 3.1 Section 3.3 Rating plate 1 - 15 ) Section 1.5 1. FUNCTIONS AND CONFIGURATION (6) MR-J3-700B(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Detailed explanation Chapter 4 Rotary axis setting switch (SW1) 3456 2 B CDE F01 0 F 1 2 Used to set the axis No. of servo amplifier. Section 3.13 789 A Cooling fan B CDE SW1 TEST SW2 789 A 3456 SW1 ON 4F 1 Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator. SW2 2 Fixed part (4 places) 1 2 Section 3.13 Spare (Be sure to set to the "Down" position). USB communication connector (CN5) Connect the personal computer. Section 11.8 I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output. Section 3.2 Section 3.4 SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier. Section 3.2 Section 3.4 Battery holder Contains the battery for absolute position data backup. Section 12.3 SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final axis, puts a cap. Section 3.2 Section 3.4 Encoder connector (CN2) Used to connect the servo motor encoder. Section 3.4 Section 11.1 Battery connector (CN4) Used to connect the battery for absolute position data backup. Section 11.9 Chapter 12 DC reactor terminal block (TE3) Used to connect the DC reactor. Section 3.4 Section 11.1 Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Control circuit terminal block (TE2) Used to connect the control circuit power supply. Section 3.1 Section 3.3 Main circuit terminal block (TE1) Used to connect the input power supply and servo motor. Section 3.1 Section 3.3 Protective earth (PE) terminal ( Ground terminal. Section 3.1 Section 3.3 Rating plate 1 - 16 ) Section 1.5 1. FUNCTIONS AND CONFIGURATION (7) MR-J3-11KB(4) to MR-J3-22KB(4) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 1.7.2. Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Detailed explanation Chapter 4 Rotary axis setting switch (SW1) 3456 2 BCDE F01 0 F 1 2 Used to set the axis No. of servo amplifier. Section 3.13 789 A Cooling fan B CDE SW1 TEST SW2 789 A 3456 SW1 ON 4F 1 Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator. SW2 2 Fixed part (4 places) 1 2 Section 3.13 Spare (Be sure to set to the "Down" position). USB communication connector (CN5) Connect the personal computer. Section 11.8 I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output. Section 3.2 Section 3.4 SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier. Section 3.2 Section 3.4 Battery holder Contains the battery for absolute position data backup. Section 12.3 SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final axis, puts a cap. Section 3.2 Section 3.4 Encoder connector (CN2) Used to connect the servo motor encoder. Section 3.4 Section 11.1 Battery connector (CN4) Used to connect the battery for absolute position data backup. Section 11.9 Chapter 12 Rating plate Section 1.5 Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Main circuit terminal block control circuit protective earth (TE) Used to connect the input power supply, servo motor, regenerative option and ground. 1 - 17 Section 3.1 Section 3.3 1. FUNCTIONS AND CONFIGURATION 1.7.2 Removal and reinstallation of the front cover WARNING Before removing or installing the front cover, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. 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. (1) For MR-J3-350B4 MR-J3-500B(4) MR-J3-700B(4) Removal of the front cover A) A) Hold the ends of lower side of the front cover with both hands. Pull up the cover, supporting at point A). Pull out the front cover to remove. 1 - 18 1. FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Front cover setting tab A) A) Insert the front cover setting tabs into the sockets of servo amplifier (2 places). Pull up the cover, supporting at point A). Setting tab Push the setting tabs until they click. 1 - 19 1. FUNCTIONS AND CONFIGURATION (2) For MR-J3-11KB(4) to MR-J3-22KB(4) Removal of the front cover C) B) A) 3) Pull it to remove the front cover. 1) Press the removing knob on the lower side of the front cover ( A) and B) ) and release the installation hook. 2) Press the removing knob of C) and release the external hook. Reinstallation of the front cover (Note 1) (Note 1) C) D) (Note 2) B) A) Installation hook 1) Fit the front cover installation hooks on the sockets of body cover ( A) to D) ) to reinstall it. 2) Push the front cover until you hear the clicking noise of the installation hook. Note 1. The cooling fan cover can be locked with enclosed screws (M4 40). 2. By drilling approximately 4 of a hole on the front cover, the front cover can be locked on the body with an enclosed screw (M4 14). 1 - 20 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 or 1-phase 200V to 230VAC Personal computer RST (Note 3) Power supply MR Configurator CN5 Servo amplifier No-fuse breaker (NFB) or fuse CN3 Magnetic contactor (MC) CN1A (Note 2) Line noise filter (FR-BSF01) CN1B Junction terminal block Servo system controller or Front axis servo amplifier CN1B Rear servo amplifier CN1A or Cap UV W CN2 CN4 L1 L2 L3 (Note 2) Power factor improving DC reactor (FR-BEL) (Note 1) Battery MR-J3BAT P1 Servo motor P2 P C Regenerative option L11 L21 Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1 and P2. 3. A 1-phase 200V to 230VAC power supply may be used with the servo amplifier of MR-J3-70B or less. For 1-phase 200V to 230VAC, connect the power supply to L1 L2 and leave L3 open. Refer to section 1.3 for the power supply specification. 1 - 21 1. FUNCTIONS AND CONFIGURATION (b) For 1-phase 100V to 120VAC R S MR Configurator (Note 3) Power supply Personal computer CN5 Servo amplifier No-fuse breaker (NFB) or fuse CN3 Magnetic contactor (MC) Junction terminal block (Note 2) Power factor improving (FR-BAL) Line noise filter (FR-BSF01) CN1A Servo system controller or Front axis servo amplifier CN1B CN1B Rear servo amplifier CN1A or Cap UVW CN2 CN4 L1 (Note 1) Battery MR-J3BAT L2 Servo motor P C Regenerative option L11 L21 Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The power factor improving DC reactor cannot be used. 3. Refer to section 1.3 for the power supply specification. 1 - 22 1. FUNCTIONS AND CONFIGURATION (2) MR-J3-60B4 MR-J3-100B4 Personal computer RST MR Configurator (Note 3) Power supply CN5 Servo amplifier No-fuse breaker (NFB) or fuse CN3 Magnetic contactor (MC) (Note 2) Line noise filter (FR-BSF01) Junction terminal block CN1A Servo system controller or Front axis servo amplifier CN1B CN1B Rear servo amplifier CN1A or Cap CN2 CN4 L1 L2 L3 (Note 2) Power factor improving DC reactor (FR-BEL-H) (Note 1) Battery MR-J3BAT P1 UV W P2 P Servo motor C Regenerative option L11 L21 Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1 and P2. 3. A 1-phase 200V to 230VAC power supply may be used with the servo amplifier of MR-J3-70B or less. For 1-phase 200V to 230VAC, connect the power supply to L1 L2 and leave L3 open. Refer to section 1.3 for the power supply specification. 1 - 23 1. FUNCTIONS AND CONFIGURATION (3) MR-J3-200B(4) RST (Note 3) Power supply No-fuse breaker (NFB) or fuse Magnetic contactor (MC) Personal computer CN5 (Note 2) Line noise filter (FR-BSF01) (Note 2) Power factor improving DC reactor (FR-BEL/ FR-BEL-H) MR Configurator Servo amplifier L1 L2 L3 CN3 Junction terminal block P1 (Note 4) P2 Regenerative P option C L11 CN1A CN1B L21 Servo system controller or Front axis servo amplifier CN1B Rear servo amplifier CN1A or Cap CN2 CN4 (Note 1) Battery MR-J3BAT U V W Servo motor Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1 and P2. 3. Refer to section 1.3 for the power supply specification. 4. Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200B servo amplifier have been changed from January 2008 production. Model name of the existing servo amplifier is changed to MR-J3-200B-RT. For MR-J3-200B-RT, refer to appendix 5. 1 - 24 1. FUNCTIONS AND CONFIGURATION (4) MR-J3-350B RST (Note 3) Power supply No-fuse breaker (NFB) or fuse Magnetic contactor (MC) MR Configurator CN5 (Note 2) Line noise filter (FR-BLF) Personal computer Servo amplifier L1 L2 L3 CN3 Junction terminal block P1 P2 (Note 2) Power factor improving DC reactor (FR-BEL) L11 Regenerative P option C L21 CN1A Servo system controller or Front axis servo amplifier CN1B CN1B Rear servo amplifier CN1A or Cap CN2 CN4 (Note 1) Battery MR-J3BAT UV W Servo motor Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1 and P2. 3. Refer to section 1.3 for the power supply specification. 1 - 25 1. FUNCTIONS AND CONFIGURATION (5) MR-J3-350B4 MR-J3-500B(4) (Note 3) Power supply RST Personal computer MR Configurator CN5 No-fuse breaker (NFB) or fuse Servo amplifier Junction terminal block CN3 Magnetic contactor (MC) (Note 2) (Note 1) Battery MR-J3BAT Servo system controller or Front axis servo amplifier CN1B CN1A Line noise filter (FR-BLF) CN1B Rear servo amplifier CN1A or Cap CN2 CN4 L11 L21 P1 P2 L3 (Note 2) Power factor improving DC reactor (FR-BEL-(H)) L2 L1 P C Regenerative option U V W Servo motor Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1 and P2. 3. Refer to section 1.3 for the power supply specification. 1 - 26 1. FUNCTIONS AND CONFIGURATION (6) MR-J3-700B(4) RST Personal computer (Note 3) Power supply MR Configurator CN5 No-fuse breaker (NFB) or fuse Servo amplifier Magnetic contactor (MC) Junction terminal block CN3 (Note 2) Line noise filter (FR-BLF) L11 L21 (Note 1) Battery MR-J3BAT (Note 2) Power factor improving DC reactor (FR-BEL-(H)) CN1A Servo system controller or Front axis servo amplifier CN1B CN1B Rear servo amplifier CN1A or Cap CN2 CN4 P2 P1 L3 L2 L1 P C U V W Regenerative option Servo motor Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1 and P2. 3. Refer to section 1.3 for the power supply specification. 1 - 27 1. FUNCTIONS AND CONFIGURATION (7) MR-J3-11KB(4) to MR-J3-22KB(4) (Note 3) Power supply RST Personal computer MR Configurator CN5 No-fuse breaker (NFB) or fuse L21 Servo amplifier L11 Magnetic contactor (MC) Junction terminal block CN3 (Note 2) (Note 1) Battery MR-J3BAT Line noise filter (FR-BLF) Servo system controller or Front axis servo amplifier CN1B CN1A CN1B Rear servo amplifier CN1A or Cap CN2 CN4 L3 L2 L1 (Note 2) Power factor improving DC reactor (FR-BEL-(H)) W V U P1 P P C Regenerative option Servo motor Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1 and P. 3. Refer to section 1.3 for the power supply specification. 1 - 28 2. INSTALLATION 2. INSTALLATION CAUTION Stacking in excess of the limited number of products is not allowed. Install the equipment on incombustible material. Installing them 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, metallic detritus and other conductive matter or oil and other combustible matter from entering the servo amplifier. Do not block the intake/exhaust ports of the servo amplifier. Otherwise, a fault may occur. Do not subject the servo amplifier to drop impact or shock loads as they are precision equipment. Do not install or operate a faulty servo amplifier. When the product has been stored for an extended period of time, consult Mitsubishi. When treating the servo amplifier, be careful about the edged parts such as the corners of the servo amplifier. 2.1 Installation direction and clearances CAUTION The equipment must be installed in the specified direction. Otherwise, a fault may occur. Leave specified clearances between the servo amplifier and control box inside walls or other equipment. (1) 7kW or less (a) Installation of one servo amplifier Control box Control box 40mm or more Wiring allowance 80mm Servo amplifier 10mm or more Top 10mm or more Bottom 40mm or more 2- 1 2. INSTALLATION (b) Installation of two or more servo amplifiers POINT Close mounting is available for the servo amplifier of under 3.5kW for 200V class and 400W for 100V class. Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions. When installing the servo amplifiers closely, leave a clearance of 1mm between the adjacent servo amplifiers in consideration of mounting tolerances. In this case, bring the ambient temperature within 0 to 45 (32 to 113 ), or use it at 75% or smaller effective load ratio. Control box Control box 100mm or more 10mm or more 100mm or more 1mm 1mm Top 30mm or more 30mm or more 30mm or more 30mm or more Bottom 40mm or more 40mm or more Leaving clearance Mounting closely (2) 11k to 22kW (a) Installation of one servo amplifier Control box Control box 40mm or more Servo amplifier Wiring allowance 80mm 10mm or more Top 10mm or more Bottom 120mm or more 2- 2 2. INSTALLATION (b) Installation of two or more servo amplifiers Leave a large clearance between the top of the servo amplifier and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions. Control box 100mm or more 10mm or more Top 30m or more 30mm or more Bottom 120mm or more (3) Others When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction. 2.2 Keep out foreign materials (1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the servo amplifier. (2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the control box or a cooling fan installed on the ceiling. (3) When installing the control box in a place where 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 flexing stress and cable's own weight stress are not applied to the cable connection. (2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) with having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part. Use the optional encoder cable within the flexing life range. Use the power supply and brake wiring cables within the flexing life of the cables. 2- 3 2. INSTALLATION (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 flexing radius should be made as large as possible. Refer to section 10.4 for the flexing 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) Prohibition of vinyl tape use Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and MR-J3BUS from vinyl tape because the optical characteristic may be affected. SSCNET cable M-A cables away Code Cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B Optical code Cable : Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable. : Cable is not affected by plasticizer. (3) Precautions for migrating plasticizer added materials Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and Teflon (fluorine resin) contain nonmigrating 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. In addition, MR-J3BUS M-B cable is not affected by plasticizer. 2- 4 2. INSTALLATION (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 Cable Bundle material Recommended product: NK clamp SP type ( NIX, INC.) (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. (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 2. INSTALLATION 2.5 Inspection items WARNING Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. 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. Any person who is involved in inspection should be fully competent to do the work. Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative. POINT Do not test the servo amplifier with a megger (measure insulation resistance), or it may become faulty. 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 the cables and the like for scratches and cracks. Perform periodic inspection according to operating conditions. 2.6 Parts having service lives The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions. For parts replacement, please contact your sales representative. Part name Life guideline Smoothing capacitor Servo amplifier Relay Cooling fan Absolute position battery 10 years Number of power-on and number of emergency stop times : 100,000 times 10,000 to 30,000hours (2 to 3 years) Refer to section 12.2 (1) Smoothing capacitor Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in normal air-conditioned environment. (2) Relays Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their life when the cumulative number of power-on and emergency stop times is 100,000, which depends on the power supply capacity. (3) Servo amplifier cooling fan The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore, the cooling fan must be changed in a few years of continuous operation as a guideline. It must also be changed if unusual noise or vibration is found during inspection. 2- 6 3. SIGNALS AND WIRING 3. SIGNALS AND WIRING Any person who is involved in wiring should be fully competent to do the work. 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, always confirm from the front of the servo amplifier whether the charge lamp is off or not. Ground the servo amplifier and the servo motor securely. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you may get an electric shock. The cables should not be damaged, stressed excessively, loaded heavily, or pinched. Otherwise, you may get an electric shock. Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury. Connect cables to correct terminals to prevent a burst, fault, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction. Otherwise, the signal is not output due to a fault, disabling the forced stop (EM1) and other protective circuits. Servo amplifier Servo amplifier 24VDC 24VDC CAUTION DOCOM DOCOM DICOM DICOM Control output signal RA Control output signal 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 (-H) option) with the power line of the servo motor. When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire. Do not modify the equipment. During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur. 3- 1 3. SIGNALS AND WIRING 3.1 Input power supply circuit Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may cause a fire when the servo amplifier malfunctions. CAUTION Use the trouble signal to switch main circuit power supply off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire. 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 no-fuse breaker (NFB) must be used with the input cables of the main circuit power supply. (1) For 3-phase 200V to 230VAC power supply to MR-J3-10B to MR-J3-350B (Note 4) Alarm RA1 Controller forced stop RA2 Forced stop ON OFF MC MC SK NFB MC 3-phase 200 to 230VAC Servo amplifier CNP1 L1 CNP3 L2 U L3 N( (Note 1) ) Servo motor (Note 6) U 2 V V 3 W W 4 Motor M 1 P1 P2 PE CNP2 P( ) (Note 2) C D CN2 (Note 3) Encoder cable 24VDC L11 Encoder L21 (Note 5) Forced stop CN3 CN3 EM1 DOCOM DOCOM DICOM ALM 3- 2 RA1 Trouble (Note 4) (Note 5) 3. SIGNALS AND WIRING Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 11.13. 2. Always connect P( ) and D. (Factory-wired.) When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable. 4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 6. Refer to section 3.10. (2) For 1-phase 200V to 230VAC power supply to MR-J3-10B to MR-J3-70B (Note 4) Alarm RA1 Controller forced stop RA2 Forced stop ON OFF MC MC SK NFB MC 1-phase 200 to 230VAC (Note 1) Servo amplifier CNP1 L1 CNP3 L2 U Servo motor (Note 6) U 2 L3 V V 3 N W W 4 M 1 P1 P2 Motor PE CNP2 P (Note 2) C D CN2 (Note 3) Encoder cable 24VDC L11 Encoder L21 (Note 5) Forced stop CN3 CN3 EM1 DOCOM DOCOM DICOM ALM RA1 Trouble (Note 4) (Note 5) Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 11.13. 2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable. 4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 6. Refer to section 3.10. 3- 3 3. SIGNALS AND WIRING (3) For MR-J3-10B1 to MR-J3-40B1 (Note 4) Alarm RA1 Controller forced stop RA2 Forced stop ON OFF MC MC SK NFB MC 1-phase 100 to 120VAC (Note 1) Servo amplifier CNP1 L1 CNP3 Blank U L2 N Servo motor (Note 6) U 2 V V 3 W W 4 M 1 P1 P2 Motor PE CNP2 P (Note 2) C D CN2 (Note 3) Encoder cable 24VDC L11 Encoder L21 (Note 5) Forced stop CN3 CN3 EM1 DOCOM DOCOM DICOM ALM RA1 Trouble (Note 4) (Note 5) Note 1. Always connect P1 and P2. (Factory-wired.) The power factor improving DC reactor cannot be used. 2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable. 4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 6. Refer to section 3.10. 3- 4 3. SIGNALS AND WIRING (4) MR-J3-60B4 to MR-J3-200B4 (Note 4) Alarm RA1 (Note 7) Stepdown transformer NFB Controller forced stop RA2 Forced stop ON OFF MC MC SK MC 3-phase 200 to 230VAC (Note 1) Servo amplifier CNP1 L1 CNP3 L2 U Servo motor (Note 6) U 2 L3 V V 3 N W W 4 M 1 P1 P2 Motor PE CNP2 P (Note 2) C D CN2 (Note 3) Encoder cable 24VDC L11 Encoder L21 (Note 5) Forced stop CN3 CN3 EM1 DOCOM DOCOM DICOM ALM RA1 Trouble (Note 4) (Note 5) Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 11.13. 2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable. 4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 6. Refer to section 3.10. 7. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class. 3- 5 3. SIGNALS AND WIRING (5) MR-J3-500B MR-J3-700B (Note 4) Alarm RA1 Controller forced stop RA2 Forced stop ON OFF (Note 7) Power supply of Cooling fan MC MC SK NFB MC 3-phase 200 to 230VAC (Note 2) Servo amplifier TE1 L1 Built-in L2 regenerative U resistor L3 V N Servo motor (Note 6) W U 2 V 3 W 4 Motor M 1 P1 TE2 L11 PE NFB L21 TE3 N (Note 1) CN2 P1 (Note 3) Encoder cable Encoder P2 BU BV (Note 5) Forced stop CN3 CN3 EM1 DOCOM DOCOM DICOM ALM 24VDC RA1 Cooling fan Trouble (Note 4) (Note 5) Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 11.13. 2. When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable. 4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 6. Refer to section 3.10. 7. A cooling fan is attached to the HA-LP601 and the HA-LP701M servo motors. For power supply specification of the cooling fan, refer to section 3.10.2 (3) (b). 3- 6 3. SIGNALS AND WIRING (6) MR-J3-350B4 to MR-J3-700B4 (Note 4) Alarm RA1 (Note 7) Stepdown transformer NFB Controller forced stop RA2 Forced stop ON OFF (Note 8) Power supply of Cooling fan MC MC SK MC 3-phase 380 to 480VAC (Note 2) Servo amplifier TE1 L1 Built-in L2 regenerative U resistor L3 V P Servo motor (Note 6) W U 2 V 3 W 4 Motor M 1 C TE2 L11 PE NFB L21 TE3 N (Note 1) CN2 P1 (Note 3) Encoder cable Encoder P2 BU BV (Note 5) Forced stop CN3 CN3 EM1 DOCOM DOCOM DICOM ALM 24VDC RA1 Cooling fan Trouble (Note 4) (Note 5) Note 1. Always connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, refer to section 11.13. 2. When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable. 4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 6. Refer to section 3.10. 7. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class. 8. A cooling fan is attached to the HA-LP6014 and the HA-LP701M4 servo motors. For power supply specification of the cooling fan, refer to section 3.10.2 (3) (b). 3- 7 3. SIGNALS AND WIRING (7) MR-J3-11KB to MR-J3-22KB Servo motor (Note 4) thermal relay Alarm RA1 RA3 Controller forced stop RA2 Forced stop OFF ON MC MC SK NFB MC 3-phase 200 to 230VAC Regenerative resistor Servo amplifier TE1 L1 L2 U L3 V C W P P1 (Note 2) Servo motor Dynamic break (Option) U V M W (Note 6) (Note 1) PE NFB L11 L21 CN2 (Note 3) Encoder cable Encoder BU BV BW (Note 7) Cooling fan 24VDC power supply OHS1 OHS2 Servo motor thermal relay RA3 (Note 5) Forced stop CN3 CN3 EM1 DOCOM DOCOM DICOM ALM 24VDC RA1 Trouble (Note 4) (Note 5) Note 1. Always connect P1 and P. (Factory-wired.) When using the power factor improving DC reactor, refer to section 11.13. 2. When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable. 4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 6. Refer to section 3.10. 7. Cooling fan power supply of the HA-LP11K2 servo motor is 1-phase. Power supply specification of the cooling fan is different from that of the servo amplifier. Therefore, separate power supply is required. 3- 8 3. SIGNALS AND WIRING (8) MR-J3-11KB4 to MR-J3-22KB4 Servo motor (Note 4) thermal relay Alarm RA1 RA3 (Note 9) Stepdown transformer NFB Controller forced stop RA2 Forced stop OFF ON (Note 8) Cooling fan power supply MC MC SK MC 3-phase 380 to 480VAC Servo amplifier TE1 L1 L2 U L3 V C Regenerative resistor P P1 (Note 2) Servo motor Dynamic break (Option) W U V M W (Note 6) (Note 1) PE NFB L11 L21 CN2 (Note 3) Encoder cable Encoder BU BV BW (Note 7) Cooling fan 24VDC power supply OHS1 OHS2 Servo motor thermal relay RA3 (Note 5) Forced stop CN3 CN3 EM1 DOCOM DOCOM DICOM ALM 24VDC RA1 Trouble (Note 4) (Note 5) Note 1. Always connect P1 and P. (Factory-wired.) When using the power factor improving DC reactor, refer to section 11.13. 2. When using the regenerative option, refer to section 11.2. 3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable. 4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the magnetic contactor after detection of alarm occurrence on the controller side. 5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 6. Refer to section 3.10. 7. Servo amplifiers does not have BW when the cooling fan power supply is 1-phase. 8. For the cooling fan power supply, refer to section 3.10.2 (3) (b). 9. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class. 3- 9 3. SIGNALS AND WIRING 3.2 I/O signal connection example Servo amplifier (Note 10) 24VDC (Note 12) (Note 12) Power supply (Note 14) CN3 5 DOCOM 3 EM1 20 2 DI1 DI2 12 DI3 19 CN3 DICOM (Note 3,4)Forced stop Upper stroke limit (FLS) (Note 15) Lower stroke limit (RLS) Proximity dog (DOG) Personal USB cable (Note 5) computer MR-J3USBCBL3M MR Configurator (option) CN5 Servo system controller (Note 6) SSCNET cable (option) CN1A MBR RA1 9 INP RA2 In-position 15 ALM RA3 Trouble (Note 11) 10 DICOM 6 16 7 17 8 18 11 4 1 14 Plate LA LAR LB LBR LZ LZR LG MO1 LG MO2 SD SW1 SW2 (Note 8) CN1B 12 (Note 1) Between electrodes MR-J3-B (Note 7) (2 axis) CN1A SW1 CN1B SW2 (Note 8) 12 (Note 6 ) SSCNET (option) MR-J3-B (Note 7) (3 axis) CN1A SW1 cable CN1B SW2 (Note 8) 12 MR-J3-B (Note 7) (n axis) CN1A SW1 (Note 9) Cap CN1B (Note 2) Magnetic brake interlock 13 SW2 (Note 8) 12 3 - 10 Encoder A-phase pulse (differential line driver) Encoder B-phase pulse (differential line driver) Encoder Z-phase pulse (differential line driver) Control common Analog monitor 1 Max. 1mA meter 10k both directions A Analog monitor 2 10k Max. 1mA meter both directions 2m Max A (Note 13,14) 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. 3. If the controller does not have an forced stop (EM1) function, always install a forced stop switch (Normally closed). 4. When starting operation, always turn on the forced stop (EM1). (Normally closed contacts) By setting " 1 " in DRU parameter No.PA04 of the drive unit, the forced stop (EM1) can be made invalid. 5. Use MRZJW3-SETUP 221E. 6. For the distance between electrodes of SSCNET cable, refer to the following table. Cable Standard code inside panel Cable model name MR-J3BUS Cable length M 0.15m to 3m Standard cable outside panel MR-J3BUS M-A 5m to 20m Long-distance cable MR-J3BUS M-B 30m to 50m Distance between electrodes 20m 50m 7. The wiring of the second and subsequent axes is omitted. 8. Up to eight axes (n 1 to 8) 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% 150mA current for interfaces from the outside. 150mA 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. Trouble (ALM) turns on in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output of the programmable controller should be stopped by the sequence program. 12. The pins with the same signal name are connected in the servo amplifier. 13. The signal can be changed by parameter No.PD07, PD08, PD09. 14. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 15. Devices can be assigned for DI1 DI2 DI3 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 and QD75MH . 3 - 11 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. Abbreviation Connection target (Application) Description Supply the following power to L1, L2, L3. For the 1-phase 200V to 230VAC power supply, connect the power supply to L1, L2, and keep L3 open. Servo amplifier L1 L2 L3 Main circuit power supply Power supply 3-phase 200V to 230VAC, 50/60Hz 1-phase 200V to 230VAC, 50/60Hz 1-phase 100V to 120VAC, 50/60Hz L1 Servo amplifier P C D Regenerative option L11 L21 Control circuit power supply U V W Servo motor power N Return converter Brake unit Protective earth (PE) L2 L2 MR-J3-60B4 to 22KB4 3-phase 380V to 480VAC, 50/60Hz Power factor improving DC reactor L1 L2 MR-J310B1 to 40B1 L1 Power supply P1 P2 MR-J3100B to 22KB L3 MR-J310B to 70B L1 L2 L3 1) MR-J3-700B or less When not using the power factor improving DC reactor, connect P1 and P2. (Factory-wired.) When using the power factor improving DC reactor, disconnect P1 and P2, and connect the power factor improving DC reactor to P1 and P2. 2) MR-J3-11KB(4) to 22KB(4) MR-J3-11KB(4) to 22KB(4) do not have P2. When not using the power factor improving reactor, connect P1 and P. (Factory-wired) When using the power factor improving reactor, connect it to P and P1. Refer to section 11.13. 1) MR-J3-350B or less MR-J3-200B4 or less When using servo amplifier built-in regenerative resistor, connect P( ) and D. (Factorywired) When using regenerative option, disconnect P( ) and D, and connect regenerative option to P and C. 2) MR-J3-350B4 500B(4) 700B(4) MR-J3-350B4 500B(4) 700B(4) do not have D. When using servo amplifier built-in regenerative resistor, connect P and C. (Factory-wired) When using regenerative option, disconnect P and C, and connect regenerative option to P and C. 3) MR-J3-11KB(4) to 22KB(4) MR-J3-11KB(4) to 22KB(4) do not have D. When not using the power regenerative converter and the brake unit, make sure to connect the regenerative option to P and C. Refer to section 11.2 to 11.5. Supply the following power to L11 L21. Power supply Servo amplifier MR-J3-10B to MR-J3-10B1 to MR-J3-60B4 to 22KB 40B1 22KB4 1-phase 200V to 230VAC, 50/60Hz 1-phase 100V to 120VAC, 50/60Hz 1-phase 380V to 480VAC, 50/60Hz L11 L21 L11 L21 L11 L21 Connect to the servo motor power supply terminals (U, V, W). During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur. When using the power regenerative converter/brake unit, connect it to P and N. Do not connect to servo amplifier MR-J3-350B(4) or less. For details, refer to section 11.3 to 11.5. Connect to the earth terminal of the servo motor and to the protective earth (PE) of the control box to perform grounding. 3 - 12 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: L1, L2, L3, single-phase: L1, L2). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs. 2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the servo amplifier will operate properly. 3) The servo amplifier can accept the servo-on command within 3s the main circuit power supply is switched on. (Refer to paragraph (2) of this section.) (2) Timing chart SON accepted (3s) Main circuit power ON Control circuit OFF ON Base circuit OFF ON Servo-on command (from controller) 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). 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) DOCOM Forced stop EM1 Note. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 3 - 13 3. SIGNALS AND WIRING 3.3.3 CNP1, CNP2, CNP3 wiring method POINT Refer to table 11.1 in section 11.11 for the wire sizes used for wiring. MR-J3-500B or more MR-J3-350B4 or more does not have these connectors. Use the supplied servo amplifier power supply connectors for wiring of CNP1, CNP2 and CNP3. (1) MR-J3-10B to MR-J3-100B (a) Servo amplifier power supply connectors (Note)Servo amplifier power supply connectors Connector for CNP1 54928-0670 (Molex) Connector for CNP2 54928-0520 (Molex) Cable finish OD: to 3.8mm Servo amplifier CNP1 CNP2 CNP3 Connector for CNP3 54928-0370 (Molex) Note. These connectors are of insert type. As the crimping type, the following connectors (Molex) are recommended. For CNP1: 51241-0600 (connector), 56125-0128 (terminal) For CNP2: 51240-0500 (connector), 56125-0128 (terminal) For CNP3: 51241-0300 (connector), 56125-0128 (terminal) Crimping tool: CNP57349-5300 Cable finish OD: to 3.8mm (b) Termination of the cables Solid wire: After the sheath has been stripped, the cable can be used as it is. Sheath Core 8 to 9mm 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. Do not solder the core as it may cause a contact fault. Alternatively, a bar terminal may be used to put the wires together. Cable size Bar terminal type [mm2] AWG 1.25/1.5 16 AI1.5-10BK 2/2.5 14 AI2.5-10BU For 1 cable (Note 1) Note 1. Manufacturer: Phoenix Contact 2. Manufacturer: WAGO 3 - 14 For 2 cable AI-TWIN2 1.5-10BK Crimping tool (Note 2) Variocrimp 4 206-204 3. SIGNALS AND WIRING (c) The twin type connector for CNP2 (L11 L21): 721-2105/026-000 (WAGO) Using this connector enables passing a wire of control circuit power supply. Refer to appendix 3 for details of connector. Twin type connector for CNP2 CNP2 L11 Power supply or Front axis L21 L11 Rear axis L21 (2) MR-J3-200B MR-J3-60B4 to MR-J3-200B4 (a) Servo amplifier power supply connectors Servo amplifier power supply connectors Connector for CNP1 721-207/026-000(Plug) (WAGO) Servo amplifier Cable finish OD: 4.1mm or less Connector for CNP2 721-205/026-000(Plug) (WAGO) CNP1 CNP2 CNP3 Connector for CNP3 721-203/026-000(Plug) (WAGO) (b) Termination of the cables Solid wire: After the sheath has been stripped, the cable can be used as it is. Sheath Core 8 to 9mm 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. Do not solder the core as it may cause a contact fault. Alternatively, a bar terminal may be used to put the wires together. Cable size Bar terminal type [mm2] AWG 1.25/1.5 16 AI1.5-10BK 2/2.5 14 AI2.5-10BU For 1 cable (Note 1) Note 1. Manufacturer: Phoenix Contact 2. Manufacturer: WAGO 3 - 15 For 2 cable AI-TWIN2 1.5-10BK Crimping tool (Note 2) Variocrimp 4 206-204 3. SIGNALS AND WIRING (c) The twin type connector for CNP2 (L11 L21): 721-2205/026-000 (WAGO) Using this connector enables passing a wire of control circuit power supply. Refer to appendix 3 for details of connector. Twin type connector for CNP2 CNP2 L11 Power supply or Front axis L21 L11 Rear axis L21 (3) MR-J3-350B (a) Servo amplifier power supply connectors Servo amplifier power supply connectors Connector for CNP1 PC4/6-STF-7.62-CRWH (Phoenix Contact) Servo amplifier Cable finish OD: 5mm or less Connector for CNP3 PC4/3-STF-7.62-CRWH (Phoenix Contact) CNP1 CNP3 CNP2 Connector for CNP2(Note) 54928-0520 (Molex) Cable finish OD: 3.8mm or less Note. As twin type connector for CNP2 (L11, L21) is the same as MR-J3-100B or smaller. Refer to (1) (c) of this section. (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 7mm 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. Do not solder the core as it may cause a contact fault. Alternatively, a bar terminal may be used to put the wires together. Cable size 2 [mm ] AWG Bar terminal type For 1 cable For 2 cables 1.25/1.5 16 AI1.5-8BK AI-TWIN2 1.5-8BK 2.0/2.5 14 AI2.5-8BU AI-TWIN2 2.5-10BU 3.5 12 AI4-10GY 3 - 16 Crimping tool CRIMPFOX-ZA3 Manufacturer Phoenix Contact 3. SIGNALS AND WIRING 2) CNP2 CNP2 is the same as MR-J3-100B or smaller capacities. Refer to (1) (b) of this section. (4) Insertion of cable into Molex and WAGO connectors Insertion of cable into 54928-0610, 54928-0520, 54928 (Molex) connectors and 721-207/026-000, 721-205/ 026-000 and 721-203/026-000 (WAGO) connectors are as follows. The following explains for Molex, however use the same procedures for inserting WAGO connectors as well. POINT It may be difficult for a cable to be inserted to the connector depending on wire size or bar terminal configuration. In this case, change the wire type or correct it in order to prevent the end of bar terminal from widening, and then insert it. How to connect a cable to the servo amplifier power supply connector is shown below. 3 - 17 3. SIGNALS AND WIRING (a) When using the supplied cable connection lever 1) The servo amplifier is packed with the cable connection lever. a) 54932-0000 (Molex) [Unit: mm] 20.6 3.4 4.9 10 6.5 MXJ 54932 Approx. 7.7 4.7 Approx. 3 7.7 Approx. 4.9 Approx.3.4 b) 231-131 (WAGO) 4.9 3.4 [Unit: mm] 20.3 7.6 6.5 3 10 1.3 1.5 16 17.5 3 - 18 3. SIGNALS AND WIRING 2) Cable connection procedure Cable connection lever 1) Attach the cable connection lever to the housing. (Detachable) 2) Push the cable connection lever in the direction of arrow. 3) Hold down the cable connection lever and insert the cable in the direction of arrow. 4) Release the cable connection lever. 3 - 19 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] Approx. 22 3 0.6 Approx. R0.3 3 to 3.5 Approx. R0.3 2) When using the flat-blade screwdriver - part 1 1) Insert the screwdriver into the square hole. Insert it along the top of the square hole to insert it smoothly. 2) If inserted properly, the screwdriver is held. 3) With the screwdriver held, insert the cable in the direction of arrow. (Insert the cable as far as it will go.) 4) Releasing the screwdriver connects the cable. 3 - 20 3. SIGNALS AND WIRING 3) When using the flat-blade screwdriver - part 2 1) Insert the screwdriver into the square window at top of the connector. 2) Push the screwdriver in the direction of arrow. 4) Releasing the screwdriver connects the cable. 3 - 21 3) With the screwdriver pushed, insert the cable in the direction of arrow. (Insert the cable as far as it will go.) 3. SIGNALS AND WIRING (4) How to insert the cable into Phoenix Contact connector POINT Do not use a precision driver because the cable cannot be tightened with enough torque. Insertion of cables into Phoenix Contact connector PC4/6-STF-7.62-CRWH or PC4/3-STF-7.62-CRWH is shown as follows. Before inserting the cable into the opening, make sure that the screw of the terminal is fully loose. Insert the core of the cable into the opening and tighten the screw with a flat-blade screwdriver. When the cable is not tightened enough to the connector, the cable or connector may generate heat because of the poor contact. (When using a cable of 1.5mm2 or less, two cables may be inserted into one opening.) Secure the connector to the servo amplifier by tightening the connector screw. For securing the cable and the connector, use a flat-blade driver with 0.6mm blade edge thickness and 3.5mm diameter (Recommended flat-blade screwdriver: Phoenix Contact SZS 0.6 3.5). Apply 0.5 to 0.6 N m torque to screw. [Unit: mm] 180 To tighten Wire (35) 100 3.5 To loosen 0.6 Flat-blade screwdriver Opening Recommended flat-blade screwdriver dimensions Connector screw Servo amplifier power supply connector To loosen To tighten Flat-blade screwdriver 3 - 22 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. CN5 (USB connector) Refer to section 11.8. CN3 OPEN 1 CN5 L1 2 L2 DI1 L3 P1 CN3 N 4 MO1 P2 U V CN1A CN1B P C D L11 L12 6 CHARGE CN2 2 LG 4 6 MRR 1 P5 3 MR 8 CN4 CN2L CN2 W Connector for the front axis of CN1A SSCNET cable. Connector for the rear axis of CN1B SSCNET cable. 10 MDR 5 7 9 BAT MD The 3M make connector is shown. When using any other connector, refer to section 11.1.2. The frames of the CN2 and CN3 connectors are connected to the PE (earth) terminal ( ) in the amplifier. 3 - 23 LA 8 LZ 10 DICOM LG 3 DOCOM 5 DICOM 7 LB 9 INP 11 12 DI2 14 MO2 16 LAR 18 LZR 20 EM1 LG 13 MBR 15 ALM 17 LBR 19 DI1 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 CN1A Connector for bus cable from preceding axis. CN1B Connector for bus cable to next axis Function/Application 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. CN2 Encoder connector Used for connection with the servo motor encoder. CN4 Battery connection connector When using as absolute position detection system, connect to battery (MR-J3BAT). Before installing a battery, turn off the main circuit power while keeping the control circuit power on. Wait for 15 minutes or more (20 minutes or for drive unit 30kW or more) until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) (L and L for drive unit 30kW or more) is safe with a voltage tester and others. 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 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. CN5 Communication connector The personal computer is connected. (2) I/O device (a) Input device Device Forced stop EM1 Connector pin No. CN3-20 DI1 DI2 DI3 CN3-2 CN3-12 CN3-19 Symbol Function/Application Turn EM1 off (open between commons) to bring the motor to an forced stop state, in which the base circuit is shut off and the dynamic brake is operated. Turn EM1 on (short between commons) in the forced stop state to reset that state. When parameter No.PA.04 is set to " 1 ", automatically ON (always ON) can be set inside. Devices can be assigned for DI1 DI2 DI3 with controller setting. For devices that can be assigned, refer to the controller instruction manual. The following devices can be assigned for Q172HCPU Q173HCPU QD75MH. DI1: upper stroke limit (FLS) DI2: lower stroke limit (RLS) DI3: proximity dog (DOG) 3 - 24 I/O division DI-1 DI-1 DI-1 DI-1 3. SIGNALS AND WIRING (b) Output device Trouble ALM Connector pin No. CN3-15 Electromagnetic brake interlock MBR CN3-13 In-position (Positioning completed) INP CN3-9 Ready RD Dynamic brake interlock DB Speed reached SA Limiting torque TLC Zero speed ZSP Device Symbol Function/Application ALM turns off when power is switched off or the protective circuit is activated to shut off the base circuit. Without alarm occurring, ALM turns on within about 1s 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 turns off. INP turns on when the number of droop pulses is in the preset in-position range. The in-position range can be changed using parameter No.PA10. When the in-position range is increased, INP 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. When using the signal, make it usable by the setting of parameter No.PD07 to PD09. RD turns on when the servo is switched on and the servo amplifier is ready to operate. When using the signal, make it usable by the setting of parameter No.PD07 to PD09. DB turns off simultaneously when the dynamic brake is operated. When using the external dynamic brake on the servo amplifier of 11 kW or more, this device is required. (Refer to section 11.6.) For the servo amplifier of 7kW or less, it is not necessary to use this device. When using this signal, make it usable by the setting of parameter No.PD07 to PD09. When the servo is off, SA will be turned OFF. When servo motor rotation speed becomes approximately setting speed, SA will be turned ON. When the preset speed is 20r/min or less, SA always turns on. This signal cannot be used in position loop mode. When using this signal, make it usable by the setting of parameter No.PD07 to PD09. When torque is produced level of torque set with controller, TLC will be turned ON. When the servo is off, TLC will be turned OFF. When using this signal, make it usable by the setting of parameter No.PD07 to PD09. When the servo is off, SA will be turned OFF. ZSP turns on when the servo motor speed is zero speed (50r/min) or less. Zero speed can be changed using parameter No.PC07. Example Zero speed is 50r/min Forward rotation direction OFF level 70r/min ON level 50r/min Servo motor speed 0r/min Reverse ON level rotation 50r/min direction OFF level 70r/min zero speed ON (ZSP) OFF 1) 2) 20r/min (Hysteresis width) 3) Parameter No.PC07 Parameter No.PC07 4) 20r/min (Hysteresis width) ZPS turns on 1) when the servo motor is decelerated to 50r/min, and ZPS turns off 2) when the servo motor is accelerated to 70r/min again. ZPS 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 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. 3 - 25 I/O division DO-1 DO-1 DO-1 DO-1 DO-1 DO-1 DO-1 DO-1 3. SIGNALS AND WIRING Device Warning Symbol Connector pin No. WNG Battery warning BWNG Variable gain selection CDPS Absolute position erasing ABSV Function/Application When using this signal, make it usable by the setting of parameter No.PD07 to PD09. When warning has occurred, WNG turns on. When there is no warning, WNG turns off within about 1.5s after power-on. When using this signal, make it usable by the setting of parameter No.PD07 to PD09. BWNG turns on when battery cable disconnection warning (92) or battery warning (9F) has occurred. When there is no battery warning, BWNG turns off within about 1.5s after power-on. When using this signal, make it usable by the setting of parameter No.PD07 to PD09. CDPS is on during variable gain. When using this signal, make it usable by the setting of parameter No.PD07 to PD09. ABSV turns on when the absolute position erased. This signal cannot be used in position loop mode. I/O division DO-1 DO-1 DO-1 DO-1 (c) Output signals Signal name Symbol Encoder A-phase pulse (Differential line driver) Encoder B-phase pulse (Differential line driver) Encoder Z-phase pulse (Differential line driver) LA LAR Connector pin No. CN3-6 CN3-16 LB LBR CN3-7 CN3-17 LZ LZR CN3-8 CN3-18 Analog monitor 1 MO1 CN3-4 Analog monitor 2 MO2 CN3-14 Function/Application Outputs pulses per servo motor revolution set in parameter No.PA15 in the differential line driver system. 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 Bphase pulses can be changed using parameter No.PC03. Output pulse specification and dividing ratio setting can be set. (Refer to section 5.1.9.) Outputs the zero-point signal in the differential line driver system of the encoder. One pulse is output per servo motor revolution. turns on when the zero-point position is reached. The minimum pulse width is about 400 s. For home position return using this pulse, set the creep speed to 100r/min. or less. Used to output the data set in parameter No.PC09 to across MO1-LG in terms of voltage. Resolution 10 bits Used to output the data set in parameter No.PC10 to across MO2-LG in terms of voltage. Resolution 10 bits (d) Power supply Signal name Symbol Digital I/F power supply input DICOM Connector pin No. CN3-5 CN3-10 Digital I/F common DOCOM CN3-3 Monitor common LG Shield SD CN3-1 CN3-11 Plate Function/Application Used to input 24VDC (24VDC 10% 150mA) 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. Connect the positive terminal of the 24VDC external power supply for the sink interface. Common terminal for input device such as EM1 of the servo amplifier. Pins are connected internally. Separated from LG. Connect the positive terminal of the 24VDC external power supply for the source interface. Common terminal of M01 M02 Pins are connected internally. Connect the external conductor of the shield cable. 3 - 26 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 operation. CAUTION As soon as an alarm occurs, make the Servo off status and interrupt the main circuit power. 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. (Note) Main circuit power ON Control circuit OFF Base circuit Dynamic brake Power off Power on ON OFF Valid Invalid Brake operation Brake operation Servo-on command ON (from controller) OFF NO Alarm Reset command (from controller) YES NO 1s ON OFF 50ms or more Alarm occurs. YES NO 60ms or more Remove cause of trouble. Note. Switch off the main circuit power as soon as an alarm occurs. (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 external 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. A power failure of the control circuit power supply continues for 60ms or longer and the control circuit is not completely off. The bus voltage dropped to 200VDC or less for the MR-J3- B, to 158VDC or less for the MR-J3- B1, or to 380VDC or less for the MR-J3- B4. 3 - 27 3. SIGNALS AND WIRING 3.7 Interfaces 3.7.1 Internal connection diagram Servo amplifier Forced stop (Note 3) (Note 1) CN3 Approx 5.6k EM1 20 DI1 2 DI2 12 DI3 19 DICOM 5 DOCOM 3 24VDC CN3 10 DICOM 13 MBR Approx 5.6k 9 (Note 2) 15 ALM RA (Note 3) INP RA CN3 LA 6 16 LAR LB 7 17 LBR LZ 8 18 LZR CN3 CN5 1 D 2 3 D GND 5 VBUS USB Differential line driver output (35mA or less) Analog monitor 4 MO1 1 LG 14 MO2 11 LG 10VDC 10VDC Servo motor CN2 7 8 3 4 2 Encoder MD MDR MR MRR LG E Note 1. Signal can be assigned for these pins with host controller setting. For contents of signals, refer to the instruction manual of host controller. 2. This signal cannot be used with speed loop mode. 3. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3. 3 - 28 M 3. SIGNALS AND WIRING 3.7.2 Detailed description of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 3.5. Refer to this section and make connection with the external equipment. (1) Digital input interface DI-1 Give a signal with a relay or open collector transistor. Refer to section 3.7.3 for the source input. Servo amplifier For transistor EM1, 5.6k etc. Approx. 5mA Switch TR DICOM VCES 1.0V ICEO 100 A 24VDC 10% 150mA (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. If polarity of diode is reversed, servo amplifier will fail. Servo amplifier ALM, etc. DOCOM Load (Note) 24VDC 10% 150mA 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 - 29 3. SIGNALS AND WIRING (3) Encoder output pulse DO-2 (Differential line driver system) (a) Interface Max. output current: 35mA Servo amplifier Servo amplifier LA (LB, LZ) Am26LS32 or equivalent LA (LB, LZ) 100 150 LAR (LBR, LZR) LAR (LBR, LZR) LG SD SD (b) Output pulse Servo motor CCW rotation LA LAR Time cycle (T) is determined by the settings of parameter No.PA15 and PC03. T LB LBR LZ LZR /2 400 s or more (4) Analog output Servo amplifier MO1 (MO2) LG Output voltage 10V Max. 1mA Max. Output current Resolution: 10 bit 3 - 30 High-speed photocoupler 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, Approx. 5.6k etc. Switch DICOM Approx. 5mA VCES 1.0V ICEO 100 A 24VDC 10% 150mA (2) Digital output interface DO-1 A maximum of 2.6V voltage drop occurs in the servo amplifier. If polarity of diode is reversed, servo amplifier will fail. Servo amplifier ALM, etc. DOCOM Load (Note) 24VDC 10% 150mA 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 - 31 3. SIGNALS AND WIRING 3.8 Treatment of cable shield external conductor In the case of the CN2 and CN3 connectors, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell. External conductor Sheath Core Sheath External conductor Pull back the external conductor to cover the sheath Strip the sheath. (1) For CN3 connector (3M connector) Screw Cable Screw Ground plate (2) For CN2 connector (3M or Molex connector) Cable Ground plate Screw 3 - 32 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 complies with class1 defined in JIS C6802 or IEC60825-1.) (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. Axis No.1 servo amplifier SSCNET cable Controller SSCNET Axis No.2 servo amplifier Final axis servo amplifier cable cable SSCNET CN1A CN1A CN1A CN1B CN1B CN1B Cap (2) How to connect/disconnect cable. POINT CN1A CN1B connector is put a cap to protect light device inside connector from dust. For this reason, do not remove a cap until just before mounting SSCNET cable. Then, when removing SSCNET cable, make sure to put a cap. Keep the cap for CN1A CN1B connector and the tube for protecting light code 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 light code end is put on the end of connector. Remove this tube. 2) Remove the CN1A CN1B connector cap of servo amplifier. 3 - 33 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. 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 code's end face on the end of connector. 3 - 34 3. SIGNALS AND WIRING 3.10 Connection of servo amplifier and servo motor CAUTION During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur. 3.10.1 Connection instructions WARNING CAUTION Insulate the connections of the power supply terminals to prevent an electric shock. 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. POINT Refer to section 11.1 for the selection of the encoder cable. 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. (1) 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 (2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake. 3 - 35 3. SIGNALS AND WIRING 3.10.2 Power supply cable wiring diagrams (1) HF-MP service 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 11.11 for the wire used for the extension cable. 2m or less MR-PWS1CBL2M-A1-L MR-PWS1CBL2M-A2-L MR-PWS1CBL2M-A1-H MR-PWS1CBL2M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L Servo motor 50m or less Servo amplifier CNP3 U V W Extension cable (Note) a) Relay connector for extension cable AWG 19(red) AWG 19(white) AWG 19(black) AWG 19(green/yellow) U V W M (Note) b) Relay connector for motor power supply cable Note. Use of the following connectors is recommended when ingress protection (IP65) is necessary. Relay connector Description Protective structure Connector: RM15WTPZ-4P(71) IP65 a) Relay connector for Cord clamp: RM15WTP-CP(5)(71) extension cable (Hirose Electric) Numeral changes depending on the cable OD. b) Relay connector for Connector: RM15WTJA-4S(71) IP65 motor power supply Cord clamp: RM15WTP-CP(8)(71) Numeral changes depending on the cable OD. (Hirose Electric) cable 3 - 36 3. SIGNALS AND WIRING (2) HF-SP series HC-RP 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 For CM10-SP10S- Pin No.1 For CM10-SP2S- (a) Wiring diagrams Refer to section 11.11 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 Servo motor U V W CN3 U V W M 24VDC DOCOM DICOM 24VDC power supply for electromagnetic brake ALM RA1 MBR RA2 Electromagnetic brake interlock Trouble Forced stop (MBR) (ALM) (EM1) RA2 RA1 B1 B2 (Note) Note. There is no polarity in electromagnetic brake terminals B1 and B2. 3 - 37 3. SIGNALS AND WIRING 2) When the power supply connector and the electromagnetic brake connector are shared. 50m or less Servo amplifier Servo motor U V W CN3 U V W M 24VDC DOCOM DICOM 24VDC power supply for electromagnetic brake ALM RA1 MBR RA2 Electromagnetic brake interlock Trouble Forced stop (MBR) (ALM) (EM1) RA2 RA1 B1 B2 (Note) Note. 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 side connectors Servo motor Encoder HF-SP52(4) to 152(4) 502(4) MS3102A22-22P HF-SP121 to 301 a HF-SP421 702(4) c b HC-RP103 to 203 HC-RP353 503 HC-UP72 152 Electromagnetic brake MS3102A18-10P HF-SP51 81 HF-SP202 352 Power supply CM10-R2P (DDK) CE05-2A32-17PD-B CM10-R10P (DDK) CE05-2A22-23PD-B CE05-2A24-10PD-B CE05-2A22-23PD-B The connector for power is shared HC-UP202 to 502 CE05-2A24-10PD-B MS3102A10SL-4P HC-LP52 to 152 CE05-2A22-23PD-B The connector for power is shared HC-LP202 CE05-2A24-10PD-B MS3102A10SL-4P 302 3 - 38 3. SIGNALS AND WIRING Encoder connector signal allotment CM10-R10P 7 10 3 6 9 2 5 8 1 4 View a Terminal No. Signal 1 MR 2 MRR Power supply connector signal allotment MS3102A18-10P MS3102A22-22P CE05-2A32-17PD-B C B 3 4 BAT 5 LG Terminal No. Signal A U B V C W D A D View b 6 Power supply connector signal allotment CE05-2A22-23PD-B G F A H B E C D View b A U B V C W (earth) E F P5 G 9 10 Signal D (earth) 7 8 Terminal No. SHD H B1 (Note) B2 (Note) Note. For the motor with an electromagnetic brake, supply electromagnetic brake power (24VDC). There is no polarity. Power supply connector signal allotment CE05-2A24-10PD-B A F E G D B C Terminal No. Signal A U B V C W D View b (earth) E B1 (Note) F B2 (Note) G Note. For the motor with an electromagnetic brake, supply electromagnetic brake power (24VDC). There is no polarity. Brake connector signal allotment CM10-R2P Terminal No. 2 1 1 2 View c Brake connector signal allotment MS3102A10SL-4P B1 (Note) A B B2 A B (Note) Note. For the motor with an electromagnetic brake, supply electromagnetic brake power (24VDC). There is no polarity. 3 - 39 Terminal No. Signal View c Signal B1 (Note) B2 (Note) Note. For the motor with an electromagnetic brake, supply electromagnetic brake power (24VDC). There is no polarity. 3. SIGNALS AND WIRING (3) HA-LP series servo motor (a) Wiring diagrams Refer to section 11.11 for the cables used for wiring. 1) 200V class NFB 50m or less Servo amplifier MC L1 L2 L3 Servo motor TE U V W CN3 U V W M BU BV BW 24VDC Cooling fan (Note 2) DOCOM DICOM 24VDC power supply for electromagnetic brake ALM RA1 MBR RA2 Electromagnetic brake interlock Trouble Forced stop (MBR) (ALM) (EM1) RA1 RA2 B1 B2 OHS1 24VDC (Note 3) power supply (Note 1) OHS2 Servo motor thermal relay RA3 Note 1. There is no polarity in electromagnetic brake terminals B1 and B2. 2. Cooling fan power supply of the HA-LP601, the HA-LP701M and the HA-LP11K2 servo motor is 1-phase. Power supply specification of the cooling fan is different from that of the servo amplifier. Therefore, separate power supply is required. 3. Configure the power supply circuit which turns off the magnetic contactor after detection of servo motor thermal. 3 - 40 3. SIGNALS AND WIRING 2) 400V class (Note4) Cooling fan power supply 50m or less Servo amplifier MC L1 L2 L3 Servo motor TE U V W CN3 U V W NFB M BU BV BW 24VDC Cooling fan (Note 2) DOCOM DICOM 24VDC power supply for electromagnetic brake ALM RA1 MBR RA2 Electromagnetic brake interlock Trouble Forced stop (MBR) (ALM) (EM1) RA1 RA2 B1 B2 OHS1 24VDC (Note 3) power supply (Note 1) OHS2 Servo motor thermal relay RA3 Note 1. There is no polarity in electromagnetic brake terminals B1 and B2. 2. There is no BW when the power supply of the cooling fan is a 1-phase. 3. Configure the power supply circuit which turns off the magnetic contactor after detection of servo motor thermal. 4. For the cooling fan power supply, refer to (3) (b) of this section. 3 - 41 3. SIGNALS AND WIRING (b) Servo motor terminals Encoder connector CM10-R10P Brake connector MS3102A10SL-4P Terminal box Encoder connector signal allotment CM10-R10P 10 9 8 7 6 5 4 3 2 1 Terminal No. Brake connector signal allotment MS3102A10SL-4P Signal 1 MR 2 MRR 3 4 BAT 5 LG 1 2 6 7 8 P5 9 10 Terminal box inside (HA-LP601(4) 701M(4) SHD Terminal No. Signal B1 1 (Note) B2 2 (Note) Note. For the motor with an electromagnetic brake, supply electromagnetic brake power (24VDC). There is no polarity. 11K2(4) ) Thermal sensor terminal block (OHS1 OHS2) M4 screw Motor power supply terminal block (U V W) M6 screw Cooling fan terminal block (BU BV) M4 screw Terminal block signal arrangement Earth terminal( ) M6 screw Encoder connector OHS1 OHS2 CM10-R10P U 3 - 42 V W BU BV 3. SIGNALS AND WIRING Terminal box inside (HA-LP801(4) 12K1(4) 11K1M(4) 15K1M(4) 15K2(4) 22K2(4)) Cooling fan terminal block (BU BV BW) M4 screw Thermal sensor terminal block (OHS1 OHS2) M4 screw Motor power supply terminal block (U V W) M8 screw Encoder connector CM10-R10P Earth terminal( ) M6 screw Terminal box inside (HA-LP15K1(4) Motor power supply terminal block (U V W) M8 U 20K1(4) Terminal block signal arrangement BU BV U V BW OHS1OHS2 W 22K1M(4)) Encoder connector CM10-R10P V W Thermal sensor terminal block (OHS1 OHS2) M4 screw Cooling fan terminal block (BU BV BW) M4 screw Earth terminal M6 screw Terminal block signal arrangement U 3 - 43 V W BU BV BW OHS1 OHS2 3. SIGNALS AND WIRING Terminal box inside (HA-LP25K1) Motor power supply terminal block (U V Encoder connector CM10-R10P W) M10 screw U V W BU BV BW OHS1OHS2 Thermal sensor terminal block (OHS1 OHS2) M4 screw Cooling fan terminal block (BU BV BW) M4 screw Earth terminal( ) M6 screw Terminal block signal arrangement U 3 - 44 V W BU BV BW OHS1 OHS2 3. SIGNALS AND WIRING Signal name Power supply Abbreviation U V W Description Connect to the motor output terminals (U, V, W) of the servo amplifier. During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur. Supply power which satisfies the following specifications. Voltage division Servo motor BW 3-phase 200 to 230VAC 62(50Hz) 50Hz/60Hz 76(60Hz) 0.18(50Hz) 0.17(60Hz) HA-LP15K1, 20K1, 22K1M 65(50Hz) 85(60Hz) 0.20(50Hz) 0.22(60Hz) HA-LP25K1 120(50Hz) 175(60Hz) 0.65(50Hz) 0.80(60Hz) 42(50Hz) 1-phase 200 to 220VAC 50Hz 54(60hz) 3-phase 200 to 230VAC 60Hz 0.21(50Hz) 0.25(60Hz) HA-LP8014, 12K14, 11K1M4, 15K1M4, 15K24, 22K24 62(50Hz) 3-phase 380 to 440VAC 50Hz 76(60Hz) 3-phase 380 to 480VAC 60Hz 0.14(50Hz) 0.11(60Hz) HA-LP15K14, 20K14, 22K1M4 65(50Hz) 3-phase 380 to 460VAC 50Hz 85(60Hz) 3-phase 380 to 480VAC 110(50Hz) 60Hz 150(60Hz) 0.12(50Hz) 0.14(60Hz) HA-LP6014, 701M4, 11K24 400V class HA-LP25K14 Motor thermal relay Earth terminal OHS1 OHS2 Rated current [A] 0.21(50Hz) 0.25(60Hz) 200V class HA-LP801, 12K1, 11K1M, 15K1M, 15K2, 22K2 (Note) BU BV Power consumption [W] 42(50Hz) 3-phase 200 to 220VAC 50Hz 54(60Hz) 3-phase 200 to 230VAC 60Hz HA-LP601, 701M, 11K2 Cooling fan Voltage/ frequency 0.20(50Hz) 0.22(60Hz) OHS1 OHS2 are opened when heat is generated to an abnormal temperature. Maximum rating: 125V AC/DC, 3A or 250V AC/DC, 2A Minimum rating: 6V AC/DC, 0.15A For grounding, connect to the earth of the control box via the earth terminal of the servo amplifier. Note. There is no BW when the power supply of the cooling fan is a 1-phase. 3 - 45 3. SIGNALS AND WIRING 3.11 Servo motor with an 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 servo-off, when an alarm occurrence and when an electromagnetic brake interlock (MBR). Servo motor Circuit must be opened during forced stop (EM1). RA EM1 CAUTION 24VDC Electromagnetic brake The electromagnetic brake is provided for holding purpose and must not be used for ordinary braking. Before performing the operation, be sure to confirm that the electromagnetic brake operates properly. 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. Note the following when the servo motor with an electromagnetic brake is used. 1) Do not share the 24VDC interface power supply between the interface and electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake. 2) The brake will operate when the power (24VDC) switches off. 3) Switch off the servo-on command after the servo motor has stopped. (1) Connection diagram Servo amplifier 24VDC Electromagnetic Trouble Forced brake (ALM) stop Servo motor B1 DOCOM DICOM MBR RA1 24VDC B2 (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 - 46 3. SIGNALS AND WIRING 3.11.2 Timing charts (1) Servo-on command (from controller) ON/OFF Tb [ms] after the servo-on is switched off, the servo lock is released and the servo motor coasts. If the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore, when using the electromagnetic brake in a vertical lift application or the like, set delay time (Tb) to about the same as the electromagnetic brake operation delay time to prevent a drop. Coasting Servo motor speed 0 r/min (95ms) Tb ON Base circuit OFF Electromagnetic (Note 1) ON brake interlock OFF (MBR) Electromagnetic brake operation delay time (95ms) ON Servo-on command (from controller) OFF (Note 3) Operation command 0 r/min (from controller) Electromagnetic brake Release Activate Release delay time and external relay (Note 2) Note 1. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated. 2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of external circuit relay. For the release delay time of electromagnetic brake, refer to the Servo Motor Instruction Manual (Vol.2). 3. Give the operation command from the controller after the electromagnetic brake is released. (2) Forced stop command (from controller) or forced stop (EM1) ON/OFF Servo motor speed (10ms) Base circuit Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake Electromagnetic brake release (210ms) ON OFF (210ms) Electromagnetic brake operation delay time (Note) ON Electromagnetic brake interlock (MBR) OFF Forced stop command Invalid (ON) (from controller) Valid (OFF) or Forced stop (EM1) Note. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated. 3 - 47 3. SIGNALS AND WIRING (3) Alarm occurrence Dynamic brake Dynamic brake Electromagnetic brake Servo motor speed Electromagnetic brake (10ms) ON Base circuit OFF Electromagnetic brake interlock (MBR) (Note) ON Electromagnetic brake operation delay time OFF No (ON) Alarm Yes (OFF) Note. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated. (4) Both main and control circuit power supplies off (10ms) Servo motor speed Base circuit ON (Note 1) 15 to 100ms OFF (Note 2) ON Electromagnetic brake interlock (MBR) OFF Alarm Main circuit power Control circuit Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake 10ms Electromagnetic brake operation delay time (Note2) No (ON) Yes (OFF) ON OFF Note 1. Changes with the operating status. 2. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated. 3 - 48 3. SIGNALS AND WIRING (5) Only main circuit power supply off (control circuit power supply remains on) (10ms) Servo motor speed Base circuit Electromagnetic brake interlock (MBR) Alarm Main circuit power supply ON Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake (Note 1) 15ms or more OFF (Note 3) ON OFF Electromagnetic brake operation delay time (Note 2) No (ON) Yes (OFF) ON OFF Note 1. Changes with the operating status. 2. When the main circuit power supply is off in a motor stop status, the main circuit off warning (E9) occurs and the alarm (ALM) does not turn off. 3. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated. 3 - 49 3. SIGNALS AND WIRING 3.11.3 Wiring diagrams (HF-MP series HF-KP series servo motor) POINT For HF-SP series HC-RP series HC-UP series HC-LP series servo motors, refer to section 3.10.2 (2). (1) When cable length is 10m or less 24VDC power supply for electromagnetic brake 10m or less Electromagnetic Trouble Forced stop brake (MBR) (ALM) (EM1) MR-BKS1CBL MR-BKS1CBL MR-BKS1CBL MR-BKS1CBL M-A1-L M-A2-L M-A1-H Servo motor M-A2-H (Note2) AWG20 B1 (Note 1) AWG20 B2 Note 1. Connect a surge absorber as close to the servo motor as possible. 2. There is no polarity in electromagnetic brake terminals (B1 and B2). When fabricating the motor brake cable MR-BKS1CBL- M-H, refer to section 11.1.4. (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 11.8 for the wire used for the extension cable. 2m or less MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L 24VDC power 50m or less MR-BKS1CBL2M-A1-H supply for Extension cable (To be fabricated) MR-BKS1CBL2M-A2-H electromagnetic MR-BKS2CBL03M-A1-L Servo motor brake MR-BKS2CBL03M-A2-L Electromagnetic Trouble Forced stop (Note 3) brake (MBR) (ALM) (EM1) AWG20 B1 (Note 1) AWG20 B2 (Note 2) a) Relay connector for extension cable (Note 2) b) Relay connector for motor brake cable Note 1. Connect a surge absorber as close to the servo motor as possible. 2. Use of the following connectors is recommended when ingress protection (IP65) is necessary. Relay connector a) Relay connector for CM10-CR2P(DDK) extension cable b) Relay connector for CM10-SP2Smotor brake cable (DDK) Description Protective structure IP65 Wire size: S, M, L IP65 Wire size: S, M, L 3. There is no polarity in electromagnetic brake terminals (B1 and B2). 3 - 50 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 (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 MC NFB Servo motor Servo amplifier CN2 (Note) Power supply Line filter L1 Encoder L2 L3 L11 L21 U U V V W W M Servo system controller CN1A Protective earth(PE) Ensure to connect it to PE terminal of the servo amplifier. Do not connect it directly to the protective earth of the control panel. Outer box Note. For 1-phase 200V to 230VAC, connect the power supply to L1 L2 and leave L3 open. There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.3 for the power supply specification. 3 - 51 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. The control axes may be set independently of the SSCNET cable connection sequence. Rotary axis setting switch (SW1) (Note) SW2 7 8 9 Up Down B C DE 3 4 5 6 A 2 Spare (Be sure to set to the "Down" position.) Test operation select switch (SW2-1) Set the test operation select switch to the "Up" position, when performing the test operation mode by using MR Configurator. F 0 1 Note. This table indicates the status when the switch is set to "Down". (Default) Spare Rotary axis setting switch (SW1) Description Display 0 Axis No.1 01 1 Axis No.2 02 2 Axis No.3 03 3 Axis No.4 04 4 Axis No.5 05 5 Axis No.6 06 6 Axis No.7 07 7 Axis No.8 08 Down (Be sure to set to the "Down" position.) 3 - 52 8 Axis No.9 09 9 Axis No.10 10 A Axis No.11 11 B Axis No.12 12 C Axis No.13 13 D Axis No.14 14 E Axis No.15 15 F Axis No.16 16 4. STARTUP 4. STARTUP WARNING Do not operate the switches with wet hands. You may get an electric shock. Before starting operation, check the parameters. Some machines may perform unexpected operation. CAUTION 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. 4.1 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 Wiring check Check whether the servo amplifier and servo motor are wired correctly using visual inspection, DO forced output function (section 4.5.1), etc. (Refer to section 4.1.2.) Surrounding environment check Check the surrounding environment of the servo amplifier and servo motor. (Refer to section 4.1.3.) Axis No. settings Confirm that the axis No. settings for rotary axis setting switch (SW1) and servo system controller are consistent. (Refer to section 3.12) Parameter setting Set the parameters as necessary, such as the used control mode and regenerative option selection. (Refer to chapter 5) Test operation of servo motor alone in test operation mode For the test operation, with the servo motor disconnected from the machine and operated at the speed as low as possible, check whether the servo motor rotates correctly. (Refer to sections 4.5) Test operation of servo motor alone by commands For the test operation with the servo motor disconnected from the machine and operated at the speed as low as possible, give commands to the servo amplifier and check whether the servo motor rotates correctly. Test operation with servo motor and machine connected Connect the servo motor with the machine, give operation commands from the host command device, and check machine motions. Gain adjustment Make gain adjustment to optimize the machine motions. (Refer to chapter 6.) Actual operation Stop Stop giving commands and stop operation. 4- 1 4. STARTUP 4.1.2 Wiring check (1) Power supply system wiring Before switching on the main circuit and control circuit power supplies, check the following items. (a) Power supply system wiring The power supplied to the power input terminals (L1, L2, L3, L11, L21) of the servo amplifier should satisfy the defined specifications. (Refer to section 1.3.) (b) Connection of servo amplifier and servo motor 1) The servo motor power supply terminals (U, V, W) of the servo amplifier match in phase with the power input terminals (U, V, W) of the servo motor. Servo amplifier U U V V Servo motor M W W 2) The power supplied to the servo amplifier should not be connected to the servo motor power supply terminals (U, V, W). To do so will fail the connected servo amplifier and servo motor. Servo amplifier Servo motor M U V W U V W 3) The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier. Servo amplifier Servo motor M 4) P1-P2 (For 11kW or more, P1-P) should be connected. Servo amplifier P1 P2 (c) When option and auxiliary equipment are used 1) When regenerative option is used under 3.5kW for 200V class and 2kW for 400V class The lead between P terminal and D terminal of CNP2 connector should not be connected. 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- 2 4. STARTUP 2) When regenerative option is used over 5kW for 200V class and 3.5kW for 400V class The lead of built-in regenerative resistor connected to P terminal and C terminal of TE1 terminal block should not be connected. The generative 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. (Refer to section 11.2) 3) When brake unit and power regenerative converter are used over 5kW The lead of built-in regenerative resistor connected to P terminal and C terminal of TE1 terminal block should not be connected. Brake unit, power regenerative converter or power regeneration converter should be connected to P terminal and N terminal. (Refer to section 11.3 to 11.5) 4) The power factor improving DC reactor should be connected P1 and P2 (For 11k to 22kW, P1 and P). (Refer to section 11.13.) Power factor Servo amplifier improving DC reactor P1 (Note) P2 Note. Always disconnect P1 and P2. (For 11k to 22kW P1 and P) (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 flex 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- 3 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. In the absolute position detection system, first power-on results in the absolute position lost (25) 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 500r/min or higher, position mismatch may occur due to external force or the like. Power must therefore be switched on when the servo motor is at a stop. (2) Parameter setting Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for the parameter definitions. Parameter No. PA14 Name Setting Rotation direction setting PA08 Auto tuning mode PA09 Auto tuning response Increase in positioning address rotates the motor in the CCW direction. 0 1 12 Description Used. Slow response (initial value) is selected. After setting the above parameters, switch power off once. Then switch power on again to make the set parameter values valid. (3) Servo-on Switch the servo-on in the following procedure. 1) Switch on main circuit/control circuit power supply. 2) The controller transmits the servo-on command. When placed in the servo-on status, the servo amplifier is ready to operate and the servo motor is locked. (4) Home position return Always perform home position return before starting positioning operation. (5) Stop If any of the following situations occurs, the servo amplifier suspends the running of the servo motor and brings it to a stop. When the servo motor is with an electromagnetic brake, refer to section 3.11. Operation/command Servo system controller Servo amplifier Stopping condition Servo off command The base circuit is shut off and the servo motor coasts. Forced stop command The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The controller forced stop warning (E7) occurs. Alarm occurrence The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. Forced stop (EM1) OFF The base circuit is shut off and the dynamic brake operates to bring the servo motor to stop. The servo forced stop warning (E6) occurs. 4- 4 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 (SSCNET communication) Servo system controller power ON (SSCNET communication beginning) Initial data communication with servo system controller (Initialization communication) (Note 3) (Note 1) When alarm warning No. is displayed At occurrence of overload Ready OFF/servo OFF Flicker display At occurrence of overload warning (Note 2) Flicker display During controller forced stop Flicker display Ready ON When alarm occurs, alarm code appears. Ready ON/servo OFF (Note 3) Servo ON (Note 3) Ready ON/servo ON During forced stop Flicker display Ordinary operation Alarm reset or warning Servo system controller power OFF Servo system controller power ON Note 1. Only alarm and warning No. are displayed, but no axis No. is displayed 2. If warning other than E6 or E7 occurs during the servo on, flickering the second place of decimal point indicates that it is during the servo on. 3. The right-hand segments of b01, c02 and d16 indicate the axis number. (Below example indicates Axis1) 1 axis 2 axis 4- 5 16 axis 4. STARTUP (2) Indication list Indication Status A b Initializing 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 occurred or an error took place in communication with the servo system controller. In this case, the indication changes. "Ab " "AC " "Ad " "Ab " The servo system controller is faulty. During initial setting for communication specifications AC Initializing Initial setting for communication specifications completed, and then it synchronized with servo system controller. A d Initializing During initial parameter setting communication with servo system controller AE Initializing During motor encoder information and telecommunication with servo system controller A F Initializing During initial signal data communication with servo system controller AH Initializing completion During the completion process for initial data communication with servo system controller AA Initializing standby The power supply of servo system controller is turned off during the power supply of servo amplifier is on. (Note 1) b # # Ready OFF (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. Alarm (Note 2) The ready off signal from the servo system controller was received. Warning The alarm No./warning No. that occurred is displayed. (Refer to section 9.1.) 8 8 8 CPU Error CPU watchdog error has occurred. (Note 3) b 0 0. JOG operation, positioning operation, programmed operation, DO forced output. (Note 1) b # #. (Note 3) d # #. Test operation mode Motor-less operation C # #. Note 1. ## denotes any of numerals 00 to 16 and what it means is listed below. # Description 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Set to the test operation mode. First axis Second axis Third axis Fourth axis Fifth axis Sixth axis Seventh axis Eighth axis Ninth axis Tenth axis Eleventh axis Twelfth axis Thirteenth axis Fourteenth axis Fifteenth axis Sixteenth axis 2. ** indicates the warning/alarm No. 3. Requires the MR Configurator. 4- 6 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. 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. Test operation of servo motor alone by commands 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. Test operation with servo motor and machine connected 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. In the status display, check for any problems of the servo motor speed, command pulse frequency, load ratio, etc. Then, check automatic operation with the program of the command device. 4- 7 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 (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 Initial value Setting range Speed [r/min] 200 0 to max. speed Acceleration/deceleration time constant [ms] 1000 0 to 50000 2) Operation method Operation Screen control Forward rotation start Click the "Forward" button. Reverse rotation start Click the "Reverse" button. Stop Click the "Stop" button. (b) Positioning operation Positioning operation can be performed without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the positioning operation screen of the MR Configurator. 1) Operation pattern Initial value Setting range Travel [pulse] Item 4000 0 to 99999999 Speed [r/min] 200 0 to max. speed Acceleration/deceleration time constant [ms] 1000 0 to 50000 4- 8 4. STARTUP 2) Operation method Operation Screen control Forward rotation start Click the "Forward" button. Reverse rotation start Click the "Reverse" button. Pause Click the "Pause" button. (c) Program operation Positioning operation can be performed in two or more operation patterns combined, without using the servo system controller. Use this operation with the forced stop reset. This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not. Exercise control on the programmed operation screen of the MR Configurator. For full information, refer to the MR Configurator Installation Guide. Operation Screen control Start Click the "Start" button. Stop Click the "Reset" button. (d) Output signal (DO) forced output Output signals can be switched on/off forcibly independently of the servo status. Use this function for output signal wiring check, etc. Exercise control on the DO forced output screen of the MR Configurator. (2) Operation procedure (a) Jog operation, positioning operation, program operation, DO forced output. 1) Switch power off. 2) Set SW2-1 to "UP". SW2 Set SW2-1 to "UP" UP DOWN 1 2 When SW1 and SW2-1 is set to the axis number and operation is performed by the servo system controller, the test operation mode screen is displayed on the personal computer, but no function is performed. 3) Switch servo amplifier power on. When initialization is over, the display shows the following screen. Decimal point flickers. 4) Perform operation with the personal computer. 4- 9 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. 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 motorless operation, set the selection of motorless operation to [Invalid] in servo parameter setting of servo system controller. Motorless operation will be invalid condition after switching on power supply next time. (a) Load conditions Load item Condition Load torque 0 Load inertia moment ratio Same as servo motor inertia moment (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 error 1 (16) Converter error (1B) (Note 1) Encoder error 2 (20) Converter warning (9C) (Note 1) Absolute position erasure (25) Main circuit off warning (E9) (Note 2) Battery cable disconnection warning (92) Battery warning (9F) Note 1. Alarm and warning for the drive units of 30kW or more. For details, refer to section 13.6.2. 2. Main circuit off warning (E9) does not occur only when the forced stop of the converter unit is enabled as the cause of occurrence with the drive unit of 30kW or more. Main circuit of warning, otherwise, occurs when the cause of occurrence with the drive unit of 30kW or more is other than above, or with the servo amplifier of 22 kW or less. (2) Operating procedure 1) Switch off servo amplifier 2) Set parameter No.PC05 to "1", change test operation mode switch (SW2-1) to normal condition side "Down", and then turn on the power supply. SW2 UP DOWN Set SW2-1 to "DOWN" 1 2 3) Perform motor-less operation with the personal computer. The display shows the following screen. Decimal point flickers. 4 - 10 5. PARAMETERS 5. PARAMETERS CAUTION Never adjust or change the parameter values extremely as it will make operation instable. POINT When the servo amplifier is connected with the servo system controller, the parameters are set to the values of the servo system controller. Switching power off, then on makes the values set on the MR Configurator (servo configuration software) invalid and the servo system controller values valid. Setting may not be made to some parameters and ranges depending on the model or version of the servo system controller. For details, refer to the servo system controller user's manual. In this servo amplifier, the parameters are classified into the following groups on a function basis. Parameter group Main description Basic setting parameters (No.PA ) Make basic setting with these parameters. Generally, the operation is possible only with these parameter settings. Gain/filter parameters (No.PB ) Use these parameters when making gain adjustment manually. Extension setting parameters (No.PC ) When changing settings such as analog monitor output signal or encoder electromagnetic brake sequence output, use these parameters. I/O setting parameters (No.PD ) Use these parameters when changing the I/O signals of the servo amplifier. Mainly setting the basic setting parameters (No.PA of introduction. 5.1 Basic setting parameters (No.PA ) allows the setting of the basic parameters at the time ) 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. Never change parameters for manufacturer setting. 5- 1 5. PARAMETERS 5.1.1 Parameter list No. Symbol PA01 Name For manufacturer setting Initial value 0000h PA02 **REG Regenerative option 0000h PA03 *ABS 0000h Absolute position detection system PA04 *AOP1 Function selection A-1 PA05 Unit 0000h For manufacturer setting 0 PA06 1 PA07 1 PA08 ATU Auto tuning mode PA09 RSP Auto tuning response 12 PA10 INP In-position range 100 pulse PA11 0001h 1000.0 % PA12 For manufacturer setting 1000.0 % PA13 0000h PA14 *POL Rotation direction selection PA15 *ENR Encoder output pulses PA16 0 4000 For manufacturer setting 0 PA17 0000h PA18 PA19 0000h *BLK Parameter write inhibit 000Bh 5- 2 pulse/rev 5. PARAMETERS 5.1.2 Parameter write inhibit Parameter No. Symbol PA19 *BLK Initial value Name Parameter write inhibit Unit 000Bh Setting range Refer to the text. POINT When setting the parameter values from the servo system controller, the parameter No.PA19 setting need not be changed. 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. With the setting of parameter No.PA19, write can be disabled to prevent accidental changes. The following table indicates the parameters which are enabled for reference and write by the setting of parameter No.PA19. Operation can be performed for the parameters marked . Parameter No.PA19 setting 0000h 000Bh (initial value) 000Ch Setting operation Basic setting parameters No.PA Reference Write Reference Write Reference Write Reference 100Bh Write Parameter No.PA19 only Reference 100Ch Write Parameter No.PA19 only 5- 3 Gain/filter parameters No.PB Extension setting parameters No.PC I/O setting parameters No.PD 5. PARAMETERS 5.1.3 Selection of regenerative option Parameter No. PA02 Symbol Initial value Name **REG Regenerative option Unit 0000h Setting range Refer to the text. POINT This parameter value and switch power off once, then switch it on again to make that parameter setting valid. 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) occurs. For a drive unit of 30kW or more, always set the parameter to " selecting regenerative option is carried out by the converter unit. 00" since Set this parameter when using the regenerative option, brake unit, power regeneration converter, or power regeneration common converter. Parameter No.PA02 0 0 Selection of regenerative option 00: Regenerative option is not used For servo amplifier of 100W, regenerative resistor is not used. For servo amplifier of 200 to 7kW, built-in regenerative resistor is used. Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11k to 22kW. For a drive unit of 30kW or more, select regenerative option by the converter unit. 01: FR-BU2-(H) FR-RC-(H) FR-CV-(H) 02: MR-RB032 03: MR-RB12 04: MR-RB32 05: MR-RB30 06: MR-RB50(Cooling fan is required) 08: MR-RB31 09: MR-RB51(Cooling fan is required) 80: MR-RB1H-4 81: MR-RB3M-4(Cooling fan is required) 82: MR-RB3G-4(Cooling fan is required) 83: MR-RB5G-4(Cooling fanis required) 84: MR-RB34-4(Cooling fanis required) 85: MR-RB54-4(Cooling fanis required) FA: When the supplied regenerative resistor is cooled by the cooling fan to increase the ability with the servo amplifier of 11k to 22kW. 5- 4 5. PARAMETERS 5.1.4 Using absolute position detection system Parameter No. Symbol PA03 *ABS Initial value Name Absolute position detection system Unit 0000h Setting range 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. This parameter cannot be used in the speed control mode. Set this parameter when using the absolute position detection system in the position control mode. Parameter No.PA03 0 0 0 Selection of absolute position detection system (refer to chapter 12) 0: Used in incremental system 1: Used in absolute position detection system 5.1.5 Forced stop input selection Parameter No. Symbol Initial value Name PA04 *AOP1 Function selection A-1 0000h Unit Setting range 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 avoidable. Parameter No.PA04 0 0 0 Selection of servo forced stop 0: Valid (Forced stop (EM1) is used.) 1: Invalid (Forced stop (EM1) is not used.) When not using the forced stop (EM1) of servo amplifier, set the selection of servo forced stop to Invalid ( 1 ). At this time, the forced stop (EM1) automatically turns on inside the servo amplifier. 5- 5 5. PARAMETERS 5.1.6 Auto tuning Parameter No. Symbol Initial value Name PA08 ATU Auto tuning mode PA09 RSP Auto tuning response Unit 0001h Refer to the text. 12 1 to 32 Make gain adjustment using auto tuning. Refer to section 6.2 for details. (1) Auto tuning mode (parameter No.PA08) Select the gain adjustment mode. Parameter No.PA08 0 0 0 Gain adjustment mode setting Setting Gain adjustment mode Automatically set parameter No. (Note) 0 Interpolation mode PB06 PB08 PB09 PB10 1 Auto tuning mode 1 PB06 PB07 PB08 PB09 PB10 2 Auto tuning mode 2 PB07 PB08 PB09 PB10 3 Manual mode Note. The parameters have the following names. Parameter No. Name PB06 Ratio of load inertia moment to servo motor inertia moment PB07 Model loop gain PB08 Position loop gain PB09 Speed loop gain PB10 Speed integral compensation 5- 6 Setting 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. Setting Response Guideline for machine resonance frequency [Hz] Setting Response Guideline for machine resonance frequency [Hz] 1 Low response 10.0 17 Low response 67.1 2 11.3 18 75.6 3 12.7 19 85.2 4 14.3 20 95.9 5 16.1 21 108.0 6 18.1 22 121.7 7 20.4 23 137.1 8 23.0 24 154.4 9 25.9 25 173.9 10 29.2 26 195.9 11 32.9 27 220.6 12 37.0 28 248.5 13 41.7 29 279.9 14 47.0 30 315.3 15 52.9 31 59.6 32 16 Middle response 355.1 Middle response 400.0 5.1.7 In-position range Parameter No. Symbol PA10 INP Name Initial value Unit Setting range 100 pulse 0 to 65535 In-position range POINT This parameter cannot be used in the speed control mode. Set the range, where in position (INP) is output, in the command pulse unit. Servo motor droop pulse Command pulse Command pulse In-position range [pulse] Droop pulse In position (INP) ON OFF 5- 7 5. PARAMETERS 5.1.8 Selection of servo motor rotation direction Parameter No. Symbol PA14 *POL Initial value Name Rotation direction selection Unit Setting range 0 0 1 POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. Select servo motor rotation direction relative. Parameter No.PA14 setting Servo motor rotation direction When positioning address increases When positioning address decreases 0 CCW CW 1 CW CCW Forward rotation (CCW) Reverse rotation (CW) 5.1.9 Encoder output pulse Parameter No. Symbol PA15 *ENR Name Encoder output pulse Initial value Unit Setting range 4000 pulse/rev 1 to 65535 POINT This parameter is made valid when power is switched off, then on after setting, or when the controller reset has been performed. Used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier. Set the value 4 times greater than the A-phase or B-phase pulses. You can use parameter No.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 " (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. A B-phase output pulses 5600 1400[pulse] 4 (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 [pulses/rev] Set value For instance, set "8" to Parameter No.PA15, the actually output A/B-phase pulses are as indicated below. A B-phase output pulses 262144 1 8 4 8192[pulse] 5- 9 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 No. Symbol PB01 FILT Adaptive tuning mode (Adaptive filter ) 0000h PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control) 0000h PB03 PB04 Name For manufacturer setting FFC PB05 Initial value Unit 0 Feed forward gain 0 For manufacturer setting 500 % PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 7.0 Multiplier ( 1) PB07 PG1 Model loop gain 24 rad/s PB08 PG2 Position loop gain 37 rad/s PB09 VG2 Speed loop gain 823 rad/s PB10 VIC Speed integral compensation 33.7 ms PB11 VDC Speed differential compensation 980 PB12 For manufacturer setting PB13 NH1 PB14 NHQ1 PB15 NH2 PB16 NHQ2 PB17 0 Machine resonance suppression filter 1 4500 Notch shape selection 1 0000h Machine resonance suppression filter 2 4500 Notch shape selection 2 0000h Hz Automatic setting parameter PB18 LPF PB19 PB20 Low-pass filter setting 3141 rad/s VRF1 Vibration suppression control vibration frequency setting 100.0 Hz VRF2 Vibration suppression control resonance frequency setting 100.0 Hz For manufacturer setting 0.00 PB21 PB22 0.00 PB23 VFBF Low-pass filter selection 0000h PB24 *MVS Slight vibration suppression control selection 0000h PB25 PB26 Hz *CDP For manufacturer setting 0000h Gain changing selection 0000h PB27 CDL Gain changing condition 10 PB28 CDT Gain changing time constant 1 ms PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment 7.0 Multiplier ( 1) PB30 PG2B Gain changing position loop gain 37 rad/s PB31 VG2B Gain changing speed loop gain 823 rad/s PB32 VICB Gain changing speed integral compensation 33.7 ms PB33 VRF1B Gain changing vibration suppression control vibration frequency setting 100.0 Hz PB34 VRF2B Gain changing vibration suppression control resonance frequency setting 100.0 Hz PB35 0.00 For manufacturer setting PB36 0.00 PB37 100 PB38 0.0 PB39 0.0 5 - 10 5. PARAMETERS No. Symbol PB40 Name Initial value For manufacturer setting Unit 0.0 PB41 1125 PB42 1125 PB43 0004h PB44 0.0 PB45 0000h 5.2.2 Detail list PB01 FILT Initial value Name and function Adaptive tuning mode (adaptive filter ) Select the setting method for filter tuning. Setting this parameter to " 1" (filter tuning mode 1) automatically changes the machine resonance suppression filter 1 (parameter No.PB13) and notch shape selection (parameter No.PB14). Response of mechanical system Symbol Machine resonance point Frequency Notch depth No. Notch frequency Frequency 0 0 0 Filter tuning mode selection Setting Filter adjustment mode Automatically set parameter 0 Filter OFF (Note) 1 Filter tuning mode Parameter No.PB13 Parameter No.PB14 2 Manual mode Note. Parameter No.PB13 and PB14 are fixed to the initial values. When this parameter is set to " 1", the tuning is completed after positioning is done the predetermined number or times for the predetermined period of time, and the setting changes to " 2". When the filter tuning is not necessary, the setting changes to " 0". When this parameter is set to " 0", the initial values are set to the machine resonance suppression filter 1 and notch shape selection. However, this does not occur when the servo off. 5 - 11 0000h Unit Setting range 5. PARAMETERS No. Symbol PB02 VRFT Initial value Name and function Vibration suppression control tuning mode (advanced vibration suppression control) This parameter cannot be used in the speed control mode. The vibration suppression is valid when the parameter No.PA08 (auto tuning) setting is " 2" or " 3". When PA08 is " 1", vibration suppression is always invalid. Select the setting method for vibration suppression control tuning. Setting this parameter to " 1" (vibration suppression control tuning mode) automatically changes the vibration suppression control vibration frequency (parameter No.PB19) and vibration suppression control resonance frequency (parameter No.PB20) after positioning is done the predetermined number of times. Droop pulse Automatic adjustment Command Machine end position Unit Setting range 0000h Droop pulse Command Machine end position 0 0 0 Vibration suppression control tuning mode Setting Vibration suppression control tuning mode Automatically set parameter 0 Vibration suppression control OFF (Note) 1 Vibration suppression control tuning mode (Advanced vibration suppression control) Parameter No.PB19 Parameter No.PB20 2 Manual mode Note. Parameter No.PB19 and PB20 are fixed to the initial values. When this parameter is set to " 1", the tuning is completed after positioning is done the predetermined number or times for the predetermined period of time, and the setting changes to " 2". When the vibration suppression control tuning is not necessary, the setting changes to " 0". When this parameter is set to " 0", the initial values are set to the vibration suppression control vibration frequency and vibration suppression control resonance frequency. However, this does not occur when the servo off. PB03 PB04 PB05 FFC For manufacturer setting Do not change this value by any means. 0 Feed forward gain This parameter cannot be used in the speed control mode. Set the feed forward gain. When the setting is 100%, the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot. As a guideline, when the feed forward gain setting is 100%, set 1s or more as the acceleration/deceleration time constant up to the rated speed. 0 For manufacturer setting Do not change this value by any means. 500 5 - 12 % 0 to 100 5. PARAMETERS Initial value Unit Setting range No. Symbol Name and function PB06 GD2 Ratio of load inertia moment to servo motor inertia moment Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. When auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is automatically used. (Refer to section 6.1.1) In this case, it varies between 0 and 100.0. When parameter No.PA08 is set to " 2" or " 3", this parameter can be set manually. 7.0 Multiplier ( 1) 0 to 300.0 PB07 PG1 Model loop gain Set the response gain up to the target position. Increase the gain to improve track ability in response to the command. When auto turning mode 1,2 is selected, the result of auto turning is automatically used. When parameter No.PA08 is set to " 1" or " 3", this parameter can be set manually. 24 rad/s 1 to 2000 PB08 PG2 Position loop gain This parameter cannot be used in the speed control mode. Used to set the gain of the position loop. Set this parameter to increase the position response to level load disturbance. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1,2 and interpolation mode is selected, the result of auto tuning is automatically used. When parameter No.PA08 is set to " 3", this parameter can be set manually. 37 rad/s 1 to 1000 PB09 VG2 Speed loop gain Set this parameter when vibration occurs on machines of low rigidity or large backlash. Higher setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1 2, manual mode and interpolation mode is selected, the result of auto tuning is automatically used. When parameter No.PA08 is set to " 3", this parameter can be set manually. 823 rad/s 20 to 50000 PB10 VIC Speed integral compensation Used to set the integral time constant of the speed loop. Lower setting increases the response level but is liable to generate vibration and/or noise. When auto tuning mode 1 2 and interpolation mode is selected, the result of auto tuning is automatically used. When parameter No.PA08 is set to " 3", this parameter can be set manually. 33.7 ms 0.1 to 1000.0 PB11 VDC Speed differential compensation Used to set the differential compensation. When parameter No.PB24 is set to " 3 ", this parameter is made valid. When parameter No.PA08 is set to " 0 ", this parameter is made valid by instructions of controller. 980 PB12 PB13 For manufacturer setting Do not change this value by any means. NH1 0 to 1000 0 Machine resonance suppression filter 1 Set the notch frequency of the machine resonance suppression filter 1. Setting parameter No.PB01 (filter tuning mode 1) to " 1" automatically changes this parameter. When the parameter No.PB01 setting is " 0", the setting of this parameter is ignored. 5 - 13 4500 Hz 100 to 4500 5. PARAMETERS No. Symbol PB14 NHQ1 Name and function Notch shape selection 1 Used to selection the machine resonance suppression filter 1. 0 Initial value Unit 0000h Refer to Name and function column. 0 Notch depth selection Setting value Depth 0 Deep 1 to 2 3 Shallow Gain 40dB 14dB 8dB 4dB Notch width Setting value Width 0 Standard 1 to 2 3 Wide 2 3 4 5 Setting range Setting parameter No.PB01 (filter tuning mode 1) to " 1" automatically changes this parameter. When the parameter No.PB01 setting is " 0", the setting of this parameter is ignored. PB15 NH2 PB16 NHQ2 Machine resonance suppression filter 2 Set the notch frequency of the machine resonance suppression filter 2. Set parameter No.PB16 (notch shape selection 2) to " 1" to make this parameter valid. 4500 Notch shape selection 2 Select the shape of the machine resonance suppression filter 2. 0000h 0 Machine resonance suppression filter 2 selection 0: Invalid 1: Valid PB17 Notch depth selection Setting value Depth 0 Deep 1 to 2 3 Shallow Gain 40dB 14dB 8dB 4dB Notch width Setting value Width 0 Standard 1 to 2 3 Wide 2 3 4 5 Automatic setting parameter The value of this parameter is set according to a set value of parameter No.PB06 (Ratio of load inertia moment to servo motor inertia moment). 5 - 14 Hz 100 to 4500 Refer to Name and function column. 5. PARAMETERS Initial value Unit Low-pass filter setting Set the low-pass filter. Setting parameter No.PB23 (low-pass filter selection) to " 0 " automatically changes this parameter. When parameter No.PB23 is set to " 1 ", this parameter can be set manually. 3141 rad/s 100 to 18000 VRF1 Vibration suppression control vibration frequency setting This parameter cannot be used in the speed control mode. Set the vibration frequency for vibration suppression control to suppress low-frequency machine vibration, such as enclosure vibration. (Refer to section 7.4.(4)) Setting parameter No.PB02 (vibration suppression control tuning mode) to " 1" automatically changes this parameter. When parameter No.PB02 is set to " 2", this parameter can be set manually. 100.0 Hz 0.1 to 100.0 VRF2 Vibration suppression control resonance frequency setting This parameter cannot be used in the speed control mode. Set the resonance frequency for vibration suppression control to suppress lowfrequency machine vibration, such as enclosure vibration. (Refer to section 7.4.(4)) Setting parameter No.PB02 (vibration suppression control tuning mode) to " 1" automatically changes this parameter. When parameter No.PB02 is set to " 2", this parameter can be set manually. 100.0 Hz 0.1 to 100.0 No. Symbol PB18 LPF PB19 PB20 PB21 For manufacturer setting Do not change this value by any means. PB22 PB23 Name and function VFBF 0.00 0.00 Low-pass filter selection Select the low-pass filter. 0 0 Setting range 0000h Refer to Name and function column. 0000h Refer to Name and function column. 0 Low-pass filter selection 0: Automatic setting 1: Manual setting (parameter No.PB18 setting) When automatic setting has been selected, select the filter that has the band width VG2 10 close to the one calculated with [rad/s] 1 + GD2 PB24 *MVS Slight vibration suppression control selection Select the slight vibration suppression control and PI-PID change. When parameter No.PA08 (auto tuning mode) is set to " 3", this parameter is made valid. (Slight vibration suppression control cannot be used in the speed control mode.) 0 0 Slight vibration suppression control selection 0: Invalid 1: Valid PI-PID control switch over selection 0: PI control is valid. (Switching to PID control is possible with instructions of controller.) 3: PID control is always valid. PB25 For manufacturer setting Do not change this value by any means. 0000h 5 - 15 5. PARAMETERS No. Symbol PB26 *CDP Name and function Gain changing selection Select the gain changing condition. (Refer to section 7.6.) Initial value Unit 0000h Setting range Refer to Name and function column. 0 0 Gain changing selection Under any of the following conditions, the gains change on the basis of the parameter No.PB29 to PB32 settings. 0: Invalid 1: Control instructions from a controller. 2: Command frequency (Parameter No.PB27 setting) 3: Droop pulse value (Parameter No.PB27 setting) 4: Servo motor speed (Parameter No.PB27 setting) Gain changing condition 0: Valid at more than condition (For control instructions from a controller, valid with ON) 1: Valid at less than condition (For control instructions from a controller, valid with OFF) 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 7.6.) 10 kpps pulse r/min 0 to 9999 PB28 CDT Gain changing time constant Used to set the time constant at which the gains will change in response to the conditions set in parameters No.PB26 and PB27. (Refer to section 7.6.) 1 ms 0 to 100 PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid. This parameter is made valid when the auto tuning is invalid (parameter No.PA08: 3). 7.0 Multiplier ( 1) 0 to 300.0 PB30 PG2B Gain changing position loop gain This parameter cannot be used in the speed control mode. Set the position loop gain when the gain changing is valid. This parameter is made valid when the auto tuning is invalid (parameter No.PA08: 3). 37 rad/s 1 to 2000 PB31 VG2B Gain changing speed loop gain Set the speed loop gain when the gain changing is valid. This parameter is made valid when the auto tuning is invalid (parameter No.PA08: 3). 823 rad/s 20 to 20000 PB32 Gain changing speed integral compensation Set the speed integral compensation when the gain changing is valid. This parameter is made valid when the auto tuning is invalid (parameter No.PA08: 3). 33.7 ms 0.1 to 5000.0 100.0 Hz 0.1 to 100.0 VICB PB33 VRF1B Gain changing vibration suppression control vibration frequency setting This parameter cannot be used in the speed control mode. Set the vibration frequency for vibration suppression control when the gain changing is valid. This parameter is made valid when the parameter No.PB02 setting is " 2" and the parameter No.PB26 setting is " 1". When using the vibration suppression control gain changing, always execute the changing after the servo motor has stopped. 5 - 16 5. PARAMETERS No. Symbol Name and function PB34 VRF2B Gain changing vibration suppression control resonance frequency setting This parameter cannot be used in the speed control mode. Set the resonance frequency for vibration suppression control when the gain changing is valid. This parameter is made valid when the parameter No.PB02 setting is " 2" and the parameter No.PB26 setting is " 1". When using the vibration suppression control gain changing, always execute the changing after the servo motor has stopped. PB35 PB36 For manufacturer setting Do not change this value by any means. Initial value Unit 100.0 Hz 0.00 0.00 PB37 100 PB38 0.0 PB39 0.0 PB40 0.0 PB41 1125 PB42 1125 PB43 0004h PB44 0.0 PB45 0000h 5 - 17 Setting range 0.1 to 100.0 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. 5.3.1 Parameter list No. Symbol Name Initial value Unit PC01 ERZ Error excessive alarm level 3 rev PC02 MBR Electromagnetic brake sequence output 0 ms PC03 *ENRS Encoder output pulses selection 0000h PC04 **COP1 Function selection C-1 0000h PC05 **COP2 Function selection C-2 0000h PC06 *COP3 Function selection C-3 0000h PC07 ZSP Zero speed 50 PC08 For manufacturer setting 0 PC09 MOD1 Analog monitor 1 output 0000h PC10 MOD2 Analog monitor 2 output 0001h r/min PC11 MO1 Analog monitor 1 offset 0 PC12 MO2 Analog monitor 2 offset 0 mV PC13 MOSDL Analog monitor feedback position output standard data Low 0 pulse PC14 MOSDH Analog monitor feedback position output standard data High 0 10000 pulse PC15 0 For manufacturer setting PC16 0000h PC17 **COP4 Function selection C-4 0000h PC18 0000h For manufacturer setting PC19 0000h PC20 0000h PC21 PC22 *BPS Alarm history clear 0000h For manufacturer setting 0000h PC23 0000h PC24 0000h PC25 0000h PC26 0000h PC27 0000h PC28 0000h PC29 0000h PC30 0000h PC31 0000h PC32 0000h 5 - 18 mV 5. PARAMETERS 5.3.2 List of details No. PC01 PC02 Symbol Name and function ERZ Error excessive alarm level (Note 2) This parameter cannot be used in the speed control mode. Set error excessive alarm level with rotation amount of servo motor. Note 1. Setting can be changed in parameter No.PC06. 2. For a servo amplifier with software version of B2 or later, reactivating the power supply to enable the setting value is not necessary. For a servo amplifier with software version of earlier than B2, reactivating the power supply is required to enable the setting value. MBR Electromagnetic brake sequence output Used to set the delay time (Tb) between electronic brake interlock (MBR) 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. Initial value rev (Note 1) 1 to 200 0 ms 0 to 1000 0000h Refer to Name and function column. 0000h Refer to Name and function column. 0000h Refer to Name and function column. Encoder output pulse phase changing Changes the phases of A, B-phase encoder pulses output . Servo motor rotation direction CCW CW Set value 1 Setting range 3 0 0 0 Unit A-phase A-phase B-phase B-phase A-phase A-phase B-phase B-phase Encoder output pulse setting selection (refer to parameter No.PA15) 0: Output pulse designation 1: Division ratio setting PC04 **COP1 Function selection C-1 Select the encoder cable communication system selection. 0 0 0 Encoder cable communication system selection 0: Two-wire type 1: Four-wire type The following encoder cables are of 4-wire type. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H The other encoder cables are all of 2-wire type. Incorrect setting will result in an encoder alarm 1 (16) or encoder alarm 2 (20). PC05 **COP2 Function selection C-2 Motor-less operation select. 0 0 0 Motor-less operation select. 0: Valid 1: Invalid 5 - 19 5. PARAMETERS No. Symbol Name and function PC06 *COP3 Function selection C-3 Select the error excessive alarm level setting for parameter No.PC01. Initial value Unit 0000h Setting range Refer to Name and function column. 0 0 0 Error excessive alarm level setting selection 0: 1 [rev]unit 1: 0.1 [rev]unit 2: 0.01 [rev]unit 3: 0.001[rev]unit This parameter is available to software version B1 or later. Zero speed Used to set the output range of the zero speed (ZSP). Zero speed signal detection has hysteresis width of 20r/min (Refer to section 3.5 (2) (b)) PC08 For manufacturer setting Do not change this value by any means. PC09 MOD1 Analog monitor 1 output Used to selection the signal provided to the analog monitor 1 (MO1) output. (Refer to section 5.3.3) PC07 ZSP 50 r/min 0 to 10000 0 0000h Refer to Name and function column. 0001h Refer to Name and function column. 0 0 0 Analog monitor 1 (MO1) output selection Setting 0 1 2 3 4 5 6 7 8 9 A B C D Item Servo motor speed ( 8V/max. speed) Torque ( 8V/max. torque) (Note 2) Servo motor speed (+8V/max. speed) Torque (+8V/max. torque) (Note 2) Current command ( 8V/max. current command) Speed command ( 8V/max. current command) Droop pulses ( 10V/100 pulses) (Note 1) Droop pulses ( 10V/1000 pulses) (Note 1) Droop pulses ( 10V/10000 pulses) (Note 1) Droop pulses ( 10V/100000 pulses) (Note 1) Feedback position ( 10V/1 Mpulses) (Note 1, 3) Feedback position ( 10V/10 Mpulses) (Note 1, 3) Feedback position ( 10V/100 Mpulses) (Note 1, 3) Bus voltage ( 8V/400V)(Note 4) Note 1. Encoder pulse unit. 2. 8V is outputted at the maximum torque. 3. It can be used by the absolute position detection system. 4. For 400V class servo amplifier, the bus voltage becomes 8V/800V. PC10 MOD2 Analog monitor 2 output Used to selection the signal provided to the analog monitor 2 (MO2) output. (Refer to section 5.3.3) 0 0 0 Select the analog monitor 2 (MO2) output The settings are the same as those of parameter No.PC09. PC11 MO1 Analog monitor 1 offset Used to set the offset voltage of the analog monitor 1 (MO1) output. 5 - 20 0 mV -999 to 999 5. PARAMETERS Setting range Initial value Unit 0 mV -999 to 999 PC13 MOSDL Analog monitor feedback position output standard data Low Used to set the standard position of feedback output with analog monitor 1 (M01) or 2 (M02). For this parameter, the lower-order four digits of standard position in decimal numbers are set. 0 pulse -9999 to 9999 PC14 MOSDH Analog monitor feedback position output standard data High Used to set the standard position of feedback output with analog monitor 1 (M01) or 2 (M02). For this parameter, the higher-order four digits of standard position in decimal numbers are set. 0 10000 pulse -9999 to 9999 No. Symbol PC12 MO2 PC15 Name and function Analog monitor 2 offset Used to set the offset voltage of the analog monitor 2 (MO2) output. For manufacturer setting Do not change this value by any means. PC16 0 0000h PC17 **COP4 Function Selection C-4 Home position setting condition in the absolute position detection system can be selected. 0000h 0 0 0 Refer to Name and function column. Selection of home position setting condition 0: Need to pass motor Z-phase after the power supply is switched on. 1: Not need to pass motor Z-phase after the power supply is switched on. PC18 PC19 For manufacturer setting Do not change this value by any means. 0000h Alarm history clear Used to clear the alarm history. 0000h 0000h 0000h PC20 PC21 *BPS 0 0 0 Alarm history clear 0: Invalid 1: Valid When alarm history clear is made valid, the alarm history is cleared at next power-on. After the alarm history is cleared, the setting is automatically made invalid (reset to 0). PC22 PC23 0000h For manufacturer setting Do not change this value by any means. 0000h PC24 0000h PC25 0000h PC26 0000h PC27 0000h PC28 0000h PC29 0000h PC30 0000h PC31 0000h PC32 0000h 5 - 21 Refer to Name and function column. 5. PARAMETERS 5.3.3 Analog monitor The servo status can be output to two channels in terms of voltage. The servo status can be monitored using an ammeter. (1) Setting Change the following digits of parameter No.PC09, PC10. Parameter No.PC09 0 0 0 Analog monitor (MO1) output selection (Signal output to across MO1-LG) Parameter No.PC10 0 0 0 Analog monitor (MO2) output selection (Signal output to across MO2-LG) Parameters No.PC11 and PC12 can be used to set the offset voltages to the analog output voltages. The setting range is between 999 and 999mV. Parameter No. Description Setting range [mV] PC11 Used to set the offset voltage for the analog monitor 1 (MO1). PC12 Used to set the offset voltage for the analog monitor 2 (MO2). 999 to 999 (2) Set content The servo amplifier is factory-set to output the servo motor speed to analog monitor 1 (MO1) and the torque to analog monitor (MO2). The setting can be changed as listed below by changing the parameter No.PC14 and PC12 value. Refer to (3) for the measurement point. Setting 0 Output item Description Servo motor speed Setting CCW direction 8[V] 1 Output item Max. torque 0 CW direction 8[V] Max. speed 4 0 Max. speed -8[V] CW direction Servo motor speed Driving in CCW direction 8[V] Max. speed 2 Description Torque (Note 3) CCW direction 0 Current command 8[V] 3 Torque (Note 3) Max. speed -8[V] Driving in CW direction Driving in CW 8[V] Driving in CCW direction direction Max. torque 5 CCW direction Max. current command (Max. torque command) Speed command 0 8[V] Max. torque CCW direction Max. speed 0 Max. current command (Max. torque command) CW direction Max. torque 0 -8[V] CW direction 5 - 22 Max. speed -8[V] 5. PARAMETERS Setting Output item 6 Droop pulses (Note 1) ( 10V/100 pulses) Description 10[V] CCW direction Setting Output item 7 Droop pulses (Note 1) ( 10V/1000 pulses) 100[pulse] 10[V] CCW direction 9 Droop pulses (Note 1) ( 10V/100000 pulses) 0 100000[pulse] 10000[pulse] -10[V] CW direction 10[V] CCW direction B Feedback position (Note 1,2) ( 10V/10 Mpulses) 10[V] CCW direction 10M[pulse] 0 10[V] 0 1M[pulse] -10[V] CW direction Feedback position (Note 1,2) ( 10V/100 Mpulses) -10[V] CW direction 1M[pulse] C CCW direction 100000[pulse] 0 Feedback position (Note 1,2) ( 10V/1 Mpulses) 10[V] 1000[pulse] -10[V] CW direction 10000[pulse] A CCW direction 0 100[pulse] -10[V] CW direction Droop pulses (Note 1) ( 10V/10000 pulses) 10[V] 1000[pulse] 0 8 Description CW direction CCW direction D 10M[pulse] -10[V] Bus voltage (Note 4) 8[V] 100M[pulse] 0 100M[pulse] 0 CW direction -10[V] Note 1. Encoder pulse unit. 2. Available in position control mode 3. Outputs 8V at the maximum torque. 4. For 400V class servo amplifier, the bus voltage becomes 8V/800V. 5 - 23 400[V] 5. PARAMETERS (3) Analog monitor block diagram Speed command Position command received from a controller Current command Droop pulse Differential Position control Speed command Bus voltage Current control Speed control Current encoder PWM M Servo Motor Current feedback Encoder Differential Position feedback data returned to a controller Feedback position standard position (Note) Position feedback Servo Motor speed Torque Feedback position Note. The feedback position is output based on the position data passed between servo system controller and servo amplifier. The parameter number No.PC13/PC14 can set up the standard position of feedback position that is output to analog monitor in order to adjust the output range of feedback position. The setting range is between 99999999 and 99999999 pulses. Standard position of feedback position = Parameter No.PC14 setting value Parameter No. 10000 + Parameter No.PC13 setting value Description Setting range PC13 Sets the lower-order four digits of the standard position of feedback position 9999 to 9999 [pulse] PC14 Sets the higher-order four digits of the standard position of feedback position 9999 to 9999 [10000pulses] 5.3.4 Alarm history clear The servo amplifier stores one current alarm and five 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 - 24 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 No. Symbol PD01 Name For manufacturer setting Initial value 0000h PD02 0000h PD03 0000h PD04 0000h PD05 0000h PD06 0000h PD07 *DO1 Output signal device selection 1 (CN3-13) 0005h PD08 *DO2 Output signal device selection 2 (CN3-9) 0004h PD09 *DO3 Output signal device selection 3 (CN3-15) 0003h For manufacturer setting 0000h PD10 PD11 0004h PD12 0000h PD13 0000h PD14 *DOP3 Function selection D-3 0000h PD15 0000h For manufacturer setting PD16 0000h PD17 0000h PD18 0000h PD19 0000h PD20 0000h PD21 0000h PD22 0000h PD23 0000h PD24 0000h PD25 0000h PD26 0000h PD27 0000h PD28 0000h PD29 0000h PD30 0000h PD31 0000h PD32 0000h 5 - 25 Unit 5. PARAMETERS 5.4.2 List of details No. Symbol PD01 PD02 PD03 PD04 PD05 PD06 PD07 *DO1 Name and function Initial value Unit Setting range For manufacturer setting Do not change this value by any means. 0000h 0000h 0000h 0000h 0000h 0000h Output signal device selection 1 (CN3-13) Any input signal can be assigned to the CN3-13 pin. 0005h Refer to Name and function column. 0004h Refer to Name and function column. 0003h Refer to Name and function column. 0 0 Select the output device of the CN3-13 pin. The devices that can be assigned in each control mode are those that have the symbols indicated in the following table. Setting 00 Setting 0A 02 Device Always OFF For manufacturer setting (Note 3) RD 03 ALM 0D 04 INP (Note 1) 0E 05 MBR 0F 06 DB 10 01 0B 0C 07 TLC 11 08 WNG 12 to 1F 09 BWNG 20 to 3F Device Always OFF (Note 2) For manufacturer setting (Note 3) ZSP For manufacturer setting (Note 3) For manufacturer setting (Note 3) CDPS For manufacturer setting (Note 3) ABSV (Note 1) For manufacturer setting (Note 3) For manufacturer setting (Note 3) Note 1. It becomes always OFF in speed control mode. 2. It becomes SA in speed control mode. 3. For manufacturer setting Never change this setting. PD08 *DO2 Output signal device selection 2 (CN3-9) Any input signal can be assigned to the CN3-9 pin. The devices that can be assigned and the setting method are the same as in parameter No.PD07. 0 0 0 Select the output device of the CN3-9 pin. PD09 *DO3 Output signal device selection 3 (CN3-15) Any input signal can be assigned to the CN3-15 pin. The devices that can be assigned and the setting method are the same as in parameter No.PD07. 0 0 0 Select the output device of the CN3-15 pin. 5 - 26 5. PARAMETERS No. PD10 PD11 Symbol Name and function For manufacturer setting Do not change this value by any means. Initial value 0004h 0000h PD13 0000h PD14 *DOP3 Function selection D-3 Set the ALM output signal at warning occurrence. 0000h 0 0 0 Selection of output device at warning occurrence Select the warning (WNG) and trouble (ALM) output status at warning occurrence. Output of Servo amplifier Setting 0 (Note) Device status 1 WNG 0 1 ALM 0 Warning occurrence 1 1 WNG 0 1 ALM 0 Warning occurrence Note. 0: off 1: on PD16 Setting range 0000h PD12 PD15 Unit 0000h For manufacturer setting Do not change this value by any means. 0000h PD17 0000h PD18 0000h PD19 0000h PD20 0000h PD21 0000h PD22 0000h PD23 0000h PD24 0000h PD25 0000h PD26 0000h PD27 0000h PD28 0000h PD29 0000h PD30 0000h PD31 0000h PD32 0000h 5 - 27 Refer to Name and function column. 5. PARAMETERS MEMO 5 - 28 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. (1) Gain adjustment mode explanation Gain adjustment mode Parameter No.PA08 setting Estimation of load inertia moment ratio Automatically set parameters Manually set parameters Auto tuning mode 1 (initial value) 0001 Always estimated GD2 (parameter No.PB06) PG2 (parameter No.PB08) PG1 (parameter No.PB07) VG2 (parameter No.PB09) VIC (parameter No.PB10) Response level setting of parameter No.2 Auto tuning mode 2 0002 Fixed to parameter No. PB06 value PG2 (parameter No.PB08) PG1 (parameter No.PB07) VG2 (parameter No.PB09) VIC (parameter No.PB10) GD2 (parameter No.PB06) Response level setting of parameter No.PA09 Manual mode 0003 Interpolation mode 0000 PG1 (parameter No.PB07) GD2 (parameter No.PB06) VG2 (parameter No.PB09) VIC (parameter No.PB10) Always estimated 6- 1 GD2 (parameter No.PB06) PG2 (parameter No.PB08) VG2 (parameter No.PB09) VIC (parameter No.PB10) PG1 (parameter No.PB07) 6. GENERAL GAIN ADJUSTMENT (2) Adjustment sequence and mode usage START Usage Yes Interpolation made for 2 or more axes? Interpolation mode No Operation Allows adjustment by merely changing the response level setting. First use this mode to make adjustment. Auto tuning mode 1 Operation Yes No OK? No Operation Yes OK? Yes Auto tuning mode 2 Used when you want to match the position gain (PG1) between 2 or more axes. Normally not used for other purposes. Used when the conditions of auto tuning mode 1 are not met and the load inertia moment ratio could not be estimated properly, for example. OK? You can adjust all gains manually when you want to do fast settling or the like. No Manual mode END 6.1.2 Adjustment using MR Configurator This section gives the functions and adjustment that may be performed by using the servo amplifier with the MR Configurator which operates on a personal computer. Function Description Adjustment Machine analyzer With the machine and servo motor coupled, the characteristic of the mechanical system can be measured by giving a random vibration command from the personal computer to the servo and measuring the machine response. You can grasp the machine resonance frequency and determine the notch frequency of the machine resonance suppression filter. You can automatically set the optimum gains in response to the machine characteristic. This simple adjustment is suitable for a machine which has large machine resonance and does not require much settling time. Gain search Executing gain search under to-and-fro positioning command measures settling characteristic while simultaneously changing gains, and automatically searches for gains which make settling time shortest. You can automatically set gains which make positioning settling time shortest. Machine simulation Response at positioning settling of a machine can be simulated from machine analyzer results on personal computer. You can optimize gain adjustment and command pattern on personal computer. 6- 2 6. GENERAL GAIN ADJUSTMENT 6.2 Auto tuning 6.2.1 Auto tuning mode The servo amplifier has a real-time auto tuning function which estimates the machine characteristic (load inertia moment ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease of gain adjustment of the servo amplifier. (1) Auto tuning mode 1 The servo amplifier is factory-set to the auto tuning mode 1. In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains automatically. The following parameters are automatically adjusted in the auto tuning mode 1. Parameter No. Abbreviation PB06 GD2 Ratio of load inertia moment to servo motor inertia moment Name PB07 PG1 Model loop gain PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation POINT The auto tuning mode 1 may not be performed properly if the following conditions are not satisfied. Time to reach 2000r/min is the acceleration/deceleration time constant of 5s or less. Speed is 150r/min or higher. The ratio of load inertia moment to servo motor inertia moment is 100 times or less. The acceleration/deceleration torque is 10% or more of the rated torque. Under operating conditions which will impose sudden disturbance torque during acceleration/deceleration or on a machine which is extremely loose, auto tuning may not function properly, either. In such cases, use the auto tuning mode 2 or manual mode to make gain adjustment. (2) Auto tuning mode 2 Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since the load inertia moment ratio is not estimated in this mode, set the value of a correct load inertia moment ratio (parameter No.PB06). The following parameters are automatically adjusted in the auto tuning mode 2. Parameter No. Abbreviation Name PB07 PG1 Model loop gain PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation 6- 3 6. GENERAL GAIN ADJUSTMENT 6.2.2 Auto tuning mode operation The block diagram of real-time auto tuning is shown below. Load inertia moment Automatic setting Command Loop gains PG1,VG1 PG2,VG2,VIC Current control Servo motor Encoder Current feedback Set 0 or 1 to turn on. Gain table Parameter No.PA08 Parameter No.PA09 0 0 0 Gain adjustment mode selection Real-time auto tuning section Switch Load inertia moment ratio estimation section Position/speed feedback Speed feedback Parameter No.PB06 Load inertia moment ratio estimation value Response setting When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always estimates the load inertia moment ratio from the current and speed of the servo motor. The results of estimation are written to parameter No.PB06 (the ratio of load inertia moment to servo motor). These results can be confirmed on the status display screen of the MR Configurator. If the value of the load inertia moment ratio is already known or if estimation cannot be made properly, chose 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.34) 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 an initial value. POINT If sudden disturbance torque is imposed during operation, the estimation of the inertia moment ratio may malfunction temporarily. In such a case, choose the "auto tuning mode 2" (parameter No.PA08: 0002) and set the correct load inertia moment ratio in parameter No.PB06. When any of the auto tuning mode 1 and auto tuning mode settings is changed to the manual mode 2 setting, the current loop gains and load inertia moment ratio estimation value are saved in the EEP-ROM. 6- 4 6. GENERAL GAIN ADJUSTMENT 6.2.3 Adjustment procedure by auto tuning Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically sets the optimum gains that match the machine. Merely changing the response level setting value as required completes the adjustment. The adjustment procedure is as follows. Auto tuning adjustment Acceleration/deceleration repeated Yes Load inertia moment ratio estimation value stable? No Auto tuning conditions not satisfied. (Estimation of load inertia moment ratio is difficult) No Yes Choose the auto tuning mode 2 (parameter No.PA08 : 0002) and set the load inertia moment ratio (parameter No.PB06) manually. Adjust response level setting so that desired response is achieved on vibration-free level. Acceleration/deceleration repeated Requested performance satisfied? No Yes END To manual mode 6- 5 6. GENERAL GAIN ADJUSTMENT 6.2.4 Response level setting in auto tuning mode Set the response (The first digit of parameter No.PA09) of the whole servo system. As the response level setting is increased, the track ability and settling time for a command decreases, but a too high response level will generate vibration. Hence, make setting until desired response is obtained within the vibration-free range. If the response level setting cannot be increased up to the desired response because of machine resonance beyond 100Hz, filter tuning mode (parameter No.PB01) or machine resonance suppression filter (parameter No.PB13 to PB16) may be used to suppress machine resonance. Suppressing machine resonance may allow the response level setting to increase. Refer to section 7.3 for filter tuning mode and machine resonance suppression filter. Setting of parameter No.PA09 Machine characteristic Response level setting 1 Machine rigidity Machine resonance frequency guideline Low 10.0 2 11.3 3 12.7 4 14.3 5 16.1 6 18.1 7 20.4 8 23.0 9 25.9 10 29.2 11 32.9 12 37.0 13 41.7 14 47.0 15 52.9 16 Middle 67.1 18 75.6 19 85.2 20 95.9 21 108.0 22 121.7 23 137.1 24 154.4 25 173.9 26 195.9 27 220.6 28 248.5 29 279.9 30 315.3 31 355.1 High Large conveyor Arm robot General machine tool conveyor 59.6 17 32 Guideline of corresponding machine 400.0 6- 6 Precision working machine Inserter Mounter Bonder 6. GENERAL GAIN ADJUSTMENT 6.3 Manual mode 1 (simple manual adjustment) If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three parameters. POINT If machine resonance occurs, filter tuning mode (parameter No.PB01) or machine resonance suppression filter (parameter No.PB13 to PB16) may be used to suppress machine resonance. (Refer to section 7.3.) (1) For speed control (a) Parameters The following parameters are used for gain adjustment. Parameter No. Abbreviation PB06 GD2 Ratio of load inertia moment to servo motor inertia moment Name PB07 PG1 Model loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation (b) Adjustment procedure Step Operation Description 1 Brief-adjust with auto tuning. Refer to section 6.2.3. 2 Change the setting of auto tuning to the manual mode (Parameter No.PA08: 0003). 3 Set an estimated value to the ratio of load inertia moment to servo motor inertia moment. (If the estimate value with auto tuning is correct, setting change is not required.) 4 Set a slightly smaller value to the model loop gain Set a slightly larger value to the speed integral compensation. 5 Increase the speed loop gain within the vibration- and unusual noise-free Increase the speed loop gain. range, and return slightly if vibration takes place. 6 Decrease the speed integral compensation within the vibration-free range, Decrease the time constant of the speed and return slightly if vibration takes place. integral compensation. 7 Increase the model loop gain, and return slightly if overshooting takes Increase the model loop gain. place. 8 If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance. the like and the desired response cannot be achieved, response may be Refer to section 7.2, 7.3. increased by suppressing resonance with filter tuning mode or machine resonance suppression filter and then executing steps 2 and 3. 9 While checking the settling characteristic and rotational status, fine-adjust Fine adjustment each gain. 6- 7 6. GENERAL GAIN ADJUSTMENT (c)Adjustment description 1) Speed loop gain (parameter No.PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression. Speed loop response frequency(Hz) Speed loop gain setting ratio of load inertia moment to servo motor inertia moment) (1 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 ratio of load inertia moment to servo motor inertia moment setting) 3) Model loop gain (PG1: Parameter No.PB07) This parameter determines the response level to a position command. Increasing the model loop gain improves track ability to a position command, but a too high value will make overshooting liable to occur at the time of setting. Model loop gain guideline (1 Speed loop gain setting ratio of load inertia moment to servo motor inertia moment) 6- 8 1 1 to 4 8 6. GENERAL GAIN ADJUSTMENT (2) For position control (a) Parameters The following parameters are used for gain adjustment. Parameter No. Abbreviation PB06 GD2 Ratio of load inertia moment to servo motor inertia moment Name PB07 PG1 Model loop gain PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation (b) Adjustment procedure Step Operation Description 1 Brief-adjust with auto tuning. Refer to section 6.2.3. 2 Change the setting of auto tuning to the manual mode (Parameter No.PA08: 0003). 3 Set an estimated value to the ratio of load inertia moment to servo motor inertia moment. (If the estimate value with auto tuning is correct, setting change is not required.) 4 Set a slightly smaller value to the model loop gain and the position loop gain. Set a slightly larger value to the speed integral compensation. 5 Increase the speed loop gain within the vibration- and unusual noise-free Increase the speed loop gain. range, and return slightly if vibration takes place. 6 Decrease the speed integral compensation within the vibration-free range, Decrease the time constant of the speed and return slightly if vibration takes place. integral compensation. 7 Increase the position loop gain, and return slightly if vibration takes place. 8 Increase the model loop gain, and return slightly if overshooting takes Increase the position loop gain. place. 9 If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance. the like and the desired response cannot be achieved, response may be Refer to section 7.2 7.3. increased by suppressing resonance with filter tuning mode or machine resonance suppression filter and then executing steps 3 to 5. 10 While checking the settling characteristic and rotational status, fine-adjust Fine adjustment each gain. 6- 9 Increase the position loop gain. 6. GENERAL GAIN ADJUSTMENT (c) Adjustment description 1) Speed loop gain (VG2: parameter No.PB09) This parameter determines the response level of the speed control loop. Increasing this value enhances response but a too high value will make the mechanical system liable to vibrate. The actual response frequency of the speed loop is as indicated in the following expression. Speed loop response frequency(Hz) Speed loop gain 2 setting ratio of load inertia moment to servo motor inertia moment) 2 (1 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 2 setting/ (1 ratio of load inertia moment to servo motor inertia moment 2 setting) 3) Model loop gain (PG1: Parameter No.PB07) This parameter determines the response level to a position command. Increasing the model loop gain improves track ability to a position command, but a too high value will make overshooting liable to occur at the time of setting. Model loop gain guideline (1 Speed loop gain setting ratio of load inertia moment to servo motor inertia moment) 1 1 to 4 8 4) Model loop gain (PG1: parameter No.PB07) This parameter determines the response level to a position command. Increasing position loop gain 1 improves track ability to a position command but a too high value will make overshooting liable to occur at the time of settling. Model loop gain guideline (1 Speed loop gain 2 setting ratio of load inertia moment to servo motor inertia moment) 6 - 10 1 1 to 4 8 6. GENERAL GAIN ADJUSTMENT 6.4 Interpolation mode The interpolation mode is used to match the position loop gains of the axes when performing the interpolation operation of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the model loop gain that determines command track ability. Other parameters for gain adjustment are set automatically. (1) Parameter (a) Automatically adjusted parameters The following parameters are automatically adjusted by auto tuning. Parameter No. Abbreviation PB06 GD2 Ratio of load inertia moment to servo motor inertia moment Name PB08 PG2 Position loop gain PB09 VG2 Speed loop gain PB10 VIC Speed integral compensation (b) Manually adjusted parameters The following parameters are adjustable manually. Parameter No. Abbreviation PB07 PG1 Name Model loop gain (2) Adjustment procedure Step Operation Description 1 Set to the auto tuning mode. Select the auto tuning mode 1. 2 During operation, increase the response level setting (parameter Adjustment in auto tuning mode 1. No.PA09), and return the setting if vibration occurs. 3 Check the values of model loop gain. Check the upper setting limits. 4 Set the interpolation mode (parameter No.PA08: 0000). Select the interpolation mode. 5 Set the model loop gain of all the axes to be interpolated to the same value. At that time, adjust to the setting value of the axis, which has the Set position loop gain. smallest model loop gain. 6 Looking at the interpolation characteristic and rotation status, fine-adjust Fine adjustment. the gains and response level setting. (3) Adjustment description (a) Model loop gain (parameter No.PB07) This parameter determines the response level of the position control loop. 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 pulse value is determined by the following expression. Rotation speed (r/min) Droop pulse value (pulse) 262144(pulse) 60 Model loop gain setting 6 - 11 6. GENERAL GAIN ADJUSTMENT 6.5 Differences between MELSERVO-J2-Super and MELSERVO-J3 in auto tuning 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. MELSERVO-J2-Super Parameter No.9 setting 1 MELSERVO-J3 Guideline for machine resonance frequency [Hz] Parameter No.PA09 setting Guideline for machine resonance frequency [Hz] 1 10.0 2 11.3 15 3 12.7 4 14.3 5 16.1 6 18.1 20.4 2 20 7 8 23.0 3 25 9 25.9 4 30 10 29.2 11 32.9 37.0 5 35 12 13 41.7 6 45 14 47.0 7 55 15 52.9 16 59.6 67.1 8 70 17 18 75.6 9 85 19 85.2 20 95.9 21 108.0 A 105 B 130 C 160 D 200 22 121.7 23 137.1 24 154.4 25 173.9 26 195.9 27 220.6 248.5 E 240 28 29 279.9 F 300 30 315.3 31 355.1 32 400.0 Note that because of a slight difference in gain adjustment pattern, response may not be the same if the resonance frequency is set to the same value. 6 - 12 7. SPECIAL ADJUSTMENT FUNCTIONS 7. SPECIAL ADJUSTMENT FUNCTIONS POINT The functions given in this chapter need not be used generally. Use them if you are not satisfied with the machine status after making adjustment in the methods in chapter 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. Using the machine resonance suppression filter and adaptive tuning can suppress the resonance of the mechanical system. 7.1 Function block diagram Speed control Parameter No.PB16 Parameter No.PB01 Machine resonance suppression filter Machine resonance suppression filter 2 Adaptive tuning Low-pass filter Parameter Current No.PB23 command Servo motor Encoder 1 Manual setting 7.2 Adaptive filter (1) Function Adaptive filter (adaptive tuning) is a function in which the servo amplifier detects machine vibration for a predetermined period of time and sets the filter characteristics automatically to suppress mechanical system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious of the resonance frequency of a mechanical system. Mechanical system response level Machine resonance point Mechanical system response Frequency level Notch depth Machine resonance point Frequency Notch depth Notch frequency Frequency When machine resonance is large and frequency is low Notch frequency Frequency When machine resonance is small and frequency is high POINT The machine resonance frequency which adaptive tuning mode can respond to is about 100 to 2.25kHz. Adaptive vibration suppression control has no effect on the resonance frequency outside this range. Adaptive vibration suppression control may provide no effect on a mechanical system which has complex resonance characteristics. 7- 1 7. SPECIAL ADJUSTMENT FUNCTIONS (2) Parameters The operation of adaptive tuning mode (parameter No.PB01). Parameter No.PB01 0 0 0 Filter tuning mode selection Setting Filter adjustment mode Automatically set parameter 0 Filter OFF (Note) 1 Filter tuning mode Parameter No.PB13 Parameter No.PB14 2 Manual mode Note. Parameter No.PB19 and PB20 are fixed to the initial values. 7- 2 7. SPECIAL ADJUSTMENT FUNCTIONS (3) Adaptive tuning mode procedure Adaptive tuning adjustment Operation Yes Is the target response reached? No Increase the response setting. No Has vibration or unusual noise occurred? Yes Execute or re-execute adaptive tuning. (Set parameter No.PB01 to "0001".) Tuning ends automatically after the predetermined period of time. (Parameter No.PB01 turns to "0002" or "0000".) Has vibration or unusual noise been resolved? If assumption fails after tuning is executed at a large vibration or oscillation, decrease the response setting temporarily down to the vibration level and execute again. Yes No Decrease the response until vibration or unusual noise is resolved. Using the machine analyzer, set the filter manually. End 7- 3 Factor The response has increased to the machine limit. The machine is too complicated to provide the optimum 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. After filter generation, the adaptive tuning mode automatically shifts to the manual mode. Adaptive tuning generates the optimum filter with the currently set control gains. If vibration occurs when the response setting is increased, execute adaptive tuning again. During adaptive tuning, a filter having the best notch depth at the set control gain is generated. To allow a filter margin against machine resonance, increase the notch depth in the manual mode. 7.3 Machine resonance suppression filter (1) Function The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing frequency (notch frequency), gain decreasing depth and width. Machine resonance point Mechanical system response level Frequency Notch width Notch depth 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. Execution of adaptive tuning in the filter tuning mode automatically adjusts the machine resonance suppression filter. When adaptive tuning is ON, the adaptive tuning mode shifts to the manual mode after the predetermined period of time. The manual mode enables manual setting using the machine resonance suppression filter 1. Machine resonance point Mechanical system response level Frequency Notch depth Frequency Parameter No.PB01, PB13, PB14 Parameter No.PB15, PB16 7- 4 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. 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- 5 7. SPECIAL ADJUSTMENT FUNCTIONS 7.4 Advanced vibration suppression control Position Position (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. Motor end Motor end Machine end Machine end t t Vibration suppression control ON Vibration suppression control OFF (Normal control) When the advanced vibration suppression control (vibration suppression control tuning mode parameter No.PB02) is executed, the vibration frequency at machine end can automatically be estimated to suppress machine end vibration. In the vibration suppression control tuning mode, this mode shifts to the manual mode after operation is performed the predetermined number of times. The manual mode enables manual setting using the vibration suppression control vibration frequency setting (parameter No.PB19) and vibration suppression control resonance frequency setting (parameter No.PB20). (2) Parameter Select the operation of the vibration suppression control tuning mode (parameter No.PB02). Parameter No.PB02 0 0 0 Vibration suppression control tuning mode Setting Vibration suppression control tuning mode Automatically set parameter 0 Vibration suppression control OFF (Note) 1 Vibration suppression control tuning mode (Advanced vibration suppression control) Parameter No.PB19 Parameter No.PB20 2 Manual mode Note. Parameter No.PB19 and PB20 are fixed to the initial values. POINT The function is made valid when the auto tuning mode (parameter No.PA08) is the auto tuning mode 2 ("0002") or manual mode ("0003"). The machine resonance frequency supported in the vibration suppression control tuning mode is 1.0Hz to 100.0Hz. The function is not effective for vibration outside this range. Stop the motor before changing the vibration suppression control-related parameters (parameter No.PB02, PB19, PB20, PB33, PB34). A failure to do so will cause a shock. For positioning operation during execution of vibration suppression control tuning, provide a stop time to ensure a stop after full vibration damping. Vibration suppression control tuning may not make normal estimation if the residual vibration at the motor end is small. Vibration suppression control tuning sets the optimum parameter with the currently set control gains. When the response setting is increased, set vibration suppression control tuning again. 7- 6 7. SPECIAL ADJUSTMENT FUNCTIONS (3) Vibration suppression control tuning mode procedure Vibration suppression control tuning adjustment Operation Yes Is the target response reached? No Increase the response setting. No Has vibration of workpiece end/device increased? Yes Stop operation. Execute or re-execute vibration suppression control tuning. (Set parameter No.PB02 to "0001".) Resume operation. Tuning ends automatically after operation is performed the predetermined number of times. (Parameter No.PB02 turns to "0002" or "0000".) Has vibration of workpiece end/device been resolved? Yes No Decrease the response until vibration of workpiece end/device is resolved. Using the machine analyzer or from Factor Estimation cannot be made as machine end vibration waveform, set machine end vibration has not been the vibration suppression control transmitted to the motor end. manually. The response of the model loop gain has increased to the machine end vibration frequency (vibration suppression control limit). End 7- 7 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. (a) When a vibration peak can be confirmed using MR Configurator, machine analyzer or external FFT equipment Gain characteristic 1Hz Phase 100Hz Vibration suppression control vibration frequency (Anti-resonance frequency) Parameter No.PB19 Resonance of more Vibration suppression than 100Hz is not the target of control. control resonance frequency Parameter No.PB20 -90deg. (b) When vibration can be confirmed using monitor signal or external sensor Motor end vibration (Droop pulses) External acceleration pick signal, etc. Position command frequency t Vibration cycle [Hz] t Vibration suppression control vibration frequency Vibration suppression control resonance frequency Set the same value. 7- 8 Vibration cycle [Hz] 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. A vibration suppression control effect is not produced if the relationship between the model loop gain (parameter No.PB07) value and vibration frequency is as indicated below. Make setting after decreasing PG1, e.g. reduce the response setting. 1 (1.5 PG1) 2 vibration frequency 7- 9 7. SPECIAL ADJUSTMENT FUNCTIONS 7.5 Low-pass filter (1) Function When a ball screw or the like is used, resonance of high frequency may occur as the response level of the servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque command. The filter frequency of this low-pass filter is automatically adjusted to the value in the following expression. Filter frequency(rad/s) When parameter No.PB23 is set to " 1 VG2 1 + GD2 10 ", manual setting can be made with parameter No.PB18. (2) Parameter Set the operation of the low-pass filter selection (parameter No.PB23.) Parameter No.PB23 Low-pass filter selection 0: Automatic setting (initial value) 1: Manual setting (parameter No.PB18 setting) 7.6 Gain changing function This function can change the gains. You can change between gains during rotation and gains during stop or can use an input device to change gains during operation. 7.6.1 Applications This function is used when. (1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation. (2) You want to increase the gains during settling to shorten the stop settling time. (3) You want to change the gains using an input device to ensure stability of the servo system since the load inertia moment ratio varies greatly during a stop (e.g. a large load is mounted on a carrier). 7 - 10 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.PB27). CDP Parameter No.PB26 Control command of controller Command pulse frequency Droop pulses Changing Model speed CDS Parameter No.PB27 Comparator GD2 Parameter No.PB06 GD2B Parameter No.PB29 PG2 Parameter No.PB08 PG2B Parameter No.PB30 VG2 Parameter No.PB09 VG2B Parameter No.PB31 VIC Parameter No.PB10 VICB Parameter No.PB32 VRF1 Parameter No.PB19 VRF1B Parameter No.PB33 VRF2 Parameter No.PB20 VRF2B Parameter No.PB34 7 - 11 Valid GD2 value Valid PG2 value Valid VG2 value Valid VIC value Valid VRF1 value Valid VRF2 value 7. SPECIAL ADJUSTMENT FUNCTIONS 7.6.3 Parameters 3" in parameter No.PA08 (auto tuning) to choose the When using the gain changing function, always set " manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning mode. Parameter No. Abbreviation Name Unit Description PB06 GD2 Ratio of load inertia moment to servo motor inertia moment Multi- Control parameters before changing plier ( 1) PB07 PG1 Model loop gain rad/s PB08 PG2 Position loop gain rad/s PB09 VG2 Speed loop gain rad/s PB10 VIC Speed integral compensation PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment Multi- Used to set the ratio of load inertia moment to servo motor plier inertia moment after changing. ( 1) PB30 PG2B Gain changing position loop gain 2 rad/s Used to set the value of the after-changing position loop gain 2. PB31 VG2B Gain changing speed loop gain 2 rad/s Used to set the value of the after-changing speed loop gain. PB32 VICB Gain changing speed integral compensation PB26 CDP Gain changing selection PB27 CDS Gain changing condition PB28 CDT Gain changing time constant ms You can set the filter time constant for a gain change at changing. PB33 VRF1B Gain changing vibration suppression control vibration frequency setting Hz Used to set the value of the after-changing vibration suppression control vibration frequency setting. PB34 VRF2B Gain changing vibration suppression control resonance frequency setting Hz Used to set the value of the after-changing vibration suppression control resonance frequency setting. Position and speed gains of a model used to set the response level to a command. Always valid. ms ms Used to set the value of the after-changing speed integral compensation. Used to select the changing condition. kpps Used to set the changing condition values. pulse r/min 7 - 12 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. (2) Gain changing ratio of load inertia moment to servo motor inertia moment (GD2B: parameter No.PB29) Set the ratio of load inertia moment to servo motor inertia moment after changing. If the load inertia moment ratio does not change, set it to the same value as ratio of load inertia moment to servo motor inertia moment (parameter No.PB06). (3) Gain changing position loop gain (parameter No.PB30), Gain changing speed loop gain (parameter No.PB31), Gain changing speed integral compensation (parameter No.PB32) Set the values of after-changing position loop gain, speed loop gain and speed integral compensation. (4) Gain changing selection (parameter No.PB26) Used to set the gain changing condition. Choose the changing condition in the first digit and second digit. If you set "1" in the first digit here, you can use the control command from controller is valid for gain changing. 0 0 Gain changing selection Under any of the following conditions, the gains change on the basis of the parameter No.PB29 to PB32 settings. 0: Invalid 1: Control command from controller is valid 2: Command frequency (Parameter No.PB27 setting) 3: Droop pulse value (Parameter No.PB27 setting) 4: Servo motor speed (Parameter No.PB27 setting) Gain changing condition 0: Valid at more than condition (Valid with ON for control command from controller.) 1: Valid at less than condition (Valid with OFF for control command from controller.) (5) Gain changing condition (parameter No.PB27) When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing selection (parameter No.PB26), set the gain changing level. The setting unit is as follows. Gain changing condition Unit Command frequency kpps Droop pulses pulse Servo motor speed r/min (6) Gain changing time constant (parameter No.PB28) You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress shock given to the machine if the gain difference is large at gain changing, for example. 7 - 13 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 input device (a) Setting Parameter No. Abbreviation Setting Unit PB07 PG1 Model loop gain Name 100 rad/s PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 4.0 Multiplier ( 1) PB08 PG2 Position loop gain 120 rad/s PB09 VG2 Speed loop gain 3000 rad/s PB10 VIC Speed integral compensation PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment PB30 PG2B Gain changing position loop gain PB31 VG2B Gain changing speed loop gain PB32 VICB Gain changing speed integral compensation PB26 CDP Gain changing selection PB28 CDT Gain changing time constant 20 Ms 10.0 Multiplier ( 1) 84 rad/s 4000 rad/s 50 ms 0001 (Changed by ON/OFF of input device) 100 ms PB33 VRF1B Gain changing vibration suppression control vibration frequency setting Used to set the value of the after-changing vibration suppression control vibration frequency setting. PB34 VRF2B Gain changing vibration suppression control resonance frequency setting Used to set the value of the after-changing vibration suppression control resonance frequency setting. (b) Changing operation OFF Control command of controller Change of each gain ON After-changing gain Before-changing gain CDT 100ms Model loop gain 1 Ratio of load inertia moment to servo motor inertia moment OFF 100 4.0 10.0 4.0 Position loop gain 120 84 120 Speed loop gain 3000 4000 3000 20 50 20 Speed integral compensation 7 - 14 Hz Hz 7. SPECIAL ADJUSTMENT FUNCTIONS (2) When you choose changing by droop pulses (a) Setting Parameter No. Abbreviation Setting Unit PB07 PG1 Model loop gain Name 100 rad/s PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 4.0 Multiplier ( 1) PB08 PG2 Position loop gain 120 rad/s PB09 VG2 Speed loop gain 3000 rad/s PB10 VIC Speed integral compensation PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment PB30 PG2B Gain changing position loop gain PB31 VG2B Gain changing speed loop gain PB32 VICB Gain changing speed integral compensation 20 ms 10.0 Multiplier ( 1) 84 rad/s 4000 rad/s 50 ms 0003 (Changed by droop pulses) PB26 CDP Gain changing selection PB27 CDS Gain changing condition 50 pulse PB28 CDT Gain changing time constant 100 ms (b) Changing operation Command pulse Droop pulses [pulses] 0 Droop pulses CDS CDS After-changing gain Change of each gain Before-changing gain CDT 100ms Model loop gain Ratio of load inertia moment to servo motor inertia moment 100 4.0 10.0 4.0 10.0 Position loop gain 120 84 120 84 Speed loop gain 3000 4000 3000 4000 20 50 20 50 Speed integral compensation 7 - 15 7. SPECIAL ADJUSTMENT FUNCTIONS MEMO 7 - 16 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. If any alarm or warning has occurred, refer to section 8.2 or 8.3 and take the appropriate action. When an alarm occurs, the ALM turns OFF. After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm deactivation column. The alarm is automatically canceled after removing the cause of occurrence. Alarm deactivation Alarms Name 10 12 13 15 16 17 19 1A 20 24 25 Undervoltage Memory error 1 (RAM) Clock error Memory error 2 (EEP-ROM) Encoder error 1 (At power on) Board error Memory error 3 (Flash-ROM) Motor combination error Encoder error 2 Main circuit error Absolute position erase 30 Regenerative error 31 32 33 Overspeed Overcurrent Overvoltage 34 Receive error 1 35 36 37 Command frequency error Receive error 2 Parameter error 45 Main circuit device overheat 46 Servo motor overheat 47 Cooling fan error 50 Overload 1 51 Overload 2 52 8A 8E 888 Error excessive USB communication time-out error USB communication error Watchdog Power OFF ON Error reset CPU reset Warnings Display Display Name 92 96 Battery cable disconnection warning Home position setting warning 9F E0 E1 E3 E4 E6 E7 E8 E9 EC ED Battery warning Excessive regeneration warning Overload warning 1 Absolute position counter warning Parameter warning Servo forced stop warning Controller forced stop warning Cooling fan speed reduction warning Main circuit off warning Overload warning 2 Output watt excess warning (Note 1) (Note 1) (Note 1) (Note 2) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) (Note 1) 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. 8- 1 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. CAUTION If an absolute position erase (25) occurred, always make home position setting again. Not doing so may cause unexpected operation. As soon as an alarm occurs, mark Servo-off and power off the main circuit and control circuit. 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) 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 trouble (ALM) switches off and the dynamic brake is operated to stop the servo motor. At this time, the display indicates the alarm No. The 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. Display 10 Name Undervoltage Definition Power supply voltage dropped. MR-J3- B: 160VAC or less MR-J3- B1: 83VAC or less MR-J3- B4: 280VAC or less Cause 1. Power supply voltage is low. Action Check the power supply. 2. There was an instantaneous control power failure of 60ms or longer. 3. Shortage of power supply capacity caused the power supply voltage to drop at start, etc. 4. The bus voltage dropped to the following value or less. MR-J3- B: 200VDC MR-J3- B1: 158VDC MR-J3- B4: 380VDC 5. Faulty parts in the servo amplifier Checking method Alarm (10) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables. 8- 2 Change the servo amplifier. 8. TROUBLESHOOTING Display Name Definition 12 Memory error 1 RAM, memory fault (RAM) 13 Clock error Printed board fault Cause Faulty parts in the servo amplifier Checking method Alarm (any of 12 and 13) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables. Clock error Faulty controller transmitted from the Checking method controller Alarm (13) occurs, if servo controller is used in multiple CPU system. 15 16 17 19 1A 20 24 25 Memory error 2 (EEP-ROM) EEP-ROM fault 1. Faulty parts in the servo amplifier Checking method Alarm (15) occurs if power is switched on after disconnection of all cables but the control circuit power supply cables. 2. The number of write times to EEPROM exceeded 100,000. Encoder error 1 Communication error 1. Encoder connector (CN2) (At power on) occurred between disconnected. encoder and servo 2. Encoder fault amplifier. 3. Encoder cable faulty (Wire breakage or shorted) 4. Encoder cable type (2-wire, 4-wire) selection was wrong in parameter setting. Board error 2 CPU/parts fault Faulty parts in the servo amplifier Memory error 3 ROM memory fault Checking method Alarm (17 or 19) occurs if (Flash ROM) power is switched on after disconnection of all cables but the control circuit power supply cable. Motor combination error Encoder error 2 Wrong combination of servo amplifier and servo motor. Communication error occurred between encoder and servo amplifier. Wrong combination of servo amplifier and servo motor connected. 1. Encoder connector (CN2) disconnected. 2. Encoder cable faulty (Wire breakage or shorted) 3. Encoder fault Main circuit error Ground fault 1. Power input wires and servo motor occurred at the servo power wires are in contact. motor power (U,V 2. Sheathes of servo motor power and W phases) of cables deteriorated, resulting in the servo amplifier. ground fault. 3. Main circuit of servo amplifier failed. Checking method Alarm (24) occurs if the servo is switched on after disconnecting the U, V, W power cables from the servo amplifier. Absolute position erase Absolute position data in error 1. Voltage drop in encoder (Battery disconnected.) 2. Battery voltage low 3. Battery cable or battery is faulty. Power was switched 4. Home position not set. on for the first time in the absolute position detection system. 8- 3 Action Change the servo amplifier. Change the servo system controller. Change the servo amplifier. Connect correctly. Change the servo motor. Repair or change the cable. Correct the setting in the fourth digit of parameter No.PC04. Change the servo amplifier. Use correct combination. Connect correctly. Repair or change the cable. Change the servo motor. Connect correctly. Change the cable. Change the servo amplifier. After leaving the alarm occurring for a few minutes, switch power off, then on again. Always make home position setting again. Change the battery. Always make home position setting again. After leaving the alarm occurring for a few minutes, switch power off, then on again. Always make home position setting again. 8. TROUBLESHOOTING Display Name 30 Regenerative error Definition Cause Permissible 1. Wrong setting of parameter No. regenerative power PA02 of the built-in 2. Built-in regenerative resistor or regenerative resistor regenerative option is not or regenerative connected. option is exceeded. 3. High-duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative option to be exceeded. Checking method Call the status display and check the regenerative load ratio. 4. Power supply voltage is abnormal. MR-J3- B:260VAC or more MR-J3- B1:More than 135VAC MR-J3- B4: 535VAC or more 5. Built-in regenerative resistor or regenerative option faulty. Regenerative transistor fault 31 32 Overspeed Overcurrent 6. Regenerative transistor faulty. Action Set correctly. Connect correctly. 1. Reduce the frequency of positioning. 2. Use the regenerative option of larger capacity. 3. Reduce the load. Check the power supply. Change the servo amplifier or regenerative option. Change the servo amplifier. Checking method 1) The regenerative option has overheated abnormally. 2) The alarm occurs even after removal of the built-in regenerative resistor or regenerative option. Speed has exceeded 1. Small acceleration/deceleration time Increase acceleration/deceleration time constant. the instantaneous constant caused overshoot to be permissible speed. large. Current that flew is higher than the permissible current of the servo amplifier. (If the alarm (32) occurs again when turning ON the servo after resetting the alarm by turning OFF/ON the power when the alarm (32) first occurred, the transistor (IPM IGBT) of the servo amplifier may be at fault. In the case, do not repeat to turn OFF/ON the power. Check the transistor with the checking method of “Cause 2”.) 2. Servo system is instable to cause overshoot. 1. Re-set servo gain to proper value. 2. If servo gain cannot be set to proper value. 1) Reduce load inertia moment ratio; or 2) Reexamine acceleration/ deceleration time constant. 3. Encoder faulty. Change the servo motor. 1. Short occurred in servo motor power Correct the wiring. (U, V, W). 2. Transistor (IPM IGBT) of the servo Change the servo amplifier. amplifier faulty. Checking method Alarm (32) occurs if power is switched on after U,V and W are disconnected. 3. Ground fault occurred in servo motor power (U, V, W). Correct the wiring. 4. External noise caused the overcurrent detection circuit to misoperate. Take noise suppression measures. 8- 4 8. TROUBLESHOOTING Display 33 Name Overvoltage Definition The following shows the input value of converter bus voltage. MR-J3- B(1): 400VDC or more MR-J3- B4: 800VDC or more Cause Action 1. Regenerative option is not used. Use the regenerative option. 2. Though the regenerative option is used, the parameter No.PA02 setting is " 00 (not used)". Set correctly. 3. Lead of built-in regenerative resistor 1. Change the lead. 2. Connect correctly. or regenerative option is open or disconnected. 4. Regenerative transistor faulty. Change the servo amplifier. 1. For wire breakage of built-in regenerative 5. Wire breakage of built-in resistor, change the servo amplifier. regenerative resistor or regenerative 2. For wire breakage of regenerative option, option change the regenerative option. 34 35 36 6. Capacity of built-in regenerative resistor or regenerative option is insufficient. Add regenerative option or increase capacity. 7. Power supply voltage high. Check the power supply. 8. Ground fault occurred in servo motor power (U, V, W). Correct the wiring. 9. The jumper across BUE-SD of the FR-BU2 brake unit is removed. Fit the jumper across BUE-SD. Receive error 1 SSCNET 1. The SSCNET cable is communication error disconnected. (Continuously 2. The surface at the end of SSCNET communication error cable got dirty. with about 3.5ms 3. The SSCNET cable is broken or interval.) severed. Command frequency error Connect it after turning off the control circuit power supply for servo amplifier. Wipe dirt at the surface away. (Refer to section 3.9) Change the cable. 4. Noise entered the servo amplifier. Take noise suppression measures. 5. Optical characteristic of SSCNET cable deteriorated because vinyl tape and/or wire sheath, which contains migrating plasticizer, adhered to the cable. Remove the vinyl tape and/or wire sheath, which contains migrating plasticizer, and exchange the cable. Input pulse frequency 1. Command given is greater than the Check operation program. of command pulse is maximum speed of the servo motor. too high. 2. Servo system controller failure. Change the servo system controller. 3. Noise entered the servo amplifier. Take noise of I/O signal suppression measures. 4. Noise entered the controller. Take noise from the controller suppression measures. Receive error 2 SSCNET 1. The SSCNET cable is communication error disconnected. (Intermittently 2. The surface at the end of SSCNET communication error cable got dirty. with about 70ms 3. The SSCNET cable is broken or interval.) severed. Connect it after turning off the control circuit power supply for servo amplifier. Wipe dirt away from the surface. (Refer to section 3.9) Change the cable. 4. Noise entered the servo amplifier. Take noise suppression measures. 5. Optical characteristic of SSCNET cable deteriorated because vinyl tape and/or wire sheath, which contains migrating plasticizer, adhered to the cable. Remove the vinyl tape and/or wire sheath, which contains migrating plasticizer, and exchange the cable. 8- 5 8. TROUBLESHOOTING Display 37 Name Definition Cause Parameter error Parameter setting is 1. Servo amplifier fault caused the wrong. parameter setting to be rewritten. Action Change the servo amplifier. 2. There is a parameter whose value Change the parameter value to within the was set to outside the setting range setting range. by the controller. 3. The number of write times to EEP- Change the servo amplifier. 45 46 ROM exceeded 100,000 due to parameter write, etc. Main circuit Main circuit device 1. Servo amplifier faulty. device overheat overheat 2. The power supply was turned on and off continuously by overloaded status. 3. Ambient temperature of servo motor is over 55 . 4. Used beyond the specifications of close mounting. Servo motor Servo motor 1. Ambient temperature of servo motor overheat temperature rise is over 40 . actuated the thermal 2. Servo motor is overloaded. sensor. Change the servo amplifier. The drive method is reviewed. Check environment so that ambient temperature is 0 to 55 . Use within the range of specifications. Check environment so that ambient temperature is 0 to 40 . 1. Reduce load. 2. Check operation pattern. 3. Use servo motor that provides larger output. 3. Thermal sensor in encoder is faulty. Change the servo motor. 1. Cooling fan life expiration (Refer to Change the cooling fan of the servo section 2.5.) amplifier. 47 Cooling fan error The cooling fan of the servo amplifier stopped, or its speed 2. Foreign matter caught in the cooling Remove the foreign matter. decreased to or fan stopped rotation. below the alarm level. 3. The power supply of the cooling fan Change the servo amplifier. failed. 50 Overload 1 Load exceeded overload protection characteristic of servo amplifier. 1. Servo amplifier is used in excess of its continuous output current. 2. Servo system is instable and hunting. 3. Machine struck something. 1. Reduce load. 2. Check operation pattern. 3. Use servo motor that provides larger output. 1. Repeat acceleration/ deceleration to execute auto tuning. 2. Change the auto tuning response setting. 3. Set auto tuning to OFF and make gain adjustment manually. 1. Check operation pattern. 2. Install limit switches. 4. Wrong connection of servo motor. Connect correctly. Servo amplifier's output terminals U, V, W do not match servo motor's input terminals U, V, W. 5. Encoder faulty. Change the servo motor. Checking method When the servo motor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway. 6. After Overload 2 (51) occurred, turn 1. Reduce load. OFF/ON the power supply to clear 2. Check operation pattern. 3. Use servo motor that provides larger the alarm. Then the overload output. operation is repeated. 8- 6 8. TROUBLESHOOTING Display Name 51 Overload 2 Definition Cause Machine collision or 1. Machine struck something. the like caused max. For the time of the 2. Wrong connection of servo motor. alarm occurrence, Servo amplifier's output terminals U, refer to the section V, W do not match servo motor's 10.1. input terminals U, V, W. 3. Servo system is instable and hunting. 4. Encoder faulty. Checking method Action 1. Check operation pattern. 2. Install limit switches. Connect correctly. 1. Repeat acceleration/deceleration to execute auto tuning. 2. Change the auto tuning response setting. 3. Set auto tuning to OFF and make gain adjustment manually. Change the servo motor. When the servo motor shaft is rotated with the servo off, the cumulative feedback pulses do not vary in proportion to the rotary angle of the shaft but the indication skips or returns midway. 52 Error excessive The deviation between the model position and the actual servo motor position exceeds the parameter No.PC01 setting value (initial value: 3 revolutions). 1. Acceleration/deceleration time constant is too small. Increase the acceleration/deceleration time constant. 2. Torque limit value set with controller Increase the torque limit value. is too small. 3. Motor cannot be started due to torque shortage caused by power supply voltage drop. 1. Check the power supply capacity. 2. Use servo motor which provides larger output. 4. Position loop gain 1 (parameter No.PB08) value is small. Increase set value and adjust to ensure proper operation. 5. Servo motor shaft was rotated by external force. 1. When torque is limited, increase the limit value. 2. Reduce load. 3. Use servo motor that provides larger output. 6. Machine struck something. 1. Check operation pattern. 2. Install limit switches. 7. Encoder faulty Change the servo motor. Connect correctly. 8. Wrong connection of servo motor. Servo amplifier's output terminals U, V, W do not match servo motor's input terminals U, V, W. 9. SSCNET cable fault 10. Optical characteristic of SSCNET cable deteriorated because vinyl tape and/or wire sheath, which contains migrating plasticizer, adhered to the cable. 8A USB communication time-out error 8E USB communication error Communication with 1. USB cable breakage. MR Configurator in test operation mode stopped for longer than the specified time. Serial communication 1. USB cable fault error occurred (Open cable or short circuit) between servo 2. Communication device (e.g. amplifier and communication personal computer) faulty device (e.g. personal computer). 8- 7 Change the SSCNET cable. Remove the vinyl tape and/or wire sheath, which contains migrating plasticizer, and exchange the cable. Change the USB cable. Change the USB cable. Change the communication device (e.g. personal computer). 8. TROUBLESHOOTING Display (Note) 888 Name Watchdog Definition CPU, parts faulty Cause Action Fault of parts in servo amplifier Change the servo amplifier. Checking method Alarm (888) occurs if power is switched on after disconnection of all cables but the control circuit power supply cable. Note. At power-on, "888" appears instantaneously, but it is not an error. 8.3 Remedies for warnings CAUTION If an absolute position counter warning (E3) occurred, always make home position setting again. Not doing so may cause unexpected operation. POINT When any of the following alarms has occurred, do not resume operation by switching power of the servo amplifier OFF/ON repeatedly. The servo amplifier and servo motor may become faulty. If the power of the servo amplifier is switched OFF/ON during the alarms, allow more than 30 minutes for cooling before resuming operation. Excessive regenerative warning (E0) Overload warning 1 (E1) If E6, E7 or E9 occurs, the servo off status is established. 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. Display Name Definition Cause Action 92 Battery cable disconnection warning Absolute position detection 1. Battery cable is open. Repair cable or changed. system battery voltage is 2. Battery voltage supplied from the servo Change the battery. low. amplifier to the encoder fell to about 3V or less. (Detected with the encoder) 96 Home position setting warning Home position setting could not be made. 1. Droop pulses remaining are greater than Remove the cause of droop pulse the in-position range setting. occurrence 2. Command pulse entered after clearing of Do not enter command pulse droop pulses. after clearing of droop pulses. 3. Creep speed high. 9F Battery warning Battery voltage fell to 3.2V or less. Voltage of battery for absolute position detection (Detected with the servo amplifier) system reduced. E0 Excessive regeneration warning There is a possibility that regenerative power may exceed permissible regenerative power of built-in regenerative resistor or regenerative option. Reduce creep speed. Change the battery. Regenerative power increased to 85% or 1. Reduce frequency of more of permissible regenerative power of positioning. built-in regenerative resistor or regenerative 2. Change the regenerative option. option for the one with larger capacity. Checking method Call the status display and check 3. Reduce load. regenerative load ratio. 8- 8 8. TROUBLESHOOTING Display Name Cause Definition Action E1 Overload warning There is a possibility that Load increased to 85% or more of overload Refer to 50, 51. 1 overload alarm 1 or 2 may alarm 1 or 2 occurrence level. occur. Cause, checking method Refer to 50,51. E3 Absolute position Absolute position encoder 1. Noise entered the encoder. counter warning pulses faulty. 2. Encoder faulty. 3. The movement amount from the home The multi-revolution position exceeded a 32767 rotation or counter value of the 37268 rotation in succession. absolute position encoder exceeded the maximum revolution range. Take noise suppression measures. Change the servo motor. Make home position setting again. E4 Parameter warning Parameter outside setting Parameter value set from servo system Set it correctly. range controller is outside setting range E6 Servo forced stop EM1 is off. warning External forced stop was made valid. (EM1 Ensure safety and deactivate was turned off.) forced stop. E7 Controller forced stop warning Forced stop signal was entered into the servo system controller. Ensure safety and deactivate forced stop. E8 Cooling fan speed The speed of the servo reduction warning amplifier decreased to or below the warning level. This warning is not displayed with MR-J370B/100B among servo amplifiers equipped with a cooling fan. Cooling fan life expiration (Refer to section 2.5.) Change the cooling fan of the servo amplifier. The power supply of the cooling fan is broken. Change the servo amplifier. Switch on main circuit power. E9 Main circuit off warning Servo-on command was issued with main circuit power off. EC Overload warning Operation, in which a 2 current exceeding the rating flew intensively in any of the U, V and W phases of the servo motor, was repeated. During a stop, the status in which a current flew intensively in any of the U, V and W phases of the servo motor occurred repeatedly, exceeding the warning level. ED Output watt excess warning Continuous operation was performed with 1. Reduce the servo motor the output wattage (speed speed. torque) of the 2. Reduce the load. servo motor exceeding 150% of the rated output. The status, in which the output wattage (speed torque) of the servo motor exceeded the rated output, continued steadily. 8- 9 1. Reduce the positioning frequency at the specific positioning address. 2. Reduce the load. 3. Replace the servo amplifier/ servo motor with the one of larger capacity. 8. TROUBLESHOOTING MEMO 8 - 10 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 40 4 Approx.80 135 6 6 (Note) CNP1 (Note) 161 168 CNP2 6 Approx.68 With MR-J3BAT Approx. 25.5 Approx.14 6 156 CNP3 Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models. For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout. Mass: 0.8 [kg] (1.76 [lb]) Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.7 [lb in]) Terminal signal layout For 3-phase or 1-phase For 1-phase PE terminal 100 to 120VAC 200 to 230VAC L1 Approx. 40 L1 6 L2 CNP1 L2 N CNP1 CNP3 N P1 P1 P2 P2 P P C CNP2 L3 D D L11 L21 L21 U U V 2-M5 screw C CNP2 L11 W Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) CNP3 V W Mounting hole process drawing 9- 1 9. OUTLINE DRAWINGS (2) MR-J3-40B MR-J3-60B MR-J3-40B1 [Unit: mm] 6 mounting hole 40 5 Approx.80 170 6 6 L1 L2 L3 N P1 P2 CNP1 (Note) CN5 (Note) L1 L2 L3 CN3 P2 161 168 N CNP2 P1 P C D L11 L21 P CN1A C D CNP3 L11 L21 U CN1B V W 156 U V W 6 Approx. 25.5 Approx.68 With MR-J3BAT Approx.14 6 CN4 CN2L CN2 CHARGE Note. This data applies to the 3-phase or 1-phase 200 to 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 For 3-phase or 1-phase For 1-phase PE terminal 100 to 120VAC 200 to 230VAC L1 Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.7 [lb in]) Approx. 40 6 L1 L2 CNP1 CNP2 CNP3 L2 N CNP1 L3 N P1 P1 P2 P2 P P C C D CNP2 L11 L21 L21 U U W CNP3 2-M5 screw D L11 V Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) Mounting hole process drawing V W 9- 2 9. OUTLINE DRAWINGS (3) MR-J3-70B MR-J3-100B [Unit: mm] 12 6 mounting hole 60 6 185 6 Approx.80 CNP1 156 161 168 CNP2 CNP3 6 Approx.68 12 Approx.25.5 With MR-J3BAT 42 Approx.14 6 Cooling fan wind direction Mass: 1.4 [kg] (3.09 [lb]) Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.7 [lb in]) Terminal signal layout L1 PE terminal L2 CNP1 Approx. 60 L3 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) P C CNP2 D 3-M5 screw L11 L21 42 U CNP3 0.3 V Approx. 12 W Approx. 6 Mounting hole process drawing 9- 3 9. OUTLINE DRAWINGS (4) MR-J3-60B4 MR-J3-100B4 [Unit: mm] 6mounting hole 6 60 Approx. 80 195 12 CNP1 CNP2 CNP3 6 12 42 Approx. 25.5 Approx. 68 With MR-J3BAT Mass: 1.7 [kg] (3.75 [lb]) Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.7 [lb Terminal signal layout L1 PE terminal L2 CNP1 Approx. 60 L3 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) P C CNP2 3-M5 screw D L11 L21 42 0.3 U CNP3 V Approx. 12 W Approx. 6 Mounting hole process drawing 9- 4 in]) 9. OUTLINE DRAWINGS (5) MR-J3-200B(4) POINT Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200B servo amplifier have been changed from January 2008 production. Model name of the existing servo amplifier is changed to MR-J3-200B-RT. For MR-J3-200BRT, refer to appendix 5. [Unit: mm] 90 85 6 6mounting hole 195 Approx. 80 45 CNP1 CNP2 CNP3 6 Approx. 68 6 Approx. 25.5 78 Cooling fan wind direction 6 With MR-J3BAT Mass: 2.1 [kg] (4.63 [lb]) Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.7 [lb in]) Terminal signal layout L1 PE terminal L2 CNP1 Approx. 90 L3 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) P C CNP2 3-M5 screw D L11 L21 U CNP3 Approx. 6 V 78 0.3 Approx. 6 Mounting hole process drawing W 9- 5 9. OUTLINE DRAWINGS (6) MR-J3-350B [Unit: mm] 6 mounting hole 90 85 Approx.80 6 195 6 45 168 6 6 Approx.68 With MR-J3BAT Approx. 25.5 78 6 Cooling fan wind direction Approx.14 6 156 21.4 Mass: 2.3 [kg] (5.07 [lb]) Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.7 [lb in]) Terminal signal layout L1 PE terminal Approx. 90 L2 CNP1 L3 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) U CNP3 V W 3-M5 screw P C CNP2 D L11 Approx. 6 L21 78 0.3 Approx. 6 Mounting hole process drawing 9- 6 9. OUTLINE DRAWINGS (7) MR-J3-350B4 MR-J3-500B(4) [Unit: mm] Approx. 80 2- 6 mounting hole 130 7.5 6 200 131.5 68.5 Cooling fan wind direction 118 Terminal layout (Terminal cover open) 6 235 250 Cooling fan TE2 TE3 With MR-J3BAT CHARGE TE1 20.5 7.5 3 places for ground (M4) Built-in regenerative resistor lead terminal fixing screw Mass: 4.6 [kg] (10.1 [lb]) Approx. 130 Terminal signal layout Approx. 6 TE1 L1 L2 L3 TE2 L11 P C U V W Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) 118 0.5 Approx. 6 4-M5 screw Terminal screw: M3.5(Note) Tightening torque: 0.8[N m] (7.08 [lb in]) L21 TE3 N P1 P2 Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) PE terminal Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) Built-in regenerative resistor lead terminal fixing screw Note. Screw size is M3.5 for the control circuit terminal block (TE2) of the servo amplifier manufactured in April 2007 or later. Screw size is M3 for the control terminal block (TE2) of the servo amplifier manufactured in March 2007 or earlier. 9- 7 Mounting hole process drawing 9. OUTLINE DRAWINGS (8) MR-J3-700B(4) [Unit: mm] 6 2- 6 mounting hole Approx.80 200 7.5 62 138 172 Cooling fan wind direction 160 Terminal layout (Terminal cover open) 6 CN3 CN1A CN1B CN1B 285 300 CN1A CN3 Cooling fan With MR-J3BAT TE3 CHARGE 20.5 6 TE1 TE2 7.5 3 places for ground (M4) Built-in regenerative resistor lead terminal fixing screw Mass: 6.2 [kg] (13.7[lb]) Terminal signal layout TE1 L1 L2 L3 P C U V W Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.7 [lb in]) Approx. 172 Approx. 6 160 0.5 Approx. 6 TE2 L11 Terminal screw: M3.5(Note) Tightening torque: 0.8[N m] (7.08 [lb in]) L21 TE3 N P1 P2 4-M5 screw Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) PE terminal Terminal screw: M4 Tightening torque: 1.2[N m] (10.6 [lb in]) Built-in regenerative resistor lead terminal fixing screw Note. Screw size is M3.5 for the control circuit terminal block (TE2) of the servo amplifier manufactured in April 2007 or later. Screw size is M3 for the control terminal block (TE2) of the servo amplifier manufactured in March 2007 or earlier. Mounting hole process drawing 9- 8 9. OUTLINE DRAWINGS (9) MR-J3-11KB(4) to 22KB(4) [Unit: mm] 260 236 12 2- 12 Approx. 80 260 Cooling fan wind direction 12mounting hole With MR-J3BAT Rating plate 123.5 13 12 183 26 6 26 52 227 Approx. 12 156 Approx. 260 236 0.5 Approx. 12 4-M10 screw Servo amplifier Mass[kg]([lb]) MR-J3-11KB(4) 18.0 (40) MR-J3-15KB(4) 18.0 (40) MR-J3-22KB(4) 19.0 (42) Mounting hole process drawing Terminal signal layout TE Mounting screw L1 L2 L3 L11 L21 U P1 P C V W N L1 L2 L3 U V W L11 L21 P1 P C N Screw size MR-J3-11KB(4) MR-J3-15KB(4) Tightening torque [(lb:in)][N m] M6 M4 3.0 1.2 Screw size MR-J3-22KB(4) Tightening torque [(lb:in)][N m] M8 M4 6.0 1.2 9- 9 Servo amplifier Screw size Tightening torque [N m][(Ib:in)] MR-J3-11KB(4) MR-J3-15KB(4) MR-J3-22KB(4) M10 26.5 (234.5) 9. OUTLINE DRAWINGS 9.2 Connector (1) CN1A CN1B connector [Unit: mm] F0-PF2D103 F0-PF2D103-S 4.8 13.4 13.4 4.8 1.7 15 15 1.7 2.3 17.6 0.2 20.9 0.2 6.7 9.3 9.3 6.7 2.3 8 17.6 0.2 20.9 0.2 8 (2) Miniature delta ribbon (MDR) system (3M) (a) One-touch lock type [Unit: mm] D E A C 39.0 23.8 Logo etc, are indicated here. B 12.7 Connector Shell kit 10120-3000PE 10320-52F0-008 Each type of dimension A B C D E 22.0 33.3 14.0 10.0 12.0 9 - 10 9. OUTLINE DRAWINGS (b) Jack screw M2.6 type This is not available as option. [Unit: mm] D E A C F 5.2 39.0 23.8 Logo etc, are indicated here. B 12.7 Connector Shell kit 10120-3000PE 10320-52F0-008 Each type of dimension A B C D E F 22.0 33.3 14.0 10.0 12.0 27.4 (3) SCR connector system (3M) Receptacle : 36210-0100PL Shell kit : 36310-3200-008 39.5 22.4 11.0 34.8 9 - 11 9. OUTLINE DRAWINGS MEMO 9 - 12 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. 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 you carry out adhesion mounting of the servo amplifier, make circumference temperature into 0 to 45 , or use it at 75% or smaller effective load ratio. 1000 1000 During operation During operation 100 Operation time[s] Operation time[s] 100 During servo lock 10 1 0.1 0 50 100 150 200 250 1 0.1 0 300 During servo lock 10 50 (Note) Load ratio [%] 100 150 200 250 300 (Note) Load ratio [%] MR-J3-10B(1) MR-J3-20B(1) MR-J3-40B(1) MR-J3-60B(4) to MR-J3-100B(4) 10000 1000 During operation 1000 Operation time[s] Operation time[s] 100 During servo lock 10 1 0.1 0 50 100 150 200 250 300 (Note) Load ratio [%] During operation 100 During servo lock 10 1 0 50 100 150 200 250 (Note) Load ratio [%] MR-J3-200B(4) to MR-J3-350B(4) MR-J3-500B(4) MR-J3-700B(4) 10 - 1 300 10. CHARACTERISTICS 10000 Operation time [s] 1000 During operation 100 During servo lock 10 1 0 100 200 300 (Note) Load ratio [%] MR-J3-11KB(4) to MR-J3-22KB(4) 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 fail even when the electronic thermal relay protection is not activated. Fig 10.1 Electronic thermal relay protection characteristics 10 - 2 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. Table 10.1 Power supply capacity and generated heat per servo amplifier at rated output Servo amplifier MR-J3-10B (1) MR-J3-20B (1) MR-J3-40B (1) MR-J3-60B (4) MR-J3-70B MR-J3-100B (4) MR-J3-200B (4) MR-J3-350B (4) MR-J3-500B (4) (Note 2) Servo amplifier-generated heat[W] Area required for heat dissipation (Note 1) Power supply capacity[kVA] At rated torque With servo off [m2] HF-MP053 0.3 25 15 0.5 HF-MP13 0.3 25 15 0.5 HF-KP053 13 0.3 25 15 0.5 HF-MP23 0.5 25 15 0.5 Servo motor HF-KP23 0.5 25 15 0.5 HF-MP43 0.9 35 15 0.7 HF-KP43 0.9 35 15 0.7 HF-SP52 (4) 1.0 40 15 0.8 HF-SP51 1.0 40 15 0.8 HC-LP52 1.0 40 15 0.8 HF-MP73 1.3 50 15 1.0 1.0 HF-KP73 1.3 50 15 HC-UP72 1.3 50 15 1.0 HF-SP102 (4) 1.7 50 15 1.0 1.0 HF-SP81 1.5 50 15 HC-LP102 1.7 50 15 1.0 HF-SP152 (4) 2.5 90 20 1.8 HF-SP202 (4) 3.5 90 20 1.8 HF-SP121 2.1 90 20 1.8 HF-SP201 3.5 90 20 1.8 HC-RP103 1.8 50 15 1.0 HC-RP153 2.5 90 20 1.8 HC-UP152 2.5 90 20 1.8 HC-LP152 2.5 90 20 1.8 HF-SP352 (4) 5.5 130 20 (25) (Note 3) 2.7 HC-RP203 3.5 90 20 1.8 HC-UP202 3.5 90 20 1.8 HC-LP202 3.5 90 20 1.8 HF-SP301 4.8 120 20 2.4 HF-SP502 (4) 7.5 195 25 3.9 HC-RP353 5.5 135 25 2.7 HC-RP503 7.5 195 25 3.9 HC-UP352 5.5 195 25 3.9 HC-UP502 7.5 195 25 3.9 HC-LP302 4.5 120 25 2.4 HA-LP502 7.5 195 25 3.9 HF-SP421 6.7 160 25 3.2 10 - 3 10. CHARACTERISTICS Servo amplifier MR-J3-700B (4) MR-J3-11KB MR-J3-15KB MR-J3-22KB (Note 2) Servo amplifier-generated heat[W] Area required for heat dissipation (Note 1) Power supply capacity[kVA] At rated torque With servo off [m2] HF-SP702 (4) 10.0 300 25 6.0 HA-LP702 10.6 300 25 6.0 HA-LP601 (4) 10.0 260 25 5.2 HA-LP701M (4) 11.0 300 25 6.0 HC-LP11K2 (4) 16.0 530 45 11.0 HC-LP801 (4) 12.0 390 45 7.8 HC-LP12K1 (4) 18.0 580 45 11.6 HC-LP11K1M (4) 16.0 530 45 11.0 HC-LP15K2 (4) 22.0 640 45 13.0 HC-LP15K1 (4) 22.0 640 45 13.0 HC-LP15K1M (4) 22.0 640 45 13.0 HC-LP22K2 (4) 33.0 850 55 17.0 Servo motor HC-LP20K1 (4) 30.1 775 55 15.5 HC-LP25K1 37.6 970 55 19.4 HC-LP22K1M (4) 33.0 850 55 17.0 Note 1. Note that the power supply capacity will vary according to the power supply impedance. This value is applicable when the power factor improving reactor is not used. 2. Heat generated during regeneration is not included in the servo amplifier-generated heat. To calculate heat generated by the regenerative option, refer to section 11.2. 3. For 400V class, the value is within the ( ). 10 - 4 10. CHARACTERISTICS (2) Heat dissipation area for enclosed servo amplifier The enclosed control box (hereafter called the control box) which will contain the servo amplifier should be designed to ensure that its temperature rise is within 10 at the ambient temperature of 40 . (With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 ) limit.) The necessary enclosure heat dissipation area can be calculated by Equation 10.1. A P K T where, A P T K ............................................................................................................................................. (10.1) 2 : Heat dissipation area [m ] : Loss generated in the control box [W] : Difference between internal and ambient temperatures [ ] : Heat dissipation coefficient [5 to 6] When calculating the heat dissipation area with Equation 10.1, assume that P is the sum of all losses generated in the enclosure. Refer to Table 10.1 for heat generated by the servo amplifier. "A" indicates the effective area for heat dissipation, but if the enclosure is directly installed on an insulated wall, that extra amount must be added to the enclosure's surface area. The required heat dissipation area will vary wit the conditions in the enclosure. If convection in the enclosure is poor and heat builds up, effective heat dissipation will not be possible. Therefore, arrangement of the equipment in the enclosure and the use of a cooling fan should be considered. Table 10.1 lists the enclosure dissipation area for each servo amplifier when the servo amplifier is operated at the ambient temperature of 40 (104 ) under rated load. (Outside) (Inside) Air flow Fig. 10.2 Temperature distribution in enclosure When air flows along the outer wall of the enclosure, effective heat exchange will be possible, because the temperature slope inside and outside the enclosure will be steeper. 10 - 5 10. CHARACTERISTICS 10.3 Dynamic brake characteristics 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)(a), (b) of this section.) ON OFF Forced stop(EM1) Time constant V0 Machine speed Time te Fig. 10.3 Dynamic brake operation diagram Lmax Lmax Vo JM JL te JL ....................................................................................................................... (10.2) JM : Maximum coasting distance .................................................................................................... [mm][in] : Machine rapid feed rate ..............................................................................................[mm/min][in/min] 2 2 : Servo motor inertial moment..................................................................................... [kg cm ][oz in ] 2 2 : Load inertia moment converted into equivalent value on servo motor shaft ............ [kg cm ][oz in ] : Brake time constant .......................................................................................................................... [s] : Delay time of control section............................................................................................................. [s] For 7kW or less servo, there is internal relay delay time of about 30ms. For 11k to 22kW servo, there is delay time of about 100ms caused by a delay of the external relay and a delay of the magnetic contactor built in the external dynamic brake. V0 60 te 1 (2) Dynamic brake time constant The following shows necessary dynamic brake time constant for the equations (10.2). (a) 200V class servo motor 25 Time constant [ms] Time constant [ms] 25 20 15 73 23 10 43 5 0 0 13 053 1000 2000 3000 4000 5000 6000 HF-MP series 23 15 10 5 0 0 Speed [r/min] 73 20 13 053 43 1000 2000 3000 4000 5000 6000 Speed [r/min] HF-KP series 10 - 6 10. CHARACTERISTICS 120 Time constant [ms] Time constant [ms] 60 50 40 51 81 30 20 421 10 121 0 0 500 301 201 1000 1500 Speed [r/min] 100 52 80 60 102 40 20 HF-SP1000r/min series HF-SP2000r/min series [ms] 100 90 80 70 60 50 40 30 20 10 0 103 503 Time constant Time constant [ms] 18 16 14 12 10 8 6 153 4 2 0 0 353 203 500 202 502 152 500 1000 1500 2000 2500 3000 Speed [r/min] 0 0 2000 1000 1500 2000 2500 3000 Speed [r/min] HC-RP series 72 202 152 0 500 1000 1500 Speed [r/min] 2000 60 [ms] 73 60 20K1 50 Time constant 40 [ms] 502 352 HC-UP2000r/min series 70 Time constant 352 702 50 40 30 43 20 30 12K1 15K1 20 801 10 0 0 25K1 200 400 600 601 800 1000 1200 Speed[r/min] 23 13 10 0 0 50 500 10001500200025003000 Speed [r/min] HA-LP1000r/min series 80 120 80 60 40 [ms] 100 22K1M 11K1M Time constant Time constant [ms] HC-UP3000r/min 15K1M 701M 20 0 0 500 1000 1500 15K2 60 40 Speed[r/min] 22K2 702 20 0 0 2000 11K2 500 1000 1500 Speed[r/min] HA-LP1500r/min series HA-LP2000r/min series 10 - 7 502 2000 10. CHARACTERISTICS Time constant [ms] 200 160 52 202 120 80 302 102 40 152 0 0 500 1000 1500 Speed[r/min] 2000 HC-LP series (b) 400V class servo motor 35 75 [ms] 2024 524 1024 45 3524 30 5024 15 0 0 1000 30 1524 7024 2000 3000 20K14 12K14 25 60 Time constant Time constant [ms] 90 20 15 10 15K14 8014 6014 5 0 0 Speed[r/min] 400 800 12 11K1M4 15K1M4 701M4 8 4 0 22K1M4 [ms] 40 35 Time constant 20 [ms] HA-LP1000r/min series Time constant HA-SP2000r/min series 16 25 30 500 1000 Speed[r/min] 15 HA-LP1500r/min series 11K24 10 0 1500 15K24 20 5 0 1200 Speed[r/min] 0 22K2 500 1000 1500 Speed[r/min] HA-LP2000r/min series 10 - 8 2000 10. CHARACTERISTICS 10.3.2 The dynamic brake at the load inertia moment Use the dynamic brake under the load inertia moment ratio indicated in the following table. If the load inertia moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi. The values of the load inertia moment ratio in the table are the values at the maximum rotation speed of the servo motor. Servo amplifier Servo motor HF-KP HF-MP MR-J3-10B(1) 30 30 MR-J3-20B(1) 30 30 MR-J3-40B(1) 30 30 30 30 MR-J3-60B MR-J3-70B HF-SP 1 HF-SP 30 30 2 HC-RP HC-UP HC-LP HA-LP 1 HALP 1M HA-LP 30 30 MR-J3-100B 30 30 MR-J3-200B 30 30 30 30 30 MR-J3-350B 16 16 16 16 16 MR-J3-500B 15 15 15 15 15 MR-J3-700B 30 5 (Note 1) 15 5 (Note 1) 5 (Note 1) 5 (Note 1) MR-J3-11KB (Note 2) 30 30 30 MR-J3-15KB (Note 2) 30 30 30 MR-J3-22KB (Note 2) 30 30 30 Servo amplifier MR-J3-60B4 Servo motor HF-SP 4 HA-LP 14 2 HA-LP 1M4 HA-LP 24 5 (Note 1) MR-J3-100B4 5 (Note 1) MR-J3-200B4 5 (Note 1) MR-J3-350B4 5 (Note 1) MR-J3-500B4 5 (Note 1) MR-J3-700B4 5 (Note 1) 10 10 MR-J3-11KB4 (Note 2) 30 30 30 MR-J3-15KB4 (Note 2) 30 30 30 MR-J3-22KB4 (Note 2) 30 30 30 Note 1. The load inertia moment ratio is 15 at the rated rotation speed. 2. When the external dynamic brake is used. 10 - 9 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. 1 108 5 107 a 1 107 a : Long flex life encoder cable Long flex life motor power cable Long flex life motor brake cable SSCNET cable using long distance cable 5 106 b : Standard encoder cable Standard motor power cable Standard motor brake cable SSCNET cable using inside panel standard cord SSCNET cable using outside panel standard cable 1 106 5 10 Flexing life [times] 5 1 105 5 104 1 104 b 5 103 1 103 4 7 10 20 40 70 100 200 Flexing radius [mm] 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 (200V class: 253VAC, 400V class: 528VAC) is applied at the power supply capacity of 2500kVA and the wiring length of 1m (3.28ft). Servo amplifier MR-J3-10B1 to 40B1 MR-J3-10B to 60B MR-J3-70B 100B MR-J3-200B 350B MR-J3-500B MR-J3-700B MR-J3-11KB MR-J3-15KB MR-J3-22KB MR-J3-60B4 100B4 MR-J3-200B4 MR-J3-350B4 500B4 MR-J3-700B4 MR-J3-11KB4 MR-J3-15KB4 MR-J3-22KB4 Inrush currents (A0-p) Main circuit power supply (L1, L2, L3) Control circuit power supply (L11, L21) 38A (Attenuated to approx. 14A in 10ms) 20 to 30A 30A (Attenuated to approx. 5A in 10ms) (Attenuated to approx. 0A in 1 to 2ms) 54A (Attenuated to approx. 12A in 10ms) 120A (Attenuated to approx. 12A in 20ms) 44A (Attenuated to approx. 20A in 20ms) 88A (Attenuated to approx. 20A in 20ms) 30A (Attenuated to approx. 0A in 3ms) 235A (Attenuated to approx. 20A in 20ms) 100A (Attenuated to approx. 5A in 10ms) 120A (Attenuated to approx. 12A in 20ms) 66A (Attenuated to approx. 10A in 20ms) 67A (Attenuated to approx. 34A in 20ms) 325A (Attenuated to approx. 20A in 20ms) 40 to 50A (Attenuated to approx. 0A in 2ms) 41A (Attenuated to approx. 0A in 3ms) 45A (Attenuated to approx. 0A in 3ms) Since large inrush currents flow in the power supplies, always use no-fuse breakers and magnetic contactors. (Refer to section 11.12.) When circuit protectors are used, it is recommended to use the inertia delay type that will not be tripped by an inrush current. 10 - 10 11. OPTIONS AND AUXILIARY EQUIPMENT 11. OPTIONS AND AUXILIARY EQUIPMENT 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, always confirm from the front of the servo amplifier whether the charge lamp is off or not. CAUTION Use the specified auxiliary equipment and options. Unspecified ones may lead to a fault or fire. 11.1 Cable/connector sets POINT Protective structure indicated for cables and connecters is for a cable or connector alone. When the cables and connectors are used to connect the servo amplifier and servo motor, and if protective structures of the servo amplifier and servo motor are lower than that of the cable and connector, specifications of the servo amplifier and servo motor apply. As the cables and connectors used with this servo, purchase the options indicated in this section. 11 - 1 11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.1 Combinations of cable/connector sets Servo system cont Personal computer 35) 32)33)34) Servo amplifier 1)2) Note Servo amplifier 37) CN5 CN5 36) CNP1 CN3 CNP2 CN1A CNP3 CN1A 32)33)34) CN1B CN1B CN2 CN2 CN4 31) CN3 Cap (Servo amplifier attachment) Direct connection type (cable length 10m or less, IP65) 15)16)17)18) CN4 Junction type (cable length more than 10m, IP20) 21)22) 19)20) Battery MR-J3BAT 23) To 24VDC power supply for electromagnetic brake 13)14) 9)10)11)12) 7)8) Servo motor HF-MP HF-KP 3)4)5)6) Power supply Brake Encoder connector connector connector 26) 24)25) 27) 28)29) Servo motor HF-SP 30) To next page a) To next page b) Power supply Brake Encoder connector connector connector Note. Connectors for 3.5kW or less. For 5kW or more, terminal blocks. 11 - 2 11. OPTIONS AND AUXILIARY EQUIPMENT From previous page a) From previous page b) 26) 24)25) 38) Servo motor HC-RP HC-UP HC-LP 30)39)40) Power supply Brake Encoder connector connector connector 26) 24)25) Servo motor HA-LP Terminal box No. Product 1) Servo amplifier power supply connector Model Description Application Supplied with servo amplifiers of 1kW or less in 100V class CNP3 CNP2 CNP1 and 200V connector: 54928-0610 connector: 54928-0520 connector: 54928-0310 class (Molex) (Molex) (Molex) Wire size: 0.14mm2(AWG26) to 2.5mm2 (AWG14) Cable finish OD: to 3.8mm 11 - 3 REC. Lever: 54932-0000 (Molex) 11. OPTIONS AND AUXILIARY EQUIPMENT No. Product 2) Servo amplifier power supply connector Model Description CNP1 connector: PC4/6-STF-7.62CRWH (Phoenix Contact) CNP2 connector: 54928-0520 (Molex) Wire size: 0.2mm2 (AWG24) to 5.5mm2 (AWG10) Cable finish OD: to 5mm CNP1 connector: 721-207/026-000 (Plug) (WAGO) CNP2 connector: 721-205/026-000 (Plug) (WAGO) Wire size: 0.08mm2 (AWG28) to 2.5mm2 (AWG12) Cable finish OD: to 4.1mm 3) Motor power supply cable MR-PWS1CBL M-A1-L Cable length: 2 5 10m 4) Motor power supply cable MR-PWS1CBL M-A1-H Cable length: 2 5 10m 5) Motor power supply cable MR-PWS1CBL M-A2-L Cable length: 2 5 10m 6) Motor power supply cable MR-PWS1CBL M-A2-H Cable length: 2 5 10m Application CNP3 connector: PC4/3-STF-7.62CRWH (Phoenix Contact) Supplied with servo amplifiers of 3.5kW in 200V class REC. Lever: 54932-0000 (Molex) CNP3 connector: 721-203/026-000 (Plug) (WAGO) Supplied with servo amplifiers of 2kW in 200V class and 2kW in 400V class REC. Lever: 231-131 (WAGO) Power supply connector HF-MP series HF-KP series IP65 Load side lead IP65 Load side lead Long flex life Refer to section 11.1.3 for details. Power supply connector HF-MP series HF-KP series Refer to section 11.1.3 for details. 7) Motor power supply cable MR-PWS2CBL03M-A1-L Cable length: 0.3m Power supply connector IP65 Opposite-toload side lead IP65 Opposite-toload side lead Long flex life IP55 Load side lead HF-MP series HF-KP series Refer to section 11.1.3 for details. 8) Motor power supply cable MR-PWS2CBL03M-A2-L Cable length: 0.3m Power supply connector HF-MP series HF-KP series Refer to section 11.1.3 for details. 11 - 4 IP55 Opposite-toload side lead 11. OPTIONS AND AUXILIARY EQUIPMENT No. 9) Product Model Motor brake cable MR-BKS1CBL M-A1-L Cable length: 2 5 10m 10) Motor brake cable MR-BKS1CBL M-A1-H Cable length: 2 5 10m 11) Motor brake cable MR-BKS1CBL M-A2-L Cable length: 2 5 10m 12) Motor brake cable MR-BKS1CBL M-A2-H Cable length: 2 5 10m Description Application Brake connector HF-MP series HF-KP series IP65 Load side lead IP65 Load side lead Long flex life Refer to section 11.1.4 for details. Brake connector HF-MP series HF-KP series Refer to section 11.1.4 for details. 13) Motor brake cable MR-BKS2CBL03M-A1-L Cable length: 0.3m Brake connector IP65 Opposite-toload side lead IP65 Opposite-toload side lead Long flex life IP55 Load side lead HF-MP series HF-KP series Refer to section 11.1.4 for details. 14) Motor brake cable MR-BKS2CBL03M-A2-L Cable length: 0.3m Brake connector HF-MP series HF-KP series IP55 Opposite-toload side lead Refer to section 11.1.4 for details. 15) Encoder cable MR-J3ENCBL M-A1-L Cable length: 2 5 10m Encoder connector 16) Encoder cable MR-J3ENCBL M-A1-H Cable length: 2 5 10m HF-MP series HF-KP series 17) Encoder cable MR-J3ENCBL M-A2-L Cable length: 2 5 10m 18) Encoder cable MR-J3ENCBL M-A2-H Cable length: 2 5 10m Refer to section 11.1.2 (1) for details. Encoder connector HF-MP series HF-KP series Refer to section 11.1.2 (1) for details. 19) Encoder cable MR-J3JCBL03M-A1-L Cable length: 0.3m Encoder connector IP65 Load side lead IP65 Opposite-toload side lead Long flex life IP65 Opposite-toload side lead IP65 Opposite-toload side lead Long flex life IP20 Load side lead HF-MP series HF-KP series Refer to section 11.1.2 (3) for details. 20) Encoder cable MR-J3JCBL03M-A2-L Cable length: 0.3m Encoder connector HF-MP series HF-KP series Refer to section 11.1.2 (3) for details. 11 - 5 IP20 Opposite-toload side lead 11. OPTIONS AND AUXILIARY EQUIPMENT No Product Model 21) Encoder cable MR-EKCBL M-L Cable length: 20 30m 22) Encoder cable MR-EKCBL M-H Cable length: 20 30 40 50m 23) Encoder connector set MR-ECNM Description Application IP20 IP20 Long flex life For HF-MP HF-KP series Refer to section 11.1.2 (2) for details. IP20 For HF-MP HF-KP series Refer to section 11.1.2 (2) for details. 24) Encoder cable MR-J3ENSCBL M-L Cable length: 2 5 10 20 30m 25) Encoder cable MR-J3ENSCBL M-H Cable length: 2 5 10 20 30 40 50m 26) Encoder connector set MR-J3SCNS IP67 Standard life For HF-SP HC-UP HC-LP HC-RP Refer to section 11.1.2 (4) for details. HA-LP series flex IP67 Long flex life IP67 For HF-SP HC-UP HC-LP HC-RP Refer to section 11.1.2 (4) for details. HA-LP series 27) Brake connector set MR-BKCNS1 Straight plug: CM10-SP2S-L Socket contact: CM10-#22SC(S2)-100 (DDK) 28) Power supply connector set MR-PWCNS4 Plug: CE05-6A18-10SD-D-BSS Cable clamp: CE3057-10A-1-D (DDK) Example of applicable cable Applicable wire size: 2mm2 (AWG14) to 3.5mm2 (AWG12) Cable finish D: 10.5 to 14.1mm 29) Power supply connector set MR-PWCNS5 30) Power supply connector set MR-PWCNS3 31) Cable for connecting battery MR-J3BTCBL03M IP67 For HF-SP series Plug: CE05-6A22-22SD-D-BSS Cable clamp: CE3057-12A-1-D (DDK) Example of applicable cable Applicable wire size: 5.5mm2 (AWG10) to 8mm2 (AWG8) Cable finish D: 12.5 to 16mm Plug: CE05-6A32-17SD-D-BSS Cable clamp: CE3057-20A-1-D (DDK) Example of applicable cable Applicable wire size: 14mm2 (AWG6) to 22mm2 (AWG4) Cable finish D: 22 to 23.8mm IP67 For HF-SP51 81 For HF-SP52 152 IP67 For HF-SP121 to 301 For HF-SP202 to 502 For HF-SP421 For HF-SP702 For HA-LP702 IP67 Be sure to use this when corresponding to EN Standard. For connection of battery Refer to section 11.1.2 (5) for details. 11 - 6 11. OPTIONS AND AUXILIARY EQUIPMENT No. Product 32) SSCNET cable 33) SSCNET cable 34) SSCNET cable 35) USB cable Model Description Application Connector: PF-2D103 (Japan Aviation Electronics Industry, Ltd.) Inside panel standard cord MR-J3BUS M Cable length: 0.15 to 3m (Refer to section 11.1.5.) MR-J3BUS M-A Cable length: 5 to 20m (Refer to section 11.1.5.) MR-J3BUS M-B Cable length: 30 to 50m (Refer to section 11.1.5.) Connector: PF-2D103 (Japan Aviation Electronics Industry, Ltd.) Connector: PF-2D103 (Japan Aviation Electronics Industry, Ltd.) Connector: PF-2D103 (Japan Aviation Electronics Industry, Ltd.) Long distance cable MR-J3USBCBL3M Cable length: 3m For CN5 connector minB connector (5 pins) For personal computer connector A connector For connection with PC-AT compatible personal computer Outside panel standard cable 36) Connector set MR-CCN1 37) Junction terminal block (Recommend ed) 38) Break MR-BKCN connector set 39) Power supply MR-PWCNS1 connector set 40) Power supply MR-PWCNS2 connector set Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or similar product) PS7DW-20V14B-F (YOSHIDA ELECTRIC INDUSTRY CO., LTD.) MR-J2HBUS M Junction terminal block PS7DW-20V14B-F is not available from us as option. For using the junction terminal block, our option MRJ2HBUS M is necessary. Refer to section 11.7 for details. EN standard Plug: D/MS3106A10SL-4S(D190) (DDK) compliant For cable connector : YS010-5-8(Daiwa Dengyo) IP65 Example of applicable cable For HA-LP Applicable wire size: 0.3mm2 (AWG22) to 1.25mm2 For HC-UP (AWG16) For HC-LP Cable finish: 5 to 8.3mm Plug: CE05-6A22-23SD-D-BSS Cable clamp: CE3057-12A-2-D (DDK) Example of applicable cable Applicable wire size: 2mm2 (AWG14) to 3.5mm2 (AWG12) Cable finish: 9.5 to 13mm Plug: CE05-6A24-10SD-D-BSS Cable clamp: CE3057-16A-2-D (DDK) Example of applicable cable Applicable wire size: 5.5mm2 (AWG10) to 8mm2 (AWG8) Cable finish: 13 to 15.5mm 11 - 7 For HC-UP For HC-LP For HC-RP For HA-LP For HC-UP For HC-LP For HC-RP Be sure to use this when corresponding to EN standard IP65 11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.2 Encoder cable/connector sets (1) MR-J3ENCBL M-A1-L/H MR-J3ENCBL M-A2-L/H These cables are encoder cables for the HF-MP HF-KP series servo motors. The numerals in the Cable Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available. Cable length Cable model 2m 5m 10m 20m 30m 40m 50m Protective structure Flex life MR-J3ENCBL M-A1-L 2 5 10 IP65 Standard MR-J3ENCBL M-A1-H 2 5 10 IP65 Long flex life MR-J3ENCBL M-A2-L 2 5 10 IP65 Standard MR-J3ENCBL M-A2-H 2 5 10 IP65 Long flex life Application For HF-MP HF-KP servo motor Load side lead For HF-MP HF-KP servo motor Opposite-to-load side lead (a) Connection of servo amplifier and servo motor Servo amplifier MR-J3ENCBL M-A1-L MR-J3ENCBL M-A1-H 1) 2) Servo motor HF-MP HF-KP or MR-J3ENCBL M-A2-L MR-J3ENCBL M-A2-H 2) Servo motor HF-MP HF-KP CN2 1) Cable model MR-J3ENCBL A1-L M- MR-J3ENCBL A1-H M- 1) For CN2 connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) (Note) Signal layout 2 LG 4 6 8 M- 1 P5 3 5 7 9 BAT MR View seen from wiring side. MR-J3ENCBL A2-H M- (Note) Signal layout 10 MRR MR-J3ENCBL A2-L 2) For encoder connector Connector set: 54599-1019(Molex) 2 or 4 6 8 10 5 7 9 LG MRR 1 3 P5 MR BAT View seen from wiring side. 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 - 8 Connector: 1674320-1 Crimping tool for ground clip: 1596970-1 Crimping tool for receptacle contact: 1596847-1 (Tyco Electronics) (Note) Signal layout 9 SHD 7 5 MR 3 P5 1 8 6 P5G 4 MRR 2 BAT View seen from wiring side. Note. Keep open the pin shown with an . 11. OPTIONS AND AUXILIARY EQUIPMENT (b) Cable internal wiring diagram MR-J3ENCBL2M-L/-H MR-J3ENCBL5M-L/-H MR-J3ENCBL10M-L/-H Encoder side Servo amplifier connector side connector 3 6 5 4 2 9 P5 1 LG 2 MR 3 MRR 4 BAT 9 Plate SD (2) MR-EKCBL P5 LG MR MRR BAT SHD 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 2m 5m 10m 20m 30m 40m 50m Protective structure Flex life MR-EKCBL M-L 20 (Note) 30 IP20 Standard MR-EKCBL M-H 20 (Note) (Note) (Note) 30 40 50 IP20 Long flex life Note. Four-wire type cable. 11 - 9 Application For HF-MP HF-KP servo motor Use in combination with MR-J3JCBL03M-A1-L or MR-J3JCBL03M-A2-L. 11. OPTIONS AND AUXILIARY EQUIPMENT (a) Connection of servo amplifier and servo motor Servo amplifier MR-EKCBL M-L MR-EKCBL M-H MR-J3JCBL03M-L Cable length: 0.3m Servo motor HF-MP HF-KP CN2 1) 2) Cable model MR-EKCBL M-L 1) For CN2 connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) (Note) Signal layout 2 LG 4 6 1 MR-EKCBL M-H 3 MR 5 7 (Note) Signal layout 10 MDR MRR P5 8 9 BAT MD View seen from wiring side. 2) For encoder connector Connector set: 54599-1019(Molex) 2 or 4 6 LG MRR 1 3 P5 MR 8 10 Signal layout MDR 5 7 9 MD BAT View seen from wiring side. Note. Keep open the pins shown with . Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. 11 - 10 Housing: 1-172161-9 Crimping pin: 170359-1 (Tyco Electronics or equivalent) Cable clamp: MTI-0002 (Toa Electric Industries) 1 2 3 MR MRR BAT 4 5 6 MD MDR CONT 7 8 9 P5 LG SHD View seen from wiring side. Note. Keep open the pin shown with an . 11. OPTIONS AND AUXILIARY EQUIPMENT (b) Internal wiring diagram MR-EKCBL20M-L Servo amplifier side P5 LG MR MRR BAT SD MR-EKCBL30M-L Encoder side Servo amplifier side Encoder side 1 2 7 8 P5E P5G P5 LG 1 2 7 8 P5E P5G 3 4 9 Plate 1 2 3 9 MR MRR BAT SHD MR MRR MD MDR BAT 3 4 7 8 9 1 2 4 5 3 6 9 MR MRR MD MDR BAT CONT SHD (Note) SD Plate MR-EKCBL20M-H Servo amplifier side P5 LG MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H Encoder side 1 2 7 8 1 2 3 9 MR 3 MRR 4 9 BAT SD Plate (Note) Servo amplifier side P5E P5G MR MRR BAT SHD (Note) Encoder side P5 LG 1 2 7 8 P5E P5G MR MRR MD MDR BAT 3 4 7 8 9 1 2 4 5 3 6 9 MR MRR MD MDR BAT CONT SHD SD Plate (Note) Note. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental system. When fabricating the cable, use the wiring diagram corresponding to the length indicated below. Cable flex life Applicable wiring diagram Less than 10m Standard MR-EKCBL20M-L Long flex life MR-EKCBL20M-H 30m to 50m MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H 11 - 11 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 Connector set Description MR-ECNM Encoder side connector Housing: 1-172161-9 Connector pin: 170359-1 (Tyco Electronics or equivalent) Cable clamp: MTI-0002 (Toa Electric Industries) Servo amplifier side connector Receptacle: 36210-0100PL Shell kit: 536310-3200-008 (3M) Or Connector set: 54599-1019(Molex) (3) MR-J3JCBL03M-A1-L MR-J3JCBL03M-A2-L The servo amplifier and servo motor cannot be connected with these cables only. The servo motor side encoder cable (MR-EKCBL M-L/H) is required. Cable model Cable length Protective structure Flex life MR-J3JCBL03M-A1-L MR-J3JCBL03M-A2-L 0.3m IP20 11 - 12 Standard Application For HF-MP HF-KP servo motor Load side lead Use in combination with MR-EKCBL M-L/H. For HF-MP HF-KP servo motor Opposite-to-load side lead Use in combination with MR-EKCBL M-L/H. 11. OPTIONS AND AUXILIARY EQUIPMENT (a) Connection of servo amplifier and servo motor MR-J3JCBL03M-A1-L 2) Servo amplifier Servo motor HF-MP HF-KP 1) MR-EKCBL M-L/-H or MR-J3JCBL03M-A2-L 2) Servo motor HF-MP HF-KP 1) CN2 Cable model 1) Junction connector 2) For encoder connector MR-J3JCBL03M-A1-L Housing: 1-172169-9 Contact: 1473226-1 Cable clamp: 316454-1 Crimping tool: 91529-1 (Tyco Electronics) Connector: 1674320-1 Crimping tool for ground clip: 1596970-1 Crimping tool for receptacle contact: 1596847-1 (Tyco Electronics) Signal layout Signal layout 9 SHD 7 MDR 8 MD MR-J3JCBL03M-A2-L 3 2 1 BAT MRR MR 6 5 4 CONT MDR MD 9 8 7 SHD LG P5 6 P5G 3 P5 4 MRR 1 CONT 2 BAT View seen from wiring View seen from wiring side. (b) Internal wiring diagram MR-J3JCBL03M-A1-L Junction connector 5 MR Encoder side connector P5 LG MR MRR MD MDR BAT SEL 7 8 1 2 4 5 3 6 3 6 5 4 8 7 2 1 P5 P5G MR MRR MD MDR BAT CONT SHD 9 9 SHD 11 - 13 11. OPTIONS AND AUXILIARY EQUIPMENT (4) MR-J3ENSCBL M-L MR-J3ENSCBL M-H These cables are detector cables for HF-SP HA-LP HC-RP HC-UP HC-LP Series servo motors. The number in the cable length column of the table indicates the symbol filling the square in the cable model. Cable lengths corresponding to the specified symbols are prepared. Cable length Cable model Protective 2m 5m 10m 20m 30m MR-J3ENSCBL M-L 2 5 10 20 30 MR- J3ENSCBL M-H 2 5 10 20 30 40m Flex life structure 50m Standard For HF-SP HA-LP HC-RP HC-UP Long flex HC-LP servo motor life IP67 40 50 Application IP67 (a) Connection of servo amplifier and servo motor Servo amplifier MR-J3ENSCBL M-L MR-J3ENSCBL M-H 2) Servo motor HF-SP CN2 1) Cable model MR-J3ENSCBL 1) For CN2 connector Connector set: 54599-1019(Molex) M-L Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) (Note) Signal layout 2 LG 4 6 8 10 MRR 1 P5 3 5 7 9 BAT MR View seen from wiring side. MR-J3ENSCBL H M- (Note) Signal layout 2 or 4 6 8 10 5 7 9 LG MRR 1 3 P5 MR BAT View seen from wiring side. Note. Keep open the pins shown with . Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. 2) For encoder connector In case of 10m or shorter cables Straight plug: CM10-SP10S-M Socket contact: CM10#22SC(C1)-100 Crimping tool: 357J-50446 (DDK) Applicable cable AWG20 to 22 In case of 20m or longer cables Straight plug: CM10-SP10S-M Socket contact: CM10#22SC(C2)-100 Crimping tool: 357J-50447 (DDK) Applicable cable AWG23 to 28 (Note) Signal layout 3 7 2 MRR 6 10 SHD 1 MR 5 LG 9 4 BAT 8 P5 View seen from wiring side Note. Keep open the pin shown with an . 11 - 14 11. OPTIONS AND AUXILIARY EQUIPMENT (b) Internal wiring diagram MR-J3ENSCBL2M-L/H MR-J3ENSCBL5M-L/H MR-J3ENSCBL10M-L/H Servo amplifier side connector 1 P5 2 LG 3 MR 4 MRR 9 BAT SD Plate Encoder side connector 8 5 1 2 4 10 P5 LG MR MRR BAT SHD MR-J3ENSCBL20M-L MR-J3ENSCBL30M-L Encoder side Servo amplifier connector side connector P5 LG 1 2 MR 3 MRR 4 BAT 9 SD Plate MR-J3ENSCBL20M-H MR-J3ENSCBL30M-H MR-J3ENSCBL40M-H MR-J3ENSCBL50M-H Encoder side Servo amplifier connector side connector 8 5 P5 LG 1 2 4 10 MR MRR BAT SHD P5 LG 1 2 MR 3 MRR 4 BAT 9 SD Plate 8 5 P5 LG 1 2 4 10 MR MRR BAT SHD (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 Connector set Description MR- J3SCNS (Option) Servo amplifier side connector Receptacle: 36210-0100PL Shell kit: 536310-3200-008 (3M) Or Connector set: 54599-1019 (Molex) 11 - 15 Encoder side connector Straight plug: CM10-SP10S-M Socket contact: CM10-#22SC(S1)-100 Applicable wire size: AWG20 or less Recommended tightening jig: 357J-51456T (DDK) 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 model Cable length MR-J3BTCBL03M 0.3m Application For HF-MP HF-KP servo motor HF-SP HA-LP HC-RP HC-UP HC-LP (a) Connection of servo amplifier and servo motor Servo amplifier 1) MR-J3BTCBL03M (Note) Encoder cable Servo motor CN2 2) Battery 3) Note. For the detector cable, refer to (1), (2), (3) and (4) of this section. Cable model MR-J3BTCBL03M 1) For CN2 connector Receptacle: 36210-0100PL Shell kit: 536310-3200-008 (3M) Or Connector set: 54599-1019 (Molex) 2) Junction connector Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M) 11 - 16 3) For battery connector Connector: DF3-2EP-2C Contact: DF3-EP2428PCA (Hirose Denki) 11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.3 Motor power supply cables These cables are motor power supply cables for the HF-MP HF-KP series servo motors. The numerals in the Cable length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available. Refer to section 3.10 when wiring. Cable model 0.3m Cable length 2m 5m 10m Protective structure MR-PWS1CBL M-A1-L 2 5 10 IP65 MR-PWS1CBL M-A2-L 2 5 10 IP65 Flex life Standard Standard Long flex life Long flex life MR-PWS1CBL M-A1-H 2 5 10 IP65 MR-PWS1CBL M-A2-H 2 5 10 IP65 MR-PWS2CBL M-A1-L 03 IP55 Standard MR-PWS2CBL M-A2-L 03 IP55 Standard Application For HF-MP HF-KP servo motor Load side lead For HF-MP HF-KP servo motor Opposite-to-load side lead For HF-MP HF-KP servo motor Load side lead For HF-MP HF-KP servo motor Opposite-to-load side lead For HF-MP HF-KP servo motor Load side lead For HF-MP HF-KP servo motor Opposite-to-load side lead (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 Servo motor HF-MP HF-KP or CNP3 connector supplied with servo amplifier MR-PWS1CBL M-A2-L MR-PWS1CBL M-A2-H MR-PWS2CBL03M-A2-L 1) Servo motor HF-MP HF-KP CNP3 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 1) For motor power supply connector Connector: JN4FT04SJ1-R Signal layout Hood, socket insulator Bushing, ground nut 1 Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT160-3-TMH5B 2 U (Japan Aviation Electronics Industry) 3 V Connector: JN4FT04SJ2-R 4 W Hood, socket insulator Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) View seen from wiring side. Crimping tool: CT160-3-TMH5B (Japan Aviation Electronics Industry) (2) Internal wiring diagram MR-PWS1CBL M-A1-H MR-PWS2CBL03M-A1-L MR-PWS1CBL M-A2-H MR-PWS2CBL03M-A2-L AWG 19 (Red) (Note) AWG 19 (White) AWG 19 (Black) AWG 19 (Green/yellow) Note. These are not shielded cables. 11 - 17 U V W 11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.4 Motor brake cables These cables are motor brake cables for the HF-MP HF-KP series servo motors. The numerals in the Cable length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the symbols are available. Refer to section 3.11 when wiring. Cable model 0.3m Cable length 2m 5m 10m Protective structure MR-PWS1CBL M-A1-L 2 5 10 IP65 MR-PWS1CBL M-A2-L 2 5 10 IP65 Flex life Standard Standard Long flex life Long flex life MR-PWS1CBL M-A1-H 2 5 10 IP65 MR-PWS1CBL M-A2-H 2 5 10 IP65 MR-PWS2CBL M-A1-L 03 IP55 Standard MR-PWS2CBL M-A2-L 03 IP55 Standard Application For HF-MP HF-KP servo motor Load side lead For HF-MP HF-KP servo motor Opposite-to-load side lead For HF-MP HF-KP servo motor Load side lead For HF-MP HF-KP servo motor Opposite-to-load side lead For HF-MP HF-KP servo motor Load side lead For HF-MP HF-KP servo motor Opposite-to-load side lead (1) Connection of servo amplifier and servo motor MR-BKS1CBL M-A1-L MR-BKS1CBL M-A1-H MR-BKS2CBL03M-A1-L 24VDC power supply for electromagnetic brake 1) Servo motor HF-MP HF-KP or MR-BKS1CBL M-A2-L MR-BKS1CBL M-A2-H MR-BKS2CBL03M-A2-L 1) Servo motor HF-MP HF-KP Cable model MR-BKS1CBL M-A1-L MR-BKS1CBL M-A2-L MR-BKS1CBL M-A1-H MR-BKS1CBL M-A2-H MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L 1) For motor brake connector Connector: JN4FT02SJ1-R Signal layout Hood, socket insulator Bushing, ground nut 1 B1 Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT160-3-TMH5B 2 B2 (Japan Aviation Electronics Industry) Connector: JN4FT02SJ2-R View seen from wiring side. Hood, socket insulator Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT160-3-TMH5B (Japan Aviation Electronics Industry) (2) Internal wiring diagram MR-BKS1CBL M-A1-H MR-BKS2CBL03M-A1-L AWG 20 MR-BKS1CBL M-A2-H MR-BKS2CBL03M-A2-L (Note) AWG 20 Note. These are not shielded cables. 11 - 18 B1 B2 11. OPTIONS AND AUXILIARY EQUIPMENT 11.1.5 SSCNET cable POINT Do not see directly the light generated from CN1A CN1B connector of servo amplifier or the end of SSCNET cable. When the light gets into eye, you may feel something is wrong for eye. (The light source of SSCNET complies with class1 defined in JIS C6802 or IEC60825-1.) (1) Model explanations Numeral in the column of cable length on the table is a symbol put in the which symbol exists are available. Cable model part of cable model. Cables of Cable length 0.15m 0.3m 0.5m 1m 3m 015 03 05 1 3 MR-J3BUS M 5m 10m 20m 30m 40m 50m Flex life Application remark Using inside Standard panel standard cord MR-J3BUS M-A 5 10 (Note) MR-J3BUS M-B Using outside Standard panel standard cable 20 30 40 50 Long flex Using long life distance cable Note. For cable of 30m or less, contact our company. (2) Specifications Description SSCNET cable length Optical Minimum bend radius cable (cord) Tension strength MR-J3BUS M 0.15m 0.3 to 3m Temperature range for use (Note) 30 to 50m 420N (Enforced covering cord) 140N -40 to 85 980N (Enforced covering cord) -20 to 70 Indoors (no direct sunlight) No solvent or oil 2.2 0.07 Ambient External appearance [mm] MR-J3BUS M-B 5 to 20m Enforced covering cord: 50mm Enforced covering cord: 50mm Cord: 25mm Cord: 30mm 25mm 70N MR-J3BUS M-A 2.2 0.07 4.4 0.1 4.4 0.4 2.2 0.2 cable model 2.2 0.07 SSCNET 4.4 0.1 6.0 0.2 7.6 0.5 Note. This temperature range for use is the value for optical cable (cord) only. Temperature condition for the connector is the same as that for servo amplifier. 11 - 19 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawings (a) MR-J3BUS015M [Unit: mm] (6.7) (15) (13.4) Protective tube (37.65) 150 (20.9) (1.7) 0 (2.3) 8 50 0 (b) MR-J3BUS03M to MR-J3BUS3M Refer to the table shown in (1) of this section for cable length (L). [Unit: mm] Protective tube (Note) (100) (100) L Note. Dimension of connector part is the same as that of MR-J3BUS015M. (c) MR-J3BUS5M-A to MR-J3BUS20M-A MR-J3BUS30M-B to MR-J3BUS50M-B Refer to the table shown in (1) of this section for cable length (L). SSCNET Distortion dimension [mm] cable A B MR-J3BUS5M-A to MR-J3BUS20M-A 100 30 MR-J3BUS30M-B to MR-J3BUS50M-B 150 50 [Unit: mm] Protective tube (Note) (A) (B) (B) L Note. Dimension of connector part is the same as that of MR-J3BUS015M. 11 - 20 (A) 11. OPTIONS AND AUXILIARY EQUIPMENT 11.2 Regenerative options The specified combinations of regenerative options and servo amplifiers may only be used. Otherwise, a fire may occur. CAUTION (1) Combination and regenerative power The power values in the table are resistor-generated powers and not rated powers. Regenerative power[W] (Note 1) MR-RB50 [13 ] (Note 1) MR-MB51 [6.7 ] Built-in regenerative resistor MR-RB032 [40 ] MR-J3-20B (1) 10 30 100 MR-J3-40B (1) 10 30 100 MR-J3-60B 10 30 100 MR-J3-70B 20 30 100 300 MR-J3-100B 20 30 100 300 MR-J3-200B 100 300 MR-J3-350B 100 300 MR-J3-500B 130 300 500 MR-J3-700B 170 300 500 Servo amplifier MR-J3-10B (1) MR-RB12 [40 ] MR-RB30 [13 ] MR-RB31 [6.7 ] MR-RB32 [40 ] 30 500 500 Regenerative power[W] Servo amplifier (Note 1) (Note 1) Built-in MR-RB1H-4 MR-RB3M-4 MR-RB3G-4 regenerative [82 ] [47 ] [120 ] resistor (Note 1) MR-RB5G-4 [47 ] (Note 1) MR-RB34-4 [26 ] (Note 1) MR-RB54-4 [26 ] MR-J3-60B4 15 100 300 MR-J3-100B4 15 100 300 MR-J3-200B4 100 300 500 MR-J3-350B4 100 300 500 MR-J3-500B4 130 300 500 MR-J3-700B4 170 300 500 (Note 2) Regenerative power[W] Servo amplifier External regenerative resistor (Accessory) MR-RB5E [6 ] MR-J3-11KB 500 (800) 500 (800) MR-J3-15KB 850 (1300) MR-J3-22KB 850 (1300) MR-J3-11KB4 500 (800) MR-J3-15KB4 850 (1300) MR-J3-22KB4 850 (1300) MR-RB9P [4.5 ] MR-RB9F [3 ] MR-RB6B-4 [20 ] MR-RB60-4 [12.5 ] MR-RB6K-4 [10 ] 850 (1300) 850 (1300) 500 (800) 850 (1300) 850 (1300) Note 1. Always install a cooling fan. 2. Values in parentheses assume the installation of a cooling fan. 11 - 21 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Selection of the regenerative option Use the following method when regeneration occurs continuously in vertical motion applications or when it is desired to make an in-depth selection of the regenerative option. Unbalance torque Servo motor speed (a) Regenerative energy calculation Use the following table to calculate the regenerative energy. Friction torque TF Up t1 t2 Tpsa1 ( ) TU Time Down t3 Tpsd1 t4 Tpsd2 Tpsa2 1) (Driving) 2) Generated torque M tf(1 cycle) No 4) 8) 5) 6) 3) (Regenerative) ( ) 7) Formulas for calculating torque and energy in operation Regenerative power 1) T1 2) T2 3) T3 4), 8) T4 5) T5 6) T6 7) T7 Torque applied to servo motor [N m] (JL JM) N0 1 TU TF Tpsa1 9.55 104 TU TF (JL JM) N0 9.55 104 TU (JL JM) N0 4 9.55 10 TU TF (JL JM) N0 9.55 104 1 Tpsd1 1 TU TU Tpsa2 TF E1 E2 E3 TF TU 0.1047 0.1047 2 N0 T2 t1 N0 T3 Tpsd1 E4 0 (No regeneration) 0.1047 E5 N0 T5 Tpsa2 2 E6 1 Tpsd2 Energy [J] 0.1047 N0 T1 Tpsa1 2 TF E7 0.1047 0.1047 2 N0 T6 t3 N0 T7 Tpsd2 From the calculation results in 1) to 8), find the absolute value (Es) of the sum total of negative energies. 11 - 22 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] Servo amplifier Inverse efficiency[%] Capacitor charging[J] MR-J3-10B 55 9 MR-J3-200B 85 40 MR-J3-10B1 55 4 MR-J3-200B4 85 25 MR-J3-20B 70 9 MR-J3-350B 85 40 MR-J3-20B1 70 4 MR-J3-350B4 85 36 MR-J3-40B 85 11 MR-J3-500B(4) 90 45 MR-J3-40B1 85 10 MR-J3-700B(4) 90 70 MR-J3-60B(4) 85 11 MR-J3-11KB(4) 90 120 MR-J3-70B 80 18 MR-J3-15KB(4) 90 170 MR-J3-100B 80 18 MR-J3-22KB(4) 90 250 MR-J3-100B4 80 12 Inverse efficiency ( ) : Efficiency including some efficiencies of the servo motor and servo amplifier when rated (regenerative) torque is generated at rated speed. Since the efficiency varies with the speed and generated torque, allow for about 10%. Capacitor charging (Ec) : Energy charged into the electrolytic capacitor in the servo amplifier. Subtract the capacitor charging from the result of multiplying the sum total of regenerative energies by the inverse efficiency to calculate the energy consumed by the regenerative option. ER [J] Es Ec Calculate the power consumption of the regenerative option on the basis of single-cycle operation period tf [s] to select the necessary regenerative option. PR [W] ER/tf (3) Parameter setting Set parameter No.PA02 according to the option to be used. Parameter No.PA02 0 0 Selection of regenerative option 00: Regenerative option is not used For servo amplifier of 100W, regenerative resistor is not used. For servo amplifier of 200 to 7kW, built-in regenerative resistor is used. Supplied regenerative resistors or regenerative option is used with the servo amplifier of 11k to 22kW. For a drive unit of 30kW or more, select regenerative option by the converter unit. 01: FR-BU2-(H) FR-RC-(H) FR-CV-(H) 02: MR-RB032 03: MR-RB12 04: MR-RB32 05: MR-RB30 06: MR-RB50(Cooling fan is required) 08: MR-RB31 09: MR-RB51(Cooling fan is required) 80: MR-RB1H-4 81: MR-RB3M-4(Cooling fan is required) 82: MR-RB3G-4(Cooling fan is required) 83: MR-RB5G-4(Cooling fanis required) 84: MR-RB34-4(Cooling fanis required) 85: MR-RB54-4(Cooling fanis required) FA: Whenhe supplied regenerative resistor is cooled by the cooling fan to increase the ability with the servo amplifier of 11k to 22kW. 11 - 23 11. OPTIONS AND AUXILIARY EQUIPMENT The following are setting values for regenerative resistor and regenerative option which are used with a servo amplifier of 11k to 22kW. Regenerative resistor, regenerative option Setting value Standard supplied regenerative resistor 00 Standard supplied regenerative resistor (with a cooling fan to cool it) FA MR-RB5E 00 MR-RB5E (with a cooling fan to cool it) FA MR-RB9P 00 MR-RB9P (with a cooling fan to cool it) FA MR-RB9F 00 MR-RB9F (with a cooling fan to cool it) FA MR-RB6B-4 00 MR-RB6B-4 (with a cooling fan to cool it) 00 MR-RB60-4 FA MR-RB60-4 (with a cooling fan to cool it) 00 MR-RB6K-4 FA MR-RB6K-4 (with a cooling fan to cool it) 00 (4) Connection of the regenerative option POINT When the MR-RB50 MR-RB51 MR-RB3M-4 MR-RB3G-4 MR-RB5G-4 MR-RB34-4 MR-RB54-4 is used, a cooling 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 11.11. 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. 11 - 24 11. OPTIONS AND AUXILIARY EQUIPMENT (a) MR-J3-350B or less MR-J3-200B4 or less Always remove the wiring from across P-D and fit the regenerative option across P-C. The G3 and G4 terminals act as a thermal sensor. G3-G4 is disconnected when the regenerative option overheats abnormally. Always remove the lead from across P-D. Servo amplifier Regenerative option P P C C D G3 (Note 2) 5m max. G4 (Note 1) Cooling fan Note 1. When using the MR-RB50 MR-RB3M-4 MR-RB3G-4 MR-RB5G-4, forcibly cool it with a cooling fan (92 flow : 1.0m3). 2. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal heating occurs. G3-G4 contact specifications Maximum voltage: 120V AC/DC Maximum current: 0.5A/4.8VDC Maximum capacity: 2.4VA 92, minimum air For the MR-RB50 MR-RB3M-4 MR-RB3G-4 MR-RB5G-4 install the cooling fan as shown. [Unit : mm] Cooling fan installation screw hole dimensions 2-M3 screw hole Top Terminal block 82.5 Cooling fan (for cooling fan installation) Depth 10 or less (Screw hole already machined) 133 Thermal relay Bottom Vertical installation 82.5 Horizontal installation Installation surface 11 - 25 40 11. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-J3-350B4 MR-J3-500B(4) MR-J3-700B(4) Always remove the wiring (across P-C) of the servo amplifier built-in regenerative resistor and fit the regenerative option across P-C. The G3 and G4 terminals act as a thermal sensor. G3-G4 is opened when the regenerative option overheats abnormally. Servo amplifier Always remove wiring (across P-C) of servo amplifier built-in regenerative resistor. Regenerative option P P C C G3 (Note 2) G4 5m or less Cooling fan(Note 1) Note 1. When using the MR-RB51 MR-RB3G-4 MR-RB5G-4 MR-RB34-4 MR-RB54-4, forcibly cool it with a cooling fan (92 92, minimum air flow : 1.0m3). 2. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal heating occurs. G3-G4 contact specifications Maximum voltage: 120V AC/DC Maximum current: 0.5A/4.8VDC Maximum capacity: 2.4VA When using the regenerative resistor option, remove the servo amplifier's built-in regenerative resistor terminals (across P-C), fit them back to back, and secure them to the frame with the accessory screw as shown below. Mounting method Accessory screw 11 - 26 11. OPTIONS AND AUXILIARY EQUIPMENT The drawing below shows the MR-J3-350B4 MR-J3-500B(4). Refer to section 9.1 (6) outline drawings for the position of the fixing screw for MR-J3-700B(4). Built-in regenerative resistor lead terminal fixing screw For the MR-RB51, MR-RB3G-4, MR-RB5G-4, MR-RB34-4 or MR-RB54-4 install the cooling fan as shown. [Unit : mm] Cooling fan installation screw hole dimensions 2-M3 screw hole Top Terminal block 82.5 Cooling fan (for cooling fan installation) Depth 10 or less (Screw hole already machined) 133 Thermal relay Bottom Vertical installation 82.5 Horizontal installation Installation surface 11 - 27 40 11. OPTIONS AND AUXILIARY EQUIPMENT (c) MR-J3-11KB(4) to MR-J3-22KB(4) (when using the supplied regenerative resistor) When using the regenerative resistors supplied to the servo amplifier, the specified number of resistors (4 or 5 resistors) must be connected in series. If they are connected in parallel or in less than the specified number, the servo amplifier may become faulty and/or the regenerative resistors burn. Install the resistors at intervals of about 70mm. Cooling the resistors with two cooling fans (92 92, minimum 3 FA" in parameter No.PA02. air flow : 1.0m ) improves the regeneration capability. In this case, set " 5m or less Do not remove the short bar. (Note) Series connection Servo amplifier P1 P C Cooling fan Note. The number of resistors connected in series depends on the resistor type. The thermal sensor is not mounted on the attached regenerative resistor. An abnormal heating of resistor may be generated at a regenerative circuit failure. Install a thermal sensor near the resistor and establish a protective circuit to shut off the main circuit power supply when abnormal heating occurs. The detection level of the thermal sensor varies according to the settings of the resistor. Set the thermal sensor in the most appropriate position on your design basis or use the thermal sensor built-in regenerative option (MRRB5E, 9P, 9F, 6B-4, 60-4 and 6K-4) provided by Mitsubishi Electric Corporation. Servo amplifier Regenerative resistor Regenerative power [W] Normal Cooling Resistance [ ] Number of resistors MR-J3-11KB GRZG400-1.5 500 800 6 4 MR-J3-15KB GRZG400-0.9 850 1300 4.5 5 MR-J3-22KB GRZG400-0.6 850 1300 3 5 MR-J3-11KB4 GRZG400-5.0 500 800 20 4 MR-J3-15KB4 GRZG400-2.5 850 1300 12.5 5 MR-J3-22KB4 GRZG400-2.0 850 1300 10 5 11 - 28 11. OPTIONS AND AUXILIARY EQUIPMENT (d) MR-J3-11KB(4)-PX to MR-J3-22KB(4)-PX (when using the regenerative option) The MR-J3-11KB(4)-PX to MR-J3-22KB(4)-PX servo amplifiers are not supplied with regenerative resistors. When using any of these servo amplifiers, always use the MR-RB5E, 9P, 9F, 6B-4, 60-4 and 6K-4 regenerative option. The MR-RB5E, 9P, 9F, 6B-4, 60-4 and 6K-4 are regenerative options that have encased the GRZG4001.5 , GRZG400-0.9 , GRZG400-0.6 , GRZG400-5.0 , GRZG400-2.5 , GRZG400-2.0 respectively. When using any of these regenerative options, make the same parameter setting as when using the GRZG400-1.5 , GRZG400-0.9 , GRZG400-0.6 , GRZG400-5.0 , GRZG400-2.5 , GRZG400-2.0 (supplied regenerative resistors or regenerative option is used with 11kW or more servo amplifier). Cooling the regenerative option with cooling fans improves regenerative capability. The G3 and G4 terminals are for the thermal protector. G3-G4 is opened when the regenerative option overheats abnormally. Servo amplifier P1 Do not remove the short bar. Regenerative option P P C C (Note) G3 G4 Configure up a circuit which shuts off main circuit power when thermal protector operates. Note. Specifications of contact across G3-G4 Maximum voltage : 120V AC/DC Maximum current : 0.5A/4.8VDC Maximum capacity : 2.4VA Servo amplifier Regenerative option model Regenerative power [W] Resistance [ ] Without cooling fans With cooling fans MR-J3-11KB-PX MR-RB5E 6 500 800 MR-J3-15KB-PX MR-RB9P 4.5 850 1300 1300 MR-J3-22KB-PX MR-RB9F 3 850 MR-J3-11KB4-PX MR-RB6B-4 20 500 800 MR-J3-15KB4-PX MR-RB60-4 12.5 850 1300 MR-J3-22KB4-PX MR-RB6K-4 10 850 1300 When using cooling fans, install them using the mounting holes provided in the bottom of the FA" in parameter No.PA02. regenerative option. In this case, set " Top MR-RB5E 9P 9F 6B-4 60-4 6K-4 Bottom TE1 2 cooling fans (92 92, minimum air flow: 1.0m3) Mounting screw 4-M3 11 - 29 TE G4 G3 C P 11. OPTIONS AND AUXILIARY EQUIPMENT (5) Outline drawing (a) MR-RB032 MR-RB12 [Unit: mm (in)] Approx. 12 LB G3 G4 P C 6 mounting hole Approx. 6 LA TE1 Terminal block MR-RB Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m] (4 to 5 [lb in]) Mounting screw 144 168 156 Screw size: M5 Tightening torque: 3.24 [N m] 5 (28.7 [lb in]) 6 12 G3 G4 P C TE1 1.6 6 Approx. 20 LD LC Regenerative option LA LB LC LD [kg] [lb] MR-RB032 30 15 119 99 0.5 1.1 MR-RB12 40 15 169 149 1.1 2.4 11 - 30 Variable dimensions Mass 11. OPTIONS AND AUXILIARY EQUIPMENT (b) MR-RB30 MR-RB31 MR-RB32 MR-RB34-4 MR-RB3M-4 MR-RB3G-4 [Unit: mm (in)] Cooling fan mounting screw (2-M4 screw) 7 10 101.5 90 100 82.5 318 B Wind blows in the arrow direction A TE1 Terminal block P C G3 G4 Terminal screw: M4 Tightening torque: 1.2 [N m] (10.62 [lb in]) Mounting screw Screw size: M6 Tightening torque: 5.4 [N m] (47.79 [lb in]) Regenerative option Variable dimensions A B 17 335 Mass [kg] (Ib) MR-RB30 MR-RB31 MR-RB32 2.9 (6.4) MR-RB34-4 MR-RB3M-4 23 341 MR-RB3G-4 (c) MR-RB50 MR-RB51 MR-RB54-4 MR-RB5G-4 [Unit: mm (in)] Cooling fan mounting screw (2-M3 screw) On opposite side 49 Terminal block P C G3 G4 82.5 Terminal screw: M4 Tightening torque: 1.2 [N m] (10.62 [lb in]) Mounting screw Screw size: M6 Tightening torque: 5.4 [N m] (47.79 [lb in]) 7 14 slot Wind blows in the arrow direction Regenerative option MR-RB50 MR-RB51 MR-RB54-4 2.3 MR-RB5G-4 7 200 B A 12 108 120 (30) 8 11 - 31 Variable dimensions A B 17 217 Mass [kg] (Ib) 5.6 (12.3) 23 233 11. OPTIONS AND AUXILIARY EQUIPMENT (d) MR-RB5E MR-RB9P MR-RB9F MR-RB6B-4 MR-RB60-4 MR-RB6K-4 [Unit: mm (in)] 2- 10 mounting hole Terminal block P 30 10 G4 G3 C 480 500 427 Terminal screw: M5 Tightening torque: 2.0 [N m] (17.70 [lb in]) Mounting screw Screw size: M8 Tightening torque: 13.2 [N m] (116.83 [lb in]) TE1 230 260 230 2.3 43 10 215 Cooling fan mounting screw 4-M3 screw [kg] [Ib] MR-RB5E 10 22.0 MR-RB9P 11 24.3 MR-RB9F 11 24.3 Mass MR-RB6B-4 10 22.0 MR-RB60-4 11 24.3 MR-RB6K-4 11 24.3 82.5 15 10 G4 G3 C P Regenerative option 82.5 82.5 Approx. A 40 Approx. 330 385 411 Approx. 2.4 1.6 Approx. C 10 Approx. K GRZG400-0.9 (e) GRZG400-1.5 2.0 (standard accessories) 9.5 40 Approx. 47 GRZG400-0.6 Regenerative brake GRZG400-1.5 GRZG400-0.9 GRZG400-0.6 GRZG400-5.0 Variable dimensions A C K 10 5.5 39 16 8.2 46 GRZG400-5.0 GRZG400-2.5 GRZG400-2.0 11 - 32 10 5.5 39 GRZG400-2.5 GRZG400- Mounting screw size Tightening torque [N m] ([lb in]) Mass [kg] ([lb]) M8 13.2 (116.83) 0.8 (1.76) 11. OPTIONS AND AUXILIARY EQUIPMENT (f) MR-RB1H-4 [Unit: mm (in)] 40 G3 G4 P 36 15 Terminal screw: M3 Tightening torque: 0.5 to 0.6 [N m] (4.43 to 5.31 [lb in]) 6 mounting hole C Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.32 [lb in]) TE1 6 2 6 Approx. 24 149 173 11 - 33 Regenerative option Mass [kg] ([lb]) MR-RB1H-4 1.1 (2.4) 11. OPTIONS AND AUXILIARY EQUIPMENT 11.3 FR-BU2-(H) Brake unit POINT Use a 200V class brake unit and a resistor unit with a 200V class servo amplifier, and a 400V class brake unit and a resistor unit with a 400V class servo amplifier. Combination of different voltage class units and servo amplifier cannot be used. Install a brake unit and a resistor unit on a flat surface vertically. When the unit is installed horizontally or diagonally, the heat dissipation effect diminishes. Temperature of the resistor unit case rises to higher than 100 . Keep cables and flammable materials away from the case. Ambient temperature condition of the brake unit is between 10 (14 ) and 50 (122 ). Note that the condition is different from the ambient temperature condition of the servo amplifier (between 0 (32 ) and 55 (131 )). Configure the circuit to shut down the power-supply with the alarm output of the brake unit and resistor unit under abnormal condition. Use the brake unit with a combination indicated in section 11.3.1. For executing a continuous regenerative operation, use FR-RC-(H) power regeneration converter or FR-CV-(H) power regeneration common converter. Brake unit and regenerative options (Regenerative resistor) cannot be used simultaneously. Connect the brake unit to the bus of the servo amplifier. As compared to the MR-RB regenerative option, the brake unit can return larger power. Use the brake unit when the regenerative option cannot provide sufficient regenerative capability. When using the brake unit, set the parameter No.PA02 of the servo amplifier to " 01". When using the brake unit, always refer to the FR-BU2-(H) Brake Unit Instruction Manual. 11 - 34 11. OPTIONS AND AUXILIARY EQUIPMENT 11.3.1 Selection Use a combination of servo amplifier, brake unit and resistor unit listed below. Brake unit 200V Resistor unit FR-BU2-15K Permissible continuous power [kW] Total resistance [ ] Applicable servo amplifier FR-BR-15K class 400V class Number of connected units 1 0.99 8 MR-J3-500B (Note) 2 (parallel) 1.98 4 MR-J3-500B MR-J3-700B MR-J3-11KB MR-J3-15KB FR-BU2-30K FR-BR-30K 1 1.99 4 MR-J3-500B MR-J3-700B MR-J3-11KB MR-J3-15KB FR-BU2-55K FR-BR-55K 1 3.91 2 MR-J3-11KB MR-J3-15KB MR-J3-22KB MT-BR5-55K 1 5.5 2 MR-J3-22KB FR-BU2-H30K FR-BR-H30K 1 1.99 16 MR-J3-500B4 MR-J3-700B4 MR-J3-11KB4 FR-BU2-H55K FR-BR-H55K 1 3.91 8 MR-J3-11KB4 MR-J3-15KB4 MR-J3-22KB4 FR-BU2-H75K MT-BR5-H75K 1 7.5 6.5 MR-J3-22KB4 11.3.2 Brake unit parameter setting Normally, when using the FR-BU2-(H), changing parameters is not necessary. Whether a parameter can be changed or not is listed below. Change possible/ impossible Parameter No. Name 0 Brake mode switchover 1 Monitor display data selection 2 Input terminal function selection 1 3 Input terminal function selection 2 77 Parameter write selection 78 Cumulative energization time carrying-over times CLr Parameter clear ECL Alarm history clear C1 Impossible For manufacturer setting 11 - 35 Possible Impossible Remarks Do not change the parameter. Refer to the FR-BU2-(H) Brake Unit Instruction Manual. Do not change the parameter. 11. OPTIONS AND AUXILIARY EQUIPMENT 11.3.3 Connection example POINT Connecting PR terminal of the brake unit to P terminal of the servo amplifier results in brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit. (1) Combination with FR-BR-(H) resistor unit (a) When connecting a brake unit to a servo amplifier (Note 8) Servo motor thermal relay RA2 Controller forced stop EM1 RA3 OFF ON MC ALM RA1 SK (Note 5) NFB (Note 1) Power supply MC MC Servo amplifier CN3 20 EM1 L1 3 DOCOM L2 24VDC 10 DICOM L3 RA1 15 ALM L11 L21 P1 (Note 3) P2 P( ) N( ) C P PR FR-BR-(H) (Note 6) TH1 TH2 FR-BU2-(H) MSG SD A B C (Note 7) PR P/ (Note 4) N/ (Note 9) (Note 10) (Note 2) BUE SD Note 1. For power supply specifications, refer to section 1.3. 2. For the servo amplifier of 5k and 7kW, always disconnect the lead of built-in regenerative resistor, which is connected to the P and C terminals. For the servo amplifier of 11k to 22kW, do not connect a supplied regenerative resistor to the P and C terminals. 3. Always connect P1 and P2 terminals (P1 and P for the servo amplifier of 11k to 22kW) (Factory-wired). When using the power factor improving DC reactor, refer to section 11.13. 4. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and brake unit malfunction. 5. For 400VAC class, a step-down transformer is required. 6. Contact rating: 1b contact, 110VAC_5A/220VAC_3A Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting. 7. Contact rating: 230VAC_0.3A/30VDC_0.3A Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting. 8. For the servo amplifier of 11kW or more, connect the thermal relay censor of the servo amplifier. 9. Do not connect more than one cable to each P( ) to N( ) terminals of the servo amplifier. 10. Always connect BUE and SD terminals (Factory-wired). 11 - 36 11. OPTIONS AND AUXILIARY EQUIPMENT (b) When connecting two brake units to a servo amplifier POINT To use brake units with a parallel connection, use two sets of FR-BU2 brake unit. Combination with other brake unit results in alarm occurrence or malfunction. Always connect the master and slave terminals (MSG and SD) of the two brake units. Do not connect the servo amplifier and brake units as below. Connect the cables with a terminal block to distribute as indicated in this section. Servo amplifier P( ) N( ) Brake unit P/ N/ Servo amplifier P( ) N( ) Brake unit P/ N/ Brake unit Brake unit P/ N/ P/ N/ Connecting two cables to P and N terminals 11 - 37 Passing wiring 11. OPTIONS AND AUXILIARY EQUIPMENT (Note 7) Servo motor thermal relay RA2 Controller forced stop EM1 RA3 ON OFF MC MC ALM RA1 SK Servo amplifier NFB (Note 1) Power supply MC L1 L2 L3 L11 L21 CN3 20 EM1 3 DOCOM 10 DICOM 15 ALM P1 P2 24VDC RA1 P PR FR-BR (Note 5) TH1 TH2 (Note 3) FR-BU2-(H) (Note 11) PR MSG (Note 10) SD P/ (Note 4) A N/ B C BUE (Note 9) (Note 6) SD P (Note 8) N C Terminal block (Note 2) P PR FR-BR (Note 5) TH1 TH2 FR-BU2-(H) PR MSG (Note 10) SD P/ (Note 4) A N/ B C BUE (Note 9) (Note 6) SD Note 1. For power supply specifications, refer to section 1.3. 2. For the servo amplifier of 5k and 7kW, always disconnect the lead of built-in regenerative resistor, which is connected to the P and C terminals. For the servo amplifier of 11k and 15kW, do not connect a supplied regenerative resistor to the P and C terminals. 3. Always connect P1 and P2 terminals (P1 and P for the servo amplifier of 11k and 15kW) (Factory-wired). When using the power factor improving DC reactor, refer to section 11.13. 4. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and brake unit malfunction. 5. Contact rating: 1b contact, 110VAC_5A/220VAC_3A Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting. 6. Contact rating: 230VAC_0.3A/30VDC_0.3A Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting. 7. For the servo amplifier of 11kW or more, connect the thermal relay censor of the servo amplifier. 8. Do not connect more than one cable to each P and N terminals of the servo amplifier. 9. Always connect BUE and SD terminals (Factory-wired). 10. Connect the MSG and SD terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and brake unit malfunction. 11. For the cable to connect the terminal block and the P and N terminals of the servo amplifier, use the cable indicated in (4) (b) of this section. 11 - 38 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Combination with MT-BR5-(H) resistor unit Servo motor thermal relay RA2 Controller forced stop EM1 RA3 OFF ALM RA1 (Note 4) NFB (Note 1) Power supply MC ON RA4 MC MC SK Servo amplifier CN3 20 EM1 L1 3 DOCOM L2 10 DICOM L3 15 ALM L11 L21 24VDC C (Note 9) P1 (Note 2) P( ) (Note 7) N( ) RA1 MT-BR5-(H) (Note 5) TH1 P PR TH2 SK RA4 FR-BU2-(H) PR P/ (Note 3) N/ MSG SD A B C BUE (Note 8) (Note 6) SD Note 1. For power supply specifications, refer to section 1.3. 2. Always connect P1 - P( ) terminals (Factory-wired). When using the power factor improving DC reactor, refer to section 11.13. 3. Connect the P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in servo amplifier and brake unit malfunction. 4. For the servo amplifier of 400V class, a step-down transformer is required. 5. Contact rating: 1a contact, 110VAC_5A/220VAC_3A Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting. 6. Contact rating: 230VAC_0.3A/30VDC_0.3A Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting. 7. Do not connect more than one cable to each P and N terminals of the servo amplifier. 8. Always connect BUE and SD terminals (Factory-wired). 9. For the servo amplifier of 22kW, do not connect a supplied regenerative resistor to the P and C terminals. 11 - 39 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Precautions for wiring The cables between the servo amplifier and the brake unit, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5m (twist five times or more per one meter). Even when the cable is twisted, the cable should be less than 10m. Using cables longer than 5m without twisting or twisted cables longer than 10m, may result in the brake unit malfunction. Servo amplifier Servo amplifier Brake unit P( ) N( ) P N 5m or less P PR Resistor unit Resistor unit Brake unit P( ) N( ) P PR 5m or less Twist P N P PR 10m or less P PR Twist 10m or less (4) Cables (a) Cables for the brake unit For the brake unit, HIV wire (600V Grade heat-resistant polyvinyl chloride insulated wire) is recommended. 1) Main circuit terminal Main circuit terminal screw size Brake unit 200V N/ P/ PR class 400V Terminal block class FR-BU2-15K Crimping terminal N/ , P/ , PR, M4 5.5-4 Wire size Tightening torque N/ , P/ , PR, HIV wire [mm2] AWG 1.5 3.5 12 10 FR-BU2-30K M5 5.5-5 2.5 5.5 FR-BU2-55K M6 14-6 4.4 14 6 FR-BU2-H30K M4 5.5-4 1.5 3.5 12 FR-BU2-H55K M5 5.5-5 2.5 5.5 10 FR-BU2-H75K M6 14-6 4.4 14 6 11 - 40 11. OPTIONS AND AUXILIARY EQUIPMENT 2) Control circuit terminal POINT Undertightening can cause a cable disconnection or malfunction. Overtightening can cause a short circuit or malfunction due to damage to the screw or the brake unit. A B C Sheath PC BUE SD RES SD MSG MSG SD SD Core Jumper 6mm Terminal block Wire the stripped cable after twisting to prevent the cable from becoming loose. In addition, do not solder it. Screw size: M3 Tightening torque: 0.5N m to 0.6N m 2 2 Wire size: 0.3mm to 0.75 mm Screw driver: Small flat-blade screwdriver (Tip thickness: 0.4mm/Tip width 2.5mm) (b) Cables for connecting the servo amplifier and a distribution terminal block when connecting two sets of the brake unit Brake unit Wire size HIV wire [mm2] AWG 8 8 FR-BU2-15K 11 - 41 11. OPTIONS AND AUXILIARY EQUIPMENT (5) Crimping terminals for P and N terminals of servo amplifier (a) Recommended crimping terminals POINT Always use recommended crimping terminals or equivalent since some crimping terminals cannot be installed depending on the size. Servo amplifier 200V MR-J3-500B Brake unit Number of connected units Crimping terminal (Manufacturer) (Note 1) Applicable tool 1 FVD5.5-S4(Japan Solderless Terminal) c 2 8-4NS(Japan Solderless Terminal) (Note 2) d FR-BU2-15K class MR-J3-700B MR-J3-11KB MR-J3-15KB FR-BU2-30K 1 FVD5.5-S4(Japan Solderless Terminal) c FR-BU2-15K 2 8-4NS(Japan Solderless Terminal) (Note 2) d FR-BU2-30K 1 FVD5.5-S4(Japan Solderless Terminal) c FR-BU2-15K 2 FVD8-6(Japan Solderless Terminal) a FR-BU2-30K 1 FVD5.5-6(Japan Solderless Terminal) c FR-BU2-55K 1 FVD14-6(Japan Solderless Terminal) b a FR-BU2-15K 2 FVD8-6(Japan Solderless Terminal) FR-BU2-30K 1 FVD5.5-6(Japan Solderless Terminal) c FR-BU2-55K 1 FVD14-6(Japan Solderless Terminal) b MR-J3-22KB FR-BU2-55K 1 FVD14-8(Japan Solderless Terminal) b 400V MR-J3-500B4 FR-BU2-H30K 1 FVD5.5-S4(Japan Solderless Terminal) c class MR-J3-700B4 FR-BU2-H30K 1 FVD5.5-S4(Japan Solderless Terminal) c MR-J3-11KB4 FR-BU2-H30K 1 FVD5.5-6(Japan Solderless Terminal) c FR-BU2-H55K 1 FVD5.5-6(Japan Solderless Terminal) c FR-BU2-H55K 1 FVD5.5-6(Japan Solderless Terminal) c MR-J3-15KB4 MR-J3-22KB4 FR-BU2-H55K 1 FVD5.5-8(Japan Solderless Terminal) c FR-BU2-H75K 1 FVD14-8(Japan Solderless Terminal) b Note 1. Symbols in the applicable tool field indicate applicable tools in (5)(b) of this section. 2. Coat the crimping part with an insulation tube. (b) Applicable tool Servo amplifier side crimping terminals Symbol Crimping terminal Applicable tool Body Head Dice a FVD8-6 YF-1 E-4 YNE-38 DH-111 DH121 b FVD14-6 FVD14-8 YF-1 E-4 YNE-38 DH-112 DH122 c FDV5.5-S4 FDV5.5-6 YNT-1210S d 8-4NS YHT-8S 11 - 42 Manufacturer Japan Solderless Terminal 11. OPTIONS AND AUXILIARY EQUIPMENT 11.3.4 Outline dimension drawings (1) FR-BU2- (H) brake unit [Unit: mm] FR-BU2-15K 5 hole (Screw size: M4) Rating plate 4 5 6 56 68 18.5 6 52 132.5 62 FR-BU2-30K FR-BU2-H30K 2- 5 hole (Screw size: M4) Rating plate 6 5 96 108 5 6 18.5 52 129.5 59 FR-BU2-55K FR-BU2-H55K, H75K 2- 5 hole (Screw size: M4) Rating plate 5 5 6 158 170 11 - 43 6 18.5 52 72 142.5 11. OPTIONS AND AUXILIARY EQUIPMENT (2) FR-BR- (H) resistor unit [Unit: mm] 2- C (Note) Control circuit terminal (Note) Main circuit terminal C C Approx. 35 W1 1 Approx. 35 For FR-BR-55K/FR-BR-H55K, a hanging bolt is placed on two locations (Indicated below). Hanging bolt 204 W 5 Note. Ventilation ports are provided on both sides and the top. The bottom is open. Resistor unit 200V class 400V class C Approximate mass [kg] W W1 H H1 H2 H3 D D1 FR-BR-15K 170 100 450 410 20 432 220 3.2 6 15 FR-BR-30K 340 270 600 560 20 582 220 4 10 30 FR-BR-55K 480 410 700 620 40 670 450 3.2 12 70 FR-BR-H30K 340 270 600 560 20 582 220 4 10 30 FR-BR-H55K 480 410 700 620 40 670 450 3.2 12 70 (3) MT-BR5- (H) resistor unit [Unit: mm] Resistor unit NP M4 M6 193 189 37 60 10 21 480 510 4 15 mounting hole 75 7.5 300 75 450 7.5 11 - 44 Resistance value Approximate mass [kg] 200V class MT-BR5-55K 2.0 50 400V class MT-BR5-H75K 6.5 70 11. OPTIONS AND AUXILIARY EQUIPMENT 11.4 Power regeneration converter When using the power regeneration converter, set " 01" in parameter No.PA02. Nominal regenerative power (kW) Servo amplifier FR-RC-15K 15 MR-J3-500B MR-J3-700B FR-RC-30K 30 MR-J3-11KB MR-J3-15KB FR-RC-55K 55 MR-J3-22KB FR-RC-H15K 15 MR-J3-500B4 MR-J3-700B4 FR-RC-H30K 30 MR-J3-11KB4 MR-J3-15KB4 FR-RC-H55K 55 MR-J3-22KB4 Power regeneration converter Continuous energization time [sec] (1) Selection The converters can continuously return 75% of the nominal regenerative power. They are applied to the servo amplifiers of the 5k to 22kW. 11 - 45 500 300 200 100 50 30 20 0 50 75 100 150 Nominal regenerative power (%) 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example Servo amplifier L11 NFB L21 Power factor improving reactor MC FR-BAL-(H) L1 (Note 6) Power supply L2 L3 CN3 EM1 DOCOM DOCOM DICOM Forced stop CN3 24VDC ALM RA Trouble(Note 3) (Note 2) P1 P2 N (Note 4) N/ C P P/ 5m or less RDY (Note 5) Ready A SE RDY output R/L1 S/L2 B B C C Alarm output T/L3 RX R SX S (Note 1) Phase detection terminals TX T Power regeneration converter FR-RC-(H) FR-RC-(H) B C ALM RA2 EMG Operation ready ON OFF MC MC SK Note 1. When not using the phase detection terminals, fit the jumpers across RX-R, SX-S and TX-T. If the jumpers remain removed, the FR-RC-(H) will not operate. 2. When using servo amplifiers of 5kW and 7kW, always remove the lead of built-in regenerative resistor connected to P terminal and C terminal. 3. When setting not to output Trouble (ALM) with parameter change, configure power supply circuit for turning magnetic contactor off after detecting an occurrence of alarm on the controller side. 4. Always connect P1-P2 (For 11k to 22kW, connect P1-P). (Factory-wired.) When using the power factor improving DC reactor, refer to section 11.13. 5. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class in 400V class servo amplifiers. 6. Refer to section 1.3 for the power supply specification. 11 - 46 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Outside dimensions of the power regeneration converters [Unit : mm] Mounting foot (removable) Mounting foot movable E 2- D hole Rating plate Display panel window BA B Front cover Cooling fan D K F EE AA C A Heat generation area outside mounting dimension Power regeneration converter A AA B BA C D E EE K F Approx. mass [kg(Ib)] FR-RC-15K 270 200 450 432 195 10 10 8 3.2 87 19 (41.888) 340 270 600 582 195 10 10 8 3.2 90 31 (68.343) 480 410 700 670 250 12 15 15 3.2 135 55 (121.3) FR-RC-H15K FR-RC-30K FR-RC-H30K FR-RC-55K FR-RC-H55K (4) Mounting hole machining dimensions When the power regeneration converter is fitted to a totally enclosed type box, mount the heat generating area of the converter outside the box to provide heat generation measures. At this time, the mounting hole having the following dimensions is machined in the box. [Unit : mm] (AA) (2- D hole) Power regeneration converter a b D AA BA FR-RC-15K 260 412 10 200 432 330 562 10 270 582 470 642 12 410 670 FR-RC-H15K FR-RC-30K (Mounting hole) FR-RC-H30K b (BA) FR-RC-55K FR-RC-H55K a 11 - 47 11. OPTIONS AND AUXILIARY EQUIPMENT 11.5 Power regeneration common converter POINT Use the FR-CV for the servo amplifier of 200V class and the FR-CV-H for that of 400V class. For details of the power regeneration common converter FR-CV-(H), refer to the FR-CV-(H) Installation Guide (IB(NA)0600075). Do not supply power to the main circuit power supply terminals (L1, L2, L3) of the servo amplifier. Doing so will fail the servo amplifier and FR-CV-(H). Connect the DC power supply between the FR-CV-(H) and servo amplifier with correct polarity. Connection with incorrect polarity will fail the FR-CV-(H) and servo amplifier. Two or more FR-CV-(H)'s cannot be installed to improve regeneration capability. Two or more FR-CV-(H)'s cannot be connected to the same DC power supply line. When using the power regeneration common converter, set parameter No.PA02 to " 01". (1) Model Capacity Symbol 7.5K 11K 15K 22K 30K 37K 55K Symbol None H Capacity [kW] 7.5 11 15 22 30 37 55 Voltage class 200V class 400V class (2) Selection The power regenerative common converter FR-CV can be used for the servo amplifier of 200V class with 750 to 22kW and that of 400V class with 11k to 22kW. The following shows the restrictions on using the FR-CV-(H). (a) Up to six servo amplifiers can be connected to one FR-CV-(H). (b) FR-CV-(H) capacity [W] Total of rated capacities [W] of servo amplifiers connected to FR-CV-(H) 2 (c) The total of used servo motor rated currents should be equal to or less than the applicable current [A] of the FR-CV-(H). (d) Among the servo amplifiers connected to the FR-CV-(H), the servo amplifier of the maximum capacity should be equal to or less than the maximum connectable capacity [W]. 11 - 48 11. OPTIONS AND AUXILIARY EQUIPMENT The following table lists the restrictions. FR-CV- Item 7.5K 11K 15K 22K 30K 37K 55K Total of connectable servo amplifier capacities [kW] 3.75 5.5 7.5 11 Total of connectable servo motor rated currents [A] 33 46 15 18.5 27.5 61 90 115 145 Maximum servo amplifier capacity [kW] 3.5 5 215 7 11 15 15 22 22K 30K 37K 55K Maximum number of connected servo amplifiers 6 FR-CV-H Item Maximum number of connected servo amplifiers 6 Total of connectable servo amplifier capacities [kW] 11 15 18.5 27.5 Total of connectable servo motor rated currents [A] 90 115 145 215 Maximum servo amplifier capacity [kW] 11 15 15 22 When using the FR-CV-(H), always install the dedicated stand-alone reactor (FR-CVL-(H)). Power regeneration common converter Dedicated stand-alone reactor FR-CV-7.5K(-AT) FR-CVL-7.5K FR-CV-11 K(-AT) FR-CVL-11 K FR-CV-15K(-AT) FR-CVL-15K FR-CV-22K(-AT) FR-CVL-22K FR-CV-30K(-AT) FR-CVL-30K FR-CV-37K FR-CVL-37K FR-CV-55K FR-CVL-55K FR-CV-H22K(-AT) FR-CVL-H22K FR-CV-H30K(-AT) FR-CVL-H30K FR-CV-H37K FR-CVL-H37K FR-CV-H55K FR-CVL-H55K 11 - 49 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Connection diagram (a) 200V class NF FR-CVL MC 3-phase 200 to 230VAC FR-CV R/L11 R2/L12 S/L21 S2/L22 T/L31 T2/L32 Servo amplifier R2/L1 S2/L2 T2/L3 (Note 7) V V P1 W W Thermal relay OHS2 P/L P N/L N (Note 6) CN2 T/MC1 EM1 P24 RA1 (Note 5) DICOM RES SD RDYB RDYA RSO (Note 1) (Note 1) (Note 2) DOCOM SD RESET EM1 OFF OHS1 EM1 S/L21 (Note 1) U L21 R/L11 RA1 RA2 Servo motor U L11 ON SE A MC B MC C (Note 3) Servo system controller (Note 4) RA1 (Note 1) SK 24VDC power supply RA2 Note 1. Configure a sequence that will shut off main circuit power at an emergency stop or at FR-CV or servo amplifier alarm occurrence. 2. For the servo motor with thermal relay, configure a sequence that will shut off main circuit power when the thermal relay operates. 3. For the servo amplifier, configure a sequence that will switch the servo on after the FR-CV is ready. 4. For the FR-CV, the RSO signal turns off when it is put in a ready-to-operate status where the reset signal is input. Configure a sequence that will make the servo inoperative when the RSO signal is on. 5. Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an alarm occurs in the FR-CV. When the servo system controller does not have an emergency stop input, use the forced stop input of the servo amplifier to make a stop as shown in the diagram. 6. When using the servo amplifier of 7kW or less, make sure to disconnect the wiring of built-in regenerative resistor (3.5kW or less: P and D, 5k/7kW: P and C). 7. When using the servo amplifier of 11k to 22kW, make sure to connect P1 and P. (Factory-wired.) 11 - 50 11. OPTIONS AND AUXILIARY EQUIPMENT (b) 400V class NF FR-CVL MC 3-phase 380 to 480VAC R/L11 FR-CV-H R2/L12 S/L21 S2/L22 T/L31 T2/L32 Servo amplifier R2/L1 S2/L2 T2/L3 (Note 7) U U L21 V V P1 W W Thermal relay OHS2 (Note 6) P/L P( ) N/L N( ) CN2 R/L11 Stepdown transformer T/MC1 EM1 P24 SD RDYB RDYA RSO RA1 RA2 EM1 OFF RA1 (Note 5) DICOM RES (Note 1) (Note 1) (Note 2) DOCOM SD RESET (Note 1) OHS1 EM1 S/L21 (Note 8) Servo motor L11 ON SE A MC B MC C (Note 3) Servo system controller (Note 4) RA1 (Note 1) SK 24VDC power supply RA2 Note 1. Configure a sequence that will shut off main circuit power at an emergency stop or at FR-CV-H or servo amplifier alarm occurrence. 2. For the servo motor with thermal relay, configure a sequence that will shut off main circuit power when the thermal relay operates. 3. For the servo amplifier, configure a sequence that will switch the servo on after the FR-CV-H is ready. 4. For the FR-CV-H, the RSO signal turns off when it is put in a ready-to-operate status where the reset signal is input. Configure a sequence that will make the servo inoperative when the RSO signal is on. 5. Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an alarm occurs in the FR-CV-H. When the servo system controller does not have an emergency stop input, use the forced stop input of the servo amplifier to make a stop as shown in the diagram. 6. When using the servo amplifier of 7kW or less, make sure to disconnect the wiring of built-in regenerative resistor (2kW or less: P and D, 3.5k to 7kW: P and C). 7. When using the servo amplifier of 11k to 22kW, make sure to connect P1 and P( ). (Factory-wired.) 8. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class servo amplifiers. 11 - 51 11. OPTIONS AND AUXILIARY EQUIPMENT (4) Selection example of wires used for wiring POINT Selection condition of wire size is as follows. Wire type: 600V Polyvinyl chloride insulated wire (IV wire) Construction condition: One wire is constructed in the air (a) Wire sizes 1) Across P-P( ), N-N( ) The following table indicates the connection wire sizes of the DC power supply (P, N terminals) between the FR-CV and servo amplifier. Total of servo amplifier capacities [kW] Wires[mm2] 1 or less 2 5 7 11 15 22 2 3.5 5.5 8 14 22 50 The following table indicates the connection wire sizes of the DC power supply (P( terminals) between the FR-CV-H and servo amplifier. Total of servo amplifier capacities [kW] Wires[mm2] 1 or less 2 5 7 11 15 22 2 3.5 5.5 8 8 22 22 ), N( ) 2) Grounding For grounding, use the wire of the size equal to or greater than that indicated in the following table, and make it as short as possible. Power regeneration common converter Grounding wire size [mm2 ] FR-CV-7.5K to FR-CV-15K 14 FR-CV-22K FR-CV-30K 22 FR-CV-37K FR-CV-55K 38 FR-CV-H22K FR-CV-H30K 8 FR-CV-H37K FR-CV-H55K 22 11 - 52 11. OPTIONS AND AUXILIARY EQUIPMENT (b) Example of selecting the wire sizes When connecting multiple servo amplifiers, always use junction terminals for wiring the servo amplifier terminals P, N. Also, connect the servo amplifiers in the order of larger to smaller capacities. 1) 200V class Wire as short as possible. FR-CV-55K R2/L1 P/L S2/L2 N/L 50mm2 T2/L3 Servo amplifier (15kW) First unit: P (Note) 50mm2 assuming that the total of servo amplifier N capacities is 27.5kW since 15kW + 7kW + 3.5kW + 2.0kW = 27.5kW. 22mm2 22mm2 8mm2 Servo amplifier (7kW) Second unit: P (Note) 22mm2 assuming that the total of servo amplifier N capacities is 15kW since 7kW + 3.5kW + 2.0kW = 12.5kW. 3.5mm2 Servo amplifier (3.5kW) Third unit: P (Note) 8mm2 assuming that the total of servo amplifier N capacities is 7kW since 3.5kW + 2.0kW = 5.5kW. R/L11 S/L21 T/MC1 8mm2 2mm2 Servo amplifier (2kW) Fourth unit: P (Note) 2mm2 assuming that the total of servo amplifier N capacities is 2kW since 2.0kW = 2.0kW. 2mm2 Junction terminals Overall wiring length 5m or less Note. When using the servo amplifier of 7kW or less, make sure to disconnect the wiring of built-in regenerative resistor (3.5kW or less: P-D, 5k/7kW: P-C). 2) 400V class Wire as short as possible. FR-CV-55K R2/L1 P/L+ S2/L2 N/L- T2/L3 22mm2 14mm2 14mm2 5.5mm2 (Note) R/L11 S/L21 T/MC1 5.5mm2 2mm2 (Note) Servo amplifier (15kW) First unit: P 22mm2 assuming that the total of servo amplifier N capacities is 27.5kW since 15kW + 7kW + 3.5kW + 2.0kW = 27.5kW. Servo amplifier (7kW) Second unit: P 14mm2 assuming that the total of servo amplifier N capacities is 15kW since 7kW + 3.5kW + 2.0kW = 12.5kW. Servo amplifier (3.5kW) Third unit: P 5.5mm2 assuming that the total of servo amplifier N capacities is 7kW since 3.5kW + 2.0kW = 5.5kW. 2mm2 2mm2 (Note) Servo amplifier (2kW) Fourth unit: P 2mm2 assuming that the total of servo amplifier N capacities is 2kW since 2.0kW = 2.0kW. Junction terminals Overall wiring length 5m or less Note. These servo amplifiers are development forecasted. 11 - 53 11. OPTIONS AND AUXILIARY EQUIPMENT (5) Other precautions (a) Always use the FR-CVL-(H) as the power factor improving reactor. Do not use the FR-BAL or FR-BEL. (b) The inputs/outputs (main circuits) of the FR-CV-(H) and servo amplifiers include high-frequency components and may provide electromagnetic wave interference to communication equipment (such as AM radios) used near them. In this case, interference can be reduced by installing the radio noise filter (FR-BIF-(H)) or line noise filter (FR-BSF01, FR-BLF). (c) The overall wiring length for connection of the DC power supply between the FR-CV-(H) and servo amplifiers should be 5m or less, and the wiring must be twisted. 11 - 54 11. OPTIONS AND AUXILIARY EQUIPMENT (6) Specifications Power regeneration common converter FR-CV- 7.5K 11K 15K 22K 30K 37K 55K Item Total of connectable servo amplifier capacities [kW] 3.75 5.5 7.5 11 15 18.5 27.5 Maximum servo amplifier capacity [kW] 3.5 5 7 11 15 15 22 33 46 61 90 115 145 215 Total of connectable servo motor rated currents [A] Output Power supply Regenerative braking torque Short-time rating Total capacity of applicable servo motors, 300% torque, 60s (Note 1) Continuous rating 100% torque Rated input AC voltage/frequency Three-phase 200 to 220V 50Hz, 200 to 230V 60Hz Permissible AC voltage fluctuation Three-phase 170 to 242V 50Hz, 170 to 253V 60Hz Permissible frequency fluctuation 5% Power supply capacity (Note 2) [kVA] 17 20 28 Protective structure (JEM 1030), cooling system Ambient temperature Environment 41 52 66 100 Open type (IP00), forced cooling -10 Ambient humidity to +50 (non-freezing) 90%RH or less (non-condensing) Ambience Indoors (without corrosive gas, flammable gas, oil mist, dust and dirt) 1000m or less above sea level, 5.9m/s2 2 or less Altitude, vibration No-fuse breaker or leakage current breaker 30AF 30A 50AF 50A 100AF 75A 100AF 100A 225AF 125A 225AF 125A 225AF 175A Magnetic contactor S-N20 S-N35 S-N50 S-N65 S-N95 S-N95 S-N125 Power regeneration common converter FR-CV-H 22K 30K 37K 55K Item Total of connectable servo amplifier capacities [kW] 11 15 18.5 27.5 Maximum servo amplifier capacity [kW] 11 15 15 22 Total of connectable servo motor rated currents [A] 43 57 71 110 Output Power supply Regenerative braking torque Short-time rating Total capacity of applicable servo motors, 300% torque, 60s (Note 1) Continuous rating 100% torque Rated input AC voltage/frequency Three-phase 380 to 480V, 50Hz/60Hz Permissible AC voltage fluctuation Three-phase 323 to 528V, 50Hz/60Hz Permissible frequency fluctuation Power supply capacity [kVA] 5% 41 Protective structure (JEM 1030), cooling system -10 Ambient humidity Ambience 66 100 Open type (IP00), forced cooling Ambient temperature Environment 52 to +50 (non-freezing) 90%RH or less (non-condensing) Indoors (without corrosive gas, flammable gas, oil mist, dust and dirt) Altitude, vibration 1000m or less above sea level, 5.9m/s2 2 or less No-fuse breaker or leakage current breaker 60AF 60A 100AF 175A 100AF 175A 225AF 125A Magnetic contactor S-N25 S-N35 S-N35 S-N65 Note 1. This is the time when the protective function of the FR-CV-(H) is activated. The protective function of the servo amplifier is activated in the time indicated in section 10.1. 2. When connecting the capacity of connectable servo amplifier, specify the value of servo amplifier. 11 - 55 11. OPTIONS AND AUXILIARY EQUIPMENT 11.6 External dynamic brake POINT Configure up a sequence which switches off the contact of the brake unit after (or as soon as) it has turned off the servo on signal at a power failure or failure. For the braking time taken when the dynamic brake is operated, refer to section 10.3. The brake unit is rated for a short duration. Do not use it for high duty. When using the 400V class dynamic brake, the power supply voltage is restricted to 1-phase 380VAC to 463VAC (50Hz/60Hz). (1) Selection of dynamic brake The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated, and is built in the 7kW or less servo amplifier. Since it is not built in the 11kW or more servo amplifier, purchase it separately if required. Assign the dynamic brake interlock (DB) to any of CN3-9, CN3-13, and CN3-15 pins in parameter No.PD07 to PD09. Servo amplifier Dynamic brake MR-J3-11KB DBU-11K MR-J3-15KB DBU-15K MR-J3-22KB DBU-22K MR-J3-11KB4 DBU-11K-4 MR-J3-15KB4 MR-J3-22KB4 DBU-22K-4 11 - 56 11. OPTIONS AND AUXILIARY EQUIPMENT (2) Connection example ALM RA1 EM1 Operation-ready ON OFF MC Servo amplifier Servo motor MC U U SK V V NFB MC (Note 4) W W M L1 (Note 5) Power supply L2 L3 15 ALM 10 DICOM P (Note 3) DB P1 5 DICOM 3 DOCOM 20 EM1 L11 L21 (Note 2) CN3 Plate SD RA1 RA2 (Note 1) 14 13 U V W (Note 6) a RA2 b External dynamic brake Note 1. Terminals 13, 14 are normally open contact outputs. If the dynamic brake is seized, terminals 13, 14 will open. Therefore, configure up an external sequence to prevent servo-on. 2. For the servo amplifiers from 11k to 22kW, be sure to connect P1 and P. (Factory-wired) When using the power factor DC reactor, refer to section 11.13. 3. Assign the dynamic brake interlock (DB) in the parameters No.PD07 to PD09. 4. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class in 400V class servo amplifiers. 5. Refer to section 1.3 for the power supply specification. 6. The power supply voltage of the inside magnet contactor for 400V class dynamic brake DBU-11K-4 and DBU-22K-4 is restricted as follows. When using these dynamic brakes, use them within the range of the power supply. Dynamic brake DBU-11K-4 DBU-22K-4 Power supply voltage 1-phase 380 to 463VAC 50Hz/60Hz 11 - 57 11. OPTIONS AND AUXILIARY EQUIPMENT Coasting Coasting Servo motor rotation Alarm Dynamic brake Dynamic brake Present Absent Base RA1 Dynamic brake ON OFF ON OFF Invalid Valid Forced stop (EM1) Short Open a. Timing chart at alarm occurrence b. Timing chart at forced stop (EM1) validity Coasting Dynamic brake Electro magnetic brake interlock Servo motor speed ON (Note 1)7ms Base circuit OFF Electro magnetic brake interlock(MBR) Alarm 10ms Invalid (ON) Valid (OFF) (Note 2)15 to 60ms Invalid Electro magnetic brake operation delay time Valid Main circuit Control circuit ON Power OFF ON RA1 OFF Invalid (ON) Dynamic brake Valid (OFF) Note 1. When powering OFF, the RA1 of external dynamic brake circuit will be turned OFF, and the base circuit is turned OFF earlier than usual before an output shortage occurs. (Only when assigning the DB as the output signal in the parameter No.PD07, PD08 or PD09) 2. Variable according to the operation status. c. Timing chart when both of the main and control circuit power are OFF 11 - 58 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline dimension drawing (a) DBU-11K DBU-15K DBU-22K [Unit: mm] 100 D E 5 A B E 5 G D C Terminal block E a (GND) F U b 13 14 A B C V W Screw : M4 Screw : M3.5 Tightening torque: 0.8 [N m](7 [lb in]) Dynamic brake 2.3 Tightening torque: 1.2 [N m](10.6 [lb in]) D E F G Mass [kg]([Ib]) Connection wire [mm2] (Note) DBU-11K 200 190 140 20 5 170 163.5 2 (4.41) 5.5 DBU-15K, 22K 250 238 150 25 6 235 228 6 (13.23) 5.5 Note. Selection condition of wire size is as follows. Wire type: 600V Polyvinyl chloride insulated wire (IV wire) Construction condition: One wire is constructed in the air 11 - 59 11. OPTIONS AND AUXILIARY EQUIPMENT (b) DBU-11K-4 DBU-22K-4 [Unit: mm] 228 280 7 150 25 2.3 10 51 73.75 26 43 260 26 10 2- 7mounting hole 25 195 200 15 179.5 15 178.5 170 210 Mass: 6.7[kg] Terminal block TE1 a TE2 b 13 14 U Screw: M3.5 Tightening torque: 0.8[N m](7[lb in]) Dynamic brake V W Screw: M4 Tightening torque: 1.2[N m](10.6[lb in]) Wire [mm2] (Note) b a U V DBU-11K 2 5.5 DBU-15K, 22K 2 5.5 W Note. Selection condition of wire size is as follows. Wire type: 600V Polyvinyl chloride insulated wire (IV wire) Construction condition: One wire is constructed in the air 11 - 60 15 11. OPTIONS AND AUXILIARY EQUIPMENT 11.7 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 (AERSBAN-ESET) Junction terminal block PS7DW-20V14B-F CN3 MR-J2HBUS M Ground the option cable on the junction terminal block side with the cable clamp fitting (AERSBAN-ESET). For the use of the cable clamp fitting, refer to section 11.14, (2)(c). (2) Connection of MR-J2HBUS M cable and junction terminal block Junction terminal block PS7W-20V14B-F Servo amplifier CN3 LG DI1 DOC MO1 DICO LA LB LZ INP DICO LG DI2 MBR MO2 AMR LAR LBR LZR DI3 EM1 SD (Note)MR-J2HBUS M 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 Shell Shell CN 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 Shell Shell Connector: 10120-6000EL (3M) Shell kit: 10320-3210-000 (3M) Note. Symbol indicating cable length is put in . 05: 0.5m 1: 1m 5: 5m 11 - 61 Terminal block 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 LG DI1 DOC MO1 DICO LA LB LZ INP DICO LG DI2 MBR MO2 AMR LAR LBR LZR DI3 EM1 E SD 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawings of junction terminal block [Unit : mm] 63 54 44.11 7.62 27 4.5 4 5 4.5 M3 5L 60 9.3 50 TB.E ( 6) M3 6L 18.8 1.42 27.8 36.5 6.2 11.8 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 The following table shows MR Configurator software version for each servo amplifier. Compatible servo amplifier (Drive unit) Compatibility with a servo amplifier Version 100V class 200V class 400V class 7kW or less 11k to 22kW 30k to 37kW 7kW or less 11k to 22kW 30k to 55kW B1 C0 or later Monitor Alarm Diagnostic Parameters Test operation Advanced function Display, high speed monitor, 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 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. File operation Data read, save, delete, print Others Automatic demo, help display 11 - 62 11. OPTIONS AND AUXILIARY EQUIPMENT (2) System configuration (a) Components To use this software, the following components are required in addition to the servo amplifier and servo motor. Equipment (Note 1) Description IBM PC/AT compatible where the English version of Windows 98, Windows Me, Windows 2000 Professional, Windows XP Professional, Windows XP Home Edition, Windows Vista Home Basic, Windows Vista Home Premium, Windows Vista Business, Windows Vista Ultimate, Windows Vista Enterprise operates R R OS R R R R Processor (Note 2, 3) Personal computer R R R R Pentium 133MHz or more (Windows 98, Windows 2000 Professional) Pentium 150MHz or more (Windows Me) Pentium 300MHz or more (Windows XP Professional, Windows XP Home Edition) 32-bit (x86) processor of 1GHz or higher (Windows Vista Home Basic, Windows Vista Home Premium, Windows Vista Business, Windows Vista Ultimate, Windows Vista Enterprise) R R R R R R R R R R R R R 24MB or more (Windows 98) 32MB or more (Windows Me, Windows 2000 Professional) 128MB or more (Windows XP Professional, Windows XP Home Edition) 512MB or more (Windows Vista Home Basic) 1GB or more (Windows Vista Home Premium, Windows Vista Business, Windows Vista Ultimate, Windows Vista Enterprise) R R R R Memory R R R R R Hard Disk 130MB or more of free space Browser Internet Explorer 4.0 or more Display One whose resolution is 800 600 or more and that can provide a high color (16 bit) display. Connectable with the above personal computer. Keyboard Connectable with the above personal computer. Mouse Connectable with the above personal computer. Printer Connectable with the above personal computer. USB cable MR-J3USBCBL3M Note 1. Windows and Windows Vista is the registered trademarks of Microsoft Corporation in the United States and other countries. Pentium is the registered trademarks of Intel Corporation. 2. On some personal computers, MR Configurator may not run properly. 3. 64-bit Windows XP and 64-bit Windows Vista are not supported. (b) Connection with servo amplifier 1) For use of USB Personal computer Servo amplifier CN5 USB cable MR-J3USBCBL3M (Option) CN2 11 - 63 To USB connector R 11. OPTIONS AND AUXILIARY EQUIPMENT 11.9 Battery MR-J3BAT POINT The revision (Edition 44) of the Dangerous Goods Rule of the International Air Transport Association (IATA) went into effect on January 1, 2003 and was enforced immediately. In this rule, "provisions of the lithium and lithium ion batteries" were revised to tighten the restrictions on the air transportation of batteries. However, since this battery is non-dangerous goods (non-Class 9), air transportation of 24 or less batteries is outside the range of the restrictions. Air transportation of more than 24 batteries requires packing compliant with the Packing Standard 903. When a self-certificate is necessary for battery safety tests, contact our branch or representative. For more information, consult our branch or representative. (As of Jun, 2008). (1) Purpose of use for MR-J3BAT This battery is used to construct an absolute position detection system. Refer to section 12.3 for the fitting method, etc. (2) Year and month when MR-J3BAT is manufactured The year and month when MR-J3BAT is manufactured are written down in Serial No. on the rating plate of the battery back face. The year and month of manufacture are indicated by the last one digit of the year and 1 to 9, X(10), Y(11), Z(12). For October 2004, the Serial No. is like, "SERIAL 4X ". MELSERVO 3.6V,2000mAh SERIAL 4X MR-J3BAT MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN The year and month of manufacture 11 - 64 11. OPTIONS AND AUXILIARY EQUIPMENT 11.10 Heat sink outside mounting attachment (MR-J3ACN) Use the heat sink outside mounting attachment to mount the heat generation area of the servo amplifier in the outside of the control box to dissipate servo amplifier-generated heat to the outside of the box and reduce the amount of heat generated in the box, thereby allowing a compact control box to be designed. In the control box, machine a hole having the panel cut dimensions, fit the heat sink outside mounting attachment to the servo amplifier with the fitting screws (4 screws supplied), and install the servo amplifier to the control box. The environment outside the control box when using the heat sink outside mounting attachment should be within the range of the servo amplifier operating environment conditions. The heat sink outside mounting attachment of MR-J3ACN can be used for MR-J3-11KB(4) to MR-J3-22KB(4). (1) Panel cut dimensions [Unit : mm] 4-M10 Screw 510 Punched hole 236 18 39.5 331 535 39.5 Approx. 125 203 255 270 (2) How to assemble the attachment for a heat sink outside mounting attachment Screw (2 places) Attachment 11 - 65 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Fitting method Attachment Punched hole Servo amplifier Fit using the assembling screws. Servo amplifier Control box Attachment a. Assembling the heat sink outside mounting attachment b. Installation to the control box (4) Outline dimension drawing [Unit: mm] 20 Panel Servo amplifier 236 280 Attachment Mounting hole Approx. 260 11 - 66 Servo amplifier 3.2 155 105 Approx. 260 Panel Approx. 11.5 11. OPTIONS AND AUXILIARY EQUIPMENT 11.11 Selection example of wires POINT Refer to section 11.1.5 for SSCNET cable. Wires indicated in this section are separated wires. When using a cable for power line (U, V, and W) between the servo amplifier and servo motor, use a 600V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT). For selection of cables, refer to appendix 6. To comply with the UL/C-UL (CSA) Standard, use UL-recognized copper wires rated at 60 (140 ) or more for wiring. To comply with other standards, use a wire that is complied with each standard Selection condition of wire size is as follows. Construction condition: One wire is constructed in the air Wire length: 30m or less (1) Wires for power supply wiring The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent. 3) Motor power supply lead 1) Main circuit power supply lead Servo motor Servo amplifier Power supply L1 U U L2 V V L3 (Note) W W Motor 2) Control power supply lead L11 L21 8) Power regeneration converter lead Power regeneration converter Regenerative option 4) Electromagnetic brake lead B1 Electromagnetic B2 brake N C P C Encoder P 4) Regenerative option lead Encoder cable Power supply Cooling fan BU BV BW 6) Cooling fan lead Thermal OHS1 OHS2 7) Thermal Note. There is no L3 for 1-phase 100 to 120VAC power supply. 11 - 67 11. OPTIONS AND AUXILIARY EQUIPMENT (a) When using the 600V Polyvinyl chloride insulated wire (IV wire) Selection example of wire size when using IV wires is indicated below. Table 11.1 Wire size selection example 1 (IV wire) Wires [mm2] (Note 1, 4) Servo amplifier 1) L1 L2 L3 2) L11 L21 3) U V W 4) P C 5) B1 B2 6) BU BV BW 7) OHS1 OHS2 MR-J3-10B(1) MR-J3-20B(1) MR-J3-40B(1) MR-J3-60B 1.25(AWG16) 2(AWG14) MR-J3-70B 1.25(AWG16) MR-J3-100B 2(AWG14) MR-J3-200B MR-J3-350B 3.5(AWG12) MR-J3-500B (Note 2) 5.5(AWG10): a MR-J3-700B (Note 2) 8(AWG8): b MR-J3-11KB (Note 2) 14(AWG6): c MR-J3-15KB (Note 2) 22(AWG4): d MR-J3-22KB (Note 2) 50(AWG1/0): f 3.5(AWG12) 1.25(AWG16): h 2(AWG14) 1.25(AWG16): g 8(AWG8): b 3.5(AWG12): a 5.5(AWG10): j 30(AWG2): e 60(AWG2/0): f 1.25(AWG16) MR-J3-200B4 MR-J3-350B4 5.5(AWG10): a 2(AWG14): g 1.25(AWG16) 2(AWG14) 1.25(AWG16) 2(AWG14) (Note 3) 1.25(AWG16) (Note 3) 2(AWG14) 1.25(AWG16) 1.25(AWG16) 2(AWG14) 2(AWG14) 2(AWG14): g 1.25(AWG16): 5.5(AWG10): a h 5.5(AWG10): a MR-J3-11KB4 (Note 2) 8(AWG8): l 8(AWG8): l 3.5(AWG12): j MR-J3-15KB4 (Note 2) 14(AWG6): c 22(AWG4): d 5.5(AWG10): j MR-J3-22KB4 (Note 2) 14(AWG6): m 22(AWG4): n 5.5(AWG10): k MR-J3-700B4 (Note 2) 1.25(AWG16) (Note 3) 5.5(AWG10): k 2(AWG14): g MR-J3-500B4 (Note 2) 2(AWG14) (Note 3) 22(AWG4): d MR-J3-60B4 MR-J3-100B4 2(AWG14) 1.25(AWG16): g 2(AWG14): g Note 1. Alphabets in the table indicate crimping tools. For crimping terminals and applicable tools, refer to (1) (c) in this section. 2. When connecting to the terminal block, be sure to use the screws which are provided with the terminal block. 3. For the servo motor with a cooling fan. 4. Wires are selected based on the highest rated current among combining servo motors. Use wires 8) of the following sizes with the power regeneration converter (FR-RC-(H)). Model FR-RC-15K FR-RC-30K FR-RC-55K FR-RC-H15K FR-RC-H30K FR-RC-H55K 2 Wires[mm ] 14(AWG6) 14(AWG6) 22(AWG4) 14(AWG6) 14(AWG6) 14(AWG6) 11 - 68 11. OPTIONS AND AUXILIARY EQUIPMENT (b) When using the 600V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Selection example of wire size when using HIV wires is indicated below. For the wire (8)) for power regeneration converter (FR-RC-(H)), use the IV wire indicated in (1) (a) in this section. Table 11.2 Wire size selection example 2 (HIV wire) Wires [mm2] (Note 1, 4) Servo amplifier 1) L1 L2 L3 2) L11 L21 3) U V W 4) P C 5) B1 B2 6) BU BV BW 7) OHS1 OHS2 MR-J3-10B(1) MR-J3-20B(1) MR-J3-40B(1) MR-J3-60B 1.25(AWG16) 2(AWG14) MR-J3-70B 1.25(AWG16) MR-J3-100B 1.25(AWG16) MR-J3-200B 2(AWG14) MR-J3-350B 3.5(AWG12) MR-J3-500B (Note 2) 5.5(AWG10): a MR-J3-700B (Note 2) 8(AWG8): b MR-J3-11KB (Note 2) 14(AWG6): c MR-J3-15KB (Note 2) 22(AWG4): d MR-J3-22KB (Note 2) 38(AWG1): p 3.5(AWG12) 1.25(AWG16): h 2(AWG14) 1.25(AWG16): g MR-J3-500B4 (Note 2) MR-J3-700B4 (Note 2) 8(AWG8): b 2(AWG14): g 3.5(AWG12): j 22(AWG4): d 38(AWG1): p 1.25(AWG16) MR-J3-200B4 MR-J3-350B4 5.5(AWG10): a 2(AWG14): g 1.25(AWG16) (Note 3) 1.25(AWG16) (Note 3) 1.25(AWG16) 1.25(AWG16) 1.25(AWG16) (Note 3) 1.25(AWG16) (Note 3) 1.25(AWG16) 1.25(AWG16) 14(AWG6): c MR-J3-60B4 MR-J3-100B4 2(AWG14) 1.25(AWG16) 1.25(AWG16) 5.5(AWG10): k 2(AWG14) 2(AWG14) 2(AWG14): g 2(AWG14): g 1.25(AWG16): 3.5(AWG12): a h 3.5(AWG12): a 2(AWG14): g 5.5(AWG10): a MR-J3-11KB4 (Note 2) 5.5(AWG10): j MR-J3-15KB4 (Note 2) 8(AWG8): l MR-J3-22KB4 (Note 2) 14(AWG6): m 1.25(AWG16): g 8(AWG8): l 2(AWG14): q 14(AWG6): c 3.5(AWG12): j 14(AWG6): m 3.5(AWG12): k Note 1. Alphabets in the table indicate crimping tools. For crimping terminals and applicable tools, refer to (1) (c) in this section. 2. When connecting to the terminal block, be sure to use the screws which are provided with the terminal block. 3. For the servo motor with a cooling fan. 4. Wires are selected based on the highest rated current among combining servo motors. 11 - 69 11. OPTIONS AND AUXILIARY EQUIPMENT (c) Selection example of crimping terminals Selection example of crimping terminals for the servo amplifier terminal box when using the wires mentioned in (1) (a) and (b) in this section is indicated below. Servo amplifier side crimping terminals Symbol a (Note 2) Crimping terminal FVD5.5-4 (Note 1)b 8-4NS c FVD14-6 d FVD22-6 (Note 1)e 38-6 (Note 1)f R60-8 g FVD2-4 h FVD2-M3 j FVD5.5-6 k FVD5.5-8 l FVD8-6 m FVD14-8 n FVD22-8 (Note 1)p R38-8 q FVD2-6 Applicable tool Body Head Dice Manufacturer YNT-1210S YHT-8S YF-1 E-4 YNE-38 YPT-60-21 YF-1 E-4 YET-60-1 YPT-60-21 YF-1 E-4 YET-60-1 DH-112 DH122 DH-113 DH123 TD-112 TD-124 TD-113 TD-125 Japan Solderless Terminal YNT-1614 YNT-1210S DH-111 DH121 YF-1 E-4 YNE-38 DH-112 DH122 DH-113 DH123 YPT-60-21 YF-1 E-4 YET-60-1 TD-112 TD-124 YNT-1614 Note 1. Coat the part of crimping with the insulation tube. 2. Some crimping terminals may not be mounted depending on the size. Make sure to use the recommended ones or equivalent ones. 11 - 70 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 Type Length [m] Model Core size Number [mm2] of Cores Structure [Wires/mm] MR-J3ENCBL M-A2-L MR-J3ENCBL M-A1-H MR-J3ENCBL 7/0.26 53 or less 1.2 7.1 0.3 (Note 3) VSVP 7/0.26 (AWG#22 or equivalent)-3P Ban-gi-shi-16823 2 to 10 AWG22 6 (3 pairs) 70/0.08 56 or less 1.2 7.1 0.3 (Note 3) ETFE SVP 70/0.08 (AWG#22 or equivalent)-3P Ban-gi-shi-16824 0.3 AWG26 8 (4 pairs) 30/0.08 233 or less 1.2 7.1 0.3 (Note 5) T/2464-1061/II A-SB 4P 26AWG M-A2-H 0.3mm2 2 to 10 M-L 30 2 4 (2 pairs) 4 (2 pairs) 12 (6 pairs) 12 (6 pairs) 14 (7 pairs) 12/0.18 7/0.127 12/0.18 40/0.08 65.7 or less 234 or less 63.6 or less 105 or less 105 or less 1.3 7.3 (Note 3) 20276 composite 4-pair shielded cable (A-TYPE) 1.2 8.2 UL20276 AWG#23 6pair(BLACK) 0.88 7.2 (Note 3) A14B2343 6P 0.88 8.0 (Note 3) J14B0238(0.2*7P) 0.67 30 to 50 0.2mm 2 to 10 AWG22 6 (3 pairs) 7/0.26 53 or less 1.2 7.1 0.3 30 AWG23 12 (6 pairs) 12/0.18 63.3 or less 1.2 8.2 0.3 2 to 10 AWG22 6 (3 pairs) 70/0.08 56 or less 1.2 7.1 0.3 20 to 50 AWG24 12 (6 pairs) 40/0.08 105 or less 0.88 7.2 (Note 6) AWG19 4 50/0.08 25.40 or less 1.8 5.7 0.3 (Note 4) UL Style 2103 AWG19 4 cores (Note 6) AWG20 2 100/0.08 38.14 or less 1.3 4.0 0.3 (Note 4) UL Style 2103 AWG20 2 cores 40/0.08 M-L 20 MR-J3ENSCBL 0.3mm2 0.2mm2 20 M-H MR-J3ENSCBL 2 0.08mm 20 MR-EKCBL M-H MR-PWS1CBL M-A1-L MR-PWS1CBL M-A2-L Motor power MR-PWS1CBL M-A1-H supply cable MR-PWS1CBL M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L MR-BKS1CBL M-A1-L MR-BKS1CBL M-A2-L Motor brake MR-BKS1CBL M-A1-H cable MR-BKS1CBL M-A2-H MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L Wire model 6 (3 pairs) MR-J3JCBL03M-A2-L MR-EKCBL (Note 3) Finishing OD [mm] AWG22 MR-J3JCBL03M-A1-L Encoder cable Insulation coating OD d [mm] (Note 1) 2 to 10 M-A1-L MR-J3ENCBL Conductor resistance [ /mm] 2 to 10 2 to 10 2 to 10 2 to 10 0.3 0.3 2 to 10 2 to 10 2 to 10 2 to 10 0.3 0.3 Note 1. d is as shown below. d Conductor Insulation sheath 2. Purchased from Toa Electric Industry 3. Standard OD. Max. OD is about 10% greater. 4. Kurabe 5. Taiyo Electric Wire and Cable 6. These wire sizes assume that the UL-compliant wires are used at the wiring length of 10m. 11 - 71 (Note 3) VSVP 7/0.26 (Equivalent to AWG#22)-3P Ban-gi-shi-16823 (Note 3) 20276 VSVCAWG#23 6P Ban-gi-shi-15038 (Note 3) ETEF SVP 70/0.08 (Equivalent to AWG#22)-3P Ban-gi-shi-16824 (Note 3) ETFE SVP 40/0.08mm 6P Ban-gi-shi-15266 11. OPTIONS AND AUXILIARY EQUIPMENT 11.12 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. No-fuse breaker Fuse Magnetic contactor Not using power factor improving reactor Using power factor improving reactor MR-J3-10B (1) 30A frame 5A 30A frame 5A MR-J3-20B 30A frame 5A 30A frame 5A 10 MR-J3-20B1 30A frame 10A 30A frame 10A 15 MR-J3-40B 30A frame 10A 30A frame 5A 15 MR-J3-60B MR-J3-70B MR-J3-100B MR-J3-40B1 30A frame 15A 30A frame 10A 20 MR-J3-200B 30A frame 20A 30A frame 15A 40 MR-J3-350B 30A frame 30A 30A frame 30A 70 S-N20 MR-J3-500B 50A frame 50A 50A frame 40A 125 S-N35 150 S-N50 200 S-N65 Servo amplifier (Note) Class Current [A] Voltage AC [V] 10 S-N10 250 S-N18 MR-J3-700B 100A frame 75A 50A frame 50A MR-J3-11KB 100A frame 100A 100A frame 75A MR-J3-15KB 225A frame 125A 100A frame 100A 250 S-N95 MR-J3-22KB 225A frame 175A 225A frame 150A 350 S-N125 T MR-J3-60B4 30A frame 5A 30A frame 5A 10 MR-J3-100B4 30A frame 10A 30A frame 10A 15 MR-J3-200B4 30A frame 15A 30A frame 15A 25 MR-J3-350B4 30A frame 20A 30A frame 20A 35 MR-J3-500B4 30A frame 30A 30A frame 30A 50 MR-J3-700B4 50A frame 40A 50A frame 30A 65 MR-J3-11KB4 60A frame 60A 50A frame 50A 100 S-N25 MR-J3-15KB4 100A frame 75A 60A frame 60A 150 S-N35 S-N10 600 MR-J3-22KB4 225A frame 125A 100A frame 100A 175 Note. When not using the servo amplifier as a UL/C-UL Standard compliant product, K5 class fuse can be used. S-N18 S-N20 S-N65 11.13 Power factor improving DC reactor POINT For the 100V 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. It can decrease the power supply capacity. As compared to the power factor improving AC reactor (FR-BAL), it can decrease the loss. The input power factor is improved to about 95%. It is also effective to reduce the input side harmonics. When connecting the power factor improving DC reactor to the servo amplifier, always disconnect P1 and P2 (For 11kW or more, disconnect P1 and P). If it remains connected, the effect of the power factor improving DC reactor is not produced. When used, the power factor improving DC reactor generates heat. To release heat, therefore, leave a 10cm or more clearance at each of the top and bottom, and a 5cm or more clearance on each side. 11 - 72 11. OPTIONS AND AUXILIARY EQUIPMENT Terminal box - screw size G Rating plate Rating plate (Note 1)Terminal cover Screw size G (Note 2) 5m or less H B or less Servo amplifier FR-BEL-(H) P1 (Note 2) L notch H B or less L A or less 2-F Mounting leg L notch L F (Note 3) P2 5m or less E D E A or less 2-F P2 C or less D C or less Servo amplifier FR-BEL-(H) P1 Mounting leg F Fig. 11.1 Fig. 11.2 Note 1. Since the terminal cover is supplied, attach it after connecting a wire. 2. When using DC reactor, disconnect P1 and P2. 3. When over 11kW, "P2" becomes "P", respectively. Servo amplifier MR-J3-10B 20B MR-J3-40B MR-J3-60B 70B Power factor improving DC reactor B C D E F L G H Mounting screw size Mass [kg(lb)] FR-BEL-0.4K 110 50 94 1.6 95 6 12 M3.5 25 M5 0.5(1.10) 120 53 102 1.6 105 6 12 M4 25 M5 0.7(1.54) FR-BEL-1.5K Wire [mm2] (Note) 130 65 110 1.6 115 6 12 M4 30 M5 1.1(2.43) 130 65 110 1.6 115 6 12 M4 30 M5 1.2(2.65) FR-BEL-3.7K 150 75 102 2.0 135 6 12 M4 40 M5 1.7(3.75) FR-BEL-7.5K 150 75 126 2.0 135 6 12 M5 40 M5 2.3(5.07) 3.5(AWG12) FR-BEL-11K 170 93 132 2.3 155 6 14 M5 50 M5 3.1(6.83) 5.5(AWG10) FR-BEL-15K 170 93 170 2.3 155 6 14 M8 56 M5 3.8(8.38) 185 119 182 2.6 165 7 15 M8 70 M6 5.4(11.91) 185 119 201 2.6 165 7 15 M8 70 M6 6.7(14.77) 60(AWG2/0) FR-BEL-2.2K MR-J3-200B MR-J3-350B MR-J3-500B MR-J3-11KB Dimensions [mm] A FR-BEL-0.75K MR-J3-100B MR-J3-700B Outline drawing MR-J3-15KB FR-BEL-22K MR-J3-22KB FR-BEL-30K Fug. 11.1 Fig. 11.2 2(AWG14) 8(AWG8) 22(AWG4) 30(AWG2) MR-J3-60B4 FR-BEL-H1.5K 130 63 89 1.6 115 6 12 M3.5 32 M5 0.9(1.98) MR-J3-100B4 FR-BEL-H2.2K 130 63 101 1.6 115 6 12 M3.5 32 M5 1.1(2.43) MR-J3-200B4 FR-BEL-H3.7K 150 75 102 2 135 6 12 M4 40 M5 1.7(3.75) MR-J3-350B4 FR-BEL-H7.5K 150 75 124 2 135 6 12 M4 40 M5 2.3(5.07) MR-J3-500B4 FR-BEL-H11K 170 93 132 2.3 155 6 14 M5 50 M5 3.1(6.83) 5.5(AWG10) 170 93 160 2.3 155 6 14 M6 56 M5 3.7(8.16) 8(AWG8) 185 119 171 2.6 165 7 15 M6 70 M6 5.0(11.02) 185 119 189 2.6 165 7 15 M6 70 M6 6.7(14.77) MR-J3-700B4 MR-J3-11KB4 Fig. 11.1 FR-BEL-H15K MR-J3-15KB4 FR-BEL-H22K MR-J3-22KB4 FR-BEL-H30K Fig. 11.2 Note. Selection condition of wire size is as follows. Wire type: 600V Polyvinyl chloride insulated wire (IV wire) Construction condition: One wire is constructed in the air 11 - 73 2(AWG14) 22(AWG4) 11. OPTIONS AND AUXILIARY EQUIPMENT 11.14 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%. In addition, it reduces the higher harmonic of input side. 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. [Unit : mm] NFB 3-phase 200 to 230VAC or 3-phase 380 to 480VAC H 5 W C NFB D1 D 5 Installation screw RXSY T Z MC MC (Note) 1-phase 200v to 230VAC R X S Y T Z NFB MC L1 L2 L3 Servo amplifier MR-J3- B FR-BAL R X S Y T Z W1 1-phase 100 to120VAC Servo amplifier MR-J3- B(4) FR-BAL-(H) L1 L2 L3 Servo amplifier MR-J3- B1 FR-BAL R X S Y T Z L1 Blank L2 Note. For the 1-phase 200V to 230V power supply, Connect the power supply to L1, L2 and leave L3 open. 11 - 74 11. OPTIONS AND AUXILIARY EQUIPMENT Servo amplifier Model Dimensions [mm] H D C Mounting screw size Terminal screw size Mass [kg (lb)] 0 -2.5 7.5 M4 M3.5 2.0 (4.41) 57 0 -2.5 7.5 M4 M3.5 2.8 (6.17) 71 55 0 -2.5 7.5 M4 M3.5 3.7 (8.16) 140 91 75 0 -2.5 7.5 M4 M3.5 5.6 (12.35) 200 192 90 70 0 -2.5 10 M5 M4 8.5 (18.74) 220 200 194 120 100 0 -2.5 10 M5 M5 14.5 (31.97) 280 255 220 135 100 0 -2.5 12.5 M6 M6 19 (41.89) 110 0 -2.5 12.5 M6 M6 27 (59.53) W W1 FR-BAL-0.4K 135 120 115 59 45 FR-BAL-0.75K 135 120 115 69 FR-BAL-1.5K 160 145 140 MR-J3-100B FR-BAL-2.2K 160 145 MR-J3-200B FR-BAL-3.7K 220 MR-J3-350B FR-BAL-7.5K MR-J3-500B FR-BAL-11K MR-J3-10B 20B MR-J3-40B 20B1 MR-J3-60B 70B MR-J3-700B 10B1 40B1 D1 FR-BAL-15K 295 270 275 133 MR-J3-15KB FR-BAL-22K 290 240 301 199 170 5 25 M8 M8 35 (77.16) MR-J3-22KB FR-BAL-30K 290 240 301 219 190 5 25 M8 M8 43 (94.80) MR-J3-60B4 FR-BAL-H1.5K 160 145 140 87 70 0 -2.5 7.5 M4 M3.5 5.3 (11.68) MR-J3-100B4 FR-BAL-H2.2K 160 145 140 91 75 0 -2.5 7.5 M4 M3.5 5.9 (13.01) MR-J3-200B4 FR-BAL-H3.7K 220 200 190 90 70 0 -2.5 10 M5 M3.5 8.5 (18.74) MR-J3-350B4 FR-BAL-H7.5K 220 200 192 120 100 5 10 M5 M4 14 (30.87) MR-J3-500B4 FR-BAL-H11K 280 255 226 130 100 5 12.5 M6 M5 18.5 (40.79) FR-BAL-H15K 295 270 244 130 110 5 12.5 M6 M5 27 (59.53) MR-J3-15KB4 FR-BAL-H22K 290 240 269 199 170 5 25 M8 M8 MR-J3-22KB4 FR-BAL-H30K 290 240 290 219 190 5 25 M8 M8 MR-J3-11KB MR-J3-700B4 MR-J3-11KB4 Approx.35 (Approx.77.16) Approx.43 (Approx.94.80) 11.15 Relays (recommended) The following relays should be used with the interfaces. Interface Selection example Relay used for digital input command signals (interface DI-1) To prevent defective contacts , use a relay for small signal (twin contacts). (Ex.) Omron : type G2A , MY Relay used for digital output signals (interface DO-1) Small relay with 12VDC or 24VDC of rated current 40mA or less (Ex.) Omron : type MY 11 - 75 11. OPTIONS AND AUXILIARY EQUIPMENT 11.16 Surge absorbers (recommended) A surge absorber is required for the electromagnetic brake. Use the following surge absorber or equivalent. When using the surge absorber, perform insulation beforehand to prevent short-circuit. Maximum rating Permissible circuit voltage Surge immunity Energy immunity Rated power Maximum limit voltage Static capacity (reference value) Varistor voltage rating (range) V1mA AC[Vma] DC[V] [A] [J] [W] [A] [V] [pF] [V] 140 180 (Note) 500/time 5 0.4 25 360 300 220 (198 to 242) Note. 1 time 8 20 s [Unit: mm] 4.7 1.0 (Example) ERZV10D221 (Matsushita Electric Industry) TNR-10V221K (Nippon chemi-con) Outline drawing [mm] (ERZ-C10DK221) 30.0 or more 0.8 3.0 or less 16.5 13.5 11.17 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 - 76 11. OPTIONS AND AUXILIARY EQUIPMENT (c) Techniques for noises radiated by the servo amplifier that cause peripheral devices to malfunction Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits (input and output circuits), those induced electromagnetically or statically by the signal cables of the peripheral devices located near the main circuit cables, and those transmitted through the power supply cables. Noises produced by servo amplifier Noises transmitted in the air Noise radiated directly from servo amplifier Route 1) Noise radiated from the power supply cable Route 2) Noise radiated from servo motor cable Route 3) Magnetic induction noise Routes 4) and 5) Static induction noise Route 6) Noises transmitted through electric channels Noise transmitted through power supply cable Route 7) Noise sneaking from grounding cable due to leakage current Route 8) 5) 7) 7) 1) Instrument 7) 2) Receiver Servo amplifier 2) Sensor power supply 3) 8) 6) Sensor 4) Servo motor 11 - 77 M 3) 11. OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques 1) 2) 3) When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction due to noise and/or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier, such devices may malfunction due to noises transmitted through the air. The following techniques are required. 1. Provide maximum clearance between easily affected devices and the servo amplifier. 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo amplifier. 3. Avoid laying the power lines (Input cables of the servo amplifier) and signal cables side by side or bundling them together. 4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line. 5. Use shielded wires for signal and power cables or put cables in separate metal conduits. 4) 5) 6) When the power lines and the signal cables are laid side by side or bundled together, magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur. The following techniques are required. 1. Provide maximum clearance between easily affected devices and the servo amplifier. 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the servo amplifier. 3. Avoid laying the power lines (I/O cables of the servo amplifier) and signal cables side by side or bundling them together. 4. Use shielded wires for signal and power cables or put the cables in separate metal conduits. 7) When the power supply of peripheral devices is connected to the power supply of the servo amplifier system, noises produced by the servo amplifier may be transmitted back through the power supply cable and the devices may malfunction. The following techniques are required. 1. Insert the radio noise filter (FR-BIF-(H)) on the power cables (Input cables) of the servo amplifier. 2. Insert the line noise filter (FR-BSF01 FR-BLF) on the power cables of the servo amplifier. 8) When the cables of peripheral devices are connected to the servo amplifier to make a closed loop circuit, leakage current may flow to malfunction the peripheral devices. If so, malfunction may be prevented by disconnecting the grounding cable of the peripheral device. (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-25 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. 100 to 500MHz 80 150 39 1 Loop for fixing the cable band 34 1 30 1 10 to 100MHz TDK Product name 13 1 [Unit: mm] Impedance[ ] Lot number Outline drawing (ZCAT3035-1330) 11 - 78 11. OPTIONS AND AUXILIARY EQUIPMENT (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. MC Surge suppressor Relay Surge suppressor This distance should be short (within 20cm). (Ex.) 972A.2003 50411 (Matsuo Electric Co.,Ltd. 200VAC rating) Rated voltage AC[V] C [ F] R[ ] Test voltage AC[V] Outline drawing [Unit: mm] 200 0.5 50 (1W) Across T-C 1000(1 to 5s) Vinyl sheath Blue vinyl cord 18 1.5 Red vinyl cord 6 10 or less 10 or less 10 3 4 10 3 15 1 200 or more 48 1.5 31 200 or more Note that a diode should be installed to a DC relay, DC valve or the like. Maximum voltage: Not less than 4 times the drive voltage of the relay or the like Maximum current: Not less than twice the drive current of the relay or the like RA Diode (c) Cable clamp fitting AERSBAN - SET Generally, the earth of the shielded cable may only be connected to the connector's SD terminal. However, the effect can be increased by directly connecting the cable to an earth plate as shown below. Install the earth plate near the servo amplifier for the encoder cable. Peel part of the cable sheath to expose the external conductor, and press that part against the earth plate with the cable clamp. If the cable is thin, clamp several cables in a bunch. The clamp comes as a set with the earth plate. [Unit: mm] Cable Cable clamp (A,B) cutter 40 Strip the cable sheath of the clamped area. Earth plate cable External conductor Clamp section diagram 11 - 79 11. OPTIONS AND AUXILIARY EQUIPMENT Outline drawing [Unit: mm] Earth plate Clamp section diagram 2- 5 hole installation hole 30 17.5 0.3 0 24 7 22 6 (Note)M4 screw 10 A 35 24 3 0 0.2 6 C B 0.3 L or less 11 35 Note. Screw hole for grounding. Connect it to the earth plate of the control box. Type A B C Accessory fittings Clamp fitting L AERSBAN-DSET 100 86 30 clamp A: 2pcs. A 70 AERSBAN-ESET 70 56 clamp B: 1pc. B 45 11 - 80 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. Connection diagram Outline drawing [Unit: mm] Use the line noise filters for wires of the main power supply (L1 L2 L3) and of the motor power supply (U V W). Pass each of the 3-phase 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. NFB MC Power supply Approx.22.5 2- 5 Approx.65 Approx.65 33 Servo amplifier L1 L2 L3 FR-BLF(for wire size 5.5mm2 (AWG10) or more)) Line noise filter (Number of turns: 4) 7 7 31.5 Example 2 NFB MC Servo amplifier 130 85 80 L2 Line noise L3 filter Two filters are used (Total number of turns: 4) 35 L1 160 180 2.3 Power supply Approx.110 95 0.5 4.5 Example 1 FR-BSF01 (for wire size 3.5mm2 (AWG12) or less)) (e) Radio noise filter (FR-BIF-(H)) 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 (-H) is designed for the input only. Connection diagram Outline drawing (Unit: mm) Leakage current: 4mA Red White Blue L1 L2 Power supply Green About 300 Make the connection cables as short as possible. Grounding is always required. When using the FR-BIF with a single-phase power supply, always insulate the wires that are not used for wiring. Servo amplifier MC NFB 29 5 hole 4 42 L3 200V class: FR-BIF 400V class: FR-BIF-H Radio noise filter FR-BIF -(H) 58 29 7 44 11 - 81 11. OPTIONS AND AUXILIARY EQUIPMENT (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, TND20V-471K and TND20V-102K, manufactured by NIPPON CHEMICON, are recommended. For detailed specification and usage of the varistors, refer to the manufacturer catalog. Maximum rating Power supply voltage Varistor Permissible circuit voltage Surge current immunity Energy immunity Rated pulse power [W] AC[Vrms] DC[V] 8/20 s[A] 2ms[J] 100V class TND20V-431K 275 350 10000/1 time 195 200V class TND20V-471K 300 385 7000/2 time 215 825 7500/1 time 6500/2 time 400 400V class TND20V-102K 625 1.0 Static Varistor voltage Maximum limit capacity rating (range) voltage (reference V1mA value) [A] 100 [V] [pF] [V] 710 1300 430(387 to 473) 775 1200 470(423 to 517) 1650 500 1000(900 to 1100) [Unit: mm] D T Model H TND20V-431K TND20V-471K TND20V-102K D Max. H Max. 21.5 24.5 22.5 25.5 T Max. 6.4 E 1.0 d 0.05 (Note)L min. 3.3 6.6 3.5 9.5 6.4 20 0.8 E L Note. For special purpose items for lead length (L), contact the manufacturer. W d 11 - 82 W 1.0 10.0 11. OPTIONS AND AUXILIARY EQUIPMENT 11.18 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 a 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 Igm)} [mA] (11.1) K: Constant considering the harmonic contents Cable NV Leakage current breaker Mitsubishi Type products Noise filter Servo amplifier Ig1 Ign Iga Cable Ig2 M Models provided with harmonic and surge reduction techniques Igm General models Ign: Iga: Igm: 120 [mA] 120 Leakage current Ig2: 1 3 Leakage current on the electric channel from the leakage current breaker to the input terminals of the servo amplifier (Found from Fig. 11.3.) Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor (Found from Fig. 11.3.) Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF(-H)) Leakage current of the servo amplifier (Found from Table 11.5.) Leakage current of the servo motor (Found from Table 11.4.) Leakage current Ig1: NV-SP NV-SW NV-CP NV-CW NV-L BV-C1 NFB NV-L K 100 80 60 40 [mA] 80 60 40 20 20 0 100 2 3.5 0 8 1422 38 80 150 5.5 30 60 100 Cable size[mm2] a. 200V class 2 5.5 14 38 100 3.5 8 22 60 150 30 80 Cable size[mm2] b. 400V class Fig. 11.3 Leakage current example (lg1, lg2) for CV cable run in metal conduit 11 - 83 11. OPTIONS AND AUXILIARY EQUIPMENT Table 11.4 Servo motor's leakage current example (Igm) Servo motor power [kW] Table 11.5 Servo amplifier's leakage current example (Iga) Leakage current [mA] Servo amplifier capacity [kW] Leakage current [mA] 0.05 to 1 0.1 0.1 to 0.6 0.1 2 0.2 0.75 to 3.5 (Note) 0.15 3.5 0.3 5 7 2 5 0.5 11 15 5.5 7 0.7 11 1.0 15 1.3 22 2.3 22 7 Note. For the 3.5kW of 400V class, leakage current is 2mA, which is the same as for 5kW and 7kW. Table 11.6 Leakage circuit breaker selection example Servo amplifier Rated sensitivity current of leakage circuit breaker [mA] MR-J3-10B to MR-J3-350B MR-J3-10B1 to MR-J3-40B1 MR-J3-60B4 to MR-J3-350B4 15 MR-J3-500B(4) 30 MR-J3-700B(4) 50 MR-J3-11KB(4) to MR-J3-22KB(4) 100 (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions. 2mm2 5m 2mm2 5m NV Servo amplifier MR-J3-40B Ig1 Iga Servo motor M HF-KP43 Ig2 Igm Use a 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)} 4.0 [mA] According to the result of calculation, use a leakage current breaker having the rated sensitivity current (Ig) of 4.0[mA] or more. A leakage current breaker having Ig of 15[mA] is used with the NV-SP/SW/CP/CW/HW series. 11 - 84 11. OPTIONS AND AUXILIARY EQUIPMENT 11.19 EMC filter (recommended) For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter. Some EMC filters are large in leakage current. (1) Combination with the servo amplifier Recommended filter (Soshin Electric) Servo amplifier Model Leakage current [mA] Mass [kg]([lb]) MR-J3-10B to MR-J3-100B MR-J3-10B1 to MR-J3-40B1 (Note) HF3010A-UN MR-J3-250B MR-J3-350B (Note) HF3030A-UN MR-J3-500B MR-J3-700B (Note) HF3040A-UN 1.5 6.0 (13.23) (Note) HF3100A-UN 6.5 15 (33.07) MR-J3-11KB to MR-J3-22KB MR-J3-60B4 MR-J3-100B4 3 (6.61) 5 5.5 (12.13) TF3005C-TX MR-J3-200B4 to MR-J3-700B4 TF3020C-TX MR-J3-11KB4 TF3030C-TX MR-J3-15KB4 TF3040C-TX 6(13.23) 5.5 7.5(16.54) 12.5(27.56) MR-J3-22KB4 TF3060C-TX Note. A surge protector is separately required to use any of these EMC filters. (2) Connection example EMC filter NFB (Note 1) Power supply MC Servo amplifier 1 4 L1 2 5 L2 3 6 L3 E L11 L21 1 2 3 1 2 (Note 2) Surge protector 1 (RAV-781BYZ-2) (OKAYA Electric Industries Co., Ltd.) (Note 2) 3 Surge protector 2 (RAV-781BXZ-4) (OKAYA Electric Industries Co., Ltd.) Note 1. For 1-phase 200V to 230VAC power supply, connect the power supply to L1,L2 and leave L3 open. There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.3 for the power supply specification. 2. The example is when a surge protector is connected. 11 - 85 11. OPTIONS AND AUXILIARY EQUIPMENT (3) Outline drawing (a) EMC filter HF3010A-UN [Unit: mm] 4-5.5 7 3-M4 M4 2 4 85 110 32 2 3-M4 IN Approx.41 258 4 273 2 288 4 300 5 65 4 HF3030A-UN HF-3040A-UN 6-K 3-L G F E D 1 2 1 2 3-L C 1 M J 2 C 1 H 2 B 2 A 5 Model Dimensions [mm] A B C D E F G H J K L M HF3030A-UN 260 210 85 155 140 125 44 140 70 M5 M4 HF3040A-UN 260 210 85 155 140 125 44 140 70 R3.25, length 8 M5 M4 11 - 86 11. OPTIONS AND AUXILIARY EQUIPMENT HF3100A-UN 2-6.5 2- 6.5 8 M8 145 1 165 3 M8 M6 160 3 380 1 400 5 TF3005C-TX TX3020C-TX TF3030C-TX [Unit: mm] 6-R3.25 length8 M4 M4 3 M4 M4 155 2 140 1 16 16 125 2 Approx.12.2 3-M4 IN Approx.67.5 3 100 1 100 1 290 2 150 2 308 5 Approx.160 332 5 170 5 11 - 87 11. OPTIONS AND AUXILIARY EQUIPMENT TF3040C-TX TF3060C-TX [Unit: mm] 8-M M4 M4 3-M6 M6 F 1 E 2 G 2 22 22 Approx.17 3-M6 IN D 1 D 1 L D 1 C 2 K 2 B 5 J H 5 A 5 Model TF3040C-TX Dimensions [mm] A 438 B 412 C 390 D 100 E 175 F 160 G 145 TF3060C-TX 11 - 88 H 200 J Approx.190 K 180 L M Approx.91.5 R3.25 length 8 (M6) 11. OPTIONS AND AUXILIARY EQUIPMENT (b) Surge protector 1) 2) 3) Black Black Black 11 1 0.2 [Unit: mm] UL-1015AWG16 2 3 28 1.0 1 4.5 0.5 200 30 0 28.5 1.0 4.2 5.5 1 RAV-781BYZ-2 41 1.0 [Unit: mm] 11 1 1) UL-1015AWG16 1 2 3 4.5 0.5 200 30 0 28.5 1.0 0.2 28 1.0 4.2 5.5 1 RAV-781BXZ-4 41 1.0 11 - 89 2) 3) 4) 11. OPTIONS AND AUXILIARY EQUIPMENT MEMO 11 - 90 12. ABSOLUTE POSITION DETECTION SYSTEM 12. ABSOLUTE POSITION DETECTION SYSTEM If an absolute position erase alarm (25) 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. CAUTION POINT If the encoder cable is disconnected, absolute position data will be lost in the following servo motor series. HF-MP, HF-KP, HC-SP, HC-RP, HC-UP, HC-LP, and HA-LP. 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 battery-backed, 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 amplifier Position data Current position Detecting the number of revolutions Home position data LS0 CYC0 Detecting the position within one revolution Position control speed control Servo system controller MR-J3BAT Servo motor Battery 1 pulse/rev accumulative revolution counter Within one-revolution counter 12 - 1 High speed serial communication 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 Battery 3.6V) Type: MR-J3BAT Maximum revolution range Home position (Note 1) Maximum speed at power failure 3000r/min 32767 rev. (Note 2) Battery backup time Approx. 10,000 hours (battery life with power off) Battery storage period 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. It is recommended to replace the battery in three years independently of whether power is kept on or off. (2) Configuration Servo amplifier Servo system controller CN1 CN2 Battery (MR-J3BAT) CN4 Servo motor (3) Parameter setting 1" in parameter No.PA03 to make the absolute position detection system valid. Set " Parameter No.PA03 Absolute position detection system selection 0: Used in incremental system 1: Used in absolute position detection system 12 - 2 12. ABSOLUTE POSITION DETECTION SYSTEM 12.3 Battery installation procedure WARNING Before installing a battery, turn off the main circuit power while keeping the control circuit power on. Wait for 15 minutes or more (20 minutes or for drive unit 30kW or more) until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) (L and L for drive unit 30kW or more) is safe with a voltage tester and others. 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. 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 power OFF, the absolute position data is lost. (1) For MR-J3-350B or less MR-J3-200B4 or less POINT For the servo amplifier with a battery holder on the bottom, it is not possible to wire for the earth with the battery installed. Insert the battery after executing the earth wiring of the servo amplifier. Insert connector into CN4. 12 - 3 12. ABSOLUTE POSITION DETECTION SYSTEM (2) For MR-J3-500B or more MR-J3-350B4 or more Insert connector into CN4. 12 - 4 12. ABSOLUTE POSITION DETECTION SYSTEM 12.4 Confirmation of absolute position detection data You can confirm the absolute position data with MR Configurator. Choose "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen. (1) Choosing "Diagnostics" in the menu opens the sub-menu as shown below: (2) By choosing "Absolute Encoder Data" in the sub-menu, the absolute encoder data display window appears. (3) Press the "Close" button to close the absolute encoder data display window. 12 - 5 12. ABSOLUTE POSITION DETECTION SYSTEM MEMO 12 - 6 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) This chapter explains the MELSERVO-J3-B series AC servo featuring a large capacity of 200V (30k to 37kW)/400V (30k to 55kW). Explanation made in this chapter is exclusively for the MR-J3-CR (4) converter units and the MR-J3-DU B(4) drive units. Explanations on the following items are the same as those for servo amplifiers with 22kW or less. For such explanations, refer to the section indicated in the table. Item Reference Startup Chapter 4 General gain adjustment Chapter 6 Special adjustment functions Chapter 7 Absolute position detection system Chapter 12 13.1. Functions and menus POINT Explanations on the following item are the same as those for servo amplifiers with 22kW or less. Refer to the section below for details. Function list section 1.4 13 - 1 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.1.1 Function block diagram The function block diagram of this servo is shown below. Power factor Regenerative improving DC option Converter NFB Power supply MC P1 Diode stack P2 C Thyristor L L1 L L2 L3 CHARGE lamp Regenerative TR L L Cooling fan L11 Control power supply L21 Voltage detection Base amplifier Current detection CPU I/F CNP1 CN1 CN40 Converter unit protection coordination CN40 MC drive Trouble, warning, forced stop L11 L21 13 - 2 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) NFB (Note) Power supply Servo motor Drive unit L L Current detector L U U V V W W M L Cooling fan L21 L11 Control power supply L21 Base amplifier Over current Current detection CN2 L11 Encoder BU BV BW Position command input Model position control Cooling fan Virtual encoder Model speed control Servo motor thermal Virtual motor OHS1 OHS2 Model torque Actual speed control Current control D/A USB I/F Control CN1A CN1B Controller or drive unit Drive unit or cap CN3 CN5 Personal computer Analog monitor (2 channel) Digital I/O control USB Note. Refer to section 13.3.6 for the power supply specification of the servo motor cooling fan. 13 - 3 MR-J3BAT CN4 Termination connector MR-J3-TM (Option) Actual position control Model speed CN40B CN40 CN40A Model position Optional battery (For absolute position detection system) 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.1.2 Packing list Unpack the product and check the rating plate to see if the converter unit, drive unit and servo motor are as you ordered. (1) Converter unit POINT Regenerative resistor and power factor improving DC reactors are option. Purchase them separately if required. (Section 13.9.2, 13.9.6) Model Converter unit [units] Eyebolt [pcs.] 1 2 MR-J3-CR55K MR-J3-CR55K4 Magnetic contactor Digital I/O connector wiring connector [pcs.] [pcs.] (Note) 1 1 To use the AC servo safely [manuals] 1 Note. Magnetic contactor control connector is mounted to CNP1 of the converter unit before shipping. (2) Drive unit Model MR-J3-DU30KB MR-J3-DU37KB MR-J3-DU30KB4 to MR-J3-DU55KB4 Drive unit [units] Connection conductor [pcs.] Eyebolt [pcs.] To use the AC servo safely [manuals] 1 2 2 1 Servo motor [units] To use the AC servo safely [manuals] 1 1 (3) Servo motor Model HA-LP30K1 HA-LP37K1 HA-LP30K1M HA-LP37K1M HA-LP30K2 HA-LP37K2 HA-LP25K14 to HA-LP37K14 HA-LP30K1M4 to HA-LP50K1M4 HA-LP30K24 to HA-LP55K24 13 - 4 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.1.3 Standard specifications (1) Converter unit Model Item Voltage/frequency Main circuit power supply Permissible voltage fluctuation MR-J3-CR55K4 3-phase 200 to 230VAC, 50/60Hz 3-phase 380 to 480VAC, 50/60Hz 3-phase 170 to 253VAC 3-phase 323 to 528VAC Permissible frequency fluctuation Voltage/frequency Control power supply MR-J3-CR55K Permissible voltage fluctuation Within 5% 1-phase 200 to 230VAC, 50/60Hz 1-phase 380 to 480VAC, 50/60Hz 1-phase 170 to 253VAC 1-phase 323 to 528VAC Permissible frequency fluctuation Within 5% Power consumption Interface power supply 45W Voltage 24VDC 10% Power supply capacity (Note) 130mA Rated output 55kW Regenerative power (Using regenerative option) One MR-RB139: 1300W Three MR-RB137: 3900W Regenerative overvoltage shutoff, overload shutoff (electronic thermal protector) Regenerative alarm protection, undervoltage, instantaneous power failure protection Protective function Structure Environment Ambient temperature Ambient humidity One MR-RB136-4: 1300W Three MR-RB138-4: 3900W Force-cooling, open (IP00) In operation In storage [ ] 0 to 55 (non-freezing) [ ] 32 to 131 (non-freezing) [ ] 20 to 65 (non-freezing) [ ] 4 to 149 (non-freezing) In operation 90%RH or less (non-condensing) In storage Ambient Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m above sea level 5.9 [m/s2] or less Vibration Mass 19.4 [ft/s2] or less [kg] 25 [lb] 55.1 Note. 130mA 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. 13 - 5 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (2) Drive unit (a) 200V class Model Item MR-J3-DU30KB Voltage/frequency Control power supply 1-phase 200 to 230VAC, 50/60Hz Permissible voltage fluctuation 1-phase 170 to 253VAC Permissible frequency fluctuation Within 5% Power consumption 45W Main circuit power supply Interface power supply The main circuit power of the drive unit is supplied by the converter unit. Voltage 24VDC 10% Power supply capacity (Note) 150mA Control system Sine-wave PWM control, current control system Dynamic brake External option Overcurrent shut-off, overload shutoff (electronic thermal protector) Servo motor overheat protection, encoder error protection, undervoltage Instantaneous power failure protection, overspeed protection Excessive error protection Protective function Structure Environment Ambient temperature Ambient humidity MR-J3-DU37KB Force-cooling, open (IP00) In operation In storage [ ] 0 to 55 (non-freezing) [ ] 32 to 131 (non-freezing) [ ] 20 to 65 (non-freezing) [ ] 4 to 149 (non-freezing) In operation 90%RH or less (non-condensing) In storage Ambient Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m above sea level 5.9 [m/s2] or less Vibration Mass 19.4 [ft/s2] or less [kg] 26 [lb] 57.3 Note. 150mA 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. 13 - 6 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (b) 400V class Model Item MR-J3-DU30KB4 MR-J3-DU37KB4 Voltage/frequency Control power supply 1-phase 323 to 528VAC Permissible frequency fluctuation Within 5% Power consumption 45W The main circuit power of the drive unit is supplied by the converter unit. Voltage 24VDC 10% Power supply capacity Control system (Note)150mA Sine-wave PWM control, current control system Dynamic brake External option Overcurrent shut-off, overload shutoff (electronic thermal protector) Servo motor overheat protection, encoder error protection, undervoltage Instantaneous power failure protection, overspeed protection Excessive error protection Protective function Structure Environment Ambient temperature Ambient humidity MR-J3-DU55KB4 1-phase 380 to 480VAC, 50/60Hz Permissible voltage fluctuation Main circuit power supply Interface power supply MR-J3-DU45KB4 Force-cooling, open(IP00) In operation In storage [ ] 0 to 55 (non-freezing) [ ] 32 to 131 (non-freezing) [ ] 20 to 65 (non-freezing) [ ] 4 to 149 (non-freezing) In operation 90%RH or less (non-condensing) In storage Ambient Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt Altitude Max. 1000m above sea level 5.9 [m/s2] or less Vibration Mass 19.4 [ft/s2] or less [kg] 18 26 [lb] 39.7 57.3 Note. 150mA 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. 13 - 7 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.1.4 Model definition (1) Rating plate MITSUBISHI AC SERVO AC SERVO Model MODELMR-J3-CR55K Capacity POWER : 55kW INPUT : AC200V-230V 50/60Hz POWER Applicable power supply Rated output current OUTPUT : SERIAL : A5******* Serial number PASSED MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN (2) Model (a) Converter unit Power supply Series Symbol Power supply None 3-phase 200 to 230VAC 3-phase 380 to 480VAC 4 Rated output: 55kW Indicates converter unit. (b) Drive unit Power supply Series Symbol Power supply None 3-phase 200 to 230VAC 4 3-phase 380 to 480VAC Indicates drive unit. SSCNET compatible Rated output Symbol 30K 37K 45K 55K 13 - 8 Rated output [kW] 200V class 400V class 30 30 37 37 45 55 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.1.5 Combinations of converter units, drive unit and servo motors The following tables indicate the combinations of the converter units, drive unit and servo motors. (1) 200V class Servo motor Converter unit MR-J3-CR55K Drive unit HA-LP 1000r/min 1500r/min 2000r/min MR-J3-DU30KB 30K1 30K1M 30K2 MR-J3-DU37KB 37K1 37K1M 37K2 (2) 400V class Servo motor Converter unit MR-J3-CR55K4 Drive unit HA-LP 1000r/min 1500r/min 2000r/min MR-J3-DU30KB4 25K14 30K14 30K1M4 30K24 MR-J3-DU37KB4 37K14 37K1M4 37K24 MR-J3-DU45KB4 45K1M4 45K24 MR-J3-DU55KB4 50K1M4 55K24 13 - 9 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.1.6 Parts identification (1) Converter unit (MR-J3-CR55K(4)) POINT The servo amplifier is shown without the front cover. For removal of the front cover, refer to section 13.1.7. Name/Application Magnetic contactor control connector (CNP1) Connect to the operation coil of the magnetic contactor. I/O signal connector (CN1) Used to connect digital I/O signals. Detailed explanation Section 13.3.4 Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Fixed part (4 places) Display The 3-digit, seven-segment LED shows the servo status Cooling fan and alarm number. Operation section Used to perform status display, diagnostic, alarm, parameter and point table setting operations. MODE UP DOWN Section 13.4 SET Used to set data. Used to change the display or data in each mode. Used to change the mode. For manufacturer setting connector (CN6) The connector is for manufacturer setting. Although the shape is similar to analog monitor connector (CN6) of the drive unit, do not connect anything including an analog monitor. Protection coordination connector (CN40) Connect to CN40A of the drive unit. For manufacturer setting connector (CN3) For manufacturer adjustment. Though the shape is similar to RS-422 communication connector (CN3), do not connect anything, including a personal computer and MRPRU03 parameter unit. L L terminal (TE2-2) Used to connect to a drive unit using a connection conductor supplied with drive unit. Control circuit terminal L11 L21(TE3) Supply control circuit power. Regenerative option Power factor improving DC reactor (TE1-2) Section 13.3.3 Protective earth (PE) terminal ( ) Ground terminal. Main circuit terminal block (TE1-1) Supply main circuit power. L L terminal (TE2-1) When using brake unit, connect it to this terminal. Do not connect anything other than the brake unit. Section 13.9.10 Rating plate Section 13.1.4 13 - 10 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (2) Drive unit (MR-J3-DU30KB4 MR-J3-DU37KB4) POINT The servo amplifier is shown with the front cover opened. For removal of the front cover, refer to section 13.1.7. Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. 0 F 1 3456 2 3456 2 F01 BCDE ON 4F 1 Used to perform the test operation mode by using MR Configurator. Section 3.13 2 Section 3.13 Spare (Be sure to set to the "Down" position). USB communication connector (CN5) Connect with the personal computer. Cooling fan Chapter 4 Test operation select switch (SW2-1) SW2 2 1 Fixed part (4 places) B CDE A SW1 TEST SW2 789 A Rotary axis setting switch (SW1) SW1 Used to set the axis No. of drive unit. 789 Detailed explanation I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis drive unit. Section 11.8 Section 3.2 Section 3.4 Battery holder Contains the battery for absolute position data backup. Section 12.3 SSCNET cable connector (CN1B) Used to connect the rear axis drive unit. For the final axis, puts a cap. Section 3.2 Section 3.4 Encoder connector (CN2) Used to connect the servo motor encoder. Section 3.4 Section 11.1 Battery connector (CN4) Used to connect the battery for absolute position data Section 11.9 Chapter 12 Converter unit connectors (CN40A) Connect to CN40 of the converter unit. Converter unit connectors (CN40B) Connect the termination connector (MR-J3-TM). Section 13.3.2 L L terminals (TE2) Connect to the L L terminals of the converter unit using the connection conductors supplied. Control circuit terminal L11 L21 (TE3) Supply control circuit power. Motor power supply terminals (TE1) Connect to U, V, W of the servo motor. Section 13.3.3 Protective earth (PE) terminal ( ) Ground terminal. Rating plate 13 - 11 Section 13.1.4 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (3) Drive unit (MR-J3-DU30KB MR-J3-DU37KB MR-J3-DU45KB4 MR-J3-DU55KB4) POINT This servo amplifier is shown without the front cover. For removal of the front cover, refer to section 13.1.7. Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Detailed explanation Chapter 4 0 F 1 3456 2 3456 2 F01 B CD E B CDE A SW1 TEST SW2 789 A Rotary axis setting switch (SW1) SW1 Used to set the axis No. of drive unit. 789 Section 3.13 ON 4F 1 Test operation select switch (SW2-1) SW2 2 1 Used to perform the test operation mode by using MR Configurator. 2 Spare (Be sure to set to the "Down" position). USB communication connector (CN5) Connect with the personal computer. fixed part (4 places) Cooling fan I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis drive unit. Section 11.8 Section 3.2 Section 3.4 Battery holder Contains the battery for absolute position data backup. Section 12.3 SSCNET cable connector (CN1B) Used to connect the rear axis drive unit. For the final axis, puts a cap. Section 3.2 Section 3.4 Encoder connector (CN2) Used to connect the servo motor encoder. Section 3.4 Section 11.1 Battery connector (CN4) Used to connect the battery for absolute position data Section 11.9 Chapter 12 Converter unit connectors (CN40A) Connect to CN40 of the converter unit. Converter unit connectors (CN40B) Connect the termination connector (MR-J3-TM). Section 13.3.2 TE2-2 For manufacturer adjustment. Leave this open. Control circuit terminal L11 L21 (TE3) Supply control circuit power. Motor power supply terminals (TE1) Connect to U, V, W of the servo motor. Protective earth (PE) terminal ( Ground terminal. ) Section 13.3.3 L L terminals (TE2) Connect to the L L terminals of the converter unit using the connection conductors supplied. Rating plate 13 - 12 Section 13.1.4 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.1.7 Removal and reinstallation of the terminal block cover Before removing or installing the front cover, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then, confirm that the voltage between L and L is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not. CAUTION (1) MR-J3-CR55K(4), MR-J3-DU30KB, MR-J3-DU37KB, MR-J3-DU45KB4 or MR-J3-DU55KB4 Here, the method for removing and reinstalling the terminal block cover using the figure of converter unit as an example. For a drive unit, the shape of the main unit is different. However, the removal and reinstallation of the terminal block can be performed in the same procedure. (a) How to remove the terminal block cover Remove the installation screws (A), B), C), D)) on the four corners of the terminal block cover. A) B) D) C) Pull the terminal block cover toward you and remove it. 13 - 13 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (b) How to reinstall the terminal block cover 1) Put the terminal block cover on and match the screw holes of the cover fit with those of the main unit. 2) Install the installing screws into the screw holes (A), B), C), D)). A) 1) B) D) C) 2) Mounting screw 13 - 14 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (2) MR-J3-DU30KB4 or MR-J3-DU37KB4 (a) Upper terminal block cover 1) How to open Pull up the cover using the axis A), A)' as a support. A) A)' When pulled up to the top, the cover is fixed. 13 - 15 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 2) How to close Close the cover using the axis A), A)' as a support. Setting tab A) A)' Press the cover against the terminal box until the installing knobs click. Setting tab 13 - 16 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (b) Lower terminal block cover 1) How to open Hold the bottom of the terminal block cover with both hands. Pull up the cover using the axis B), B)' as a support. B) B)' When pulled up to the top, the cover is fixed. 13 - 17 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 2) How to close Hold the bottom of the terminal block cover with both hands. Setting tab Setting tab Close the cover using the axis B), B)' as a support. B) B)' Press the cover against the terminal box until the installing knobs click. Setting tab 13 - 18 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.1.8 Servo system with auxiliary equipment 3-phase AC R S T power supply Personal computer MR Configurator No-fuse breaker(NFB) The MR Configurator is required for parameter setting. Converter unit Communication cable Magnetic contactor(MC) Drive unit(Note 3) Line noise filter(FR-BLF) L C P2 L1 L2 L3 L11 L21 Magnetic contactor operation coil (I/O signal) L (Note 1) P1 L L (MR-J3CDL05M) L11 L21 L11 L21 No-fuse breaker(NFB) P2 Power factor improving DC reactor (MR-DCL K) Encoder cable (MR-HSCBL M) P1 (Note 2) BU BV BW E U V W Regenerative option R C S Servo motor HA-LP series P Note 1. The L+ and L- connection conductors used to connect a converter unit to a drive unit are standard accessories. The converter unit is attached to the drive unit actually. (Refer to section 13.2.1.) 2. The power supply of the servo motor cooling fan differs depending on the capacity of a servo motor. Refer to section 13.3.6. 3. For MR-J3-DU30KB4 or MR-J3-DU37KB4. 13 - 19 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.2 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. 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 13.1.3.) CAUTION Provide an adequate protection to prevent screws, metallic detritus and other conductive matter or oil and other combustible matter from entering the converter unit drive unit. Do not block the intake/exhaust ports of the converter unit a fault may occur. Do not subject the converter unit are precision equipment. drive unit. Otherwise, drive unit to drop impact or shock loads as they Do not install or operate a faulty converter unit drive unit. When the product has been stored for an extended period of time, consult Mitsubishi. When treating the converter unit drive unit, be careful about the edged parts such as the corners of the converter unit drive unit. POINT Explanations on the following item are the same as those for servo amplifiers with 22kW or less. Refer to the section below for details. Keep out foreign materials Refer to section 2.2. Cable stress Refer to section 2.3. SSCNET cable laying Refer to section 2.4. Parts Having Service Lives Refer to section 2.6. 13 - 20 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.2.1 Installation direction and clearances Install the equipment in the specified direction. Not doing so can cause a failure. CAUTION Leave the specified clearances between the converter unit/drive unit and the control box inside walls or other equipment. Not doing so can cause a failure. (1) Installation POINT Make sure to connect a drive unit to the right side of a converter unit as shown in the diagram. Converter unit Drive unit 30mm or more Cooling fan wind direction 100mm or 80mm or more more 30mm or more Air intake 120mm or more Front view Side view (2) Mounting dimensional diagram 9.5 20 Approx. W5 Approx. 9.5 W1 Approx. W3 300 Approx. 20 W5 W4 281 W3 W2 260 Converter unit Drive unit punched hole punched hole 4-M6 screw [Unit: mm] Drive unit model Dimensions W1 W2 W3 W4 W5 A MR-J3-DU30KB, 37KB, 45KB4, 55KB4 300 260 20 281 9.5 M6 MR-J3-DU30KB4, 37KB4 240 120 60 222 9 M5 4-M6 screw (3) Others When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the converter unit and drive unit is not affected. Install the converter unit and drive unit on a perpendicular wall in the correct vertical direction. 13 - 21 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.2.2 Inspection WARNING Before starting maintenance and/or inspection, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then, confirm that the voltage between L and L is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the converter unit whether the charge lamp is off or not. CAUTION Any person who is involved in inspection should be fully competent to do the work. Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative. POINT Do not test the converter unit drive unit with a megger (measure insulation resistance), or it may become faulty. It is recommended to make the following checks periodically. 1) Check for loose terminal block screws. Retighten any loose screws. 2) Check the servo motor bearings, brake section, etc. for unusual noise. 3) Check the cables and the like for scratches and cracks. Perform periodic inspection according to operating conditions. 4) Check the servo motor shaft and coupling for misalignment. 13 - 22 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.3 Signals and wiring Any person who is involved in wiring should be fully competent to do the work. WARNING Before wiring, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then, confirm that the voltage between L and L is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the converter unit whether the charge lamp is off or not. Ground the converter unit drive unit and the servo motor securely. Do not attempt to wire the converter unit drive unit 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. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction. Otherwise, the signal is not output due to a fault, disabling the forced stop (EM1) and other protective circuits. Converter unit drive unit CAUTION 24VDC Converter unit drive unit DOCOM DOCOM DICOM DICOM Control output signal RA Control output signal 24VDC RA Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be given to electronic equipment used near the converter unit drive unit. Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF-(H) option) with the power line of the servo motor. When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire. Do not modify the equipment. During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur. 13 - 23 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) POINT Explanations on the following item are the same as those for servo amplifiers with 22kW or less. Refer to the section below for details. I/O signal connection example Refer to section 3.2. Signal (device) explanations Refer to section 3.5. Interfaces Refer to section 3.7. Treatment of cable shield external conductor Refer to section 3.8. SSCNET cable connection Refer to section 3.9. Grounding Refer to section 3.12. Control axis selection Refer to section 3.13. The pins with the same signal name are connected in the drive unit. 13.3.1 Magnetic contactor control connector (CNP1) WARNING Always connect the magnetic contactor wiring connector to the converter unit. If the connector is not connected, an electric shock may occur since CNP1-1 and L11 are always conducting. By enabling the control function of the magnetic contactor (parameter No.PA02 1 (initial value)), main circuit power supply can be shut off automatically when an alarm occurs on the converter unit or the drive unit. Parameter No.PA02 1 Used to select the output of the external magnet contactor drive signal. 0: No used 1: Used (initial value) 13 - 24 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (1) Enabling control function of magnetic contactor (parameter No.PA02 1 (initial value)) Connecting the magnetic contactor control connector (CNP1) to the operating coil of the magnetic contactor enables to control the magnetic contactor. NFB Converter unit MC L1 Power supply L2 L3 L11 Control circuit power supply L21 CNP1 MC1 1 MC2 2 (Note) Drive unit Servo motor trouble thermal relay RA1 RA2 RA3 RA4 Converter unit trouble Controller forced stop Operation Forced stop -ready EM1 OFF/ON MC SK Note. Stepdown transformer is required when coil voltage of the magnetic contactor is 200V class, and the converter unit and the drive unit are 400V class. When the converter unit receives a start command from the drive unit while the magnetic contactor control connector (CNP1) is connected to the magnetic contactor (refer to section 13.3.2 (1)), CNP1-2 and L21 conduct in the converter unit. Then the control circuit power is supplied to turn ON the magnetic contactor and the main circuit power is supplied to the converter unit. Either when an alarm occurs on the converter unit or the drive unit while the control function of the magnetic contactor is enabled, or when the forced stop (EM1) of the converter unit or the drive unit is turned OFF, the switch between CNP1-2 and L21 in the converter unit is disconnected and the main circuit power supply is automatically shut off. To automatically shut off the main circuit power supply by alarm, enable the control function of the magnetic contactor. (2) Disabling control function of magnetic contactor (parameter No.PA02 0) When not connecting the magnetic contactor control connector (CNP1) to the operating coil of the magnetic contactor, configure the circuit to shut off the main circuit power supply when detecting an alarm since the main circuit power supply is not automatically shut off even when an alarm occurs on the converter unit or the drive unit. 13 - 25 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.3.2 Input power supply circuit Insulate the connections of the power supply terminals. Not doing so can cause an electric shock. WARNING Magnetic contactor wiring connector on the converter unit CNP1. Unattached state may cause an electric shock. Always, connect the magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of the converter unit, and configure to shut off the power supply on the side of the converter unit power supply. If the magnetic contactor (MC) is not connected, a large current keeps flowing and may cause a fire when the converter unit or the drive unit malfunctions. CAUTION Use the trouble signal to switch power off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire. Connect the power supply phases (U, V, W) of the servo amplifier and servo motor correctly. Not doing so can cause the servo motor to run abnormally. Do not connect a 3-phase 200V power supply or a 3-phase 400V power supply directly to the servo motor. Doing so can cause a failure. POINT Magnetic contactor control connector (CNP1) of the converter unit can be made valid or invalid with parameter No.PA02 of the converter unit. Refer to section 13.3.1 and 13.3.6 for details of CNP1 and section 13.5 for the parameter settings. When using the external dynamic brake, refer to section 11.6 and 13.9.3. 13 - 26 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (1) When magnetic contactor control connector (CNP1) is made valid (factory-set) POINT The converter unit controls the main circuit magnetic contactor. Refer to section 13.3.7 (1) for the power circuit timing chart, section 13.3.7 (2) for the alarm occurrence timing chart, section 13.3.7 (3) for the forced stop (EM1) timing chart. Always connect a protection coordination cable (MR-J3CDL05M) and a termination connector (MR-J3-TM). When they are not connected properly, the servo-on may not be turned ON. For the control power supplies of the converter unit and the drive unit, always turn ON or OFF at the same time. (a) 200V class (MR-J3-DU30KB MR-J3-DU37KB) Converter unit NFB Drive unit TE2-2 L MC L L1 3-phase 200 to 230VAC 50/60Hz L L2 CN40 L3 L11 L21 MR-J3CDL05M cable Termination connector MR-J3-TM (Option) 1 DICOM MC2 2 5 DOCOM 6 DICOM 2 ALM 7 EM1 9 DOCOM P1 P2 C P G3 C G4 Regenerative option(Note 1) Cooling fan R S P G3 C G4 Regenerative option(Note 1) Cooling fan R S Converter unit Controller forced stop M V V W W Encoder cable NFB 24VDC (Note 4) Power supply BV BW RA2 24VDC power supply (Note 3) G4 10 DICOM 15 ALM Cooling fan R OHS2 Servo motor thermal relay CN3 C Regenerative option(Note 1) G3 Cooling fan OHS1 RA3 P Encoder BU S L11 Drive Motor thermal relay unit RA1 RA2 RA3 RA4 U CN40B U CN2 1 (Note 2) Servo motor CN40A CNP1 CN1 MC1 Power factor improving DC reactor (Option) Dynamic brake (Option) TE2-1 L L21 (Note 3) Operation Forced stop -ready EM1 OFF/ON 5 DICOM 3 DOCOM 20 EM1 Plate SD RA1 24VDC (Note 3) MC SK Note 1. For the MR-RB137. For the MR-RB137, three units are used as one set (permissible wattage: 3900W). 2. When using the Power factor improving DC reactor, disconnect the short bar across P1-P2. 3. Make up a sequence that turns off the drive unit forced stop (EM1) and the converter unit forced stop (EM1) at the same time. 4. For specifications of cooling fan power supply, refer to section 13.3.8. 13 - 27 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (b) 400V class (MR-J3-DU30KB4 to MR-J3-DU55KB4) NFB Converter unit Drive unit TE2-2 L TE2-1 L L L CN40 NFB L1 L2 L3 L11 CN1 L21 1 CNP1 5 DOCOM Servo motor DICOM 1 6 DICOM MC2 2 2 ALM 7 EM1 9 DOCOM Dynamic brake (Option) CN40B U U MC1 Power factor improving DC reactor (Option) Dynamic brake (Option) CN40A MR-J3CDL05M cable Termination connector MR-J3-TM (Option) MC 3-phase 380 to 480VAC 50/60Hz (Note 5) Power supply M V V 24VDC W W CN2 RA2 BU Encoder BV Encoder cable (Note 3) P1 (Note 2) P2 C 24VDC power supply Cooling fan OHS1 BW OHS2 Servo motor thermal relay RA3 P C P C P C G4 CN3 Regenerative option(Note 1) Regenerative option(Note 1) Regenerative option(Note 1) 10 DICOM Cooling fan Cooling fan Cooling fan 15 ALM R400S400 R400 S400 R400 S400 5 DICOM 3 DOCOM 20 EM1 Plate SD G3 G4 G3 G4 G3 L11 (Note 4) Stepdown transformer L21 Drive unit RA1 Motor thermal relay RA2 Converter unit RA3 RA4 Controller forced stop (Note 3) Operation Forced stop -ready EM1 OFF/ON RA1 24VDC (Note 3) MC SK Note 1. For the MR-RB138-4. For the MR-RB138-4, three units are used as one set (permissible wattage: 3900W). 2. When using the Power factor improving DC reactor, disconnect the short bar across P1-P2. 3. Make up a sequence that turns off the drive unit forced stop (EM1) and the converter unit forced stop (EM1) at the same time. 4. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class. 5. For specifications of cooling fan power supply, refer to section 13.3.8. 13 - 28 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (2) When magnetic contactor control connector (CNP1) is made invalid POINT The converter unit controls the main circuit magnetic contactor. When making CNP1 invalid, set "0000" in parameter No.PA02. (Refer to section 13.5.) Always connect a protection coordination cable (MR-J3CDL05M) and a termination connector (MR-J3-TM). When they are not connected properly, the servo-on may not be turned ON. For the control power supplies of the converter unit and the drive unit, always turn ON or OFF at the same time. (a) 200V class (MR-J3-DU30KB MR-J3-DU37KB) Converter unit NFB Drive unit TE2-2 L MC L L1 3-phase 200 to 230VAC 50/60Hz L L2 CN40 L3 L11 L21 MR-J3CDL05M cable Termination connector MR-J3-TM (Option) 1 1 DICOM MC2 2 5 DOCOM 6 DICOM 2 ALM 7 EM1 9 DOCOM P1 P2 C P G3 C G4 Regenerative option(Note 1) Cooling fan R S P G3 C G4 Regenerative option(Note 1) Cooling fan R S W W Encoder cable NFB 24VDC BV BW RA2 24VDC power supply (Note 3) G4 10 DICOM Regenerative option(Note 1) 15 ALM Cooling fan R OHS2 Servo motor thermal relay CN3 C G3 Cooling fan OHS1 RA3 P Encoder BU (Note 5) Power supply S L21 (Note 3) Operation Drive Motor thermal relay Forced stop -readyON unit RA1 RA2 RA3 RA4 EM1 OFF Controller forced stop M V V L11 Converter unit U CN40B U CN2 MC1 (Note 2) Servo motor CN40A (Note 4) CNP1 CN1 Power factor improving DC reactor (Option) Dynamic brake (Option) TE2-1 L 5 DICOM 3 DOCOM 20 EM1 Plate SD RA1 24VDC (Note 3) MC MC SK Note 1. For the MR-RB137. For the MR-RB137, three units are used as one set (permissible wattage: 3900W). 2. When using the Power factor improving DC reactor, disconnect the short bar across P1-P2. 3. Make up a sequence that turns off the drive unit forced stop (EM1) and the converter unit forced stop (EM1) at the same time. 4. Attach connector for magnetic contactor control (CNP1) on the converter unit. Unattached state may cause an electric shock. 5. For specifications of cooling fan power supply, refer to section 13.3.8. 13 - 29 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (b) 400V class (MR-J3-DU30KB4 to MR-J3-DU55KB4) NFB (Note 6) Power supply Converter unit Drive unit TE2-2 L TE2-1 L L L CN40 NFB MR-J3CDL05M cable Termination connector MR-J3-TM (Option) MC L1 3-phase 380 to 480VAC 50/60Hz L2 L3 L11 CN1 L21 1 (Note 5) CNP1 CN40B Servo motor U U DICOM 5 DOCOM MC1 1 6 DICOM MC2 2 2 ALM 7 EM1 9 DOCOM Power factor improving DC reactor (Option) Dynamic brake (Option) CN40A M V V 24VDC W W CN2 RA2 BU Encoder BV Encoder cable (Note 3) P1 (Note 2) P2 C Cooling fan OHS1 24VDC power supply BW OHS2 Servo motor thermal relay RA3 P C P C P C G4 CN3 Regenerative option(Note 1) Regenerative option(Note 1) Regenerative option(Note 1) 10 DICOM Cooling fan Cooling fan Cooling fan 15 ALM R400 S400 R400 S400 R400 S400 G3 G4 G3 G4 G3 L11 (Note 4) Stepdown transformer L21 Drive unit RA1 Motor (Note 3) Operation thermal relay Forced stop -ready ON RA2 RA3 RA4 EM1 OFF Converter unit Controller forced stop 5 DICOM 3 DOCOM 20 EM1 Plate SD RA1 24VDC (Note 3) MC MC SK Note 1. For the MR-RB138-4. For the MR-RB138-4, three units are used as one set (permissible wattage: 3900W). 2. When using the Power factor improving DC reactor, disconnect the short bar across P1-P2. 3. Make up a sequence that turns off the drive unit forced stop (EM1) and the converter unit forced stop (EM1) at the same time. 4. Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class. 5. Attach connector for magnetic contactor wiring on the converter unit. Unattached state may cause an electric shock. 6. For specifications of cooling fan power supply, refer to section 13.3.8. 13 - 30 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.3.3 Terminal Refer to section 13.7 for the terminal block arrangement and signal layout. (1) Converter unit Connection target (Application) Main circuit power supply Abbreviation L1 L2 L3 (Note) Terminal block TE1-1 Description MR-J3-CR55K MR-J3-CR55K4 Connect 3-phase 200 to 230VAC, 50/60Hz to L1, L2, L3. Connect 3-phase 380 to 480VAC, 50/60Hz to L1, L2, L3. Connect 1-phase 200 to 230VAC, 50/60Hz. Connect 1-phase 380 to 480VAC, 50/60Hz. Control circuit power supply L11 L21 TE3 Power factor improving DC reactor P1 P2 TE1-2 When using the power factor improving DC reactor, connect it after removing the connection plate across P1-P2. Regenerative brake P2 C TE1-2 Connect to the P2 and C terminals of the regenerative option. L TE2-2 Connect to the L , L terminals of the drive unit. Use the connection bar, which is supplied with the drive unit, to connect. DC link L Grounding Connect this terminal to the protective earth (PE) terminals of the servo motor and control box for grounding. PE Note. The permissible tension applied to any of the terminal blocks TE1-1, TE1-2, TE2-2 is 350[N]. (2) Drive unit Connection target (Application) Abbreviation Control circuit power supply L11 L21 L L L L power supply input Servo motor power Grounding U V W Description (Note) Terminal block TE3 MR-J3-DU30KB MR-J3-DU37KB Connect 1-phase 200 to 230VAC, 50/60Hz. MR-J3-DU30KB4 to MR-J3-DU55KB4 Connect 1-phase 380 to 480VAC, 50/60Hz. TE2-1 Connect to the L and L terminals of the converter unit. Use the connection bar, which is supplied with the drive unit, to connect. TE1A Connect to the servo motor power terminals (U, V, W). PE Connect this terminal to the protective earth (PE) terminals of the servo motor and control box for grounding. Note. The permissible tension applied to any of the terminal blocks TE1, TE2-1 is 350[N]. 13 - 31 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.3.4 How to use the connection bars Make sure to use the supplied connection conductors and connect the L and L of the drive unit to those of the converter unit as shown below. Never use connection conductors other than the ones supplied with the drive unit. Both units are shown without the front covers. Converter unit Drive unit Connection conductors L L 13 - 32 L L 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.3.5 Connectors and signal arrangements POINT The pin configurations of the connectors are as viewed from the cable connector wiring section. (1) Converter unit CN6 Leave this open. CNP1 CN1 CHARGE CN40 Connect to CN40A of the drive unit. CN1 (Digital I/O connector) Model: 17JE-23090-02 (D8A) K11-CG (D-sub 9 pin or equivalent) (DDK) CN3 Leave this open. 9 5 DOCOM DOCOM 4 8 WNG 3 7 EM1 2 6 ALM DICOM 1 DICOM CNP1 (Magnetic contactor wiring connector) Model: GFKC 2.5/2-STF-7.62 (Phoenix Contact) 1 MC1 2 MC2 13 - 33 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (2) Drive unit The drive unit front view shown is that of the MR-J3-DU30KB4, MR-J3-DU37KB4 or less. Refer to section 13.7 Outline Drawings for the appearances and connector layouts of the MR-J3-DU30KB, MR-J3-DU37KB, MR-J3-DU45KB4, MR-J3-DU55KB4. CN5 (USB connector) Refer to section 11.8. CN3 (I/O signal connector) Refer to section 3.4. Connector for the front axis of CN1A SSCNET cable. Connector for the rear axis of CN1B SSCNET cable. CN2 (Encoder connector) Refer to section 3.4. The frames of the CN2 and CN3 connectors are connected to the PE (earth) terminal in the amplifier. 13 - 34 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.3.6 Converter unit signal (device) explanations POINT Explanations on the drive unit signals are the same as those for servo amplifiers with 22kW or less. Refer to section 3.5. (1) Signals For the I/O interfaces (symbols in I/O column in the table), refer to (b) of this section. Pin code Pin No. Digital I/F power supply input DICOM CN1-1 CN1-6 Used to input 24VDC (24VDC 10% 150mA) for I/O interface. The power supply capacity changes depending on the number of I/O interface points to be used. For the source interface, connect of 24VDC external power supply. Forced stop EM1 CN1-7 Turn EM1 off to bring the motor to a forced stop state, in which the magnetic connector is turned off and the servo-off signal is output to the drive unit. Turn EM1 on in the forced stop state to reset that state. DI Trouble ALM CN1-2 ALM turns off when power is switched off or the protective circuit is activated. Without alarm occurring, ALM turns on within about 1.5s after power-on. DO DO Warning Function/Application I/O division Signal name WNG CN1-8 When warning has occurred, WNG turns on. Digital I/F common DOCOM CN1-5 CN1-9 Common terminal for the ALM and WNG output signals of the converter unit. Separated from LG. Pins are connected internally. For the source interface, connect of 24VDC external power supply. Magnetic contactor drive output MC1 CNP1-1 Connect to the operation coil of the magnetic contactor. Always supplies the control circuit power since it is conducted with L11 in the converter unit. WARNING MC2 Magnetic contactor wiring connector on the converter unit. Connected state may cause an electric shock. CNP1-2 Connect to the operation coil of the magnetic contactor. When the converter unit (Note) receives a start command from the drive unit, it is conducted with L21 inside, the control circuit power is supplied, and then the magnetic contactor is turned ON. Change parameter No.PA02 setting to “ 0” when controlling without magnetic contactor control connector (CNP1). (Refer to section 13.3.1.) 13 - 35 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (2) I/O interfaces (a) Digital input interface (DI) Give a signal with a relay or open collector transistor. Refer to section 3.7.3 for the source input. Converter unit For transistor EM1 5.6k Approx. 5mA Switch TR DICOM VCES 1.0V ICEO 100 A 24VDC 150mA 10 (b) Digital output interface (DO) A lamp, relay or photocoupler can be driven. Install a diode for an inductive load, or install an inrush current suppressing resistor for a lamp load. (Permissible current: 40mA 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. If polarity of diode is reversed, converter unit will fail. Converter unit ALM, etc. DOCOM Load (Note) 24VDC 150mA 10 Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high voltage (up to 26.4V) from external source. 13 - 36 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.3.7 Timing chart (1) Power circuit timing chart Power-on procedure (a) Always wire the power supply as shown in above section 13.3.2 using the magnetic contactor with the main circuit power supply (3-phase: L1, L2, L3). Configure up an external sequence to switch off the magnetic contactor as soon as an alarm occurs. (b) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply or before switching on the main circuit power supply. If the main circuit power supply is not on, the display shows the corresponding warning. However, by switching on the main circuit power supply, the warning disappears and the drive unit will operate properly. 1) When control function of magnetic contactor is enabled and the status remains at ready on The main circuit power is not shut off with servo off. Coasting Servo motor speed 0r/min Drive unit control power supply ON Converter unit control power supply ON Main circuit power supply ON Base circuit OFF OFF OFF (Note 5) Tb (3s) ON Electromagnetic brake operation delay time OFF (Note 1) ON Electromagnetic brake interlock (MBR) OFF Servo on command (from controller) (95ms) ON OFF (Note 3) Position command (Note 4) Electromagnetic brake 0r/min Release delay time and external relay (Note 2) 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 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. Make the controller execute the position command after the electromagnetic brake is released. 4. In position control mode 5. “Tb” refers to a delay time when the electromagnetic brake interlock (MBR) is turned off until when the base circuit is shut off at servo-off. Set Tb using parameter No.PC02. 13 - 37 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 2) When control function of magnetic contactor is enabled and the status returns to ready off The magnetic contactor of the converter unit is turned off with servo off, and the main circuit magnetic contactor is shut off. Coasting Servo motor speed 0r/min Drive unit control power supply ON Converter unit control power supply ON Main circuit power supply ON Base circuit OFF OFF OFF ON (3s) Electromagnetic brake operation delay time OFF (Note 1) ON Electromagnetic brake interlock (MBR) OFF Servo on command (from controller) (3s) ON OFF (Note 3) Position command (Note 4) Electromagnetic brake 0r/min Release delay time and external relay (Note 2) 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 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. Make the controller execute the position command after the electromagnetic brake is released. 4. In position control mode 13 - 38 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 3) When controlling magnetic contactor by external sequence When an alarm occurs, turn OFF the magnetic contactor by the external sequence and shut off the main circuit power supply. Servo motor speed Coasting 0r/min Drive unit control power supply ON Converter unit control power supply ON Main circuit power supply ON Base circuit OFF OFF OFF ON (Note 5, 6) Tb (3s) Electromagnetic brake operation delay time OFF (Note 1) ON Electromagnetic brake interlock (MBR) OFF Servo on command (from controller) (95ms) ON OFF (Note 3) Position command (Note 4) Electromagnetic brake 0r/min Release delay time and external relay (Note 2) 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 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. Make the controller execute the position command after the electromagnetic brake is released. 4. In position control mode 5. “Tb” refers to a delay time when the electromagnetic brake interlock (MBR) is turned off until when the base circuit is shut off at servo-off. Set Tb using parameter No.PC02. 6. When turning OFF servo amplifiers, the base circuit remains ready on state. When the status is ready off, the base circuit and the servo-on command turns OFF at the same time. (Tb=0) 13 - 39 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (2) Alarm occurrence timing chart CAUTION When an alarm has occurred, remove its cause, make sure that the operation signal is not being input, ensure safety, and reset the alarm before restarting operation. As soon as an alarm occurs, make the Servo off status and interrupt the main circuit power. (a) When control function of magnetic contactor is enabled 1) Converter unit When an alarm occurs in the converter unit, the magnetic contactor is turned off and the main circuit magnetic contactor is shut off. The drive unit in operation stops. To deactivate the alarm, turn the control circuit power off, then on or request the operation from the driver unit. However, the alarm cannot be deactivated unless its cause is removed. Converter unit control power supply Main circuit power supply b) ON OFF ON OFF a) OFF Converter unit alarm Drive unit control power supply Base circuit Servo-on command (from controller) d) ON Alarm occurrence ON c) OFF OFF ON Alarm occurrence OFF ON OFF (3s) (3s) ON OFF OFF Drive unit alarm ON OFF 1.5s Reset command (from controller) ON OFF 50ms or more a) in Figure Even if an alarm occurs in the converter when the drive unit is at servo off, the drive unit does not detect the alarm. b) c) in Figure To deactivate the alarm of the converter unit, turn the power of the converter unit off, and then on (b)) or make the drive unit servo on (c)). (Refer to section 13.6.1.) d) in Figure If an alarm occurs in the converter when the drive unit is at servo on, the alarm also occurs in the drive unit and the drive unit becomes servo off. 13 - 40 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 2) Drive unit When an alarm occurs on the drive unit, the base circuit is shut off and the servo motor coasts. When using a dynamic brake (option), the dynamic brake is activated to stop the servo motor. To deactivate the alarm, power the control circuit off, then on, turn the reset (RES) on or CPU reset command. However, the alarm cannot be deactivated unless its cause is removed. Converter unit control power supply Main circuit power supply ON OFF a) ON a) OFF OFF Converter unit alarm Drive unit control power supply Base circuit Servo-on command (from controller) ON OFF ON OFF (3s) OFF OFF Drive unit alarm 1.5s Reset command (from controller) a) in Figure (3s) ON ON ON OFF Alarm occurrence OFF 50ms or more After completing to start the drive unit, the main circuit power is supplied while the drive unit and the converter unit have no alarms. 13 - 41 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (b) When controlling magnetic contactor by external sequence 1) Converter unit When an alarm occurs on the converter unit, the servo-on turns OFF; however, the main circuit power supply is not shut off. Therefore, shut off the main circuit power supply by the external sequence. After cancelling the alarm on the converter unit (when an alarm is also occurring on the drive unit after cancelling the alarm on the drive unit as well), turning ON the reset command enables to operate again. Converter unit control power supply Main circuit power supply b) ON OFF e) ON OFF a) OFF Converter unit alarm Drive unit control power supply Base circuit Servo-on command (from controller) d) ON Alarm occurrence ON c) OFF OFF ON Alarm occurrence OFF ON OFF (3s) (3s) ON OFF OFF Drive unit alarm ON OFF 1.5s Reset command (from controller) ON OFF 50ms or more a) in Figure Even if an alarm occurs in the converter when the drive unit is at servo off, the drive unit does not detect the alarm. b) c) in Figure To deactivate the alarm of the converter unit, turn the power of the converter unit off, and then on (b)) or make the drive unit servo on (c)). (Refer to section 13.6.1.) d) in Figure If an alarm occurs in the converter unit when the drive unit is at servo on, the alarm also occurs in the drive unit and the drive unit becomes servo off. e) in Figure Shut off the main circuit power supply by the external sequence as soon as an alarm occurs. 13 - 42 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 2) Drive unit When an alarm occurs in the drive unit, the drive unit turns into the servo off but the main circuit power supply is not shut off. Therefore, shut off the main circuit power supply using the external sequence. Operation can be resumed by turning the reset (RES) ON after the alarm is deactivated in the drive unit. Converter unit control power supply Main circuit power supply ON OFF a) ON OFF OFF Converter unit alarm Drive unit control power supply Base circuit Servo-on command (from controller) ON OFF ON OFF (3s) OFF OFF 1.5s a) in Figure b) in Figure (3s) ON Drive unit alarm Reset command (from controller) b) ON ON OFF Alarm occurrence OFF 50ms or more When an alarm occurs on the drive unit, shut off the main circuit power supply by the external sequence. Turn ON the main circuit power supply while an alarm of the drive unit is cancelled. 13 - 43 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (3) Forced stop (EM1) ON/OFF timing chart (a) When control function of magnetic controller is enabled 1) Converter unit When the forced stop (EM1) is made valid in the converter unit, the magnetic contactor is turned off and the main circuit power supply is shut off. The drive unit in operation stops, and Main circuit off warning (E9) appears. When the forced stop (EM1) is deactivated in the converter unit, the magnetic contactor is turned on, the main circuit power is supplied, and then the drive unit automatically resumes the operation. Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake release Electromagnetic brake Servo motor speed Base circuit Electromagnetic brake interlock (MBR) Converter main circuit off warning Main circuit power supply Forced stop (EM1) (3s) (10ms) ON OFF (Note) ON Electromagnetic brake operation delay time (3s) OFF ON OFF (3s) ON OFF Invalid (ON) Valid (OFF) Note. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated 13 - 44 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 2) When CNP1 is invalid When the forced stop (EM1) is input in the converter unit, the drive unit in operation stops and Main circuit off warning (E9) appears. When the forced stop (EM1) is deactivated in the converter unit, the drive unit automatically resumes the operation. Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake release Electromagnetic brake Servo motor speed Base circuit Electromagnetic brake interlock (MBR) Converter main circuit off warning Main circuit power supply Forced stop (EM1) (3s) (10ms) ON OFF (Note) ON Electromagnetic brake operation delay time (3s) OFF ON OFF ON OFF Invalid (ON) Valid (OFF) Note. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated 13 - 45 (3s) 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (b) Forced stop in the drive unit When the forced stop (EM1) is made valid in the drive unit, the drive unit in operation stops, Main circuit off warning (E9) appears, and then the drive unit is forcedly stopped. Configure to activate the forced stop (EM1) of the drive unit as the forced stop (EM1) of the converter unit is activated, and to activate the forced stop (EM1) of the converter unit as the forced stop (EM1) of the drive unit is activated. Shut off the power supply by the external sequence as soon as the forced stop (EM1) is activated. Dynamic brake Dynamic brake Electromagnetic brake Servo motor speed Base circuit Electromagnetic brake interlock (MBR) Electromagnetic brake OFF (Note) ON OFF Forced stop command Invalid (ON) (from controller) or forced stop (EM1) Valid (OFF) Main circuit power supply (3s) (10ms) ON ON OFF Note. ON: Electromagnetic brake is not activated. OFF: Electromagnetic brake is activated 13 - 46 Electromagnetic brake release Electromagnetic brake operation delay time (3s) 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.3.8 Servo motor side details Terminal box Encoder connector signal arrangement CM10-R10P Encoder connector CM10-R10P 10 9 8 7 Terminal No. 3 6 2 5 1 4 Signal 1 MR 2 MRR 3 4 BAT 5 LG 6 7 8 P5 9 10 HA-LP30K1M4 HA-LP30K24 HA-LP37K24 HA-LP30K1 HA-LP37K1 HA-LP30K1M HA-LP37K1M HA-LP30K2 HA-LP37K2 HA-LP25K14 HA-LP30K14 HA-LP37K14 HA-LP37K1M4 Motor power supply terminal block screw size M8 M10 Earth screw size M6 M6 Motor power supply terminal block (U V W) M8 screw U HA-LP45K1M4 HA-LP50K1M4 HA-LP45K24 HA-LP55K24 Terminal block signal arrangement Encoder connector CM10-R10P V SHD U W Thermal sensor terminal block (OHS1 OHS2) M4 screw Cooling fan terminal block (BU BV BW) M4 screw Earth terminal M6 screw 13 - 47 V W BU BV BW OHS1 OHS2 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) Signal name Servo motor power supply Abbreviation U V W Description Connect to the motor power terminals (U, V, W) of the drive unit. During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur. Supply power which satisfies the following specifications. Servo motor HA-LP30K1M, 30K2, 37K2 Cooling fan BU BV BW Voltage division Voltage/ frequency Power consumption [W] Rated current [A] 200V class 3-phase 200 to 230VAC 50Hz/60Hz 65(50Hz) 85(60Hz) 0.20(50Hz) 0.22(60Hz) 120(50Hz) 175(60Hz) 0.65(50Hz) 0.80(60Hz) 65(50Hz) 85(60Hz) 0.12(50Hz) 0.14(60Hz) 110(50Hz) 150(60Hz) 0.20(50Hz) 0.22(60Hz) HA-LP30K1, 37K1, 37K1M HA-LP30K1M4, 30K24, 37K24 400V class HA-LP30K14, 37K14, 37K1M4, 45K1M4, 50K1M4, 45K24, 55K24 Motor thermal relay Earth terminal OHS1 OHS2 3-phase 380 to 460VAC 50Hz 3-phase 380 to 480VAC 60Hz OHS1-OHS2 are opened when heat is generated to an abnormal temperature. Maximum rating: 125V AC/DC, 3A or 250V AC/DC, 2A Minimum rating: 6V AC/DC, 0.15A For grounding, connect to the earth of the control box via the earth terminal of the drive unit. 13 - 48 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.4 Display section and operation section of the converter unit 13.4.1 Display flowchart Use the display (3-dight, 7-segment LED) on the front panel of the converter unit for status display, parameter setting, etc. Set the parameters before operation, diagnose an alarm, confirm external sequences, and/or confirm the operation status. Press the MODE, UP or DOWN button once to move the next screen. Button MODE Status display Diagnosis Alarm Basic parameters (Note) Status External I/O signal display Current alarm Parameter No.PA01 (Note) Bus voltage [V] Output signal forced output Effective load ratio [%] Software version low Peak load ratio [%] Software version high First alarm in past Parameter No.PA02 DOWN UP (Note) Regenerative load ratio [%] Sixth alarm in past Parameter No.PA18 (Note) Parameter error No. Parameter No.PA19 Note. When parameter is selected, parameter group and parameter No. are displayed alternately. Refer to section 13.4.5 for details. 13 - 49 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.4.2 Status display mode The servo status during operation is shown on the 3-digit, 7-segment LED display. Press the "UP" or "DOWN" button to change display data as desired. When the required data is selected, the corresponding symbol is displayed. Press the "SET" button to display that data. The converter unit display section can show four items of data such as the effective load factor. (1) Display examples The following table shows the display examples. Item Status Display Ready off Status Ready on Bus voltage 300[V] Effective load ratio 67[%] Peak load ratio 95[%] Regenerative load ratio 90[%] (2) Status display list The following table lists the converter unit statuses that may be displayed. Status display Status Symbol Unit Description Indication range Ready off The ready off is displayed during initialization or alarm occurrence, in the forced stop status, or when the bus voltage is not established. roF Ready on The ready on is displayed when the servo was switched on after completion of initialization and the servo amplifier is ready to operate. ron Bus voltage d V The converter unit voltage is displayed. 0 to 999 0 to 300 Effective load ratio J % Continuous effective load torque is displayed. (Note) The effective value in the past 15 seconds is displayed relative to the rated current of 100%. Peak load ratio b % The peak output is displayed. (Note) The peak value in the past 15 seconds is displayed relative to the rated torque of 100%. 0 to 400 Regenerative load ratio L % The percentage of regenerative power to the permissible regenerative value is displayed. 0 to 300 Note. Output = converter unit bus voltage output current 13 - 50 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.4.3 Diagnostic mode (1) Diagnostic list Name Sequence Display Unit Not ready. Initializing. An alarm occurred. External forced stop status. Bus voltage is not established. Ready Indicates that the servo was switched on after completion of initialization and the drive unit is ready to operate. External I/O signal display Indicates the ON/OFF status of external I/O signal. Lit : ON Extinguished: OFF For details, refer to (2) of this section. Output signal forced output Allows external I/O signal to be switched on/off forcibly. For details, refer to (3) of this section. Software version low Indicates the version of the software. Software version high Indicates the system number of the software. (2) External I/O signal display The ON/OFF states of the digital I/O signals connected to the converter unit can be confirmed. (a) Operation Call the display screen shown after power-on. Using the "MODE" button, show the diagnostic screen. Press MODE once. External I/O signal display screen 13 - 51 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (b) Display definition The 7-segment LED segments and CN1 connector pins correspond as shown below. CN1-7: Forced stop (EM1) Input signals Output signals CN1-8: CN-2: Warning (WNG) Trouble (ALM) Lit: ON Extinguished: OFF The LED segment corresponding to the pin is lit to indicate ON, and is extinguished to indicate OFF. (3) Output signal forced output You can force the output signal to be switched on/off, independently of the converter status. This function is used for wiring check of output signal. When turning CN1-8 on and off Press MODE once. External I/O signal display screen Press UP once. Press SET for more than 2 seconds. The signal under the lit LED is switched on/off. Indicates ON/OFF of the trouble (ALM) signal. (Lit: ON, extinguished: OFF) CN1-8 CN1-2 Press MODE once. The lit LED moves to the upper LED of CN1-8. Press UP once. CN1-8 switches on. (WNG-DOCOM are connected.) CN1-8 Press DOWN once. CN1-8 switches off. Press SET for more than 2 seconds. Call the display screen shown after power-on. 13 - 52 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.4.4 Alarm mode The current alarm, parameter error and point table error are displayed. The lower 2 digits on the display indicate the alarm number that has occurred or the parameter number in error. Display example are shown below. Name Display Description Indicates on occurrence of an alarm. Current alarm Indicates that overvoltage (A.33) occurred. Flickers at alarm occurrence. Indicates that the last alarm is overload (A.50). Indicates that the second alarm in the past is overvoltage (A.33). Indicates that the third alarm in the past is undervoltage (A.10). Alarm history Indicates that the fourth alarm in the past is undervoltage (A.10). Indicates that the fifth alarm in the past is undervoltage (A.10). Indicates that the sixth alarm in the past is overload (A.50). Indicates no occurrence of parameter error (A.37). Parameter error No. Displayed alternately Indicates that the data of parameter No.PA01 is faulty. 13 - 53 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) Functions at occurrence of an alarm (1) Any mode screen displays the current alarm. (2) The other screen is visible during occurrence of an alarm. At this time, the decimal point in the third digit flickers. (3) To clear any alarm, switch power off, then on or press the "SET" button on the current alarm screen. Note that this should be done after removing the case of the alarm. 13.4.5 Parameter mode POINT The display section of the converter unit has three digits. When a parameter No. is displayed, parameter group and parameter No. are displayed alternately. When, for example, "PA01" is displayed, alternately. and are displayed The following example gives the operation procedure after power-on for use of the regenerative options (MRRB137). Press MODE three time The parameter number is displayed. For parameter No.PA01, “PA” and “01” are displayed alternately. Displayed alternately Press UP or DOWN to change the number. (Note) Press MODE twice The set value of the specified parameter number flickers. In this case, the lower three digits “0000” of the set value “0000” are displayed. Press MODE once During flickering, the set value can be change. Use UP or DOWN . ( 2: MR-RB137 (3 pcs.) are used.) Press SET to enter. Note. If the "MODE" button is pressed when the lower three digits of the four digits "0000" are displayed, the fourth digit "0000" is displayed as . However, do not change the setting of the fourth digit. Press the "MODE" button again to reset the display to the lower three digits . To shift to the next parameter, press the "UP"/"DOWN" button. When changing the parameter No.PA01 setting, change its set value, then switch power off once and switch it on again to make the new value valid. 13 - 54 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.5. Parameters for converter unit CAUTION Never adjust or change the parameter values extremely as it will make operation instable. POINT Refer to chapter 5 for parameters for drive unit. 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. Never change parameters for manufacturer setting. 13.5.1 Parameter list No. Symbol Name Initial value PA01 *REG Regenerative option PA02 *MCC Magnetic contactor drive output selection 0001h For manufacturer setting 0001h PA03 0000h PA04 0 PA05 100 PA06 0 PA07 100 PA08 *DMD Status display selection 0000h PA09 *BPS Alarm history clear 0000h PA10 For manufacturer setting 0 PA11 PA12 PA13 0000h *DIF Input filter setting 0002h For manufacturer setting 0000h PA14 0000h PA15 0000h PA16 0000h PA17 0000h PA18 0000h PA19 0000h 13 - 55 Unit 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.5.2 List of details No. Symbol PA01 *REG Name and function Regenerative option Used to select the regenerative option. Initial value Refer to Name and function column. 0001h Refer to Name and function column. Select the regenerative option. 00: No used 01: MR-RB139 Only for MR-J3-CR55K 02: MR-RB137(3 pcs.) 11: MR-RB136-4 Only for MR-J3-CR55K4 12: MR-RB138-4(3 pcs.) "01" and "02" are the set values for the MR-J3-CR55K only, and "11" and "12" are those for the MR-J3-CR55K4 only. Wrong setting will result in parameter alarm (A.37). Magnetic contactor drive output selection Used to select the output of the magnetic contactor drive power supply. 0 0 0 Used to select the output of the magnetic contactor drive power supply. 0: No used 1: Used PA03 For manufacturer setting PA04 Do not change this value by any means. 0001h 0 PA05 100 PA06 0 PA07 100 PA08 *DMD Status display selection Used to select the status display shown at power-on. 0000h Refer to Name and function column. 0000h Refer to Name and function column. 0 0 0 Status display of converter unit display section at power-on. 0: Status 1: Bus voltage 2: Effective load ratio 3: Peak load ratio 4: Regenerative load ratio PA09 Setting range 0000h 0 0 PA02 *MCC Unit *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). PA10 For manufacturer setting PA11 Do not change this value by any means. 0 0000h 13 - 56 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) No. Symbol PA12 *DIF Initial value Name and function Input filter setting Select the input filter. Unit 0002h Refer to Name and function column. 0 0 0 Input signal filter If external input signal causes chattering due to noise, etc., input filter is used to suppress it. 0: None 1: 1.777[ms] 2: 3.555[ms] 3: 5.333[ms] PA13 For manufacturer setting 0000h PA14 Do not change this value by any means. 0000h PA15 0000h PA16 0000h PA17 0000h PA18 0000h PA19 0000h Setting range 13.6 Troubleshooting 13.6.1 Converter unit (1) Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to (2) or (3) of this section and take the appropriate action. Switch power off, then on to deactivate the alarm. The alarms marked " " in the alarm deactivation column of the table can be deactivated by pressing the "RES" key of the converter unit side parameter unit or switching on the reset signal (RES). Alarm deactivation Display Name Power Alarm OFF Undervoltage A.12 Memory error1 (RAM) A.15 Memory error2 (EEP-ROM) A.17 Board error A.19 Memory error3 (Flash-ROM) A.30 Regenerative error A.33 Over voltage A.37 Parameter error A.38 MC drive circuit error A.39 Open phase A.3A ON A.91 reset Warning A.10 Display Error A.E0 A.E1 A.E6 A.E8 (Note) (Note) (Note) (Note) Name Overheat warning Excessive regenerative load warning Over load warning Converter forced stop warning Cooling fan speed reduction warning Inrush current suppressor circuit error A.45 Main circuit device overheat A.47 Cooling fan error A.50 Over load 1 (Note) (Note) A.51 Over load 2 (Note) (Note) 888 Watchdog Note. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence. 13 - 57 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (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, always remove its cause and allow about 30 minutes for cooling before resuming operation. If operation is resumed by switching control circuit power off, then on to reset the alarm, the converter unit and regenerative option may become faulty. Regenerative error (A.30) Over load 1 (A.50) Over load 2 (A.51) Main circuit device overheat (A.45) The alarm can be deactivated by switching the power off, then on or by the error reset command from the host controller. Refer to (1) in this section for details. When an alarm occurs, the trouble (ALM) signal switches off and the display section shows the alarm number. Remove the cause of the alarm in accordance with this section. Display A.10 Name Undervoltage Definition Power supply voltage dropped. Cause 1. Instantaneous control power failure occurred for more than 60ms. Action Review the power supply. 2. Shortage of power supply capacity caused the power supply voltage to drop at start, etc. 3. Failure of the part in the converter unit. Checking method Change the Converter unit. Alarm (A.10) occurs if power is switched on after connectors disconnected. A.12 Memory error 1 RAM memory fault (RAM) Failure of the part in the converter unit. Checking method Change the converter unit. Alarm (A.12) occurs if power is switched on after connectors disconnected. A.15 Memory error 2 EEP-ROM fault (EEP-ROM) 1. Failure of the part in the converter unit. Checking method Change the converter unit. Alarm (A.15) occurs if power is switched on after connectors disconnected. 2. The number of write times to EEPROM exceeded 100,000. A.17 Board error A.19 Memory error 3 ROM memory fault (Flash-ROM) CPU/parts fault Failure of the part in the converter unit. Checking method Alarm (A.17/A.19) occurs if power is switched on after connectors disconnected. 13 - 58 Change the converter unit. 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) Display A.30 Name Regenerative error Definition Permissible regenerative power of regenerative option is exceeded. Cause Action 1. Wrong setting of parameter No.PA01 Set correctly. 2. Regenerative option is not connected. Connect correctly. 3. High-duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative option to be exceeded. Checking method 1. Reduce the frequency of positioning. 2. Use the regenerative option of larger capacity. 3. Reduce the load. Call the status display and check the regenerative load ratio. 4. Power supply voltage is abnormal. MR-J3-CR55K: 260VAC or more MR-J3-CR55K4: 520VAC or more Review power supply 5. Regenerative option faulty. Change converter unit or regenerative option. 6. Ground fault occurred in servo motor power (U, V, W). Correct the wiring. Regenerative transistor fault 7. Regenerative transistor faulty. Checking method Change the converter unit. 1) The regenerative option has overheated abnormally. 2) The alarm occurs even after removal of the built-in regenerative resistor or regenerative option. A.33 A.37 Over voltage Parameter error Converter bus voltage exceeded to following voltage. MR-J3-CR55K: 400VDC MR-J3-CR55K4: 800VDC Parameter setting is wrong. 1. Regenerative option is not used. Use the regenerative option. Set correctly. 2. Though the regenerative option is used, the parameter No.PA01 setting is " 00 (not used)". 3. Lead of regenerative option is open or disconnected. 1. Change lead. 2. Connect correctly. 4. Regenerative transistor faulty. Change the converter unit. 5. Wire breakage of regenerative option. Change the regenerative option. 6. Capacity of regenerative option is insufficient. Add regenerative option or increase capacity. 7. Power supply voltage high. Review the power supply. 8. Ground fault occurred in servo motor power (U, V, W). Correct the wiring. 1. Converter unit fault caused the parameter setting to be rewritten. Change the converter unit. 2. Regenerative option not used with converter unit was selected in parameter No.PA02. Set parameter No.PA01 correctly. 3. The number of write times to EEP-ROM exceeded 100,000 due to parameter write, etc. Change the converter unit. 13 - 59 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) Display A.38 A.39 A.3A Name Definition MC drive circuit Magnetic contactor drive error circuit error (When the magnetic contactor is turned on: the main circuit power supply is not turned on within two seconds after the servo-on of the drive unit. When the magnetic contactor is opened: the main circuit power supply is turned on although the magnetic contactor is opened.) Open phase Inrush current suppressor circuit error Power supply error Inrush current suppressor circuit error Cause Action 1. Wrong connection of the magnetic contactor. Review the wiring. 2. Parameters specifying whether to use/not use the magnetic contactor do not match the configuration. Set parameter No.PA02 correctly. 3. Magnetic contactor failed. Change the magnetic contactor. 4. Magnetic contactor drive circuit faulty. Checking method Change the converter unit. Check the output of magnetic contactor control connector (CNP1) . Power supply voltage is applied to this connector. Take care to avoid an electric shock at connecting. 5. Mismatch of an external sequence. Review the power-on sequence. (Refer to section 3.3.2.) 1. Any of L1, L2 and L3 is disconnected. Or, open. Review the wiring. 2. Failure of the part in the converter unit. Change the converter unit. 1. Power-on/off was repeated with high frequency. Review operation pattern. 2. Inrush current suppressor resistance overheated. Change the converter unit. 3. Inrush current suppressor circuit faulty. A.45 A.47 Main circuit device overheat Cooling fan alarm Main circuit device overheat. 1. The power supply was turned on and Review operation pattern. off continuously by overloaded status. 2. Ambient temperature of converter unit is over 55 . Review environment so that ambient temperature is 0 to 55 . 3. Converter unit faulty. Change the converter unit. The cooling fan of the 1. Cooling fan life expiration. (Refer to converter unit stopped, or its section 2.6.) speed decreased to or 2. Foreign matter caught in the cooling below the alarm level. fan stopped rotation. Change the cooling fan of the converter unit. Remove the foreign matter. 3. The power supply of the cooling fan failed. Change the converter unit. A.50 Overload 1 Load exceeded overload protection characteristic of converter unit. Converter unit is used in excess of its continuous output current. 1. Reduce load. 2. Review operation pattern. A.51 Overload 2 Load exceeded overload protection characteristic of converter unit. Converter unit is used in excess of its output current for a short time. Review operation pattern of a drive unit. (Note) 888 Watchdog CPU/parts fault Failure of the part in the converter unit. Checking method Change the converter unit. Alarm (888) occurs if power is switched on after connectors disconnected. Note. At power-on, "888" appears instantaneously, but it is not an error. 13 - 60 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (3) Remedies for warnings Continuing operation in an alarm occurrence status may result in an alarm or disable proper operation. Eliminate the cause of the warning according to this section. The warning displayed will disappear when the cause of its occurrence is resolved. Display A.91 A.E0 A.E1 Name Overheat warning Excessive regenerative load warning Overload warning Definition The temperature of the fin exceeded the warning level. Cause Action 1. Operated in the overloaded status. Review operation pattern. 2. Ambient temperature of converter unit is over 55 . Review environment so that ambient temperature is 0 to 55 . 3. Used beyond the specifications of close mounting. Use within the range of specifications. 4. Converter unit faulty. Change the converter unit. There is a possibility that regenerative power may exceed permissible regenerative power of regenerative option. Regenerative power increased to 85% or more of permissible regenerative power of regenerative option. Checking method 1. Reduce frequency of positioning. 2. Change regenerative option for the one with larger capacity. 3. Reduce load. There is a possibility that overload alarm 1 or 2 may occur. Load increased to 85% or more of overload alarm 1 or 2 occurrence level. Cause, checking method Call the status display and check the regenerative load ratio. Refer to A.50, A.51. Refer to A.50, 51. A.E6 Converter forced stop warning EM1 is off. External forced stop was made valid. (EM1 was turned off.) Ensure safety and deactivate forced stop. A.E8 Cooling fan speed reduction warning The speed of the converter unit cooling fan decreased to or below the warning level. 1. Cooling fan life expiration. (Refer to section 2.6.) Change the cooling fan of the converter unit. 2. The power supply of the cooling fan failed. Change the converter unit. (4) Clearing the alarm history You can clear the alarm numbers stored in the alarm history of the alarm mode. To ensure that you can control the alarms that will occur after regular operation, make this setting before starting regular operation to clear the alarm history. After setting "0001" in parameter No.PA09, switch power off once. Switching it on again clears the alarm history. At this time, the parameter No.PA09 setting returns to "0000". 13 - 61 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.6.2 Drive unit POINT Explanation made in this section is exclusively for the driver unit. Other troubleshooting is the same as that for servo amplifiers with 22kW or less. Refer to chapter 8. As soon as an alarm occurs, make the Servo off status and interrupt the main circuit power. (1) Alarms and warning list When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning has occurred, refer to (2) or (3) of this section and take the appropriate action. When an alarm occurs, the ALM turns OFF. After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm deactivation column. The alarm is automatically canceled after removing the cause of occurrence. Alarm deactivation Display Alarms 1B Name Power OFF ON Error reset CPU reset Display Name 9C Converter warning E9 Main circuit off warning Alarms Converter alarm (2) Remedies for alarms CAUTION When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm, and restart operation. Otherwise, injury may occur. As soon as an alarm occurs, mark servo-off and power off the main circuit and control circuit. POINT 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 (1) of this section. When an alarm occurs, the trouble (ALM) switches off and the dynamic brake is operated to stop the servo motor. At this time, the display indicates the alarm No. The servo motor comes to a stop. Remove the cause of the alarm in accordance with this section. MR Configurator may be used to refer to the cause. Display 1B Name Converter alarm Definition An alarm occurred in the converter unit during servo on. Cause Action 1. An alarm occurred in the converter unit during servo on. Check the alarm of the converter unit, and take the action following the remedies for alarms of the converter unit. (Refer to section 13.6.1 (2).) 2. The protection coordination cable or terminal connector is not correctly connected. Connect correctly. 13 - 62 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (3) Remedies for warnings Continuing operation in an alarm occurrence status may result in an alarm or disable proper operation. Eliminate the cause of the warning according to this section. The warning displayed will disappear when the cause of its occurrence is resolved. Indication Name Definition 9C Converter warning A warning occurred in the converter unit during the servo-on command. E9 Main circuit off warning The forced stop of the converter unit is made valid during the servo-on command. Cause Action Check the warning of the converter unit, and take the action following the remedies for warnings of the converter unit. (Refer to section 13.6.1 (3).) 1. The forced stop of the converter unit is made valid. Deactivate the forced stop of the converter unit. 2. The protection coordination cable or terminal connector is not correctly connected. Connect correctly. 13 - 63 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.7 Outline drawings POINT Refer to section 13.2.1 for outline dimension drawing. 13.7.1 Converter unit (MR-J3-CR55K(4)) [Unit: mm] 2- 7 Installation hole Approx. 20 300 260 20 Approx. 80 Cooling fan wind direction 328 Approx. 200 180 128 Terminal block layout (Terminal cover removed) CHARGE TE2-2 TE2-2 TE3 TE3 TE1-1 PE TE1-2 TE1-1 7 TE1-2 277 Mass: 25[kg] (55.2[lb]) Terminal block signal layout TE2-2 Terminal block screw: M6 Tightening torque: 3.0 [N m] (26.6 [lb in]) L L TE3 Terminal block screw: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) L11 L21 TE1-1 L1 L2 L3 P2 P1 TE1-2 C PE Terminal block screw: M10 Tightening torque: 10.0 [N m] (88.5 [lb in]) Terminal block screw: M10 Tightening torque: 10.0 [N m] (88.5 [lb in]) Terminal block screw: M10 Tightening torque: 10.0 [N m] (88.5 [lb in]) 13 - 64 Mounting screw Screw size: M6 Tightening torque: 5.4 [N m] (47.8 [lb in]) 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.7.2 Drive unit (1) MR-J3-DU30KB MR-J3-DU37KB MR-J3-DU45KB4 MR-J3-DU55KB4 [Unit: mm] 2- 7 Installation hole Approx. 20 300 20 Approx. 80 260 Approx. 200 180 Cooling fan wind direction For mounting MR-J3BAT TE2-1 Terminal block layout (Terminal cover removed) TE2-1 TE3 TE1 TE1 TE3 PE Approx. 200 7 128 328 277 Mass: 26[kg] (57.3[lb]) Terminal block signal layout TE2-1 Terminal block screw: M6 Tightening torque: 3.0 [N m] (26.6 [lb in]) L L TE3 Terminal block screw: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) L11 L21 TE1 U PE V W Terminal block screw: M10 Tightening torque: 10.0 [N m] (88.5 [lb in]) Terminal block screw: M10 Tightening torque: 10.0 [N m] (88.5 [lb in]) 13 - 65 Mounting screw Screw size: M6 Tightening torque: 5.4 [N m] (47.8 [lb in]) 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (2) MR-J3-DU30KB4 MR-J3-DU37KB4 [Unit: mm] 240 120 60 2- 6 Installation hole Approx. 60 Approx. 80 Approx. 200 180 Cooling fan wind direction Terminal block layout (Terminal cover removed) For mounting MR-J3BAT TE2 TE3 TE1 Approx. 200 328 6 128 219.2 Mass: 18[kg] (39.7[lb]) Terminal block signal layout TE2 Terminal block screw: M6 Tightening torque: 3.0 [N m] (26.6 [lb in]) L L TE3 Terminal block screw: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) L11 L21 TE1 U PE V W Terminal block screw: M8 Tightening torque: 6.0 [N m] (53.1 [lb in]) Terminal block screw: M8 Tightening torque: 6.0 [N m] (53.1 [lb in]) 13 - 66 Mounting screw Screw size: M5 Tightening torque: 3.2 [N m] (28.3 [lb in]) 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.8 Characteristics 13.8.1 Overload protection characteristics 10000 10000 1000 1000 Operation time [s] Operation time [s] An electronic thermal relay is built in the converter unit and drive unit to protect the servo motor, converter unit and drive unit from overloads. Overload 1 alarm (50) occurs if overload operation performed is above the electronic thermal relay protection curve shown below. 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. It is recommended to use the machine which generates unbalanced torque, e.g. a vertical lift application, so that the unbalanced torque is not more than 70% of the rated torque. During rotation 100 During rotation 100 During servo lock 10 1 10 0 100 (Note 2) 200 250 Load ratio [%] Converter unit 1 100 (Note 2) 0 200 250 (Note 1) Load ratio [%] Drive unit 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 drive unit may fail even when the electronic thermal relay protection is not activated. 2. Load ratio 100% indicates the rated output of each converter unit and drive unit. Refer to section 13.1.4 for rated output. Fig. 13.1 Overload protection characteristics 13 - 67 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.8.2 Power supply equipment capacity and generated loss POINT The calculation method of heat dissipation area for enclosed control panel is the same as that for servo amplifiers with 22kW or less. Refer to section 10.2 (2). Table 13.1 indicates the generated loss and power supply capacity under rated load per combination of the converter unit and drive unit. When the servo motors is run at less than the maximum speed, the power supply equipment capacity is lower than the value in the table but the heat generated does not change. Since the servo motor requires 2 to 2.5 times greater instantaneous power for acceleration, use the power supply which ensures that the voltage lies within the permissible voltage fluctuation at the main circuit power supply terminals (L1, L2, L3) of the converter unit. The power supply equipment capacity changes with the power supply impedance. The actually generated heat falls within the ranges at rated torque and at zero torque according to the frequencies of use during operation. When designing an enclosed control box, use the values in the table, considering the worst operating conditions. The generated heat in Table 13.1 does not include heat produced during regeneration. Table 13.1 Power supply capacity and generated heat per servo amplifier at rated output Power supply capacity [kVA] Converter unit Drive unit At rated torque Area required for heat dissipation At zero torque [m2] MR-J3-DU30KB HA-LP30K1 HA-LP30K1M HA-LP30K2 48 40 1550(1100+450) 31.0 MR-J3-DU37KB HA-LP37K1 HA-LP37K1M HA-LP37K2 59 49 1830(1280+550) 36.6 HA-LP25K14 40 35 1080(850+230) 21.6 HA-LP30K14 HA-LP30K1M4 HA-LP30K24 48 40 1290(1010+280) MR-J3DU37KB4 HA-LP37K14 HA-LP37K1M4 HA-LP37K24 59 49 1542(1200+342) 30.8 MR-J3DU45KB4 HA-LP45K1M4 HA-LP45K24 71 59 1810(1370+440) 36.2 MR-J3DU55KB4 HA-LP50K1M4 80 67 2120(1650+470) 42.4 HA-LP55K24 87 72 2150(1650+500) 43.0 MR-J3-CR55K MR-J3DU30KB4 MR-J3-CR55K4 Servo motor Power factor Power factor improving DC improving DC reactor is not reactor is used used (Note) Drive unit-generated heart[W] 60(30+30) 25.8 Note. The heat generated by the drive unit is indicated in the left term within the parentheses, and the heat generated by the converter unit in the right term. 13 - 68 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.8.3 Dynamic brake characteristics (1) Dynamic brake operation (a) Calculation of coasting distance Fig. 13.2 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated. Use Equation 13.1 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 (b). Please contact us for the servo motor not indicated.) Forced stop (EM1) ON OFF Time constant Machine speed V0 te Time Fig 13.2 Dynamic Brake Operation Diagram Lmax Lmax V0 JM JL te Vo 60 te 1 JL JM ·················································································································· (13.1) : Maximum coasting distance ·········································································································· [mm] : Machine rapid feed rate ······························································································ [mm/min][in/min] 2 2 : Servo motor inertial moment ······················································································ [kg cm ][oz in ] 2 2 : Load inertia moment converted into equivalent value on servo motor shaft ·············· [kg cm ][oz in ] : Brake time constant ·························································································································· [s] : Delay time of control section ············································································································ [s] For 7kW or less servo, there is internal relay delay time of about 30ms. For 11k to 22kW servo, there is delay time of about 100ms caused by a delay of the external relay and a delay of the magnetic contactor built in the external dynamic brake. 13 - 69 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (b) Dynamic brake time constant The following shows necessary dynamic brake time constant 40 40 35 HA-LP30K1 HA-LP37K1 [ms] 25 Time constant Time constant [ms] 30 20 15 35 HA-LP25K14 HA-LP30K14 30 HA-LP37K14 25 20 15 10 10 5 5 0 for the equations (13.1). 0 200 0 400 600 800 1000 1200 Speed [r/min] 0 200 400 600 800 1000 1200 Speed [r/min] HA-LP1000r/min series 60 60 HA-LP37K1M HA-LP37K1M4 [ms] HA-LP30K1M 40 Time constant Time constant [ms] 50 30 20 10 0 50 HA-LP45K1M4 HA-LP50K1M4 40 HA-LP30K1M4 30 20 10 0 500 1000 1500 Speed [r/min] 0 2000 0 HA-LP1500r/min series 13 - 70 500 1000 1500 Speed [r/min] 2000 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 45 45 40 HA-LP45K24 40 HA-LP30K2 20 15 [ms] 25 35 HA-LP37K2 30 Time constant [ms] 30 Time constant 35 25 5 5 500 1000 1500 Speed [r/min] HA-LP30K24 15 10 0 HA-LP37K24 20 10 0 HA-LP55K24 0 2000 0 500 1000 1500 Speed [r/min] 2000 HA-LP2000r/min series (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 external dynamic brake may burn. If there is a possibility that the load inertia moment may exceed the value, contact Mitsubishi. The values of the load inertia moment ratio in the table are the values at the maximum rotation speed of the servo motor. Load inertia moment ratio [Multiplier ( 1)] Drive unit MR-J3-DU30KB(4) MR-J3-DU37KB(4) MR-J3-DU45KB4 MR-J3-DU55KB4 13 - 71 10 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.8.4 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 (200V class: 253VAC, 400V class: 528VAC) is applied at the power supply capacity of 2500kVA and the wiring length of 1m. Converter unit Drive unit MR-J3-DU30KB MR-J3-CR55K MR-J3-DU37KB Inrush currents (A0-p) Main circuit power supply (L1, L2, L3) Control circuit power supply (L11, L21) 163A (Attenuated to approx. 20A in 180ms) 18A (Attenuated to approx. 0A in 100ms) 339A (Attenuated to approx. 20A in 70ms) 19A (Attenuated to approx. 0A in 60ms) MR-J3-DU30KB4 MR-J3-CR55K4 MR-J3-DU37KB4 MR-J3-DU45KB4 MR-J3-DU55KB4 Since large inrush currents flow in the power supplies, always use no-fuse breakers and magnetic contactors. (Refer to section 13.9.5.) When circuit protectors are used, it is recommended to use the inertia delay type that will not be tripped by an inrush current. 13.9 Options WARNING Before connecting any option or peripheral equipment, turn off the power and wait for 20 minutes or more until the charge lamp turns off. Then, confirm that the voltage between L and L is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the converter unit whether the charge lamp is off or not. CAUTION Use the specified auxiliary equipment and options. Unspecified ones may lead to a fault or fire. POINT Explanations on the following item are the same as those for servo amplifiers with 22kW or less. Refer to the section below for details. Cable/connector sets Refer to section 11.1. Junction terminal block Refer to section 11.7. MR Configurator Refer to section 11.8. Battery Refer to section 11.9. Relays Refer to section 11.15. Surge absorbers Refer to section 11.16. Radio noise filter (FR-BIF(-H)) Refer to section 11.17 (2) (e). 13.9.1 Cables and connectors POINT Other connectors are the same as those for servo amplifiers with 22kW or less. Refer to section 11.1. 13 - 72 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (1) Makeup of cables and like The following shows the cable makeup for connection with the servo motor and other model. Converter unit 7) CNP1 Drive unit CN40 CN40A 1) CN1 CN2 2) 8) CN40B 6) 3) 4) 5) Servo motor HA-LP Terminal box No. Product Model Description 1) Protection coordination cable MR-J3CDL M Refer to (2) of this section. Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent) Connector: PCR-S20FS+ Case: PCR-LS20LA1 (Honda Tsushin Kogyo) 2) Connector set MR-J2CN1-A Refer to (2) of this section. Connector: 10120-3000PE Shell kit: 10320-52F0-008 (3M or equivalent) Connector: PCR-S20FS+ Shell kit: PCR-LS20LA1 (Honda Tsushin Kogyo) 3) Termination connector MR-J3-TM 4) Encoder cable MR-J3ENSCBL M-L Cable length: 2 5 10 20 30m 5) Encoder cable MR-J3ENSCBL M-H Cable length: 2 5 10 20 30 40 50m 6) Encoder connector set MR-J3SCNS Application IP67 Standard life For HA-LP series Refer to section 11.1.2 (4) for details. IP67 Long flex life IP67 For HA-LP series Refer to section 11.1.2 (4) for details. 7) Magnetic contactor wiring connector Converter unit side connector (Phoenix Contact) Socket: GFKC 2.5/2-STF-7.62 8) Digital I/O connector Converter unit side connector (DDK) Connector: 17JE23090-02(D8A)K11-CG 13 - 73 Supplied with converter unit 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (2) MR-J3CDL05M(0.5m) Protection coordination cable CAUTION Connect protection coordination cables correctly if they are fabricated. Otherwise, the system may perform unexpected operation. When fabricating a protection coordination cable, use the recommended wires given in section 13.9.4, and fabricate a protection coordination cable as shown in the wiring diagram in this section. MR-J3CDL05M 10120-3000PE (Connector) 10320-52F0-008 (Shell kit) Converter unit side PCR-S20FS (Connector) PCR-LS20LA1 (Case) 9 1 ACD2 19 11 ACD2* 10 2 ACD3 20 12 ACD3* 7 3 PAL 17 13 PAL* 8 4 ACD1 18 14 ACD1* 5 5 LG 15 15 LG 6 6 GOF 16 16 GOF* 3 7 PMC 13 17 PMC* 4 8 PSD 14 18 PSD* 1 9 LG 11 19 LG 2 10 PRD 12 20 PRD* Drive unit side Plate SD Plate Table 13.2 Recommended wire Length [m(ft)] Model MR-J3CDL05M Core size Number [mm2] of cores 0.5 to 5 (1.64 to 16.4) 0.08 20 (10 pairs) Characteristics of one core (Note 2) Conductor Insulation coating Finishing Structure OD resistance OD d[mm] [Wires/mm] [mm] [ /mm] (Note 1) 7/0.127 Note 1. d is as shown below. d Conductor Insulation sheath 2. Standard OD. Max. OD is about 10% greater. 13 - 74 222 0.38 6.1 Wire model UL20276 AWG#28 10pair (CREAM) 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.9.2 Regenerative option CAUTION The specified combinations of regenerative options, converter unit and drive unit may only be used. Otherwise, a fire may occur. POINT The calculation method of regenerative energy is the same as that for servo amplifiers with 22kW or less. Refer to section 11.2 (2). (1) Combination and regenerative power The regenerative power values in the table are the regenerative power of the resistor and are not the rated power. Regenerative Power [W] Converter unit MR-J3-CR55K Drive unit MR-RB139 (1.3 ) (Note 1) Three MR-RB137 (1.3 ) in parallel 1300 3900 MR-J3-DU30KB MR-J3-DU37KB MR-RB136-4 (5 ) (Note 2) Three MR-RB138-4 (5 ) in parallel 1300 3900 MR-J3-DU30KB4 MR-J3-CR55K4 MR-J3-DU37KB4 MR-J3-DU45KB4 MR-J3-DU55KB4 Note. 1. The composite resistor value of three options is 1.3 . The resistor value of one option is 4 . 2. The composite resistor value of three options is 5 . The resistor value of one option is 15 . (2) Parameter setting POINT Always set parameter No.PA02 of the drive unit to “ 00”(Not used) since the regenerative option cannot be connected to the drive unit. When using the regenerative option, set the parameter of the converter unit. Match parameter No.PA01 to the regenerative option used. Parameter No.PA01 0 0 Regenerative option selection 00: Not used 01: MR-RB139 02: MR-RB137 (3 pcs.) 11: MR-RB136-4 12: MR-RB138-4 (3 pcs.) (3) Regenerative loss of drive unit and servo motor Drive unit Inverse efficiency [%] C charge [J] 90 450 MR-J3-DU30KB MR-J3-DU37KB MR-J3-DU30KB4 MR-J3-DU37KB4 MR-J3-DU45KB4 MR-J3-DU55KB4 13 - 75 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (4) Connection of the regenerative option Always supply 1-phase 200V and 400V respectively to the cooling fan. The cooling fan specifications are as follows. Table 13.3 Cooling fan Item 200V class 400V class Model MR-RB137 MR-RB139 MR-RB136-4 MR-RB138-4 Voltage Frequency 1-phase 198 to 242VAC, 50/60Hz 1-phase 380 to 480VAC, 50/60Hz Power consumption [W] 20 (50Hz)/18 (60Hz) 20 (50Hz)/18 (60Hz) The regenerative option generates heat of 100 higher than the ambient temperature. Fully consider heat dissipation, installation position, used wires, etc. to place the option. For wiring, use flame-resistant wires or make the wires flame-resistant and keep them away from the regenerative option. The G3 and G4 terminals act as a thermal sensor. G3-G4 are opened when the regenerative option overheats abnormally. Always twist the wires for connection with the converter unit and connect the wires within the overall distance of 5m. (a) MR-RB139 MR-RB136-4 Converter unit Power factor improving DC reactor (Option) P1 (Note 1) P2 Servo motor C 5m or less P C (Note 2) 24VDC power supply G3 G4 Regenerative option Cooling fan (Note 4) R S (Note 3) Power supply Note 1. When using the Power factor improving DC reactor, remove the short bar across P1-P2. 2. G3-G4 contact specifications Maximum voltage: 120V AC/DC Maximum current: 0.5V/4.8VDC Maximum capacity: 2.4VA 3. For specifications of cooling fan power supply, refer to Table 13.3. 4. For MR-RB136-4, “R” is “R400” and “S” is “S400”. 13 - 76 OHS1 RA OHS2 Servo motor thermal relay 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (b) MR-RB137 MR-RB138-4 POINT Three of MR-RB137 or MR-RB138-4 are required per converter unit. Please purchase three of MR-RB137 or MR-RB138-4. Converter unit Power factor improving DC reactor (Option) P1 (Note 1) P2 Servo motor C 5m or less P C P C P C G3 G4 Regenerative option G3 G4 Regenerative option G3 G4 Regenerative option Cooling fan Cooling fan Cooling fan (Note 4) R S (Note 4) R S (Note 4) R S 24VDC power supply (Note 2) (Note 3) Power supply Note 1. When using the Power factor improving DC reactor, remove the short bar across P1-P2. 2. G3-G4 contact specifications Maximum voltage: 120V AC/DC Maximum current: 0.5V/4.8VDC Maximum capacity: 2.4VA 3. For specifications of cooling fan power supply, refer to Table 13.3. 4. For MR-RB138-4, “R” is “R400” and “S” is “S400”. 13 - 77 OHS1 RA OHS2 Servo motor thermal relay 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (5) Outline dimension drawings [Unit:mm] 500 480 10 2- 10 hole TE1 230 2.3 10 10 15 197 15 15 215 260 Regenerative option Cooling fan (Note 1) Mass [kg(lb)] MR-RB139 MR-RB136-4 10(22.05) MR-RB137 MR-RB138-4 11(24.25) Terminal block signal layout TE1 R (Note 2) S (Note 2) G4 G3 C P Terminal screw: M5 Tightening torque: 2.0 [N m] (17.7 [lb in]) Mounting screw Screw size: M8 Tightening torque: 13.2 [N m] (117 [lb in]) Note 1. One cooling fan for MR-RB136-4, MR-RB138-4. 2. For MR-RB138-4, “R” is “R400” and “S” is “S400”. 13 - 78 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.9.3 External dynamic brake POINT Configure up a sequence which switches off the contact of the brake unit after (or as soon as) it has turned off the servo on (signal) at a power failure or failure. For the braking time taken when the dynamic brake is operated, refer to section 13.8.3. The brake unit is rated for a short duration. Do not use it for high duty. The specifications of the input power supply for external dynamic brake are the same as those of the converter unit control circuit power supply. Operation timing is the same as that for servo amplifiers with 22kW or less. Refer to section 11.6. (1) Selection of dynamic brake The dynamic brake is designed to bring the servo motor to a sudden stop when a power failure occurs or the protective circuit is activated. When using the external dynamic brake, assign the dynamic brake interlock (DB) to any of CN3-9, CN3-13, and CN3-15 pins in parameter No.PD07 to PD09. Converter unit MR-J3-CR55K Drive unit Dynamic brake MR-J3-DU30KB DBU-37K MR-J3-DU37KB MR-J3-DU30KB4 MR-J3-CR55K4 MR-J3-DU37KB4 DBU-55K-4 MR-J3-DU45KB4 MR-J3-DU55KB4 (2) Connection example Use the following wires to connect the dynamic brake. Wire[mm2] (Note) Dynamic brake a DBU-37K b 2 DBU-55K-4 U V W 14 Note. Selection condition of wire size is as follows. Wire type: 600V Polyvinyl chloride insulated wire (IV wire) Construction condition: One wire is constructed in the air 13 - 79 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) Converter unit NFB Drive unit L L L L (Note 4) Power supply L1 L2 L3 U U V V CN1 W DICOM L21 5 DOCOM CN3 CNP1 6 DICOM 15 ALM RA1 (Note 3) DB RA4 10 DICOM 5 DICOM 3 DOCOM 20 EM1 Plate SD MC1 1 2 ALM MC2 2 7 EM1 9 DOCOM RA2 (Note 3) L11 L21 (Note 2) Drive unit Controller (Note 5) Operation forced stop Forced stop -ready OFF/ON EM1 RA2 RA3 Forced stop (Note 5) (Note 1) MC Converter unit M W 1 L11 RA1 Servo motor MC 14 13 W V U SK a RA4 b Dynamic brake Note 1 Terminals 13, 14 are N/O contact outputs. When the dynamic brake has stuck, terminals 13, 14 are opened. Therefore, configure up the circuit to prevent servo-on in the external sequence. 2. For converter unit and servo amplifier 400 V class, stepdown transformer is required for coil voltage of magnetic contactor more than 200 V class. 3. Assign the dynamic brake interlock (DB) in parameter No.PD07 to PD09. 4. Refer to section 13.1.3 for the power supply specifications. 5. Make up a sequence that turns off the drive unit forced stop (EM1) and the converter unit forced stop (EM1) at the same time. 13 - 80 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (3) Outline dimension drawing 30 2- 10 installation hole 10 [Unit:mm] Terminal block TE1 U V W TE2 330 370 390 Terminal screw: M5 Tightening torque: 2.0 [N m] (17.7 [lb in]) a b 13 14 Terminal screw: M5 Tightening torque: 0.8 [N m] (7.1 [lb in]) a b 1314 U V W 10 15 15 30 TE1 10 TE2 230 260 230 15 220 235 15 Dynamic brake 2.3 15 Mounting screw Screw size: M8 Tightening torque: 13.2 [N m] (117 [lb in]) M ass [kg(lb)] DBU-37K 8(17.64) DBU-55K-4 11(24.25) 13 - 81 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.9.4 Selection example of wires POINT Wires indicated in this section are separated wires. When using a cable for power line (U, V, and W) between the servo amplifier and servo motor, use a 600V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT). For selection of cables, refer to appendix 6. To comply with the UL/C-UL (CSA) Standard, use UL-recognized copper wires rated at 60 (140 ) or more 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 The following diagram shows the wires used for wiring. Use the wires given in this paragraph or equivalent. 3) Power factor improving DC reactor Converter unit Drive unit P1 P2 1) 4) Regenerative option lead 3) Motor power supply lead Servo motor U U V V W W Motor Regenerative option Power supply 1) Main circuit power supply lead C Encoder cable L1 Encoder 6) Thermal relay L2 OHS1 Thermal relay OHS2 L3 L11 L11 L21 L21 2) Control power supply lead Power supply 5) Cooling fan lead Cooling fan BU BV BW 13 - 82 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (1) When using the 600V Polyvinyl chloride insulated wire (IV wire) Selection example of wire size when using IV wires is indicated below. Table 13.4 Wire size selection example 1 (IV wire) Converter unit MR-J3-CR55K Wires[mm2] (Note 1, 3) (Note 2) Drive unit L1 L2 1) L3 3) U V P1 P2 L21 W MR-J3-DU30KB 50(AWG1/0): d 60(AWG2/0): d MR-J3-DU37KB 60(AWG2/0): d (Note 4) MR-J3-DU30KB4 22(AWG4): b MR-J3-CR55K4 2) L11 MR-J3-DU37KB4 30(AWG2): c 30(AWG2): c 2(AWG14) 38(AWG2): c MR-J3-DU45KB4 38(AWG2): c 50(AWG1/0): d MR-J3-DU55KB4 50(AWG1/0): d 60(AWG2/0): d 4) P2 C BU 5) BV 6) BW OHS1 OHS2 2(AWG14) 5.5(AWG10): a 1.25(AWG16) 1.25(AWG16) Note 1. Alphabets in the table indicate crimping tools. For crimping terminals and applicable tools, refer to (3) in this section. 2. When connecting to the terminal block, be sure to use the screws which are provided with the terminal block. 3. For the servo motor with a cooling fan. 4. Wires are selected based on the highest rated current among combining servo motors. (2) When using the 600V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire) Selection example of wire size when using HIV wires is indicated below. Table 13.5 Wire size selection example 2 (HIV wire) Converter unit MR-J3-CR55K Wires[mm2] (Note 1, 3) (Note 2) Drive unit L1 L2 1) L3 3) U V P1 P2 L21 W MR-J3-DU30KB 38(AWG2): c 60(AWG2/0): d MR-J3-DU37KB 60(AWG2/0): d 60(AWG2/0): d MR-J3-DU30KB4 22(AWG4): b MR-J3-CR55K4 2) L11 MR-J3-DU37KB4 22(AWG4): b 2(AWG14) 22(AWG4): e 22(AWG4): e MR-J3-DU45KB4 38(AWG2): c 38(AWG2): c MR-J3-DU55KB4 38(AWG2): c 38(AWG2): c 4) P2 C BU 5) BV 6) BW OHS1 OHS2 2(AWG14) 5.5(AWG10): a 1.25(AWG16) 1.25(AWG16) Note 1. Alphabets in the table indicate crimping tools. For crimping terminals and applicable tools, refer to (3) in this section. 2. When connecting to the terminal block, be sure to use the screws which are provided with the terminal block. 3. For the servo motor with a cooling fan. (3) Selection example of crimping terminals The table below shows a selection example of crimping terminals for the servo amplifier terminal block when using the wires mentioned in (1) and (2) in this section. Servo amplifier side crimping terminals Symbol (Note 2) Crimping terminal Applicable tool Body a FVD5.5-10 YNT-1210S b FVD22-10 YF-1 E-4 (Note 1) c R38-8 R38-10 YPT-60-21 (Note 1) d R60-10 e FVD22-8 YF-1 E-4 Head YNE-38 YET-60-1 YPT-60-21 YF-1 E-4 YET-60-1 YF-1 E-4 YNE-38 Dice Manufacturer DH-123 DH113 TD-124 TD112 Japan Solderless Terminal TD-125 TD113 DH-123 DH-113 Note 1. Coat the part of crimping with the insulation tube. 2. Make sure to use recommended crimping terminals or equivalent since some crimping terminals cannot be installed depending on the size. 13 - 83 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.9.5 No-fuse breakers, fuses, magnetic contactors. Always use one no-fuse breakers and one magnetic contactor with one drive unit. No-fuse breaker Converter unit MR-J3-CR55K MR-J3-CR55K4 Fuse Power factor improving DC reactor is not used Power factor improving DC reactor is used MR-J3-DU30KB 400A frame 250A 225A frame 225A 450 MR-J3-DU37KB 400A frame 300A 400A frame 300A 500 Drive unit Class Current [A] MR-J3-DU30KB4 225A frame 150A 225A frame 125A MR-J3-DU37KB4 225A frame 175A 225A frame 150A MR-J3-DU45KB4 225A frame 225A 225A frame 175A 350 MR-J3-DU55KB4 400A frame 250A 225A frame 225A 400 T Magnetic contactor Voltage AC [V] S-N150 250 S-N180 225 S-N95 250 S-N125 600 S-N150 S-N180 13.9.6 Power factor improving DC reactor The input power factor is improved to about 95%. [Unit: mm] Converter unit MR-J3-CR55K D H W1 X Terminal screw Mass [kg (lb)] 255 215 80 232 M12 9.5 (20.94) 75 175 6.5 (14.33) 197 7 (15.43) Drive unit Power factor improving DC reactor MR-J3-DU30KB MR-DCL30K MR-J3-DU37KB MR-DCL37K MR-J3-DU30KB4 MR-DCL30K-4 MR-J3-DU37KB4 MR-DCL37K-4 MR-J3-DU45KB4 MR-DCL45K-4 240 MR-J3-DU55KB4 MR-DCL55K-4 260 W 205 135 225 200 MR-J3-CR55K4 M8 80 215 212 7.5 (16.54) 232 9.5 (20.94) Terminal block (M3.5 screw) For thermal sensor Terminal cover P2 H or less P1 Terminal screw X 1.5 1.5 Mounting hole for M8 D or less 13 - 84 Approx. W1 W or less 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.9.7 Line noise filter (FR-BLF) POINT This section explains how to use the line noise filter unique to servo amplifiers with a large capacity. Other noise reduction products are the same as those for servo amplifiers with 22kW or less. Refer to section 11.17. This filter is effective in suppressing noises radiated from the power supply side and output side of the converter unit, drive unit and also in suppressing high-frequency leakage current (zero-phase current) especially within 0.5MHz to 5MHz band. The filters are used with the converter power supply wires (L1 L2 L3) and drive unit power wires (U V W). (1) Usage Pass the 3-phase wires through four line noise filters. When using the line noise filters with the power wires, passing the power wires together with the ground wire will reduce the filter effect. Run the ground wire separately from the power wires. Use four FR-BLFs. (2) Outline drawing [Unit: mm] 7 130 85 2.3 80 35 31.5 7 160 180 13 - 85 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.9.8 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 a leakage current breaker according to the following formula, and ground the drive unit, 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 Igm)} [mA] ··········································· (13.2) K: Constant considering the harmonic contents Leakage current breaker Cable Noise filter NV Converter unit Ig1 Ign Drive unit Cable Iga Mitsubishi products Models provided with harmonic and surge reduction techniques NV-SP NV-SW NV-CP NV-CW NV-HW 1 General models BV-C1 NFB NV-L 3 M Ig2 Igm K Type Ig1: Leakage current on the electric channel from the leakage current breaker to the input terminals of the drive unit (Found from Fig. 13.3.) Ig2: Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor (Found from Fig. 13.3.) Ign: Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF or FR-BIF-H) Iga: Leakage current of the drive unit (Found from Table 13.7.) Igm: Leakage current of the servo motor (Found from Table 13.6.) Table 13.6 Servo motor’s leakage current example (lgm) Table 13.7 Converter unit drive unit's leakage current Example (Iga) Leakage current [mA] Converter unit Drive unit Leakage current [mA] 30 to 55 2.5 All series 5 120 Leakage current [mA] Leakage current [mA] Servo motor power [kW] 100 80 60 40 20 0 2 5.5 14 38 100 3.5 8 22 60 150 30 80 Cable size [mm2] a) 200V class 120 100 80 60 40 20 0 2 5.5 14 38 100 3.5 8 22 60 150 30 80 Cable size [mm2] b) 400V class Fig.13.3 Leakage current example (lg1, lg2) for CV cable run in metal conduit 13 - 86 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (2) Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions. 30mm2 5mm 22mm2 5mm NV Converter unit Ig1 Drive unit Iga M Servo motor Ig2 Igm Use a leakage current breaker designed for suppressing harmonics/surges. Find the terms of Equation (13.2) from the diagram. Ig1 = 95 5 = 0.475 [mA] 1000 Ig2 = 105 5 = 0.525 [mA] 1000 Ign = 0(not used) Iga = 5 [mA] Igm = 2.5 [mA] Insert these values in Equation (13.2). Ig 10 {0.475+0+5+1 85 [mA] (0.525+2.5)} According to the result of calculation, use a leakage current breaker having the rated sensitivity current (Ig) of 85[mA] or more. A leakage current breaker having Ig of 200[mA] is used with the NV-SP/SW/CP/CW/HW series. 13 - 87 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.9.9 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) Converter unit Drive unit Converter unit Recommended filter (Soshin Electric) Drive unit MR-J3-CR55K MR-J3-DU30KB MR-J3-DU37KB MR-J3-CR55K4 MR-J3-DU30KB4 to MR-J3-DU55KB4 Leakage current [mA] HF3200A-UN 9 18 TF3150C-TX 5.5 31 (2) Connection example NFB (Note) Power supply EMC filter MC Converter unit 1 4 L1 2 5 L2 3 6 L3 E L11 L21 Drive unit L11 L21 Note. For power supply specifications, refer to section 13.1.3. 13 - 88 Mass [kg] Model 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (3) Outline drawing HF3200A-UN [Unit: mm] 3- 6.5 Length: 8 3- 480 1 500 5 6.5 3-M10 M8 TF3150C-TX [Unit: mm] 8-R 4.25 Length: 12 (for M8) M8 3-M8 3-M8 M4 M4 110 150 1 150 1 452 500 5 3 150 1 M4 210 2 (227) 260 13 - 89 3 2 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 13.9.10 FR-BU2-(H) Brake Unit POINT Use a 200V class brake unit and a resistor unit with a 200V class converter unit, and a 400V class brake unit and a resistor unit with a 400V class converter unit. Combination of different voltage class units cannot be used. Install a brake unit and a resistor unit on a flat surface vertically. When the unit is installed horizontally or diagonally, the heat dissipation effect diminishes. Temperature of the resistor unit case rises to higher than 100 . Keep cables and flammable materials away from the case. Ambient temperature condition of the brake unit is between 10 to 50 . Note that the condition is different from the ambient temperature condition of the converter unit (between 0 to 55 ). Configure the circuit to shut down the power-supply with the alarm output of the brake unit and the resistor unit under abnormal condition. Use the brake unit with a combination indicated in (1) of this section. For executing a continuous regenerative operation, use FR-RC-(H) power regeneration converter or FR-CV-(H) power regeneration common converter. Connect the brake unit to the bus of the converter unit (L and L of TE2-1) for use. As compared to the MRRB regenerative brake option, the brake unit can return larger power. Use the brake unit when the regenerative brake option cannot provide sufficient regenerative brake capability. When using the brake unit, set the parameter No.PA02 of the converter unit to “ 01”. When using the brake unit, always refer to the FR-BU2-(H) Brake Unit Instruction Manual. (1) Selection Use a combination of converter unit, brake unit and resistor unit listed below. Brake unit Number of connected units Permissible continuous power [kW] Total resistance [ ] FR-BR-55K 2 (parallel) 7.82 1 MT-BR5-55K 2 (parallel) 11.0 1 MR-J3-CR55K Resistor unit Applicable converter unit 200V class FR-BU2-55K 400V class FR-BU2-H55K FR-BR-H55K 2 (parallel) 7.82 4 MR-J3-CR55K4 FR-BU2-H75K MT-BR5-H75K 2 (parallel) 15.0 3.25 MR-J3-CR55K4 13 - 90 MR-J3-CR55K 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (2) Brake unit parameter setting Normally, changing parameters of the FR-BU2-(H) is not necessary. Whether a parameter can be changed or not is listed below. Change possible/ impossible Parameter No. Name 0 Brake mode switchover 1 Monitor display data selection 2 Input terminal function selection 1 3 Input terminal function selection 2 77 Parameter write selection 78 Cumulative energization time carrying-over times CLr Parameter clear ECL Alarm history clear C1 Impossible Possible Impossible Remarks Do not change the parameter. Refer to FR-BU2-(H) Brake Unit Instruction Manual. Do not change the parameter For manufacturer setting (3) Connection example POINT Connecting PR terminal of the brake unit to L terminal of the converter unit results in a brake unit malfunction. Always connect the PR terminal of the brake unit to the PR terminal of the resistor unit. (a) Combination with FR-BR-(H) resistor unit POINT To use brake units with a parallel connection, use two sets of FR-BU2-(H) brake unit. Combination with other brake unit results in alarm occurrence or malfunction. Always connect the master and slave terminals (MSG and SD) of the two brake units. Do not connect as shown below. Converter unit L L Brake unit P/ N/ Converter unit L L Brake unit P/ N/ Brake unit Brake unit P/ N/ P/ N/ Connecting two cables to P and N terminals 13 - 91 Passing wiring 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) Converter unit NFB Drive unit L L L L MC L1 (Note 1) Power supply P1 L2 (Note 3) L3 P2 CN1 L11 1 DICOM L21 5 DOCOM CNP1 6 DICOM MC1 1 2 ALM MC2 2 7 EM1 9 DOCOM L L 24VDC CN3 15 ALM RA1 10 DICOM RA2 (Note 2) (Note 9) L11 5 DICOM 3 DOCOM 20 EM1 Plate SD 24VDC Forced stop (Note 2) L21 (Note 5) Drive unit RA1 (Note 2) Controller Forced stop forced stop EM1 RA2 RA3 RA4 Converter unit Servo motor thermal relay (Note 8) Operation ready OFF/ON MC SK P PR FR-BR-(H) (Note 6) TH1 TH2 FR-BU2-(H) (Note 12) MSG PR (Note 11) SD P/ (Note 4) A N/ B C BUE (Note 7) SD(Note 10) Terminal block P PR FR-BR-(H) (Note 6) TH1 TH2 FR-BU2-(H) (Note 10) 13 - 92 MSG PR (Note 11) SD P/ (Note 4) A N/ B C BUE (Note 7) SD 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) Note 1. For power supply specifications, refer to section 13.1.3. 2. Configure the circuit to turn OFF the forced stop (EM1) of the drive unit and the converter unit at the same time. 3. Always connect P1 and P2 terminals (Factory-wired). When using the power factor improving DC reactor, refer to section 13.9.6. 4. Connect P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in the converter unit and brake unit malfunction. 5. For the converter unit and the drive unit of 400V class, a stepdown transformer is required. 6. Contact rating: 1b contact, 110VAC_5A/220VAC_3A Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting. 7. Contact rating: 230VAC_0.3A/30VDC_0.3A Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting. 8. Connect the thermal relay censor of the servo motor. 9. Do not connect more than one cable to each L and L terminals of TE2-1 of the converter unit. 10. Always connect BUE and SD terminals (Factory-wired). 11. Connect MSG and SD terminals of the brake unit to a correct destination. Wrong connection results in the converter unit and brake unit malfunction. 12. For connecting L and L - terminals of TE2-1 of the converter unit to the terminal block, use the cable indicated in (3) (d) of this section. 13 - 93 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (b) Combination with MT-BR5-(H) resistor unit 1) When connecting a brake unit to a converter unit Converter unit NFB Drive unit L L L L MC L1 (Note 1) Power supply P1 L2 (Note 3) L3 P2 CN1 L11 1 DICOM L21 5 DOCOM CNP1 6 DICOM MC1 1 2 ALM MC2 2 7 EM1 9 DOCOM L L 24VDC CN3 15 ALM RA1 10 DICOM RA2 (Note 2) (Note 9) 5 DICOM 3 DOCOM 20 EM1 Plate SD 24VDC Forced stop (Note 2) L11 L21 (Note 5) Drive unit RA1 Controller forced stop RA2 RA3 RA4 Converter unit (Note 2) Forced stop RA5 EM1 Servo motor thermal relay (Note 8) Operation ready OFF/ON MC SK MT-BR5-(H) (Note 6) TH1 P PR TH2 SK RA5 FR-BU2-(H) PR P/ (Note 4) N/ (Note 10) BUE SD MSG SD A B C (Note 7) Note 1. For power supply specifications, refer to section 13.1.3. 2. Configure the circuit to turn OFF the forced stop (EM1) of the drive unit and the converter unit at the same time. 3. Always connect P1 and P2 terminals (Factory-wired). When using the power factor improving DC reactor, refer to section 13.9.6. 4. Connect P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in the converter unit and brake unit malfunction. 5. For the converter unit and the drive unit of 400V class, a stepdown transformer is required. 6. Contact rating: 1a contact, 110VAC_5A/220VAC_3A Normal condition: TH1-TH2 is not conducting. Abnormal condition: TH1-TH2 is conducting. 7. Contact rating: 230VAC_0.3A/30VDC_0.3A Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting. 8. Connect the thermal relay censor of the servo motor. 9. Do not connect more than one cable to each L and L terminals of TE2-1 of the converter unit. 10. Always connect BUE and SD terminals (Factory-wired). 13 - 94 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) 2) When connecting two brake units to a converter unit POINT To use brake units with a parallel connection, use two sets of FR-BU2-(H) brake unit. Combination with other brake unit results in alarm occurrence or malfunction. Always connect the master and slave terminals (MSG and SD) of the two brake units. Do not connect the converter unit and brake units as below. Connect the cables with a terminal block to distribute as indicated in this section. Converter unit L L Brake unit P/ N/ Converter unit L L Brake unit P/ N/ Brake unit Brake unit P/ N/ P/ N/ Connecting two cables to P and N terminals 13 - 95 Passing wiring 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) Converter unit NFB Drive unit L L L L MC (Note 1) Power supply L1 P1 L2 (Note 3) L3 P2 CN1 L11 1 DICOM L21 5 DOCOM CNP1 6 DICOM MC1 1 2 ALM MC2 2 7 EM1 9 DOCOM L L 24VDC CN3 15 ALM 10 DICOM 5 DICOM 3 DOCOM 20 EM1 Plate SD RA2 (Note 2) (Note 9) L11 RA1 24VDC Forced stop (Note 2) L21 (Note 5) Drive unit RA1 Controller forced stop RA2 RA3 RA4 Converter unit RA5 Servo motor thermal relay (Note 8) (Note 2) Forced stop RA6 EM1 Operation ready OFF/ON MC SK MT-BR5-(H) (Note 6) TH1 P PR TH2 SK RA3 FR-BU2-(H) PR MSG (Note 11) SD P/ (Note 4) A N/ B C BUE (Note 7) SD(Note 10) (Note 12) Terminal block P PR MT-BR5-(H) (Note 6) TH1 TH2 FR-BU2-(H) (Note 10) 13 - 96 PR MSG (Note 11) SD P/ A (Note 4) N/ B C BUE (Note 7) SD SK RA4 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) Note 1. For power supply specifications, refer to section 13.1.3. 2. Configure the circuit to turn OFF the forced stop (EM1) of the drive unit and the converter unit at the same time. 3. Always connect P1 and P2 terminals (Factory-wired). When using the power factor improving DC reactor, refer to section 13.9.6. 4. Connect P/ and N/ terminals of the brake unit to a correct destination. Wrong connection results in the converter unit and brake unit malfunction. 5. For the converter unit and the drive unit of 400V class, a stepdown transformer is required. 6. Contact rating: 1a contact, 110VAC_5A/220VAC_3A Normal condition: TH1-TH2 is conducting. Abnormal condition: TH1-TH2 is not conducting. 7. Contact rating: 230VAC_0.3A/30VDC_0.3A Normal condition: B-C is conducting/A-C is not conducting. Abnormal condition: B-C is not conducting/A-C is conducting. 8. Connect the thermal relay censor of the servo motor. 9. Do not connect more than one cable to each L and L terminals of TE2-1 of the converter unit. 10. Always connect BUE and SD terminals (Factory-wired). 11. Connect MSG and SD terminals of the brake unit to a correct destination. Wrong connection results in the converter unit and brake unit malfunction. 12. For connecting L and L - terminals of TE2-1 of the converter unit to the terminal block, use the cable indicated in (3) (d) of this section. (c) Precautions for wiring The cables between the converter unit and the brake unit, and between the resistor unit and the brake unit should be as short as possible. Always twist the cable longer than 5m (twist five times or more per one meter). Even when the cable is twisted, the cable should be less than 10m. Using cables longer than 5m without twisting or twisted cables longer than 10m, may result in the brake unit malfunction. Converter unit Converter unit Brake unit P N P N 5m or less P PR Resistor unit Resistor unit Brake unit P N P PR 5m or less Twist P N P PR 10m or less Twist P PR 10m or less (d) Cables 1) Cables for the brake unit For the brake unit, HIV cable (600V grade heat-resistant PVC insulated wire) is recommended. a) Main circuit terminal Main circuit terminal screw size Brake unit N/ P/ PR Terminal block Crimping terminal N/ , P/ , PR, Wire size Tightening torque [N m] N/ , P/ , PR, HIV wire [mm2] AWG 200V class FR-BU2-55K M6 14-6 4.4 14 6 400V FR-BU2-H55K M5 5.5-5 2.5 5.5 10 class FR-BU2-H75K M6 14-6 4.4 14 6 13 - 97 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) b) Control circuit terminal POINT Under tightening can cause a cable disconnection or malfunction. Over tightening can cause a short circuit or malfunction due to damage to the screw or the brake unit. A B C Sheath PC BUE SD RES SD MSG MSG SD SD Core Jumper 6mm Terminal block Wire the stripped cable after twisting to prevent the cable from becoming loose. In addition, do not solder it. Screw size: M3 Tightening torque: 0.5N m to 0.6N m 2 2 Wire size: 0.3mm to 0.75 mm Screw driver: Small flat-blade screwdriver (Tip thickness: 0.4mm/Tip width 2.5mm) 2) Cables for connecting the servo amplifier and a distribution terminal block when connecting two sets of the brake unit Wire size Brake unit HIV wire [mm2] AWG 200V FR-BU2-55K class 38 2 400V FR-BU2-H55K 14 6 class 38 2 FR-BU2-H75K 13 - 98 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (e) Crimping terminals for L and L terminals of TE2-1 of servo amplifier 1) Recommended crimping terminals POINT Always use recommended crimping terminals or equivalent since some crimping terminals cannot be installed depending on the size. Converter unit Brake unit 200V class MR-J3-CR55K FR-BU2-55K 400V MR-J3-CR55K4 FR-BU2-H55K FR-BU2-H75K class Number of connected units Crimping terminal (Manufacturer) (Note 1) Applicable tool 38-S6(Japan Solderless Terminal) (Note 2) R38-6S (NICHIFU) (Note 2) a 2 FVD14-6(Japan Solderless Terminal) b 2 38-S6(Japan Solderless Terminal) (Note 2) R38-6S (NICHIFU) (Note 2) a 2 Note 1. Symbols in the applicable tool field indicate the following applicable tools. Servo amplifier side crimping terminals Symbol Crimping terminal 38-S6 a b Crimping terminal Body Head YPT-60-21 YF-1 E-4 R38-6S NOP60 NOM60 FDV14-6 YF-1 E-4 2. Coat the crimping part with an insulation tube. 13 - 99 YET-60-1 Dice TD-124 TD-112 Manufacturer Japan Solderless Terminal NICHIFU YNE-38 DH-112 DH-122 Japan Solderless Terminal 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (4) Outline dimension drawings (a) FR-BU2- (H) brake unit [Unit: mm] FR-BU2-55K FR-BU2-H55K, H75K 2- 5hole (Screw size: M4) Rating plate 5 5 6 158 170 18.5 6 52 72 142.5 (b) FR-BR- (H) resistor unit [Unit: mm] 2- C (Note) Control circuit terminal (Note) Main circuit terminal C C Approx. 35 Approx. 35 W1 1 A hanging bolt is placed on two locations (Indicated below). Hanging bolt 204 W 5 Note. Ventilation ports are provided on both sides and the top. The bottom is open. Resistor unit W W1 H H1 H2 H3 D D1 C Approximate mass [kg] 200V class FR-BR-55K 480 410 700 620 40 670 450 3.2 12 70 400V class FR-BR-H55K 480 410 700 620 20 670 450 3.2 12 70 13 - 100 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) (c) MT-BR5- (H) resistor unit [Unit: mm] Resistor unit NP M4 M6 193 189 37 60 10 21 480 510 4 15 mounting hole 75 7.5 300 450 75 7.5 13 - 101 Resistance value Approximate mass [kg] 200V class MT-BR5-55K 2.0 50 400V class MT-BR5-H75K 6.5 70 13. SERVO AMPLIFIERS WITH A LARGE CAPACITY (30k TO 55kW) MEMO 13 - 102 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. App. 1.1 Servo amplifier (drive unit) Basic setting parameters (PA ) No. Symbol Name PA01 For manufacturer setting PA02 **REG Regenerative option PA03 *ABS Absolute position detection system PA04 *AOP1 Function selection A-1 PA05 For manufacturer setting to PA07 PA08 PA09 PA10 PA11 to PA13 ATU RSP INP Auto tuning mode Auto tuning response In-position range For manufacturer setting PA14 PA15 PA16 to PA18 *POL *ENR Rotation direction selection Encoder output pulses For manufacturer setting PA19 *BLK Parameter write inhibit No. Symbol PB01 FILT PB02 VRFT PB03 PB04 PB05 FFC PB06 GD2 PB07 PB08 PB09 PB10 PB11 PB12 PB13 PB14 PB15 PB16 PB17 PG1 PG2 VG2 VIC VDC NH1 NHQ1 NH2 NHQ2 PB18 LPF PB19 VRF1 PB20 VRF2 PB21 PB22 PB23 PB24 PB25 PB26 PB27 PB28 VFBF *MVS *CDP CDL CDT PB29 GD2B PB30 PB31 PB32 PG2B VG2B VICB PB33 VRF1B PB34 VRF2B PB35 to PB45 App. - 1 Gain/filter parameters (PB ) Name Adaptive tuning mode (Adaptive filter ) Vibration suppression control filter tuning mode (advanced vibration suppression control) For manufacturer setting Feed forward gain For manufacturer setting For manufacturer setting Ratio of load inertia moment to servo motor inertia moment Model loop gain Position loop gain Speed loop gain Speed integral compensation Speed differential compensation For manufacturer setting Machine resonance suppression filter 1 Notch form selection 1 Machine resonance suppression filter 2 Notch form selection 2 Automatic setting parameter Low-pass filter Vibration suppression control vibration frequency setting Vibration suppression control resonance frequency setting For manufacturer setting Low-pass filter selection Slight vibration suppression control selection For manufacturer setting Gain changing selection Gain changing condition Gain changing time constant Gain changing ratio of load inertia moment to servo motor inertia moment Gain changing position loop gain Gain changing speed loop gain Gain changing speed integral compensation Gain changing vibration suppression control vibration frequency setting Gain changing vibration suppression control resonance frequency setting For manufacturer setting APPENDIX Extension setting parameters (PC No. Symbol PC01 *ERZ PC02 MBR ) Name Error excessive alarm level I/O setting parameters (PD No. Symbol ) Name For manufacturer setting PC03 *ENRS Encoder output pulses selection PD01 to PD06 PC04 **COP1 Function selection C-1 PD07 *DO1 Output signal device selection 1 (CN3-13) PC05 **COP2 Function selection C-2 PD08 *DO2 Output signal device selection 2 (CN3-9) PC06 *COP3 Function selection C-3 PD09 *DO3 Output signal device selection 3 (CN3-15) PC07 Zero speed For manufacturer setting ZSP Electromagnetic brake sequence output PC09 MOD1 Analog monitor 1 output PD10 to PD13 PC10 MOD2 Analog monitor 2 output PD14 *DOP3 Function selection D-3 PD15 to PD32 For manufacturer setting PC08 For manufacturer setting PC11 MO1 Analog monitor 1 offset PC12 MO2 Analog monitor 2 offset PC13 MOSDL Analog monitor feedback position output standard data Low PC14 MOSDH Analog monitor feedback position output standard data High PC15 to PC16 For manufacturer setting PC17 **COP4 Function selection C-4 PC18 to PC20 For manufacturer setting PC21 *BPS PC22 to PC32 Alarm history clear For manufacturer setting App. 1.2 Converter unit No. Symbol PA01 *REG PA02 *MCC Name Regenerative selection Magnetic contactor drive output selection For manufacturer setting PA03 to PA07 PA08 *DMD Auto tuning mode PA09 *BPS Alarm history clear PA10 For manufacturer setting PA11 PA12 PA13 to PA19 *DIF Input filter setting For manufacture setting App. - 2 APPENDIX App. 2 Signal layout recording paper 1 2 LG DI1 3 4 DOCOM MO1 5 6 DICOM LA 7 8 LB LZ 9 11 12 LG DI2 13 14 MO2 15 16 LAR 18 17 LBR LZR 19 10 20 DICOM EM1 DI3 App. 3 Twin type connector : Outline drawing for 721-2105/026-000(WAGO) [Unit: mm] Latch Coding finger Model Size [mm] A B C D 721-2105/026-000 5 20 5 5.25 721-2205/026-000 7.5 30 7.5 7.75 Detecting hole 4 A( B) 26.45 15.1 25 2.9 D C 4.75 10.6 5. 8 A 20.8 2.75 2.7 App. - 3 Driver slot Wire inserting hole APPENDIX App. 4 Change of connector sets to the RoHS compatible products The following connector sets have been changed to RoHS compliant since September 2006. RoHS compliant and non-RoHS compliant connector sets may be mixed based on availability. Only the components of the connector set that have changed are listed below. Model MR-J3SCNS MR-ECNM Current Product RoHS Compatible Product Amplifier connector (3M or equivalent of 3M) 36210-0100JL (Receptacle) (Note) Amplifier connector (3M or equivalent of 3M) 36210-0100PL (Receptacle) MR-PWCNS4 Power supply connector (DDK) CE05-6A18-10SD-B-BSS (Connector and Back shell) CE3057-10A-1 (D265) (Cable clump) Power supply connector (DDK) CE05-6A18-10SD-D-BSS (Connector and Back shell) CE3057-10A-1-D (Cable clump) MR-PWCNS5 Power supply connector (DDK) CE05-6A22-22SD-B-BSS (Connector and Back shell) CE3057-12A-1 (D265) (Cable clump) Power supply connector (DDK) CE05-6A22-22SD-D-BSS (Connector and Back shell) CE3057-12A-1-D (Cable clump) MR-PWCNS3 Power supply connector (DDK) CE05-6A32-17SD-B-BSS (Connector and Back shell) CE3057-20A-1 (D265) (Cable clump) Power supply connector (DDK) CE05-6A32-17SD-D-BSS (Connector and Back shell) CE3057-20A-1-D (Cable clump) MR-PWCNS1 Power supply connector (DDK) CE05-6A22-23SD-B-BSS (Connector and Back shell) CE3057-12A-2 (D265) (Cable clump) Power supply connector (DDK) CE05-6A22-23SD-D-BSS (Connector and Back shell) CE3057-12A-2-D (Cable clump) MR-PWCNS2 Power supply connector (DDK) CE05-6A24-10SD-B-BSS (Connector and Back shell) CE3057-16A-2 (D265) (Cable clump) Power supply connector (DDK) CE05-6A24-10SD-D-BSS (Connector and Back shell) CE3057-16A-2-D (Cable clump) MR-BKCN Electromagnetic brake connector MS3106A10SL-4S(D190) (Plug, DDK) Electromagnetic brake connector D/MS3106A10SL-4S(D190) (Plug, DDK) MR-CCN1 Amplifier connector (3M or equivalent of 3M) 10120-3000VE (connector) Amplifier connector (3M or equivalent of 3M) 10120-3000PE (connector) Note. RoHS compatible 36210-0100FD may be packed with current connector sets. App. - 4 APPENDIX App. 5 MR-J3-200B-RT servo amplifier Connectors (CNP1, CNP2, and CNP3) and appearance of MR-J3-200B servo amplifier have been changed from January 2008 production. Model name of the existing servo amplifier is changed to MR-J3-200B-RT. The difference between new MR-J3-200B servo amplifier and existing MR-J3-200B-RT servo amplifier is described in this appendix. Sections within parentheses in the following sections indicate corresponding sections of the instruction manual. App. 5.1 Parts identification (1.7.1 Parts identification) Name/Application Display The 3-digit, seven-segment LED shows the servo status and alarm number. Detailed explanation Chapter 4 Rotary axis setting switch (SW1) 34 56 2 B CDE F01 0 F 1 2 Used to set the axis No. of servo amplifier. Section 3.13 789 A B CDE SW1 TEST SW2 789 A 3456 SW1 ON 4F 1 2 Test operation select switch (SW2-1) Used to perform the test operation mode by using MR Configurator. SW2 1 2 Section 3.13 Spare (Be sure to set to the "Down" position). Main circuit power supply connector (CNP1) Connect the input power supply. Section 3.1 Section 3.3 USB communication connector (CN5) Connect the personal computer. Section 11.8 I/O signal connector (CN3) Used to connect digital I/O signals. More over an analog monitor is output. Section 3.2 Section 3.4 Servo motor power connector (CNP3) Connect the servo motor. Section 3.1 Section 3.3 SSCNET cable connector (CN1A) Used to connect the servo system controller or the front axis servo amplifier. Section 3.2 Section 3.4 SSCNET cable connector (CN1B) Used to connect the rear axis servo amplifier. For the final axis, puts a cap. Section 3.2 Section 3.4 Encoder connector (CN2) Used to connect the servo motor encoder. Section 3.4 Section 11.1 Battery connector (CN4) Used to connect the battery for absolute position data backup. Section 11.9 Chapter 12 Control circuit connector (CNP2) Connect the control circuit power supply/regenerative option. Section 3.1 Section 3.3 Battery holder Contains the battery for absolute position data backup. Section 12.3 Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables. Cooling fan Fixed part (3 places) Protective earth (PE) terminal ( Ground terminal. Rating plate App. - 5 ) Section 3.1 Section 3.3 Section 1.5 APPENDIX App. 5.2 Configuration including auxiliary equipment (1.8 Configuration including auxiliary equipment) RST (Note 3) Power supply No-fuse breaker (NFB) or fuse Magnetic contactor (MC) MR Configurator CN5 (Note 2) Line noise filter (FR-BLF) Personal computer Servo amplifier L1 L2 L3 CN3 Junction terminal block P1 P2 (Note 2) Power factor improving DC reactor (FR-BEL) L11 Regenerative P option C L21 CN1A Servo system controller or Front axis servo amplifier CN1B CN1B Rear servo amplifier CN1A or Cap CN2 CN4 (Note 1) Battery MR-J3BAT UV W Servo motor Note 1. The battery (option) is used for the absolute position detection system in the position control mode. 2. The AC reactor can also be used. In this case, the DC reactor cannot be used. When not using DC reactor, short P1-P2. 3. Refer to section 1.3 for the power supply specification. App. - 6 APPENDIX App. 5.3 CNP1, CNP2, CNP3 wiring method (3.3.3 CNP1, CNP2, CNP3 wiring method) (a) Servo amplifier power supply connectors Servo amplifier power supply connectors Connector for CNP1 PC4/6-STF-7.62-CRWH (Phoenix Contact) Servo amplifier Cable finish OD: 5mm or less Connector for CNP3 PC4/3-STF-7.62-CRWH (Phoenix Contact) CNP1 CNP3 CNP2 Connector for CNP2(Note) 54928-0520 (Molex) Cable finish OD: 3.8mm or less Note. As twin type connector for CNP2 (L11, L21) is the same as MR-J3-100B or smaller. Refer to section (1) (c). (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 7mm 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. Do not solder the core as it may cause a contact fault. Alternatively, a bar terminal may be used to put the wires together. Cable size 2 [mm ] AWG Bar terminal type For 1 cable For 2 cables 1.25/1.5 16 AI1.5-8BK AI-TWIN2 1.5-8BK 2.0/2.5 14 AI2.5-8BU AI-TWIN2 2.5-10BU 3.5 12 AI4-10Y Crimping tool CRIMPFOX-ZA3 Manufacturer Phoenix Contact 2) CNP2 CNP2 is the same as MR-J3-100B or smaller capacities. Refer to section 3.3.3 (1) (b). App. - 7 APPENDIX App. 5.4 OUTLINE DRAWINGS (Chapter 9 OUTLINE DRAWINGS) [Unit: mm] 6 mounting hole 90 85 Approx.80 6 195 6 45 168 6 6 Approx.68 With MR-J3BAT Approx. 25.5 78 6 Cooling fan wind direction Approx.14 6 156 21.4 Mass: 2.3 [kg] (5.07 [lb]) Mounting screw Screw size: M5 Tightening torque: 3.24 [N m] (28.7 [lb in]) Terminal signal layout L1 PE terminal Approx. 90 L2 CNP1 L3 N P1 P2 Screw size: M4 Tightening torque: 1.2 [N m] (10.6 [lb in]) U CNP3 V W 3-M5 screw P C CNP2 D L11 Approx. 6 L21 78 0.3 Approx. 6 Mounting hole process drawing App. - 8 APPENDIX App. 6 Selection example of servo motor power cable POINT Selection condition of wire size is as follows. Wire length: 30m or less Depending on the cable selected, there may be cases that the cable does not fit into the Mitsubishi optional or recommended cable clamp. Select a cable clamp according to the cable diameter. Selection example when using the 600V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT) for servo motor power (U, V, and W) is indicated below. Servo motor Wire size [mm2] Servo motor Wire size [mm2] Servo motor Wire size [mm2] HF-SP52 1.25 HC-LP152 2 HA-LP30K2 60 HF-SP102 1.25 HC-LP202 3.5 HA-LP37K2 60 HF-SP152 2 HC-LP302 5.5 HA-LP6014 5.5 HF-SP202 2 HC-UP72 1.25 HA-LP8014 5.5 HF-SP352 3.5 HC-UP152 2 HF-SP502 5.5 HC-UP202 3.5 HA-LP15K14 14 HF-SP702 8 HC-UP352 5.5 HA-LP20K14 14 HF-SP51 1.25 HC-UP502 5.5 HA-LP25K14 22 HF-SP81 1.25 HA-LP601 8 HA-LP30K14 22 HF-SP121 2 HA-LP801 14 HA-LP37K14 22 HF-SP201 2 HA-LP12K1 14 HA-LP701M4 5.5 HF-SP301 3.5 HA-LP15K1 22 HA-LP11K1M4 8 HF-SP421 5.5 HA-LP20K1 38 HA-LP15K1M4 14 HA-LP12K14 8 HF-SP524 1.25 HA-LP25K1 38 HA-LP22K1M4 14 HF-SP1024 1.25 HA-LP30K1 38 HA-LP30K1M4 22 HF-SP1524 2 HA-LP37K1 60 HA-LP37K1M4 22 HF-SP2024 2 HA-LP701M 8 HA-LP45K1M4 38 HF-SP3524 2 HA-LP11K1M 14 HA-LP50K1M4 38 HF-SP5024 3.5 HA-LP15K1M 22 HA-LP11K24 8 HF-SP7024 5.5 HA-LP22K1M 38 HA-LP15K24 14 HC-RP103 2 HA-LP30K1M 60 HA-LP22K24 14 2 HC-RP153 HA-LP37K1M 60 HA-LP30K24 22 HC-RP203 (Note) 3.5 HA-LP502 5.5 HA-LP37K24 22 HC-RP353 (Note) 5.5 HA-LP702 8 HA-LP45K24 38 HC-RP503 (Note) 5.5 HA-LP11K2 14 HA-LP55K24 38 HC-LP52 1.25 HA-LP15K2 22 HC-LP102 1.25 HA-LP22K2 22 Note. Use a composite cable and others when combining with wiring of the electromagnetic brake power in the same cable. App. - 9 REVISIONS *The manual number is given on the bottom left of the back cover. Print Data *Manual Number May, 2005 SH(NA)030051-A First edition Revision Jan., 2006 SH(NA)030051-B Jul., 2007 SH(NA)030051-C Addition of servo amplifier MR-J3-11KB(4), 15KB(4) and 22KB(4) Addition of servo motor HC-RP, HC-UP, HC-LP and HA-LP4 series Section 1.5 (2) : Addition of regeneration brake resistor-less specification : Addition of removal and reinstallation of front cover for Section 1.7.2 11KB(4) or more Section 2.1 : (1) Addition of 7kW or less (2) Addition of 11kW or more Section 3.7.1 : Error correction of differential line driver output as 35mA : Addition of "For CN2 connector" Section 3.8 (2) Section 3.11.2 (4) : Addition of time from invalid to valid of electromagnetic brake interlock Section 5.1.3 : Addition of sentence when using with 11KB or more for parameter No.PA02 00 Addition of FA Section 5.3.1 : PC13 PC14 description change Section 5.3.2 : PC13 PC14 description change Section 5.3.3 (2) : Addition of Note3 Section 5.3.3 (3) : Partial figure change of analog monitor block Section 5.4.2 : Partial sentence addition of parameter No.PD07 Section 8.2 : Addition of "IGBT" to Cause 2. of alarm No. 32 indicated as Display in the remedies list for alarms Section 8.3 : Addition of POINT Section 11.1.1 : Partial figure addition Section 11.2 (3) : Addition of sentence when using with 11KB or more for parameter No.PA02 00 Addition of FA Section 11.2 (5) (d) : Addition Section 11.5 : Addition : Addition Section 11.6 Section 11.7 : Error correction Section 11.10 : Addition : Addition of cooling fan thermal Section 11.11 Addition of Table 11.2, Note. 2 Section 11.19 : Addition of EMC filter HF3100A-UN Addition of servo amplifier MR-J3-60B4 to 350B4 Addition of servo amplifier MR-J3-500B4 and 700B4 Addition of servo motor HF-SP524 / 1024 / 1524 / 2024 / 3524 Addition of drive units MR-J3-DU30KB(4), 37KB(4), 45KB4 and 55KB4 Addition of converter unit MR-J3-CR55K(4) Deletion of setup software notation Compliance with RoHS Safety instructions 1.: To prevent electric shock: Addition of Note for 30kW or more Safety instructions 4.: Additional instructions (2): Correction of the connection diagram Conformance with UL/C-UL standard (4): Addition of the capacitor discharge time for 30kW or more Conformance with UL/C-UL standard (5): Addition of the fuse for 30kW or more About the manuals : Addition of description about MR-J3-DU B(4) Section 1.2 : Power supply description change Print Data *Manual Number Jul., 2007 SH(NA)030051-C Revision Section 1.2(1) : Unification of Note 3 to Note 2, addition of new Note 3 Section 1.3 Section 1.3(2) : Addition of MR-J3-500B4 and 700B4 : Addition of MR-J3-60B4 to 350B4 Section 1.5(2) Section 1.6 : Addition of MR-J3-60B4 to 350B4 : Addition of MR-J3-500B4 and 700B4 Addition of combination: MR-J3-60B4 to 350B4 and servo motor Section 1.7 Section 1.7.1(1) (3) : Addition of MR-J3-60B4 to 350B4 as (2) and (4) : Change of description for "servo motor power supply Section 1.7.2 connector" to "servo motor power connector" : Change CAUTION to WARNING Section 1.8 Section 1.8(1) (a) : Power supply description change : Unification of Note 4 to Note 3, addition of explanation Section 1.8(2) to (7) to Note 2 : Addition of explanation to Note 2 Section 2.1(b) : Change of description to "Mounting closely is available for a combination of servo amplifiers of 200V, 3.5kW or Chapter 3 less" : Addition of CAUTION Section 3.1 Section 3.1(4) : Addition of MR-J3-500B4 and 700B4 : Addition of MR-J3-60B4 to 350B4 Section 3.1(6) Section 3.1(7) : Addition of Note 7 : Change of description for Note 7 Section 3.1(8) Section 3.3.1 : Change of description for Note 7, addition of Note 9 : Addition of sentence to UVW Description Addition of MR-J3-60B4 to 350B4 notation to L1, L2, L3, L11 and L21 Section 3.3.3(1) (b) Section 3.3.3(2) (b) : Table content change : Table content change Section 3.3.3(3) : Addition of POINT Addition of cable handling procedures for MR-J3-200B4 Section 3.3.3(4) and 350B4 : Addition and change of description Section 3.3.3(5) Section 3.4 : Change of description : Change of CN2 connection diagram to RoHS compliant Section 3.5(2) parts : Addition of sentence to the dynamic brake interlock description Change of the zero speed diagram Section 3.5(2) (d) : Change of description for Function/Application of Digital I/F common from "DOG EMG" to "EM1" Section 3.7.2(3) (b) : Addition of supplementary explanation to the output pulse Section 3.10 Section 3.10.1 : Addition of CAUTION : Change of description for "motor power supply" to Section 3.10.2(2) "servo motor power" : Addition of POINT for contactor connection, Change of Note1, Change of “servo alarm” switch to “trouble (ALM)” in (a) Wiring diagrams Print Data *Manual Number Jul., 2007 SH(NA)030051-C Revision Section 3.10.2(3) : Change of Note1 and 3 in (a) 1) and 2), Addition and change of (b) Terminal box inside diagrams, Addition and change of corresponding motor models in the cooling fan power supply list Section 3.10.2(3) (b) : Change of servo motor diagram Section 3.11.3(1) : Change of Note1 Section 3.12 : Deletion of power specification notation, addition of Section 4.3(2) : Correction of indication “Ab.” To “Ab .”, Change of Chapter 5 : Change of Basic setting parameters description Section 5.1.3 : Addition of setting available options Note description for “AC” Addition of parameter setting due to addition of regenerative option Section 5.1.8 : Deletion of POINT "This parameter cannot be used in Section 5.2.1 : Change of parameter No.PB17 from “for manufacturer Section 5.3.1 : Change of parameter No.PC06 from “for manufacturer Section 5.3.2 : Addition of Note for parameter No.PC01, Change of the speed control mode" setting” to “Automatic setting parameter” setting” to “function selection C-3” parameter No.PC06 from “for manufacturer setting” to “function selection C-3”, Addition of Note4 for parameter No.PC09, Change of setting description for parameter No.PC10 Section 5.3.3(2) : Addition of Note4 Section 6.3(1) (a) : Addition of parameter No.PB07 Section 6.4(2) : Change of description for Adjustment procedure Step5 Section 8.2 : Addition of Note to the Definition for alarm (32), Section 9.1 : Addition of MR-J3-60B4 to 350B4 Section 9.1(1) to (7) : Addition of mounting hole dimension diagram Section 9.2(3) : Description method change Section 10.1 : Change of graph from servo motor standards to servo Correction of the Cause4 for alarm (52) amplifier standards Addition of MR-J3-60B4 to 350B4 Section 10.2 : Addition of MR-J3-60B4 to 350B4 and corresponding Section 10.2(1) : Addition of MR-J3-500B4 and 700B4 Section 10.3 : Addition of MR-J3-500B4 and 700B4 servo motor Paragraphing of section 10.3.1 and section 10.3.2 Addition of dynamic brake time constant for servo motor HF-SP524 / 1024 / 1524 / 2024 / 3524 Addition of section 10.3.2: Permissible inertia load moment for MR-J3-60B4 to 350B4 Section 10.5 : Addition of MR-J3-500B4 and 700B4 Addition of inrush current for MR-J3-60B4 to 350B4 Print Data *Manual Number Jul., 2007 SH(NA)030051-C Revision Section 11.1.1 : Change of Application description for No.34 from “outside panel long distance cable” to “long distance cable” Change of connector model Addition of 2) Connector for 2kW and 3.5kW (400V) Section 11.1.2(1) Section 11.1.2(1) (a) : Deletion of 0.3m from table : Change of CN2 connection diagram to RoHS compliant parts Section 11.1.2(1) (a) (c) : Addition and change of connector description Section 11.1.2(2) Section 11.1.2(2) (a) : Deletion of 0.3m from table : Addition and change of connector description Change of CN2 connection diagram to RoHS compliant parts Section 11.1.2(3) (a) (c) : Addition and change of connector description Section 11.1.2(4) (a) : Change of CN2 connection diagram to RoHS compliant Section 11.1.2(5) (a) parts : Addition of connector set Section 11.1.4 Section 11.2 : Deletion of 20 to 30m from table : Addition of regenerative brake options for MR-J3-500B4 Section 11.2(1) and 700B4 : Addition of regenerative option capable for MR-J3-60B4 Section 11.2(2) (b) to 350B4 : Addition of inverse efficiency and capacitor charging for Section 11.2(3) MR-J3-350B4 : Addition of parameter setting due to addition of Section 11.2(4) regenerative option : Addition of regenerative option MR-RB5G-4 Section 11.2(5) (b) : Addition of regenerative option MR-RB3M-4, MRRB3G-4 Section 11.2(5) (c) Section 11.2(5) (f) : Addition of regenerative option MR-RB5G-4 : Addition of regenerative option MR-RB1H-4 Section 11.3 Section 11.3(3) (b) : Addition of brake unit for MR-J3-500B4 and 700B4 : Change of description Section 11.4 : Addition of power regeneration converter for MR-J3500B4 and 700B4 Section 11.4(2) : Deletion of notation for power supply specification, change of description in Note 5, addition of Note 6 Section 11.4(3) (b) : Addition of Note 6 to disconnect the wiring of regenerative brake register in servo amplifier of 7kW or Section 11.5(3) (b) less : Addition of Note 8 Section 11.5(4) (b) 2) Section 11.5(6) : Revision of cable diameter for 400V, deletion of Note : For item: Altitude, vibration, deletion of description Section 11.6(1) "compliant with JIS" : Addition of Note 5 Section 11.6(2) Section 11.8(1) : Change of CN3 description Deletion of Note 1 : Addition of MR Configurator compatible version Section 11.11 : Addition of recommended wires for MR-J3-500B4 and 700B4 Print Data *Manual Number Jul., 2007 SH(NA)030051-C Revision Section 11.11(1) Section 11.12 Section 11.13 Section 11.14 Section 11.18 Section 11.19 Section 11.19(1) Section 11.19(3) Section 12.3(1) Chapter 13 Section 13.1.6(1) Section 13.1.6(2) (3) Section 13.1.7 Section 13.3 Section 13.3.1(1) (a) Section 13.3.1(1) (b) Section 13.3.1(2) (a) 13.3.1(2) (b) 13.3.2(1), (2) Section 13.3.4(2) Section 13.3.6 Section 13.3.7 Section 13.4.3(2) (b) Section 13.4.3(3) : Addition of cable diameter for MR-J3-60B4 to 350B4, addition of Note 3: Cable 5) to 7) of MR-J3-700B(4) : Addition of MR-J3-60B4 to 350B4 compliant products Addition of no-fuse breakers, fuses and magnetic contactors for MR-J3-500B4 and 700B4 : Addition of MR-J3-60B4 to 350B4 compliant products, unification of (1) and (2) Addition of power factor improving DC reactors for MRJ3-500B4 and 700B4 Change of (2) Note2 Addition of Note3 : Addition of MR-J3-60B4 to 350B4 compliant products Addition of power factor improving AC reactors for MRJ3-500B4 and 700B4 : Addition of MR-J3-60B4 to 350B4 as earth leakage circuit breaker selection example : Addition of EMC filter for MR-J3-500B4 and 700B4 : Addition of MR-J3-60B4 to 350B4 compliant products, deletion of Note from TX series : Addition of TF3005C-TX : Addition of description for 30kW or more in “WARNING”, Addition of POINT : New addition of the details for 30kW or more Change of notation "magnet contactor" to "magnetic contactor" : Change of description "I/O signal connector" to "Digital I/O connector", addition of rating plate Change in description of CN3 and CN6 : Change of rating plate designated position : Enlargement of diagram for removing and reinstalling terminal block cover : Addition of POINT: reference "Signal (device) explanations, section 3.5" : Revision of magnetic contactor sequence, addition of Note 3 : Revision of magnetic contactor sequence, addition of Note 3 and 4 : Revision of magnetic contactor sequence, addition of Note 3 and 4, addition of magnetic contactor control (CNP1) : Revision of magnetic contactor sequence, addition of Note 3 to 5, addition of magnetic contactor control (CNP1) : Change of description in Note for "servo motor output" and "servo motor power supply" to "servo motor power" : Correction of reference for CN2 and CN3 : Raise of section 13.3.5 (3) to section 13.3.6 : Raise from section 13.3.6, Change of description in chart: "servo motor power" to "servo motor power supply" : Change of display : Deletion Print Data *Manual Number Jul., 2007 SH(NA)030051-C Revision Section 13.5.2 Section 13.6.1(3) Section 13.8.1 Section 13.9.1 Section 13.9.2(5) Section 13.9.3(2) Section 13.9.3(3) Section 13.9.4 Section 13.9.5 Section 13.9.7 Section 13.9.8(1) (2) Appendix 1 Appendix 5 Jun, 2008 SH(NA)030051-D (2)Wiring : Deletion of parameter No.PA08 name and initial value : Deletion of "built-in regenerative register" from excessive regenerative load warning (A.E0) definition and cause : Division of Load ratio graph for MR-J3- B(4) and MRJ3-CR55K(4) : Addition of notation "supplied with converter unit" for 7) and 8) : Addition of Note : Revision of connection diagram, change of Note 2, addition of Note 5 : Addition of mass table : Deletion of notation for UL/C-UL from body paragraph : Deletion of Note : Change of body paragraph : Change of Iga display range in the diagram : Change of parameter No.PB17 from “for manufacturer setting” to “Automatic setting parameter” Change of parameter No.PC06 from “for manufacturer setting” to “function selection C-3” : Update of the “combination of servo amplifier and servo motor” table : Change of description for “the servo motor will operate improperly” to “the servo motor will not operate properly” for the item of connection between the servo amplifier and the servo motor Conformance with UL/C-UL standard (3): Change of description Conformance with UL/C-UL standard (5): Deletion of list of combination with fuse About the wires used for wiring: Addition of the selected standard temperature Section 1.2 (1) to (3) : Change of switch numbers Section 1.3 (1) : Change of description for the mass “2.3” to “2.1”of MR-J3-200B, Change of pound notation for mass to three significant digits Section 1.5 (2) : Change of appearance of MR-J3-200B to the same as MR-J3-200B4 Section 1.6 : Addition of models with reduction gear to body paragraph Section 1.7.1 (3) (4) : Switch between (3) and (4), Change of the description for MR-J3-200B to the same as MR-J3-200B4, Addition of Note 4 to (3). Section 1.8 (3) (4) : Switch between (3) and (4), Change of the description for MR-J3-200B to the same as MR-J3-200B4, Addition of Note 4 to (3). Deletion of Note 3 from (4) Addition of description for FR-BEL to (3) Section 2.1 (1) (b) : Change of description for “Mounting closely is available for a combination of servo amplifiers of 3.5kW or less in 200V or 100V class.” to “Mounting closely is available for a combination of servo amplifiers of 3.5kW or less in 200V or 400W or less in 100V class.” Section 2.3 (2) : Change of description Section 3.1 (5) to (8) : Addition of NFB for the fan power cables of the servo motor’s cooling fan Print Data *Manual Number Jun, 2008 SH(NA)030051-D Revision Section 3.2 Section 3.3.3 (1) (a) : Change of Note 15 : Change of CNP2 connector model from “54927-0520” to “54928-0520” Section 3.3.3 (2) (3) : Switch between (2) and (3), Change of the description for MR-J3-200B to the same as MR-J3-200B4 Section 3.7.2 (2) : Addition of description for the condition “Maximum current: 50mA or less” to body paragraph Section 3.10.2 (3) (a) 1) to : Addition of NFB for fan power cable of servo motor’s 2) cooling fan, Change of description for Note 1 Section 3.10.2 (3) (b) : Change of servo motor’s terminal diagram Section 3.11.2 : Change of timing chart Section 4.1.2 (1) (c) 2) to : Change of description for “D terminal” to “C terminal” 3) Section 5.2.1 : Change of PB06 and PB29 unit for “times” to “Multiplier(×1)” Section 7.4 : Change of description Section 7.6.3 : Change of PB06 and PB29 unit for “times” to “Multiplier(×1)” Section 7.6.4 (1) (a) : Change of PB06 and PB29 unit for “times” to “Multiplier(×1)” Section 7.6.4 (2) (a) : Change of PB06 and PB29 unit for “times” to “Multiplier(×1)” Section 10.1 (5) (6) : Switch between (5) and (6), Change of the description for MR-J3-200B to the same as MR-J3-200B4, Addition of POINT to (5) Section 10.3.1 (2) : Addition of dynamic brake characteristics of HA-SP, HA-LP, HC-RP, HC-UP, and HC-LP Section 11.1 : Addition of POINT for protective structure Section 11.1.1 : Deletion of 2kW from Application, upper stand of 2) in Table, Change of description for “2kW or less in 400V class” to “2kW in 200V and 400V class”, Change of corresponding model from “HF-SP121٠201” to “HFSP121 to 301” for 29) in Table, Change of corresponding model for 30) in Table, Deletion of IP65 from Application, Change of corresponding model for 38) and 40) in Table, Deletion of IP67 from Application, Deletion of IP67 from Application for 39) in Table Section 11.1.2 (2) (b) : Correction of Note position for connecting diagrams such as MR-EKCBL30M-H Section 11.1.2 (3) (a) : Addition of description “Crimping tool: 91529-1” in the list of Junction Connector Section 11.1.2 (4) : Change of corresponding model of “HF-SP” to “HFSP HA-LP HC-RP HC-UP HC-LP” : Addition of corresponding model of “HA-LP HCSection 11.1.2 (5) RP HC-UP HC-LP” : Change of junction connector of “36110-3000PL” to Section 11.1.2 (5) (a) “36110-3000FD", Battery connector from “DF3EP2428PCFA” to “DF3-EP2428PCA” : Addition of Note Section 11.1.3 (2) : Addition of Note Section 11.1.4 (2) : Change of built-in regenerative register value of MRSection 11.2 (1) J3-60B4 100B4 from “15” to “20”, Addition of Note 1 Print Data *Manual Number Jun, 2008 SH(NA)030051-D Revision Section 11.2 (4) Section 11.2 (5) (a) Section 11.3.3 (4) (a) Section 11.3.4 (2) Section 11.5 (4) (a) 1) : Change of description : Change of tightening torque size from “3.2” to “3.24” : Change of description : Correction of C dimension : Addition of POINT for selection condition of wire sizes, Deletion of “The used wires are based on the 600V vinyl wires.” from the sentence Section 11.5 (4) (b) 1) : Change of wiring length of servo amplifier (3.5kW) in 2 2 connection diagram from “5.5mm ” to “3.5mm ” : Change of wiring length between the servo amplifier Section 11.5 (4) (b) 2) (2kW) and the one (15kW) in connecting diagram : Addition of Note to Table Section 11.6 (3) (a) : Addition of Note to Table Section 11.6 (3) (b) position for : Table content change, Change of Section 11.8 (2) (a) Windows Vista, Deletion of RS-422/232C conversion cable : Change of description for “Recommended wires” to Section 11.11 “Wires selection example”, Addition of three POINTs : Deletion of body paragraph, Change of description for Section 11.11 (1) IV wires selection example, Addition of HIV wires selection example, Change of crimping terminal selection example : Change of Table Section 11.12 : Addition of table for dynamic brake wire size Section 11.13 : Deletion of AC electromagnetic brake from body Section 11.17 (2) (b) paragraph : Change of description for Note, Addition of POINT Chapter 12 : Partial deletion of body paragraph Section 13.1.5 : Change of description for Note Section 13.3 : Change of timing chart Section 13.3.7 (1) (b) Section 13.3.7 (3) (a) 1) to : Addition of Note 3) : Change of pound notation for mass to three significant Section 13.7.1 digits : Change of pound notation for mass to three significant Section 13.7.2 digits : Change of description form, Change of dynamic brake Section 13.8.3 of HA-LP2000r/min series characteristics, Change of body paragraph : Change of Note Section 13.9.1 (2) : Addition of Note to Table Section 13.9.3 (2) : Change of description for "Recommended wires” to Section 13.9.4 “Wires selection examples”, Addition of three POINTs : Deletion of body paragraph, Change of description for Section 13.9.4 (1) IV wires selection example, Addition of HIV wires selection example, Change of crimping terminal selection example : Deletion of Note Section 13.9.5 : Deletion of surge protectors from wiring diagram Section 13.9.9 (2) : Correction of C dimension Section 13.9.10 (4) (b) : Change of body paragraph Appendix 4 : New addition for explanation of servo amplifier MR-J3Appendix 5 200B-RT Print Data *Manual Number Jun, 2008 SH(NA)030051-D SH(NA)030051-D Revision Appendix 6 : New addition of servo motor power cables selection example General-Purpose AC Servo J3 Series SSCNET Compatible MODEL MR-J3-B INSTRUCTIONMANUAL MODEL CODE 1CW202 J3 Series MR-J3- B Servo Amplifier Instruction Manual D MODEL MR-J3- B SERVO AMPLIFIER INSTRUCTION MANUAL HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 SH (NA) 030051-D (0806) MEE Printed in Japan This Instruction Manual uses recycled paper. Specifications subject to change without notice. D
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