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mr-j3-_b servo amplifier instruction manual

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1. Unit mm Cooling fan 2 Installation hole wind direction Approx 20 328 a 300 Approx 200 128 20 260 Approx 80 180 Terminal block layout o EN gt ja Terminal cover removed ry b o 1 ie e pr A T 4 H CHARGE D 9 o e e e e ce e e i 9 i n r G3 e j 12 a 5 le e Y 9r 97 1 U ters 9 f e 7 TE1 1 TE1 2 S om H z j lt m bes 277 Mass 25 kg 55 2 Ib Terminal block signal layout L Terminal block screw M6 Mounting screw Tightening torque 3 0 N m Screw size M6 L 26 6 Ib in Tightening torque 5 4 N TE3 47 8 Ib in Fiat Terminal block screw M4
2. Unit mm 6 2 66 mounting hole Approx 80 209 gt Ne 130 131 5 68 5 118 fan 6 Terminal layout P HE Terminal cover open gi k o g le i A Cooling fan vo J vij A ES ici 29 fi E NN 4 B6 ud 0 GE Ceu TE2 With MR J3BAT EIER n TE1 dL 3 places for 2 ground lt 4 l Built in regenerative xx fl resistor lead terminal f fixing screw N 2 Mass 4 6 kg 10 1 Terminal signal layout Approx 130 6 1180 5 6 N LIL clulviw Terminal screw M4 gt a Sis Fee 10 6 Ib in amp 4 M5 screw xy um a Terminal screw M3 5 Note Tightening torque 0 8 N m 7 08 Ib in 1 Terminal screw 4 n Tightening to
3. M ll e amp 2 gt P r eT oH Ld t NOM 65 2 m DEN Ey cob cote Cooling fan 25 5 wind direction Approx 68 6 78 7 7 Q With MR J3BAT 6 2 Mass 2 3 kg 5 07 Ib Terminal signal layout Mounting screw Screw size M5 Tightening torque 3 24 N 28 7 Ib in Li PE terminal m x Approx 90 Ls 8 CNP1 e E PN 2224 N A ER Screw size 4 P2 Tightening torque 1 2 N m 10 6 Ib in Slo CE S H CNP3 V amp o lt W 3 M5 screw P y t x CNP2 D 2 Q Lu 2 T Approx 6 7840 3 Approx 6 Mounting hole process drawing App 8 APPENDIX App 6 Selection example of servo motor power cable 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 ca
4. Unit mm FR BU2 55K FR BU2 H55K H75K 2 5hole Screw size M4 Jr 000000000 lad t 4 im Ex 5l 45 26 158 6 85 52 72 1 L 170 1 142 5 1 FR BR resistor unit Unit mm x Eg g r Note m Control circuit pi Note H terminal PL Main circuit terminal C c 35 W11 Approx 35 BT lt A hanging bolt is placed on two locations Indicated below a Hanging bolt 204 5 el X posses qr Note Ventilation ports are provided on both sides and the top The bottom is open Approximate Resistor unit WwW wi H H1 H2 H3 D1 mass kg 200V 400V P FR BR H55K 480 410 700 620 20 670 450 3 2 12 70 13 100 13 SERVO AMPLIFIERS WITHLA LARGE CAPACITY 30k TO SSKVV c 5 H resistor unit Unit mm F Resistance Approximate wt K Resistor unit 00 J value mass kg i 200V e NP MT
5. Cooling fan o 22 mS l a 20 i 34 n Em H E JS Mo z e 1 ma 5 1 Used to set the axis No of drive unit Section 3 13 Test operation select switch SW2 1 Used to perform the test operation mode by using MR Configurator Section 3 13 Spare Be sure to set to the Down position USB communication connector CN5 Connect with 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 SSCNET cable connector CN1A Section 3 4 Used to connect the servo system controller or the front axis drive unit Battery holder Contains the battery for absolute position data backup Section 12 3 SSCNET cable connector CN1B Section 3 2 Used to connect the rear axis drive unit For the final axis Section 3 4 puts a cap Encoder connector CN2 Section 3 4 Used to connect the servo motor encoder Section 11 1 Battery connector 4 Section 11 9 Used to connect the battery for absolute position data Chapter 12 Converter unit connectors CN40A Connect to 40 of the converter unit Secti
6. 4 EAE CN5 1 G ES 1 CN3 r 5 PR das CNP2 L CN1A 32 33 34 L CN1A 25 7 L m Dou lt 5 4 1 CN1B um BE p h E LH f 2 CN2 Cap GNIS Servo amplifier _ attachment Direct connection type cable length 10m or less IP65 15 16 17 18 gt 1 Junction type cable length more than 10m 20 21 22 19 20 o m EATR A 23 13 14 To 24VDC power supply for 9 10 11 12 electromagnetic brake 7 8 c SY 3 4 5 6 Servo motor HF MP HF KP k d Power supply Brake Encoder connector connector connector 26 m EE E ee 24 25 X N d u v To next page a M To next page b Note Connectors for 3 5kW or less For 5kW or more terminal blocks 11 2 Encoder connector connector Power supply Brake connector 11 OPTIONS AND AUXILIARY EQUIPMENT From previous page a From previous page b A A 26
7. VOPEN 24 D oly LI O CEE NIO 2 P P E 2l LAN DIU Connector for OIN the front axis of SA CN1A SSCNETII cable uO Olla vio Connector for the rear axis of CN1B wIO g CY SSCNET II cable CHARGE ai 9 E 5 EJ d The frames of the CN2 and CN3 connectors are connected to the PE earth terminal in the The 3M make connector is shown amplifier When using any other connector refer to section 11 1 2 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 Function Application CN1A Connector for bus cable a Used for connection with the controller or preceding axis servo amplifier from preceding axis CN1B Connector for bus cable to deeds Used for connection with the next axis servo amplifier or for connection of the cap xt axi Encoder connector Used for connection with the servo motor encoder Battery connection When using as absolute position detection system connect to
8. Unit mm S mounting hols 90 es et 85 Approx 80 195 6 45 DPP 2 ol i CE gg oo 4 ou 8 CNP2 B g E cl e 05 Jr _ B E Ow p DER Approx fj Cooling fan Approx 68 25 5 wind direction 6 78 6 With MR J3BAT 3 mi ESSI aa With MR J3BAT 2 FU Gano SN ED 2 0000 322 0 ssscoj Mass 2 1 kg 4 63 Ib Mounting screw Terminal signal layout Screw size M5 Tightening torque 3 24 N m 28 7 Ib in L PE terminal L2 2 o m e S Approx 90 CNP1 2 N i E Screw size M4 Tightening torque 1 2 N 10 6 Ib in 5 N m 10 6 Ib in 2 B 2 P EM C 3 M5 screw CNP2 Lu Y A L21 x 0 lt cnp3 V Approx 6 780 3 Approx 6 W Mounting hole process drawing 9 OUTLINE DRAWINGS 6 MR J3 350B 6 mounting hole y ES na U 168 oi ip eS SEES 9
9. ql IC DC 5 2 2 Jt D 2 2 SA MIL q 24 2 2 2 2 d 2 2 2 2 2 3 5c 21 101 5 825 LAL 318 J L B 4 Wind blows in the arrow direction e e 4 8 ol GI S 104000000 00000000000000 00000000000000000000 MR RB5G 4 Unit mm in Cooling fan mounting screw 2 M3 screw On opposite side 49 825 10 N SES 1 d er cec C c 4 c g E 7x14 8 H e ers slot orali Poo i Ry amp 4lb c5 c j Ji m iii loo i w e 1 e j UN in the arrow ge direction 62 N e ore O C3 m GG ao c3 C3 fhe tS 2 3 7 200 108 30 120 11 31 TE1 Terminal block P G4 Terminal screw M4 Tightening torque 1 2 N m 10 62 Ib Mounting screw Screw size M6 Tightening torque 5 4 N m 47 79 Ib in Regenerative option E RB30
10. 110 000000000 WU 00000006 500000000 Mass 1 7 kg 3 75 Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 Ib in c x 2 60 a pem lt ry d oo iu uo B 2 wo Q lt 3 5 screw s 5 5 42 0 3 lt 12 6 Mounting hole process drawing 9 OUTLINE DRAWINGS 5 MR J3 200B 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
11. BU BV BW M4 screw Motor power supply terminal block U V W M8 screw ENA na primm 0 U V H OIO Thermal sensor terminal block OHS1 OHS2 M4 screw Encoder connector Terminal box inside HA LP15K1 4 20K1 4 22K1M 4 Motor power supply terminal block U V W M8 Encoder connector CM10 R10P i COO ide X 1 j Thermal sensor terminal block FN CM10 R10P Earth terminal M6 screw OHS1 OHS2 M4 screw Terminal block signal arrangement BU BV BW OHS1OHS2 Cooling fan terminal block BU BV BW M4 screw Earth terminal M6 screw Terminal block signal arrangement BU BV BW OHS1 OHS2 3 SIGNALS AND WI
12. NFB MC MR J3CDLO5M 5 cable cN40B 3 phase Termination 380 to 480VAC O 50 60 2 MR J3 TM Option 9 U v gt Power factor improving DC reactor Option oo o P G4 Regenerative Regenerative Regenerative loption Note 1 loption Note 1 option Note 1 Cooling fan Cooling fan Cooling fan R400S400 R400S400 R400S400 e Drive Motor Note 3 Operation transformer S32 unit thermal relay Forced stop ready RA2 RA4 OFF ON uc Converter Controller unit forced stop 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 Pz 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 WI THA LARGE CAPACITY 30k TO SSKVV 2 When magnetic contactor control connector CNP1 is made invalid converter unit controls the main circuit magnetic contactor When making 1 invalid set 0000 in parameter 02 Refer to section 13 5 Always
13. 4 Wiring allowance 80mm 77 10 2 10 oo 10mm or more N 222 or more E 549 2 40 b Installation of two or more servo amplifiers 2 INSTALLATION E 8 2 5 apt 8 gt e Eg EE Oc 9 5 o 0 is 9 5 o 50 x Z di S ite i E N 9 d s gt ran pb o LE o 2 o E O x E o o o o 5 S 5 5 5 5 5 5 5 2 SSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSS NS o 2 UTS 2 5 WY Q L 5 E As 2 m o n g 8 S t B S WW NN E gt 8 E oc oo
14. Dimensions 4 TX R3 25 412 Approx 190 Approx 91 5 length 8 TF3060C TX M6 11 88 11 OPTIONS AND AUXILIARY EQUIPMENT b Surge protector RAV 781BYZ 2 Unit mm 1 2 3 vl Black Black 9 Black 42 02 3 m 71 y 71 5 p 28 5 1 0 UL 1015AWG16 o N y e i S AY Y 4141 0 RAV 781BXZ 4 mm 5 541 11 4 2 0 2 28 5 1 0 rt FJ UL 1015AWG16 3 3 L 23n 4 H SGN 200 30 lt 28 1 0 4 5 0 5 R z 11 89 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 has occurred always perform home position setting again Not doing so can cause runaway Not doing so may cause unexpected operation f 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
15. Note Note Relay connector for Relay connector for motor extension cable power supply cable Note Use of the following connectors is recommended when ingress protection IP65 is necessary Protective Relay connector Description structure Connector RM15WTPZ 4P 71 Relay connector for bi 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 motor power supply Cord clamp RM15WTP CP 8 71 cable Hirose Electric Numeral changes depending on the cable OD 3 SIGNALS AND WIRING 2 HF SP series HC RP series HC UP series HC LP series servo motor 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 Pin No 1 Soldered part or or crimping part IZN crimping part facing up facing down For 10 5 105 For 10 5 25 0 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 Electromagnetic brake interlock Trouble Forced MBR ALM stop RA2 24VDC power supply for electromagnetic brake Note There is no polarity in electrom
16. Servo motor 30 39 40 JR HC UP Power supply Brake Encoder connector connector connector 26 Servo motor HA LP Terminal box Description Application Supplied with amplifier H Servo power supply H amplifiers of connector 1kW or less in 100V class and 200V class CNP1 CNP2 CNP3 connector 54928 0610 connector 54928 0520 connector 54928 0310 Molex Molex Molex Applicable cable example Wire size 0 14mm AWG26 to 2 5mm J 2 AWG14 t REC Lever Cable finish OD to 3 8mm 54932 0000 Molex 11 3 11 OPTIONS AND AUXILIARY EQUIPMENT L3 amplifier E power supply E connector CNP1 connector PC4 6 STF 7 62 CRWH Phoenix Contact Description um CNP2 connector 54928 0520 Molex Applicable cable example Wire size 0 2mm AWG24 to 5 5mm AWG10 Cable finish OD to 65mm iio po ne nio LE gll CNP1 connector 721 207 026 000 Plug WAGO ore pa m pjr CNP2 connector 721 205 026 000 Plug WAGO CNP3 connector PC4 3 STF 7 62 CRWH Phoenix Contact Te REC Lever 54932 0000 Molex CNP3 connector 7
17. shown Unit mm Cooling fan installation screw hole dimensions Top 2 M3 screw hole for cooling fan installation Cooling fan Terminal block Depth 10 or less d P d Screw hole already y x machined 1 1 Thermal relay i S we e Bottom 82 5 40 48 Vertical Horizontal installation Installation surface installation 11 27 11 OPTIONS AND AUXILIARY EQUIPMENT c MR J3 11KB 4 to MR J3 22KB 4 when using the supplied regenerative resistor The regenerative resistor supplied with 11 kW to 22 kW servo amplifiers does not have a protect cover Touching the resistor including wiring screw hole area may cause a burn injury and electric shock Even if the power was shut off be careful NCAUTION until the bus voltage discharged and the temperature decreased because of the following reasons It may cause a burn injury due to very high temperature without cooling It may cause an electric shock due to charged capacitor of the servo amplifier 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 x92 minimum air flow 1 0m improves t
18. MR J3BAT wv L21 UIVI W Note 1 The battery option is used for the absolute position detection system in the position control mode 2 The AC reactor also be used In this case the DC reactor cannot be used When not using DC reactor short P and P2 3 Refer to section 1 3 for the power supply specification Servo motor 1 25 1 FUNCTIONS AND CONFIGURATION 5 MR J3 350B4 MR J3 500B 4 RST Note 3 Power supply No fuse breaker NFB or fuse Magnetic contactor MC Servo amplifier V Note 1 Battery MR J3BAT CN3 D terminal block Personal computer Junction Servo system controller or Front axis servo amplifier CN1B Rear servo amplifier CN1A or Cap Note 2 Power factor improving DC reactor FR BEL H 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 P and P2 3 Refer to sec
19. e e gi i Md H Approx 25 5 Approx 68 6 78 With MR J3BAT 6 2 Terminal signal layout Li L2 L CNP4 PE terminal Screw size 4 P2 Tightening torque 1 2 N m 10 6 Ib in Unit mm C3CXE2QCIEJEJCIECJEJEJEJ ICH ICI ER ERI CECI EIC CICICICT E 00202020 200000000000000 opopop000000000000 220000000000000 o 220000000000000 o 22000000000000 555555555 Approx 80 195 1 Cooling fan wind direction Seo l 20000000 edt i T liii NN DD D 00 0000000000 s0000 r H Mass 2 3 kg 5 07 Mounting screw Screw size M5 Tightening torque 3 24 N 28 7 Ib in x Approx 90 a a Y n 168 156 0 5 3 5 screw y et O a a Approx 6 78 0 3 Approx 6 Mounting hole process drawing 9 OUTLINE DRAWINGS 7 MR J3 350B4 MR J3 500B 4
20. 2 5 10 20 30 life 40 50m Encoder MR J3SCNS For HA LP series Refer to section 11 1 2 4 for details Magnetic Converter unit side connector Supplied contactor Phoenix Contact with iri Socket GFKC 2 5 2 STF 7 62 converter unit Digital Converter unit side connector connector DDK Connector 17JE23090 02 D8A K11 CG 13 73 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 2 MR J3CDLO5M 0 5m Protection coordination cable Connect protection coordination cables correctly if they are fabricated NCAUTION 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 J3CDLO5M 10120 3000PE Connector PCR S20FS Connector 10320 52F0 008 Shell kit PCR LS20LA1 Case 9 bo 11 1 ACD2 19 KS 11 ACD2 10 2 ACD3 20 12 7 3 PAL 17 L 13 PAL 8 4 ACD1 18 H 14 ACD1 5 L 5 ie 15 H 15 LG Converter unit side 6 6 GOF Drive unit side 16 L 16 3 7 13 KS 17 4 8 PSD 14 I 18 PSD 1 H 9 11 Hi c xw 19 LG 2 10 PRD 12 20 PRD Plate Plat
21. 1 App 2 Signal layout recording eene eene tnn ener App 3 App Twin type connector Outline drawing for 721 2105 026 000 WAGO sss App 3 App 4 Change of connector sets to the RoHS compatible App 4 App 5 MR J3 200B RT servo amplifier 0020 0 0 00 00 00 000000000000 eene nnnm nennen App 5 App 6 Selection example of servo motor power cable 2 40 202 0 0 00 nennen nnns App 9 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 SSCNETII 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 t
22. Power supply 4 Personal si gt MR Configurator m i s _CNS No fuse breaker or fuse Lo 1 Servo amplifier E 2 27 AAA Q i K J eng did Vn ermina Y block Servo system 222227774 Magnetic contactor ui MC n KN r Li ise filt Ls Note controller or Front axis ine noise filter n Batte servo amplifier CN1B FR BLF Rear servo amplifier CN1A or Cap Note 2 Power factor improving af DC reactor FR BEL H P1 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 P and P 3 Refer to section 1 3 for the power supply specification 1 28 2 INSTALLATION 2 INSTALLATION 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 bearin
23. Tightening torque MR J3 15KB 4 MR J3 22KB 4 Ti i Tightening torque 12 Ib in N m 9 OUTLINE DRAWINGS 9 2 Connector 1 CN1A CN1B connector Unit mm FO PF2D103 FO PF2D103 S 4 8 48 2 1 2 Y o y 9 LJ 17 62 02 17 6 0 2 20 9 0 2 20 9 0 2 2 Miniature delta ribbon MDR system 3M a One touch lock type Unit mm E Tota Logo etc are indicated here Exc a 9 10 9 OUTLINE DRAWINGS b Jack screw M2 6 type This is not available as option Unit mm 3 jm Ie 3 SCR connector system 3M Receptacle 36210 0100PL Shell kit 36310 3200 008 9 11 9 OUTLINE DRAWINGS MEMO 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
24. 6 mounting hole Az o Approx 80 170 Cr te af A opoonoo0HAm0r0000 l E CNP1 Note c2 gt a ed LL LL C Sl _ 1 0 2 6 gt 161 168 CNP3 i gt c ean DIICDN OCOO 9 9 fe FE er Y Y ni n D E nmi i UUUUUUUUU 6 E e zx 6 68 N ee Fi coer With MR J3BAT 4 100520 D DIO 0000 Note This data applies to the 3 phase 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 Ib Terminal signal layout Mounting screw For 3 phase or Screw size M5 For 1 phase 1 phase PE terminal Tightening torque 3 24 28 7 Ib in 100 to 120VAC 200 to 230VAC v Approx 40 o 6 a li amp cy Ji L 2
25. Cable b Use the servo motor side power connector which complies with the EN Standard 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 d
26. 3 c 3 a e c ILI 156 gt Po E v dier om ee 8 o DONT 14 With MR J3BAT LT 2C og UUUUUUDUUOOOUU 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 Ib Terminal signal layout Mounting screw For 3 phase or Screw size M5 For 1 phase 1 phase PE terminal Tightening torque 3 24 N m 28 7 lb in 100 to 120VAC 200 to 230VAC 52 Approx 40 lt L Li 69 69 a 6 L2 oe a s L2 CNP1 CNP1 Screw size M4 1 N N Tightening torque 2 5 screw 1 2 N m 10 6 Ib in ELE i BE al 1 1 1 7 tdeo Y j oc e x g Mounting hole process drawing 9 OUTLINE DRAWINGS 2 MR J3 40B MR J3 60B MR J3 40B1 Unit mm paapaa jr mmu
27. as vibration or unusual noise No Decrease the response until vibration or unusual noise is resolved Using the machine analyzer set the filter manually End 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 Factor The response has increased to the machine limit The machine is too complicated to provide the optimum filter 7 SPECIAL ADJUSTMENT FUNCTIONS 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 d
28. automatically to suppress mechanical vibration Suppresses high frequency resonance which occurs as servo system Low pass filter upp eu 9 T M y i 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 Machine simulation of the machine analyzer results MR Configurator is necessary for this function Personal computer changes gains automatically and searches for overshoot Gain search function free gains in a short time MR Configurator is necessary for this function Slight vibrati i TONO RUPES Suppresses vibration of 1 pulse produced at a servo motor stop Parameters No PB24 Automatically adjusts the gain to optimum value if load applied to the servo Auto tuning motor shaft varies Higher in performance than MR J2 Super series servo Used when the regenerative option cannot provide enough regenerative Brake unit power Can be used the 5kW or more servo amplifier Used when the regenerative option cannot provide enough regenerative Return converter power Can be used the 5kW or more servo amplifier f Used when the built in regenerative resistor of the servo amplifier does not Regenerative option we have sufficient regenerative capability for the reg
29. 1 ba Drive unit control ON rai power supply OFF Converter unit control ON lt _ lt cm power supply OFF Main circuit ON power supply OFF 5 6 en 39 eui e Base circuit i Electromagnetic OFF brake operation delay time 1 1 Electromagnetic Note 1 ON brake interlock MBR OFF 1 1 GN 95 1 from controller OFF Position command Or mi Note 4 Release delay time and external relay Note 2 Electromagnetic Release o eo in 1 brake 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 2 6 When turning OFF servo amplifiers the base circuit remains
30. Main circuit device overheat 1 1 1 Note 1 Note 1 Note 1 Servo motor overheat O O O 7 Codingfanerr Note 1 Note 1 Note 1 50 Overload 1 O O O Note 1 Note 1 Note 1 51 Overload 2 O O O Eror excessive j USB communication time out error O USB communication error Note 1 Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence EN feke He 45 46 A o o w w w w NIN gt N rtp 888 Watchdog 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 f 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 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 circui
31. You can set the filter time constant for a gain change at PB28 Gain changing time constant ms changing Gain changing vibration suppression Used to set the value of the after changing vibration PB33 VRF1B DAE Hz ae control vibration frequency setting suppression control vibration frequency setting Gain changing vibration suppression Used to set the value of the after changing vibration PB34 VRF2B 2 control resonance frequency setting suppression control resonance frequency setting 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 changi
32. an Rite A ORA 3 phase E Lot vd V 200 to Oojo gt 52 12 Thermal 230VAC Note 7 OP WO relay oHs2 P L 0 OP NIL 2 OHS1 one 22 1 o go Net 5 P24 SDO RESET DICOM ORES RDYBO S t OSD Note 3 ryo System RDYA controller 4 L RSO Q Note 1 Note 1 SE Sak EM1 ON RA1 RA2 OFF O O O 0 O Note 1 Note 1 Configure sequence that will shut off main circuit power at an emergency stop or at or servo amplifier alarm occurrence For the servo motor with thermal relay configure a sequence that will shut off main circuit power when the thermal relay operates For the servo amplifier configure a sequence that will switch the servo on after the FR CV is ready 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 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 When using the servo amplifier of 7kW or less make sure to disconnect the wiring of built in regenerative resistor 3 5kW or
33. Formulas for calculating torque and energy in operation Regenerative power Torque applied to servo motor N m Energy J n 1 FTU TF E1 01047 T1 Tpsat 9 55 x 10 Tpsat Tf Tu TF 21047 T3 1 tem n 7 955x105 GSP 222227 E420 No regeneration _ JL JM ALENO 2 1 Tu 4 Tr 5 21047 T5 Tpsa2 9 55 X 10 Tpsa2 0 1047 No Tete fo TutTr 00000000 Tr 0 1047 No Tete 0 1047 o 122 Tu TF 1047 T7 Tpsa2 7 9 55x10 Tpsa2 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 MR J3 10B1 55 Servo amplifier Inverse efficiency Capacitor charging J MR J3 200B MR J3 200B4 MR J3 350B MR J3 350B4 MR J3 500B 4 MR J3 700B 4 MR J3 11KB 4 MR J3 15KB 4 MR J3 22KB 4 MRJS708 MRJ3008 80 MRu3 10084 s Inverse efficiency n 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
34. Lc uA CHARGE Regenerative l lamp L L Cooling fan 69 O O supply Voltage Current 9 amplifier detection detection DE 7s xz CN1 CN40 ep Converter unit protection coordination CN40 Trouble warning forced stop 14 L21 13 2 13 SERVO AMPLIFIERS WITH A LARGE CAPACITY 30k 55kW NFB Note Power o O supply 0 4 Drive unit Servo motor Cooling fan Control 1 1 1 power Q supply 1 i 1 Base amplifier Current detection current Virtual encoder Position command Model position Model speed control control Servo motor thermal Virtual motor Model position f Model speed f Model torque Y Y 3 Actual position Actual speed Current CN40 control control Termination connector MR J3 TM Option MR J3BAT i xp Optional battery For absolute position detection 1 System Controller
35. Paos PAOT Paos PAOS 10 12 13 55 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 13 5 2 List of details Initial Setting No Symbol Name and function Unit value range 01 Regenerative option Used to select the regenerative option Select the regenerative option 00 No used 01 MR RB139 02 MR RB137 3 pcs Only for MR J3 CR55K 11 MR RB136 4 Only for MR J3 CR55K4 12 MR RB138 4 3 pcs Ld 01 and 02 are the set values for the MR J3 CR55K only and 11 and 12 are those for the MR J3 CR55KA only Wrong setting will result in parameter alarm A 37 PA02 MCC Magnetic contactor drive output selection Refer to Used to select the output of the magnetic contactor drive power supply Name and 0j0 0 function Es Used to select the output of the magnetic contactor drive power column supply 0 No used 1 Used For manufacturer setting Do not change this value by any means Status display selection Refer to Used to select the status display shown at power on Name and 0 0 0 em column ER 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 9 BPS Alarm history clear Refer to Used to clear the alarm history Name and 0 0 0 d I Alarm history clear column 0 Invalid 1 Valid When alarm histo
36. 13 17 13 SERVO AMPLIFIERS WITH A LARGE CAPACITY 30k 55kW 2 How to close Hold the bottom of the terminal block cover with both hands Close the cover using the axis B B asa support Press the cover against the terminal box until the installing knobs click Setting tab 13 18 13 SERVO AMPLIFIERS WITH A LARGE CAPACITY 30k 55kW 13 1 8 Servo system with auxiliary equipment LET 3 phase AC RS power supply Personal MR Configurator computer No fuse N breaker NFB 7 N The MR Configurator is required for parameter setting d rt it aN pner Communication g dmm i 4 cable DOD a U Drive unit Note 3 Line noise filter FR BLF lt TES R of i 227 i Magnetic contactor il operation coil 1 signal La 57 am i No fuse Ls breaker NFB E P2 TUR Power factor improving Encoder cable DC reactor MR HSCBL OM MR DCLO K Note 2 BW 522 Servo motor S P HA LP series Regenerative option Note 1 The
37. 5 79 O supply 2 55 1 1 1 1 O 1 1 1 1 1 O EE 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 Assign the dynamic brake interlock DB in the parameters 07 to PDOO9 Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class in 400V class servo amplifiers Refer to section 1 3 for the power supply specification 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 Power supply voltage DBU 11K 4 1 phase 380 to 463VAC 50Hz 60Hz DBU 22K 4 11 57 11 OPTIONS AND AUXILIARY EQUIPMENT Servo motor rotation Alarm Present Base OFF ON 1 OFF Invalid E Dynamic brake Valid 1 Forced stop Short EM1 Open a Timing chart at alarm occurrence b Timing chart at forced stop 1 validity Coasting Dynamic brake Electro ma
38. 7 14 8 TROUBLESHOOTING 8 1108 10 3 1 Alarmis and warrning list iret ve eei ilte e dre RE 8 1 8 2 8 2 8 3 Remedies for warnings zer erre eyed e dd ins 8 8 1 ct o A N 9 OUTLINE DRAWINGS 9 7 Servo ambplifier aar a seats case 9 1 GO 2iC ONNSCON EAEE EEE E uie E E A alitem E 9 10 e 1 ct e A e 10 CHARACTERISTICS 10 1 Overload protection characteristics ssssssssssssssssseeeee eene nennen nennen 10 1 10 2 Power supply equipment capacity and generated 1055 10 3 10 3 Dynamic brake characteristics essen nennen 10 6 10 3 1 0 ben ab abate abes an 10 6 10 3 2 The dynamic brake at the load inertia 10 9 10 4 Cable flexing life e ttt emer end mre s eme eme e m 10 10 10 5 Inrush currents at power on of main circuit and control 10 10 14 1 Cabl connector Sets eroi tte dieti dim dt E tude etude tube E iam 11 1 11 1 1 Combinations of cable connector 11 2 11 1
39. Rear servo amplifier Y CN1A or wt UL ill nn l Note 1 Battery MR J3BAT 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 P 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 Note 3 RST Power supply No fuse breaker NFB or fuse Magnetic contactor N S ao SORES ES Ges MC computer MR Configurator 2 CN5 Note 2 3 4 1 Line noise filter FR BLF 5 Servo amplifier i n Junction D terminal block Servo system Note 2 controller or Front axis Power servo amplifier CN1B improving reactor f FR BEL Regenerative P Rear servo amplifier Lu M option C CN1A or CL
40. Screw size 4 Tightening torque 1 2 N m 10 6 Ib in 2 M5 screw Approx 168 156 0 5 Mounting hole process drawing 9 OUTLINE DRAWINGS 3 MR J3 70B MR J3 100B Unit mm B n CDCJEDTICDEJCOHTICBESESECIEHERCOOOOICIERCIESERCSE3ED cncymmncnccmicrcrcccrccctrciu a 12 oj ecamadaacdaaocoaoma 6 mounting hole acumen 2 6 I rcr 3g SEE 1 ra CNP1 Joo cNP2 405 OL na s HE 8 vel d s 3 266 9 179 On m Jo n 4 ogl SJ A 6 A is 3 v Cooling fan N t J wind direction 12 J v 25 5 E With MR J3BAT 42 4 Mass 1 4 kg 3 09 Ib Terminal signal layout Mounting screw Screw size M5 PE terminal Tightening torque 3 24 N m 28 7 Ib in 8 60 8
41. sere lose 13 2 19 1 2 Packirig list n rer rt EBERT PM 13 4 13 4 3 5tandard specificatioris e er MR ERR str rut 13 5 13 14 Model definitiori El oce c eee e crt ea tc ads 13 8 13 1 5 Combinations of converter units drive unit and servo motors 13 9 13 1 6 Parts IderitificatiOn eh ecce inet ere Rhen pent e tee RR CR da EORR ees 13 10 13 1 7 Removal and reinstallation of the terminal block cover 2 13 13 13 1 8 Servo system with auxiliary equipment sssssseeneneeenem nemen 13 19 1332 Installationi eoe EDEN BREED Bun er 13 20 13 2 1 Installation direction and clearances sssssssssssssssssseeeeeeeeen enne nennen 13 21 13 2 2 InSpDeGcltlOLiz A tte S E 13 22 13 3 Signals and Wining oes 21224 d e th e e E RE RE ER e ne a eae 13 23 13 3 1 Magnetic contactor control connector 02 13 24 13 3 2 Input power supply circuit nnns 13 26 13 93 93 Terlbial tree rr rere i c da 13 31 13 3 4 How to use the connection bars 2 4 000 00 1
42. 65 Opposite to load side lead Long flex life 65 Opposite to load side lead 65 Opposite to load side lead Long flex life Encoder cable 20 Encoder cable MR J3JCBLO3M A1 L Cable length 0 3m MR J3JCBLO3M A2 L Cable length 0 3m Encoder connector HF MP series HF KP series Refer to section 11 1 2 3 for details Encoder connector HF MP series HF KP series Refer to section 11 1 2 3 for details 11 5 1 20 Load side lead IP20 Opposite to load side lead 11 OPTIONS AND AUXILIARY EQUIPMENT No Product Description Application cable Cable length 20 30m CD a 22 Encoder MR EKCBL O 20 For HF MP HF KP series Cable length Long flex life 20 30 40 50m Refer to section 11 1 2 2 for details MR ECNM cable Encoder connector set Encoder cable 25 Encoder cable Encoder connector set cUm For HF MP HF KP series Refer to section 11 1 2 2 for details MR J3ENSCBL O M L Cable length 2 5 10 20 30m MR J3ENSCBL O M H Cable length 2 5 10 20 30 40 50m MR J3SCNS IP67 Standard life IP67 Long flex life flex For HC UP HC LP HC RP HA LP series Refer to section 11 1 2 4 for details cT For HF SP HC UP HC LP HC RP HA LP series Refer to section 11 1 2 4 for details MR BKCNS1 Straight plug CM10 SP2S L Socke
43. Note 11 OPR Note 10 MSGO 509 17 P x n_tNote Te Al Q Q B4 O O o BUE bsp Note 9 Note 6 i Terminal od block Note 2 FR BR Notes pR FR BU2 H PR 10 MSG SD Note 4 For power supply specifications refer to section 1 3 For the servo amplifier of 5k 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 Always connect P and terminals P and P for the servo amplifier of 11k 15kW Factory wired When using the power factor improving DC reactor refer to section 11 13 Connect the and N terminals of the brake unit to a correct destination Wrong connection results in servo amplifier and brake unit malfunction Contact rating 1b contact 110VAC 5A 220VAC Normal condition TH1 TH2 is conducting Abnormal condition TH1 TH2 is not conducting 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 For the servo amplifier of 11kW or more connect the thermal relay censor of the servo amplifier Do not connect more than one cable to each P and N terminals of
44. 22K1M 11K1M 701M y Speed r min HA LP1500r min series 120 100 80 S 60 8 2 40 20 00 500 1000 1500 2000 2500 3000 Speed r min HF SP2000r min series 100 90 T g 80 502 a 70 352 29 y S 50 o S 40 o 30 E 20 E 202 10 152 0 0 500 1000 1500 2000 Speed r min HC UP2000r min series 60 50 20 1 40 5 30 2 g 20 801 2 10 25 1 0 200 400 600 800 1000 1200 Speed r min HA LP1000r min series ae ya X 59 o c E E 502 0 500 1000 1500 2000 Speed r min HA LP2000r min series 10 7 10 CHARACTERISTICS 200 Time constant T ms 160 120 80 40 500 1000 Speed r min 1500 2000 HC LP series b 400V class servo motor Time constant T ms Time constant ms 90 75 60 45 30 0 1000 Speed r min 2000 3000 HA SP2000r min series 20 16 12 11K1M4 15 1 701M4 Bk er 4 22K1M4 0 0 500 1000 1500 Speed r min HA LP1500r min series 10 8 Time constant T ms Time constant 7 ms 35 i 12K14 ee 25 20 15 10 8014 15K14 RT 5 9 400 800 1200 Speed r min HA LP1000r min series 40 35 30 15K24 11K24 10 1 5 22K2 0 500 1000 1500 Speed r min 2000 HA LP2000r min series 10 CHARACTERISTICS 10 3 2 The dynamic brake at the load inertia mom
45. 3 52 4 STARTUP 4 1to4 10 4 1 Switching power On for Me firt Umo oat taco at atat te lae a de ar a 4 1 AAA Startup proced te f pne a a S 4 1 4 12 Wiring check ies cic taa to d ben eter ee aae d en etate dee e el ee a e de o ge eels 4 2 4 1 3 Surrounding nennen rennen tret rennen nnne nnn nnns 4 3 LAU mI 4 4 4 3 Servo atriplifl r display E 4 5 4 AT estoperation 4 7 4 5 155 uius 4 8 4 5 1 Test operation mode in MR 4 8 4 5 2 Motorless operation in 0 2 00000 0000 10 0 eene 4 10 5 1 Basic setting parameters No PALTLI 5 1 5 1 1 Parameter lS mt re eem eter ote uv erosion ole eas 5 2 5 1 2 Parameter write 5 3 5 1 3 Selection of regenerative option nennen nennen 5 4 5 1 4 Using absolute position detection system ssssssssssseeeeeeeneneen nene enne 5 5 5 1 5 Forced stop input nennen 5 5 5 1 6 Au
46. 4 1 8 switches WNG DOCOM connected Press DOWN once CN1 8 switches off E e Press SET for more than 2 seconds Call the display screen shown after power on 13 52 13 SERVO AMPLIFIERS WITHLA LARGE CAPACITY 30k TO SSKVV 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 Display Indicates on occurrence of an alarm Indicates that overvoltage A 33 occurred Flickers at alarm occurrence Current alarm 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 Indicates that the data of parameter No PA01 is faulty 13 53 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV Functions at occurrence of an alarm 1 Any mode screen displays the current alarm 2
47. Dynamic brake a5 RA B mim battery for absolute position 1 detection system Control 81 Electro circuit Magnetic power rake supply B2 Voltage Overcurrent Current S amplifier detection protection detection Encoder prias uus o MM Position Virtual command encoder input Model position Model speed control control Virtual motor position i Actual position Actual speed Current control control control 1 L MR J3BAT I F Control x Personal computer Analog monitor 2 channels Digital Controller or control servo amplifier Note Refer to section 1 3 for the power supply specification 1 FUNCTIONS AND CONFIGURATION 1 3 Servo amplifier standard specifications 1 200V class 100V class Servo amplifier 0 10B 20 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB 10B1 20 1 40B1 3 or 1 phase 200 1 phase 100V to Voltage frequency 3 phase 200 to 230VAC 50 60Hz to 230VAC 50 60Hz 120VAC 50 60Hz 3 phase or 1 phase 2
48. sp 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 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 110 5A 220VAC 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 LARGE CAPACITY 30k 55kW 2 When connecting two brake units to a converter unit 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 un
49. 55kW 13 1 6 Parts identification 1 Converter unit MR J3 CR55K 4 The servo amplifier is shown without the front cover For removal of the front cover refer to section 13 1 7 Detailed Name Application explanation Magnetic contactor control connector CNP1 Connect to the operation coil of the magnetic contactor Section 13 3 4 I O signal connector 1 Used to connect digital I O signals Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Display Fixed part The 3 digit seven segment LED shows the servo status 4 places Cooling fan and alarm number Operation section Used to perform status display diagnostic alarm parameter and point table setting operations t O MODE Section 13 4 DOWN SET L 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 Pd r T For manufacturer setting connector CN3 For manufact
50. Always set parameter 02 of the drive unit to 00 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 01 to the regenerative option used Parameter 01 IE 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 Inverse efficiency C charge J MR J3 DU30KB MR J3 DU37KB MR J3 DU30KB4 450 MR J3 DU37KB4 MR J3 DU45KB4 MR J3 DU55KB4 13 75 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 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 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 50 2 18 60Hz 20 50Hz 18 60Hz The regenerative option generates heat of 100 C 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 senso
51. FR CV 55K 22mm 14mm Servo amplifier 15kW First unit R2 L1 P L 7 22mm assuming that the total of servo amplifier 8212 N L N capacities is 27 5kW since 15kW 7kW 3 5kW 2 0kW 27 5kW Servo amplifier 7kW R L P Second unit 2 14mm assuming that the total of servo amplifier S L21 N capacities is 15kW since 7kW 3 5kW 2 0kW 12 5kW pene amplifier 3 5kW P Third unit 5 5mm assuming that the total of servo amplifier N capacities is 7kW since 3 5kW 2 0kW 5 5kW Servo amplifier 2KW b pj Fourth unit 2mm 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
52. Note Watchdog CPU parts faulty Fault of parts in servo amplifier Change the servo amplifier 888 Checking method 7 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 If an absolute position counter warning occurred always make home position setting again Not doing so may cause unexpected operation NCAUTION 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 EO 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 Battery cable Absolute position detection 1 Battery cable is open Repair cable or changed disconnection system battery voltage is 2 Battery voltage supplied from the servo Change the battery warning low amplifier to the
53. Note 1 One cooling fan for MR RB136 4 MR RB138 4 2 For MR RB138 4 is R400 and S is 5400 13 78 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 13 9 3 External dynamic brake 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 PDOY Dynamic brake MR J3 DU30KB MR J3 DU37KB ats J3 DU30KB4 ER TE J3 DU37KB4 MR J3 CR55K4 DBU 55K 4 ENIM J3 DU45KB4 MR J3 DU55KB4 J3 DU55KB4 MR J3 CR55K DBU 37K 2 Connection example Use the following wires to connect the dynamic brake Dynamic Wire mm Note brake DBU 37K DBU 55K 4 Note Select
54. function Select the output device of the CN3 13 pin CHAM The devices that can be assigned in each control mode are those that have the symbols indicated in the following table Setting Setting a Always OFF Always OFF Note 2 For manufacturer For manufacturer setting Note 3 setting Note 3 ee 03 For manufacturer setting Note 3 For manufacturer ES or cpes e CDPS 10 For manufacturer setting Note 3 ABSV Note 1 For 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 Refer to Any input signal can be assigned to the CN3 9 pin Name The devices that can be assigned and the setting method are the same as in parameter and No PDO7 function 910101 sium An Select the output device of the CN3 9 pin PD09 DO3 Output signal device selection 3 CN3 15 Refer to Any input signal can be assigned to the CN3 15 pin Name The devices that can be assigned and the setting method are the same as in parameter and No PDO7 function 0 0 0 column JE Select the output device of the CN3 15 pin 5 5 Initial Setting No Symbol Name and function Unit value range For manufacturer setting Do not change this value by any means PD14 DOP3 Function selection D 3 0000h Refer to Set the
55. has increased to the machine end vibration frequency vibration suppression control limit Decrease the response until vibration of workpiece end device is resolved End 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 100Hz Resonance of more Vibration suppression control Vibration suppression than 100Hz is not the vibration frequency control resonance target of control Anti resonance frequency frequency Parameter No PB19 Parameter No PB20 Phase 90deg b When vibration can be confirmed using monitor signal or external sensor Motor end vibration 4 External acceleration pick signal etc Droop pulses Position command frequency E i Vibration suppression control LM Vibration cycle Hz vibration frequency Vibration cycle Hz Vibration suppression control resonance frequency Set the same value 7 SPECIAL ADJUSTMENT FUNCTIONS When machine end vibration does not show up in motor end vib
56. 13 SERVO AMPLIFIERS WITH A LARGE CAPACITY 30k 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 Converter A warning occurred in the Check the warning of the warning converter unit during the converter unit and take the action Servo on command following the remedies for warnings of the converter unit Refer to section 13 6 1 Main circuit The forced stop of the 1 The forced stop of the converter unit Deactivate the forced a the off warning converter unit is made valid during the servo on 2 The coordination cable Connect CONSE command terminal connector is not correctly connected 13 63 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 13 7 Outline drawings Refer to section 13 2 1 for outline dimension drawing 13 7 1 Converter unit MR J3 CR55K 4
57. 13 32 13 3 5 Connectors and signal arrangements 13 33 13 3 6 Converter unit signal device 13 35 19 3 Chart teres prt or e E p HE EE OE RE 13 37 13 3 0 5e6rvo imotorside detalls 2 5 tet t utet iet t eta 13 47 13 4 Display section and operation section of the converter unit 13 49 4 13 4 1 Display flowchart eee bte eee e ME exe rere a Ou alee 13 49 13 4 2 Status display mode tene elei let 13 50 134 3 Diagnostic Mode eit ede reddere D e Dade Poco 13 51 13 44 Alam mode ete te den dtt ot HE 13 53 13 4 5 Parameter mode eh n ih ien c iet e io mt 13 54 13 5 Parameters for converter 13 55 13 5 4 Parameter list ET e tere RR Rer EIER e eee E REDI 13 55 13 572 iSt of delalls 2 14 ttd tide e dn ult Gen duis 13 56 13 6 Troubleshooting iere e e o e o C e n p o D EH HER I Reda 13 57 13 6 4 Converter Unit 2 eerte alte tete aeree te aeree etd 13 57 OE OVABIEIT ME EE 13 62 13 7 Outline drawings xaxa n tte t ete e i e e e e a 13 64 13 7 1 Converter unit MR J3 CR55K 4 sse nnns 13 64 13 7 2 DIVE Unit inset Mor MO GR MI ie dele e rli Eneas 13 65 13 8 CharactertstlCs 5 ee
58. Pull up the cover supporting at point A Insert the front cover setting tabs into the sockets of servo amplifier 2 places 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 1 Press the removing knob on the lower side ofthe 3 Pull it to remove the front cover 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 1 T Note 2 2 Installation hook 1 Fit the front cover installation hooks on the sockets 2 Push the front cover until you hear the clicking of body cover A to
59. Standard panel standard cable ES S SISISISISISISN MR J3BUSLIM B life distance cable Note For cable of 30m or less contact our company 2 Specifications area Description SSCNETII cable model MR J3BUSLIM MR J3BUSLIM A MR J3BUSLIM B SSCNETII cable length 0 3 to 3m 5 to 20m 30 to 50m PA Enforced covering cord 50mm Enforced covering cord 50mm Minimum bend radius 25mm Cord 25mm Cord 30mm 420N 980N Tension strength 7TON 140N Enforced covering cord Enforced covering cord Temperature range for use Note 40 to 85 20 to 70 Indoors no direct sunlight Ambient No solvent or oil External appearance mm 2 2 0 07 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 Protective tube 13 4 37 65 pe Be oy WE oo gto 4 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 52 gt 100 Note Dimension of connector part is the same as that of MR
60. Tb h Base circuit OFF ne Electromagnetic ms Electromagnetic Note 1 ON s brake operation brake interlock delay time MBR OFF Servo on command ON i from controller OFF Operation command from controller Electromagnetic Release o pd 1 brake Activate s Release delay time and external relay Note 2 r min 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 Dynamic brake Dynamic brake Electromagnetic brake Servo m tor speed d Electromagnetic brake Electromagnetic brake release 10 5 4 4 210 5 ON E Base circuit 4 210 5 Electromagnetic Note ON Electromagnetic brake brake interlock MBR OFF operation delay time Forced stop command Invalid ON 4 from controller Valid OFF Forced stop EM1 Note ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 3 SIGNALS AND
61. 1 DECR T xt Approx W1 i Mounting hole D less for M8 W or less 13 84 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO 5 13 9 7 Line noise filter FR BLF 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 L4 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 br 90 130 rs 85 amp c 13 85 13 CAPACITY 30k TO SSKVV 13 9 8 Leakage current breaker 1 Selection method lg 192 Ign Iga High frequency chopper currents controlled by pulse w
62. 120 Ed 84 ma 120 4000 20 50 gt 4 0 3000 20 Multiplier x1 rad s rad s Ms Multiplier x1 rad s rad s ms 8 7 SPECIAL ADJUSTMENT FUNCTIONS 2 When you choose changing by droop pulses a Setting Abbreviation Name Setting Unit 7 1 Model loop gain 100 rad s Ratio of load inertia moment to servo motor Multiplier 06 GD2 mM 4 0 inertia moment x1 PB08 PG2 Position loop gain 120 rad s 09 VG2 Speed loop gain 3000 rad s PB10 VIC Speed integral compensation 20 ms Gain changing ratio of load inertia moment to Multiplier PB29 GD2B VCI DS 10 0 servo motor inertia moment x1 PB30 PG2B Gain changing position loop gain 84 rad s PB31 VG2B Gain changing speed loop gain 4000 rad s PB32 VICB Gain changing speed integral compensation 50 ms 0003 26 Gain changing selection Changed by droop pulses PB27 CDS Gain changing condition 50 pulse PB28 CDT Gain changing time constant 100 ms b Changing operation Command pulse Droop pulses Droop pulses pulses 0 Change of each gain CDT 100ms Model loop gain Ratio of load inertia moment to servo motor inertia moment Position loop gain Speed loop gain Speed integral compensation 7 15 7 SPECIAL ADJUSTMENT FUNCTIONS MEMO 16 8 TROUBLESHOOTING 8 TROUBLESHOOTING As soon as an alarm occurs make the Servo off status and interrupt the main circuit power If a
63. Approx 200 128 5 I 328 e Terminal block signal layout Terminal block screw 6 Tightening torque 3 0 N m Unit mm Terminal block layout Terminal cover removed prd Rm jn 1 cg 0 E2 9 Mass 18 39 7 Ib Mounting screw Screw size M5 26 6 Ib in Tightening torque 3 2 N m 28 3 Ib in Terminal block screw M4 Tightening torque 1 2 N 10 6 Ib in Terminal block screw M8 Tightening torque 6 0 N 53 1 Ib in Terminal block screw M8 Tightening torque 6 0 N 53 1 Ib in 13 66 13 CAPACITY 30k TO SSKVV 13 8 Characteristics 13 8 1 Overload protection characteristics 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
64. Connect to the L L terminals of the converter unit using the connection conductors supplied Rating plate Section 13 1 4 13 12 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 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 NCAUTION between L and L is safe with a voltage tester and others Otherwise electric shock may occur In addition always confirm from the front of the servo amplifier whether the charge lamp is off or not 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 Pull the terminal block cover toward you and remove it 13 13 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 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 t
65. 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 5 5 1 4 Using absolute position detection system Parameter Unit Seti nitial value ni etting range No Symbol Name grane Absolute position detection system 0000h S Refer to the text 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 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 Unit Stil nitial value ni etting range No Symbol Name SUR 04 AOP1 Function selection 1 0000h Refer to the text 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 04 o 010 JE 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 se
66. MR J3 15KB 1 25 AWG16 22 AWG4 d 22 AWGA d 1 25 AWG16 1 25 AWG16 Note 2 g MR J3 22KB 38 AWG1 p 38 AWG1 5 5 AWG10 Note 2 3 5 AWG12 MR J3 700B4 1 25 AWG16 1 25 AWG16 5 5 AWG10 a Note 2 Note 3 Note 3 MR J3 11KB4 5 5 5 AWG10 8 AWGB8 I 2 AWG14 q Note 2 1 25 AWG16 g MR J3 60B4 1 25 AWG16 MR J3 100B4 2 AWG14 1 25 AWG16 2 AWG14 MR J3 200B4 2 AWG14 MR J3 350B4 2 AWG14 g 2 AWG14 g MR J3 500B4 1 25 AWG16 3 5 AWG12 a Note 2 h 2 AWG14 g MR J3 22KB4 14 AWG6 3 5 AWG12 k Note 2 Note 1 Alphabets in the table indicate crimping tools For crimping terminals and applicable tools refer to 1 c in this section MR J3 15KB4 8 AWG8 14 AWG6 c 3 5 AWG12 j 1 25 AWG16 1 25 AWG16 14 AWG6 m 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 Note 2 i Symbol E i Applicable tool Crimping Body Head D
67. Model GFKC 2 5 2 STF 7 62 Phoenix Contact 13 33 13 SERVO AMPLIFIERS WITH LARGE CAPACITY 30k 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 D 2 1 E V OPEN Ls pa A fel NS e I E 9 g T nu m 1 4 lt mW cu 2 Fs n J 6 B LB Pm SA Jj JUS li SH 4 aS Ge The frames of the CN2 and CN3 connectors are connected to the PE earth terminal in the amplifier 13 34 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 55 cable Connector for the rear axis of SSCNETII cable CN2 Encoder connector Refer to section 3 4 13 SERVO AMPLIFIERS WITH A LARGE
68. Model MR J3 CR55K POWER 55kW INPUT AC200V 230V 50 60Hz Applicable power supply OUTPUT Rated output current SERIAL A5 mm PASSED L Serial number 2 Model a Converter unit MR JS3 CRSSKLI Power supply Series Symbol Power supply 3 phase 200 to 230VAC 3 phase 380 to 480VAC Indicates converter unit Rated output 55kW b Drive unit MR JS DULIBLII Power supply Series Symbol Power supply 3 phase 200 to 230VAC 3 phase 380 to 480VAC Indicates drive unit SSCNETIII interface Rated output Symbol Rated output kW 00 400 class Fas 45 ss 5 13 8 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 200V class Converter unit Drive unit HA LP 1000r min 1500r min 2000r min MR J3 DU30KB 30K1 30K1M 30K2 MR J3 CR55K MR J3 DU37KB 37 1 37K1M 37K2 2 400V class Converter unit Drive unit HA LP 1000r min 1500r min 2000r min MR J3 DU37KB4 37K14 37K1M4 37K24 MR J3 DU45KB4 45 1 4 45 24 MR J3 DU55KB4 7 50K1M4 55K24 25K14 MR J3 DU30KB4 30K1M4 30K24 30K14 MR J3 CR55K4 13 9 13 SERVO AMPLIFIERS WITH LARGE CAPACITY 30k
69. Signal No HA LP30K1 HA LP37K2 HA LP45K1M4 HA LP37K1 HA LP25K14 HA LP50K1M4 HA LP30K1M HA LP30K14 HA LP45K24 HA LP37K1M HA LP37K14 HA LP55K24 HA LP30K2 HA LP37K1M4 HA LP30K1M4 HA LP30K24 HA LP37K24 Motor power supply terminal block screw size Motor power supply Terminal block signal arrangement terminal block Encoder connector E 3 U VW M8 screw CM10 R10P BU BW lonsiloHs2 7 U V BU BV 0 51 0852 OO JODIO C3 Thermal sensor terminal block OHS1 OHS2 M4 acd Cooling fan terminal block BU BV BW 9 9 M4 screw Earth terminal M6 screw 13 47 13 SERVO AMPLIFIERS WITH A LARGE CAPACITY 30k 55kW Abbreviation Description Connect to the motor power terminals U V W of the drive unit During power on do not Servo motor open or close the motor power line power supply Otherwise a malfunction or faulty may occur Supply power which satisfies the following specifications Power Rated Voltage Servo motor consumption current frequency IW A 37K2 class 50Hz e0Hz 85 60Hz 0 22 60Hz HA LP30K1
70. ek aS at eae E 6 3 6 2 6 3 6 2 2 Auto t ning mode operationis i ee aea 6 4 6 2 3 Adjustment procedure by auto 6 5 6 2 4 Response level setting in auto tuning 6 6 6 3 Manual mode 1 simple manual adjustment 6 7 0 4 Interpolatiori mode eoi o ete ee n ee al RUE aaa tesa ce ei etat 6 11 6 5 Differences between MELSERVO J2 Super and MELSERVO J3 in auto tuning A F nction block diagrati 2 m riii porte Mite nive ers 7 1 7 2 Adaptive filter i ie tet tette De iecit te ue gen eite et ed ete tee u 7 1 7 3 Machine resonance suppression filter essen nennt 7 4 7 4 Advanced vibration suppression control ssssssssssssssssseseseeeeee enne nnne 7 6 VA Ne orca dE 7 10 7 6 Gain changing f niction suet casks listed tant ase dae dpa HR B RH UR 7 10 1 0 1 Beet talus dis 7 10 6 2 Function block diagrarr iie ete all iii 7 11 7 0 3 an iuge eee dg Uu ate 7 12 7 6 4 Gain changing Operation
71. within 20cm Ex 972A 2003 50411 Matsuo Electric Co Ltd 200VAC rating Rated Outline drawing Unit mm voltage C uF RIQ Test voltage AC V Vinyl sheath AC V 200 05 50 Across Blue vinyl cord Red vinyl cord 1W T C 1000 1 to 5s d Xl 200 or more 48 1 5 200 more Note that a diode should be installed to DC relay DC valve or the like 6 O RA Maximum voltage Not less than 4 times the drive voltage of the relay or the like Maximum current Not less than twice the drive current of the relay or the like Diode c Cable clamp fitting AERSBAN LISET Generally the earth of the shielded cable may only be connected to the connectors 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 mum Cable Cable clamp Earth plate Strip the cable sheath of the clamped area cutter S ha External conductor Clamp section diagram 11 79 11 OPTIONS AND AUXILIARY EQUIPMENT Outline drawing Unit mm Earth plate Clamp sectio
72. 1 HF KP MR J3ENCBLEIM A2 L MR J3ENCBLOIM A2 H 2 LO gu Servo motor CN2 Cable model 1 For CN2 connector 2 For encoder connector MR J3ENCBL O M Receptacle 36210 0100PL Connector set 54599 1019 Molex Connector 1674320 1 A1 L Shell kit 36310 3200 008 Crimping tool for ground clip 3M 1596970 1 Crimping tool for receptacle contact 1596847 1 MRASENCBE LIME Note Signal layout Note Signal layout A1 H Tyco Electronics EH g 6 10 Note Signal layout 5 A2 L N MR J3ENCBL O M 5 5 View seen from wiring side View seen from wiring side MR J3ENCBL O M View seen from wiring side A2 H Note Keep open the pins shown with Especially pin 10 is provided for manufacturer adjustment If it is connected with any other pin the servo amplifier cannot operate normally Note Keep open the pin shown with an 11 8 11 OPTIONS AND AUXILIARY EQUIPMENT b Cable internal wiring diagram MR J3ENCBL2M L H MR J3ENCBLSM L H MR J3ENCBL10M L H Servo amplifier Encoder side side connector connector P5 1 H C1 3 P5 LG 2 Ho 6 LG MR 3 4 5 MR MRR 4 en 4 MRR 9 2 BAT SD Plate 9 SHD 2 MR EKCBL L1 M L H fo
73. 170 1635 2 44 58 suas 20 2 7s iso 25 s s 2 sese 55 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 2 g 7mounting hole E an o co c Q NN 7 tow vy 93 51 73 75 7 o 2 8 e a gt P 25 150 25 k 195 15 ee ro 200 210 15 170 15 Mass 6 7 kg Terminal block TE1 TE2 Ee pe epe png Screw M3 5 Screw M4 Tightening torque 0 8 N m 7 lb in Tightening torque 1 2 N m 10 6 Ib in Wire mm Note Dynamic brake ab u v W DBU TIK DBU 15K 22K 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 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 ju
74. 2 Multiplier 06 GD2 Ratio of load inertia moment to servo motor inertia moment 7 0 1 7 Model loop gain 24 08 Position loop gain 37 rad s 9 Speed loop gain 823 rad s PB10 Speed integral compensation 33 7 ms PB11 Speed differential compensation PB1 For manufacturer setting PB13 1 Machine resonance suppression filter 1 PB14 1 Notch shape selection 1 PB15 Machine resonance suppression filter 2 PB16 Notch shape selection 2 PB17 Automatic setting parameter 18 LPF Low pass filter setting PB19 Vibration suppression control vibration frequency setting PB20 Vibration suppression control resonance frequency setting PB21 rr PB23 Low pass filter selection PB24 Slight vibration suppression control selection For manufacturer setting PB26 Gain changing selection PB27 Gain changing condition PB28 Gain changing time constant PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment E o gt N N N rad s H H N N For manufacturer setting 3 AM Eee BE Multiplier x1 N B PG2B Gain changing position loop gain PB31 VG2B Gain changing speed loop gain PB32 VICB Gain changing speed integral compensation PB33 VRF1B Gain changing vibration suppression control vibration frequency setting PB34 VRF2B Gain changing vibration suppression control reson
75. 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 SIGNALS AND WIRING b Servo motor terminals Encoder connector signal Encoder connector CM10 R10P allotment CM10 R10P Terminal box Brake connector MS3102A10SL 4P allotment MS3102A10SL 4P Terminal box inside HA LP601 4 701M 4 11K2 4 Motor power supply terminal block U V W M6 screw Earth terminal S M6 screw Thermal sensor terminal block Brake connector signal OHS1 OHS2 screw Cooling fan terminal block BU BV M4 screw n Encoder connector CM10 R10P Terminal 1 Signal No B1 1 Note B2 2 Note Note For the motor with an electromagnetic brake supply electromagnetic brake power 24VDC There is no polarity Terminal block signal arrangement 51 52 3 SIGNALS AND WIRING Terminal box inside HA LP801 4 12K1 4 11K1M 4 15K1M 4 15K2 4 22K2 4 Cooling fan terminal block
76. 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 DULTIB 4 Section 1 2 Power supply description change Print Data Manual Number Jul 2007 SH NA 030051 C Section 1 2 1 Section 1 3 Section 1 3 2 Section 1 5 2 Section 1 6 Section 1 7 Section 1 7 1 1 3 Section 1 7 2 Section 1 8 Section 1 8 1 a Section 1 8 2 to 7 Section 2 1 b Chapter 3 Section 3 1 Section 3 1 4 Section 3 1 6 Section 3 1 7 Section 3 1 8 Section 3 3 1 Section 3 3 3 1 b Section 3 3 3 2 b Section 3 3 3 3 Section 3 3 3 4 Section 3 3 3 5 Section 3 4 Section 3 5 2 Section 3 5 2 d Section 3 7 2 3 b Section 3 10 Section 3 10 1 Section 3 10 2 2 Unification of Note 3 to Note 2 addition of new Note 3 Addition of MR J3 500B4 and 700B4 Addition of MR J3 60B4 to 350B4 Addition of MR J3 60B4 to 350B4 Addition of MR J3 500B4 and 700 4 Addition of combination MR J3 60B4 to 350B4 and servo motor Addition of MR J3 60B4 to 350B4 as 2 and 4 Change of description for servo motor power supply connector to servo motor power connector Change CAUTION to WARNING Power supply description change Unification of Note 4 to Note 3 addition of explanation to Note 2 Addition of explanation to Note 2 Change of description to Mounting
77. During servo lock 10 1 0 100 200 300 Note Load ratio 96 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 Note 1 Power supply o_o Servo amplifier Servo motor HF MP053 1 HF MP13 HF KP053 HF MP23 HF KP23 HF MP43 HF KP43 HF SP52 4 4 HF SP51 HC LP52 HF MP73 HF KP73 HC UP72 HF SP102 4 HF
78. ETIN RB31 MR RB32 2 9 6 4 pico RB34 4 pU RB3M 4 MR RB3G 4 Terminal block P G4 Variable kg Ib Terminal screw M4 Tightening torque 1 2 N m 10 62 Ib Mounting screw Screw size M6 Tightening torque 5 4 N m 47 79 Ib Variable Mass EEG kg Ib in in Regenerative option MR RB50 MR RB51 5 6 12 3 ig RB54 4 MR RB5GA 11 OPTIONS AND AUXILIARY EQUIPMENT d MR RB5E MR RB9P MR RB9F MR RB6B 4 MR RB60 4 MR RB6K 4 Unit mm in Terminal block 2 010 mounting hole EE Terminal screw M5 Tightening torque 2 0 N m 17 70 Ib in Mounting screw Screw size M8 Tightening torque 13 2 N m 116 83 Ib in NI opion o oo p m UT 215 230 4 9 Cooling fan mounting screw MR RB6K 4 4 M3 screw 9 N NN jh id GRZG400 1 5Q GRZG400 0 9Q GRZG400 0 6Q GRZG400 5 00 GRZG400 2 50 GRZG400 2 00 standard accessories x Approx 9 C x 10 Approx Approx 2 4 Q i Tightening gt 5 4 g Regenerative dimensions Mounting torque
79. FUNCTIONS AND CONFIGURATION 2 MR J3 60B4 MR J3 100B4 Detailed Name Application Display The 3 digit seven segment LED shows the servo Chapter 4 status and alarm number Rotary axis setting switch SW1 Used to set the axis No of servo amplifier Section 3 13 Test operation select switch SW2 1 Used to perform the test operation mode by using MR Configurator Section 3 13 Spare Be sure to set to the Down position Main circuit power supply connector CNP1 Section 3 1 Connect the input power supply Section 3 3 USB communication connector CN5 Connect the personal computer Section 11 8 I O signal connector CN3 c Used to connect digital I O signals Section 32 More over an analog monitor is output Section 3 4 Control circuit connector CNP2 Connect the control circuit power supply regenerative option SSCNETII cable connector CN1A Used to connect the servo system controller or the front axis servo amplifier SSCNETIII cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Servo motor power connector CNP3 Section 3 1 Connect the servo motor Section 3 3 Encoder connector CN2 Section 3 4 Used to connect the servo motor encoder Section 11 1 Battery connector CN4 Used to connect the battery for absolute position data Section 11 9 backup Chapter 12 Section 3 1
80. 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 Ratio of load inertia moment to servo motor inertia moment Position loop gain Speed loop gain Speed integral compensation b Manually adjusted parameters The following parameters are adjustable manually Abbreviation PBO7 PG1 Model loop gain 2 Adjustment procedure Operation Description Set to the auto tuning mode Select the auto tuning mode 1 During operation increase the response level setting parameter 9 and return the setting if vibration occurs Check the values of model loop gain Check the upper setting limits Set the interpolation mode parameter No PA08 0000 Select the interpolation mode 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 Looking at the interpolation characteristic and rotation status fine adjust Adjustment in auto tuning mode 1 Fine adjustment the gains and response level setting 3 Adjustment description a Model loop gain parameter No PBO7 This parameter determines the response level of
81. MITSUBISHI ELECTRIC General Purpose AC Servo MEDJI Series SSCNETII interface MODEL MR J3 LIB SERVO AMPLIFIER INSTRUCTION MANUAL e Safety Instructions e 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 A WARNING Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury A 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 G Indicates what must not be done For example No Fire is indicated by R e Indicates what must be done For e
82. MN Display Name Overheat warning Excessive regenerative load warning Over load warning Converter forced stop warning Note Cooling fan speed reduction warning Open phase Ea Inrush current suppressor circuit 88 Note A47 Codingfamerr o Note O Note O 888 TO Note Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence MC drive circuit error AEE 13 57 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 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 NCAUTION 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 th
83. Note 1 Note 1 Note 1 Servo amplifier MR RB1H 4 regenerative 820 MR RB3M 4 MR RB3G 4 MR RB5G 4 MR RB34 4 MR RB54 4 resistor 1209 470 479 26 260 Mese 15 p we prec eel 7512750 MRJs 10084 15 10 30 _ am I D MRJ amp 35084 40 m 30 so mresa soos 1490 00 om To Note 2 Regenerative power W Servo amplifier External 2 MR RB5E MR RB9P MR RB9F MR RB6B 4 MR RB60 4 MR RB6K 4 ITUNES SR RR TT a eee MRJS 22KB 850 1300 s50 030 ma MRUS MKB4 50 00 m m 50800 1 pS eeso Mm J3 22KB4 850 1300 Pf 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 a Regenerative energy calculation Use the following table to calculate the regenerative energy 94 tf 1 cycle je 2 f 5 BN BN 9 3 9 Down 1 Friction 9 um em torque 5 1 5 oi 2 g Driving i p 2 4 9 5 2 3 9 Regenerative 7
84. PG1 parameter 07 VG2 parameter 09 VIC parameter No PB10 GD2 parameter 06 PG2 parameter 08 VG2 parameter 09 VIC parameter No PB10 Response level setting of parameter No 2 602 parameter No PBO6 Response level setting of parameter No PA09 PG1 parameter 07 GD2 parameter No PBO6 VG2 parameter 09 VIC parameter No PB10 PG1 parameter 07 6 GENERAL GAIN ADJUSTMENT 2 Adjustment sequence and mode usage START i Yes more Used when you want to axes interpolation mode match the position gain PG1 No interpolation mode A between 2 or more axes Normally not used for other purposes Operation Autoi ning mode 1 eAI eee Allows adjustment by merely changing the response level setting First use this mode to make adjustment Operation Yes Used when the conditions of i No auto tuning mode 1 are not met and the load inertia Auto tunirnig mode 2 moment ratio could not be estimated properly for Operation example o You can adjust all gains manually when you want to do fast settling or the like 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
85. 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 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 01 is displayed and are displayed alternately The following example gives the operation procedure after power on for use of the regenerative options MR RB137 KU Press MODE three time Displayed t alternately 77 The parameter number is displayed For parameter 01 PA and 01 are displayed alternately e e Press UP or DOWN to change the number e Press MODE twice wy teet e set value of the specified parameter number flickers The set val f th ified t ber flick Note In this case the lower three digits 0000 of the set value 0000 are displayed LU be bus Hn Hn Press MODE once RAR uring flickering the set value can be change a rq During flickering th t val be ch e ye eet be Use UP or DOWN 0002 MR RB137 3 pcs are used Press SET to enter Note If the MODE butto
86. communication error cable got dirty section 3 9 3 The SSCNETIII cable is broken Change the cable severed 4 Noise entered the servo amplifier noise suppression measures 5 Optical characteristic of SSCNETII Remove the vinyl tape and or wire sheath cable deteriorated because vinyl which contains migrating plasticizer and tape and or wire sheath which exchange the cable contains migrating plasticizer adhered to the cable 8 TROUBLESHOOTING Display Parameter error Parameter setting is 1 Servo amplifier fault caused the Change the servo amplifier parameter setting to be rewritten 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 ROM exceeded 100 000 due to parameter write etc Main circuit Main circuit device 1 Servo amplifier faulty Change the servo amplifier device overheat overheat 2 The power supply was turned The drive method is reviewed and off continuously by overloaded status is over 55 temperature is 0 to 55 close mounting overheat temperature rise is over 40 temperature is 0 to 40 actuated the thermal 2 Servo motor is overloaded 1 Reduce load Sensor 2 Check operation pattern 3 Use servo motor that provides larger output 46 3 Thermal sensor in encoder is faulty Ch
87. 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 cable of 1 5 2 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 3 5mm diameter Recommended flat blade screwdriver Phoenix Contact SZS 0 6X3 5 Apply 0 5 to 0 6 N m torque to screw Unit mm Flat blade 2 180 j screwdriver o 100 loosen_ To tighten 3 _ gt z Opening 35 Recommended flat blade screwdriver dimensions To loosen To tighten Connector screw ut Flat blade Servo amplifier power screwdriver supply connector 3 SIGNALS AND WIRING 3 4 Connectors and signal arrangements 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
88. e HR UC TF3150C TX Unit mm 8 R 4 25 Length 12 for M8 M8 lE 245 2 258 3 200 2 225 1 150 1 1501 150 1 13 89 13 SERVO AMPLIFIERS WITHLA LARGE CAPACITY 30k TO SSKVV 13 9 10 FR BU2 H Brake Unit 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 C Keep cables and flammable materials away from the case Ambient temperature condition of the brake unit is between 10 C to 50 C Note that the condition is different from the ambient temperature condition of the converter unit between 0 C to 55 C Configure the circuit to shut down the power supply with the alarm output
89. environmental conditions Control box A 2 10mm or more 7 2 S v le 30m 22 0 or more Ex x or more i cf pL A A n i m a Bottom 120mm or more Uy 2 4 UE 7 yr 2 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 ser
90. lt Screw size 4 Tightening torque 1 2 N m 10 6 Ib in Approx 168 156 0 5 3 M5 screw 42 0 3 Approx 6 Approx 12 Approx 6 Mounting hole process drawing 9 OUTLINE DRAWINGS 4 MR J3 60B4 MR J3 100B4 Unit mm a ets Do oo 1 n DIDCDOLLCDOCILCILCLCIEDCOCCIETOICICICLC OrELCIETCOCHIEIT pcc eaeaeesens i ol Exacemmummmuern mJ maaaaoaoaaaoca m 80 195 ja T gt 60 6 6mounting hole 2 Lv k 0 CNP1 DLL dm onu Em es Dl 2 10 Ee le e e be TB CNP3 55 elk ds E MP Pme D x 6 14 68 1242 MS Approx 25 5 With MR J3BAT 2 Terminal signal layout Li PE terminal L2 L N Screw size M4 Tightening torque 1 2 N m 10 6 lb in P2 P CNP2 D Li L21 U CNP3 V Ww
91. mm Wire me Dimensions fmm Servo amplifier improving DC Quiline Mounting Mass 2 reactor drawing Screw size kg Ib mm Note 110 50 o4 16 95 6 12 5 25 120 53 102 16 105 6 12 M4 25 130 65 110 16 tt5 6 12 ma 30 2 AWG14 Fug 11 1 130 65 110 16 115 6 12 150 75 102 20 135 6 12 M4 40 150 75 126 20 135 6 12 ms 40 3 5 AWG12 170 132 23 155 6 14 M5 50 5 5 010 MR J3 700B 8 AWG8 FR BEL 15K 170 93 170 2 3 155 14 M8 56 MR J3 11KB Fia 11 2 22 AWG4 ig 11 15 5 4 11 91 30 AWG2 6 7 14 77 e0 AWG2 0 s9 16 115 6 12 5 a2 ed 101 16 i5 6 12 5 22 Fig 11 1 150 75 102 2 135 6 12 M4 40 E 150 75 124 2 15 6 t2 ma 40 35 132 23 55 6 14 so 1 683 5 5 AWG 10 MR J3 700B4 FR BEL H15K 170 93 160 23 155 14 M6 56 7 8 8 AWG8 MR J3 11KB4 Fia 11 2 ig 11 15 o mer 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 11 OPTIONS AND AUXILIARY EQUIPMENT 11 14 Power factor improving AC reactors The power factor improving AC reactors improve
92. 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 40B 1 MR J3 60B4 to MR J3 22KB4 MR J3 DU30KB to MR J3 DU37KB MR J3 DU30KB4 to MR J3 DU55KB4 Servo motor series O HF KP O HF SP O Note HF SPL14 Note HC RPO HC UPLI HC LP O HA LP O Note HA LP O4 Note Note For the latest information of compliance contact Mitsubishi 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 24VDC power supply No fuse breaker Magnetic contactor Servo motor Servo amplifier b MR J3 DU30KB 4 or more Control box Reinforced insulating type No fuse breaker Magnetic contactor Servo motor Converter Drive unit NFB MC 3 Environment Operate the converter unit and servo amplifier drive unit at or above the contamination level 2 set forth in 60664 1 For this purpose install the converter unit and servo amplifier drive unit in a contr
93. the jumpers remain removed the FR RC H will not operate When using servo amplifiers of 5kW and 7kW always remove the lead of built in regenerative resistor connected to P terminal and C terminal 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 Between P and P P and P for 11kW to 22kW is connected by default Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class in 400V class servo amplifiers Refer to section 1 3 for the power supply specification For selection of power factor improving AC reactors refer to Power Regeneration Converter FR RC Instruction Manual IB NA 66330 11 46 11 OPTIONS AND AUXILIARY EQUIPMENT 3 Outside dimensions of the power regeneration converters Unit mm Mounting foot removable Mounting foot er ais Aum Cos i Rating plate sess Display Front cover Fu lt m window Cooling fan Lf fn Y 4 9 m 46 4051 SS Heat generation area outside mounting dimension Power regeneration poem Approx mass kg Ib 19 RC 15K 41 888 Soe RC IE EY RC 30K 5 343 E RC H30K FR RC 55K FR RC H55K 12
94. 1 a Section 7 6 4 2 a Section 10 1 5 6 Section 10 3 1 2 Section 11 1 Section 11 1 1 Section 11 1 2 2 b Section 11 1 2 3 a Section 11 1 2 4 Section 11 1 2 5 Section 11 1 2 5 a Section 11 1 3 2 Section 11 1 4 2 Section 11 2 1 Change of Note 15 Change of CNP2 connector model from 54927 0520 to 54928 0520 Switch between 2 and 3 Change of the description for MR J3 200B to the same as MR J3 200B4 Addition of description for the condition Maximum current 50mA or less to body paragraph Addition of NFB for fan power cable of servo motor s cooling fan Change of description for Note 1 Change of servo motor s terminal diagram Change of timing chart Change of description for D terminal to C terminal Change of PB06 and PB29 unit for times to Multiplier x 1 Change of description Change of PB06 and PB29 unit for times to Multiplier x 1 Change of PB06 and 29 unit for times to Multiplier x 1 Change of PB06 and PB29 unit for times to Multiplier x 1 Switch between 5 and 6 Change of the description for MR J3 200B to the same as MR J3 200BA Addition of POINT to 5 Addition of dynamic brake characteristics of HA SP HA LP HC RP HC UP and HC LP Addition of POINT for protective structure Deletion of 2kW from Application upper stand of 2 in Table Change of description for 2kW or les
95. 1000 1500 2000 0 0 500 1000 1500 2000 Speed r min Speed r min HA LP1500r min series 13 70 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 45 HA LP45K24 40r HA LP30K2 35r HA LP37K2 a HA LP55K24 30r a HA LP37K24 b WR a z 25 HA LP30K24 5 5 20r o o E 15 F 10 F 10 F 5r 5r 0 0 LIL d ES SSS 0 500 1000 1500 2000 0 500 1000 1500 2000 Speed r min Speed r min 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 Drive unit Multiplier x 1 MR J3 MR J3 EE EM J3 DU45KB4 MR J3 DU55KB4 J3 DU55KB4 13 71 13 SERVO AMPLIFIERS WITH A LARGE CAPACITY 30k 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 wir
96. 2 Encoder cable corinector Sets dte rete iti rtt dett En 11 8 11 1 3 Motor power supply 11 17 11 1 4 Motor brake cables 2 1r atte cede 11 18 11 1 5 99 C NETIIECAble ied d cer cbe ee reete aede estreno neues 11 19 11 2 Regenerative optiOris 1e e trn Rt i HE Ren E HaT RENE TNR EIER NE ERR 11 21 TT S EREBU2 ED Brake unlt 5 25 Behe Rt nu eue 11 34 113 1 Selection tetti RITIRO REOR DEUDA 11 35 11 3 2 Brake unit parameter setting ssssssssseeeeeeenenneneennen nennen nnns 11 35 11 3 3 Connection example 11 36 11 3 4 Outline dimension drawings seen 11 43 11 4 Power regeneration converter essssssssssssseseee eene eene rennen 11 45 11 5 Power regeneration common 0 2 nennen nennen nre 11 48 11 6 External dynamic brake 3 25 2 ed 0 rte e tee e de e eO OR OM X ds 11 56 11 7 Junction terminal block PS7DW 20V14B F 11 61 11 8 MR Configurator ices pU 11 62 11 9 Battery MR J3BAT re ue tero epe e RYE 11 64 11 10 Heat sink outside mountin
97. 2 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 Strip the sheath Pull back the external conductor to cover the sheath 1 For CN3 connector 3M connector E Screw 3 SIGNALS AND WIRING 3 9 SSCNETII cable connection Do not see directly the light generated from CN1A CN1B connector of servo amplifier or the end of SSCNETII cable When the light gets into eye may feel something is wrong for eye The light source of SSCNETIII complies with class1 defined in JIS C6802 or 60825 1 1 SSCNETII cable connection For CN1A connector connect SSCNETII cable connected to controller in host side or servo amplifier For CN1B connector connect SSCNETII 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 Axis No 2 servo amplifier Final axis servo amplifier J B HJ a J EL EL EL onu KA onu 0 on ps ros SSCNETII cable e SSCNETII cable S
98. 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 LARGE CAPACITY 30k 55kW b Combination with MT BR5 H resistor unit 1 When connecting a brake unit to a converter unit Converter unit Drive unit L L NFB MC Note 1 o ai Li Power supply STOO Le ogre Ls OL Lat CNP1 POM MC1 1 DICOM 2 2 DICOM dne DOCOM 7 L y te 9 ote EM1 OL P d L Y Forced stop SD Note 2 217 Note 5 Drive Controller Note 2 unit forced stop RA1 2 4 RA5 0 0 0 0 Converter Servo motor Operation unit thermal relay ready Note 8 OFF ON MT BR5 H Note 6 Note 10 2 Note 7 Note 10
99. 37K1 120 50Hz 0 65 50Hz Cooling fan BU BV BW 175 60Hz 30K24 37K24 class 50Hz 85 60Hz 0 14 60Hz HA LP30K14 37K14 3 phase 380 to 480VAC 110 50Hz 0 20 50Hz 37K1M4 45K1M4 60Hz 150 60Hz 0 22 60Hz 50 1 4 45K24 55K24 OHS1 OHS2 are opened when heat is generated to an abnormal temperature Motor thermal relay OHS1 OHS2 Maximum rating 125V AC DC 3A or 250V AC DC 2A Minimum rating 6V AC DC 0 15A Earth terminal 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 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 gt _ Diagnosis External I O Current alarm Parameter signal display No PA01 Bus voltage Output signal First alarm in Parameter V forced output past No PA02 ji Lg ang Effective load Software version DOWN ratio 96 low Peak load ratio Softwa
100. 4 Addition of mounting hole dimension diagram Description method change Change of graph from servo motor standards to servo amplifier standards Addition of MR J3 60B4 to 350 4 Addition of MR J3 60B4 to 350B4 and corresponding servo motor Addition of MR J3 500B4 and 700 4 Addition of MR J3 500B4 and 700 4 Paragraphing of section 10 3 1 and section 10 3 2 Addition of dynamic brake time constant for servo motor 5 524 1024 1524 2024 3524 Addition of section 10 3 2 Permissible inertia load moment for MR J3 60B4 to 350B4 Addition of MR J3 500B4 and 700 4 Addition of inrush current for MR J3 60B4 to 350B4 Print Data Manual Number SH NA 030051 C Section 11 1 1 Jul 2007 Section 11 1 2 1 Section 11 1 2 1 a Section 11 1 2 1 a c Section 11 1 2 2 Section 11 1 2 2 a Section 11 1 2 3 a c Section 11 1 2 4 a Section 11 1 2 5 a Section 11 1 4 Section 11 2 Section 11 2 1 Section 11 2 2 b Section 11 2 3 Section 11 2 4 Section 11 2 5 b Section 11 2 5 c Section 11 2 5 f Section 11 3 Section 11 3 3 b Section 11 4 Section 11 4 2 Section 11 4 3 b Section 11 5 3 b Section 11 5 4 b 2 Section 11 5 6 Section 11 6 1 Section 11 6 2 Section 11 8 1 Section 11 11 Change of Application description for No 34 from outside panel long distance cable to long distance cable Change of connector model Additi
101. 8 Connect with the personal computer fixed part Cooling fan jo signal connector CN3 4 places Used to connect digital I O signals 5 J More over an analog monitor is output Section 3 2 on SSCNET cable connector CN1A Section 3 4 9 Used to connect the servo system controller or the front axis drive unit d Battery holder Section 12 3 ma i Contains the battery for absolute position data backup i d n p SSCNET II cable connector CN1B Section 3 2 m Used to connect the rear axis drive unit For the final axis Section 3 4 puts a cap 9 5 Encoder connector CN2 Section 3 4 Used to connect the servo motor encoder Section 11 1 T e Battery connector CN4 Section 11 9 frm o Used to connect the battery for absolute position data Chapter 12 He Converter unit connectors CN40A e Connect to CN40 of the converter unit Section 13 3 2 Converter unit connectors CN40B Connect the termination connector MR J3 TM ec 2 2 For manufacturer adjustment Leave this open b e ro rr Fon 2 o Control circuit terminal L11 Lz Supply control circuit power Motor power supply terminals TE1 Connect to U V W of the servo motor Protective earth PE terminal Section 13 3 3 Ground terminal L L terminals TE2
102. 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 RO 3 Approx 22 3 Oy Approx RO 3 t 9 z 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 SIGNALS AND WIRING 3 When using the flat blade screwdriver part 2 1 Insert the screwdriver into the 2 Push the screwdriver in the 3 With the screwdriver pushed insert the cable in the square window at top of the direction of arrow direction of arrow Insert the cable as far as it will go connector 4 Releasing the screwdriver connects the cable 3 SIGNALS AND WIRING 4 How to insert the cable into Phoenix Contact connector 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
103. Applicable units tool MR J3 500B FR BU2 15K FVD5 5 S4 Japan Solderless Terminal class 2 8 ANS Japan Solderless Terminal d Note 2 FR BU2 30K 1 FVD5 5 S4 Japan Solderless Terminal MR J3 700B FR BU2 15K 2 8 ANS Japan Solderless Terminal d Note 2 FR BU2 30K 1 FVD5 5 S4 Japan Solderless Terminal MR J3 11KB FR BU2 15K 2 FVD8 6 Japan Solderless Terminal a FR BU2 30K 1 FVD5 5 6 Japan Solderless Terminal FR BU2 55K 1 FVD14 6 Japan Solderless Terminal b MR J3 15KB FR BU2 15K 2 FVD8 6 Japan Solderless Terminal a FR BU2 30K 1 FVD5 5 6 Japan Solderless Terminal FR BU2 55K 1 FVD14 6 Japan Solderless Terminal b MR J3 22KB FR BU2 55K 1 FVD14 8 Japan Solderless Terminal b MR J3 500B4 FR BU2 H30K 1 FVD5 5 S4 Japan Solderless Terminal class MR J3 700B4 FR BU2 H30K 1 FVD5 5 S4 Japan Solderless Terminal MR J3 11KB4 FR BU2 H30K 1 FVD5 5 6 Japan Solderless Terminal 02 55 1 FVD5 5 6 Japan Solderless Terminal MR J3 15KB4 FR BU2 H55K 1 FVD5 5 6 Japan Solderless Terminal MR J3 22KB4 FR BU2 H55K 1 FVD5 5 8 Japan Solderless Terminal 02 75 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 Crimping Applicable tool Manufacturer terminal FVD8 6 YF 1 E 4 DH 111 DH121 FVD14 6 YF 1
104. BR5 55K 2 09 50 class 400V MT BR5 H75K 6 5Q 70 class S M6 4 L REEERE sj 9193317 Mad 37 60 1021 Y 480 AN P 510 175 30 75 4015 mounting hole 7 5 450 17 5 13 101 13SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV MEMO 13 102 APPENDIX App 1 Parameter list 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 0 Gain filter parameters PB OD PAO1 For manufacturer setting Regenerative option Vibration suppression control filter tuning mode PB03 For manufacturer setting 5 For manufacturer setting 04 Feed forward gain 05 For manufacturer setting 07 to For manufacturer setting Ratio of load inertia 11 For manufacturer setting Ne PAIS PB12 For manufacturer setting PA16 For manufacturer setting SN PAIS E Automat seting Low Low pass filter filter PB19 VRF1 Vibration suppression control vibration frequency setting 20 VRF2 Vibration suppression control resonance frequency setting PB21 For manufacturer setting PB22 25 For manuf
105. Configurator which operates on a personal computer Adjustment Machine analyzer With the machine and servo motor coupled You can grasp the machine resonance frequency and the characteristic of the mechanical system determine the notch frequency of the machine resonance can be measured by giving a random suppression filter vibration command from the personal You can automatically set the optimum gains in response to computer to the servo and measuring the the machine characteristic This simple adjustment is machine response 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 You can automatically set gains which make positioning positioning command measures settling settling time shortest characteristic while simultaneously changing gains and automatically searches for gains which make settling time shortest Machine simulation Response at positioning settling of a You can optimize gain adjustment and command pattern on machine can be simulated from machine personal computer analyzer results on personal computer 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
106. 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 Overheat The temperature of the fin 1 Operated in the overloaded status Review operation pattern warning exceeded the warning level 2 Ambient temperature of converter Review environment so that unit is over 55 ambient temperature is 0 to 55 3 Used beyond the specifications of Use within the range of close mounting specifications 4 Converter unit faulty Change the converter unit Excessive There is a possibility that Regenerative power increased to 85 1 Reduce frequency of regenerative regenerative power may or more of permissible regenerative positioning load warning exceed permissible power of regenerative option 2 Change regenerative option for regenerative power of Checking method the one with larger capacity regenerative option Call the status display and check the 3 Reduce load regenerative load ratio warning overload alarm 1 or 2 may overload alarm 1 or 2 occurrence level occur Cause checking method Refer to A 50 51 Converter EM is off External forced stop was made valid Ensure safety and deactivate forced stop EM1 was turned off forced stop warning A Cooling fan The speed of the converter 1 Cooling fan life expiration Refe
107. Crimping tool CNP57349 5300 Connector applicable cable example 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 Eg 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 rimping too ote 1 25 1 5 Al1 5 10BK AI TWIN2 x uer 1 5 10BK Variocrimp 4 206 204 2 2 5 AI2 5 10BU Note 1 Manufacturer Phoenix Contact 2 Manufacturer WAGO 3 14 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 P i type connector for CNP2 2 Lu Power supply Rear axis or Front axis L21 La 2 MR J3 200B MR J3 60B4 to MR J3 200B4 a Servo amplifier power supply connectors Servo amplifier power supply connectors Be pe ne ee C ID CLIE eg LTD OE OE ee NG Bel tp SM ede TIES Connector for CNP1 721 207 026 000 Plug i Servo amplifier oH Applicabl
108. D terminal block p Servo system lt controller or Front axis servo amplifier CN1B Line noise filter FR BSF01 Rear servo amplifier CN1A or MR J3BAT Note 2 Power factor improving DC reactor FR BEL H Servo motor Regenerative option 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 P and Pz 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 L L2 and leave 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 or fuse Magnetic contactor MC Personal 5 computer MR Configurator OON i Note 2 BIO Line noise filter Servo amplifier FR BSF01 Note 2 Power factor Junction terminal block 3 1 m onl Izd egenerative P ption C U A o
109. FUNCTIONS AND CONFIGURATION 6 MR J3 700B 4 The servo amplifier is shown without the front cover For removal of the front cover refer to section 1 7 2 iac Detailed Name Application explanation Display The 3 digit seven segment LED shows the servo Chapter 4 status and alarm number Rotary axis setting switch SW1 SW1 Used to set the axis No of servo amplifier Section 3 13 Test operation select switch SW2 1 Sw2 Used to perform the test operation mode by using MR Configurator Section 3 13 Spare Be sure to set to the Down Cooling fan Fixed part position 4 places USB communication connector CN5 Connect the personal computer Section 11 8 Z I O signal connector CN3 22 Used to connect digital I O signals Section 32 j More over an analog monitor is output Section 3 4 SSCNETII cable connector CN1A Section 3 2 Used to connect the servo system controller or the front 51 34 m axis servo amplifier ection 3 E al Battery holder Contains the battery for absolute position data backup
110. IPOO C 0 to 55 non freezing Ambient saith pF 32 to 131 non freezing temperature PC 20 to 65 non freezing In storage F 4 to 149 non freezing Ambient 90 RH or less non condensing humidity Indoors no direct sunlight Ambient Free from corrosive gas flammable gas oil mist dust and dirt 1000 above sea level Vibration sd 5 9 m s or less 17 17 24 4 6 4 6 62 18 18 19 ass 375 375 463 1014 1014 13 67 3968 3968 4188 Note 150mA is the value when all I O signals are used The current capacity can be decreased by reducing the number of I O points Protective functions 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 High resolution encoder of 262144 pulses rev is used as a servo motor High resolution encoder encoder Absolute position detection Merely setting a home position once makes home position return Chapter 12 system unnecessary at every power on P You can switch between gains during rotation and gains during stop or use 3 an input device to change gains during operation Advanced vibration jn This function suppresses vibration at the arm end or residual vibration i suppression control e Servo amplifier detects mechanical resonance and sets filter characteristics 2 Adaptive filter II
111. 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 6 4 60 4 6K 4 regenerative option The MR RB5E 6B 4 60 4 and 6K 4 are regenerative options that encased the GRZG400 1 50 GRZG400 0 90 GRZG400 0 60 GRZG400 5 00 GRZG400 2 50 GRZG400 2 0Q respectively When using any of these regenerative options make the same parameter setting as when using the GRZG400 1 50 GRZG400 0 90 GRZG400 0 60 GRZG400 5 00 GRZG400 2 50 GRZG400 2 00 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 Do not remove 2 the short bar P Regenerative option 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 Regenerative power W m Regenerative option Servo amplifier mod l Resistance Q Without With cooling fans cooling fans MRJ3 MKBPX MRRBEE 6 5o 800 125 o 50 5 0 MR J3 11KB4 PX MR RB6B 4 MR J3 15KB4 PX MR
112. 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 PO oP Dox G3 dy Note 2 5 5m max AAA coo 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 X 92 minimum air flow 1 0m 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 For the MR RB50 MR RB3M 4 MR RB3G 4 MR RB5G 4 install the cooling fan as shown Unit mm amp Cooling fan installation screw hole dimensions 2 M3 screw hole for cooling fan installation Cooling fan Terminal block Depth 10 or less 34 Screw hole already machined s Top pe Thermal relay lt Bottom e Vertical Horizontal installation Installation surface installation 11 25 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 r
113. J3BUS015M c MR J3BUS5M A to MR 2 MR J3BUS30M B to a J3BUS50M B of this section for cable length L Refer to the table shown in Distortion dimension mm SSCNETII cable Ooa B MR J3BUS5M A to MR J3BUS20M A MR J3BUS30M B to MR J3BUS50M B Unit mm Protective tube Note Note Dimension of connector part is the same as that of MR J3BUS015M 11 20 11 OPTIONS AND AUXILIARY EQUIPMENT 11 2 Regenerative options specified combinations of regenerative options and servo amplifiers may only NCAUTION be used Otherwise a fire may occur 1 Combination and regenerative power The power values in the table are resistor generated powers and not rated powers Regenerative power W Built in Note 1 Note 1 Servo amplifier MR RB032 MR RB30 MR RB31 MR RB32 regenerative MR RB50 MR MB51 400 139 6 70 400 resistor 30 MR RB12 409 wmRJ2208 10 30 1 3408 10 30 1 MRJ9 O0B 10 s 10 MRJ9 0B 20 30 10 0 8 2 30 1 oom iilii eee a te meee el rt eee 30 o wmusaso 10 M _ 500 MRJS500B 19 0 7 l ed pu 7 0 e Regenerative power W Built in Note 1 Note 1
114. 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 WI THA LARGE CAPACITY 30k TO SSKVV 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 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 drive unit Otherwise a fault may occur Do not subject the converter unit unit to drop impact or shock loads as they are precision equipment Do not install or operate a faulty converter unit drive unit When the product has been stored for an extended period of t
115. L supply for le 50m or less MR BKS1CBL2M A1 H electromagnetic Extension cable To be fabricated MR BKS1CBL2M A2 H brake MR BKS2CBL03M A1 L Servo motor Electromagnetic Trouble Forced stop MR BKS2CBLO3M A2 L 4 brake MBR 1 3 5 B1 Note 1 E AWG20 B2 Note 2 Note 2 Relay connector for b Relay connector for motor extension cable 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 uu Protective Relay connector Description structure a Relay connector for CM10 CR2P IP65 extension cable DDK T wire size S M L b Relay connector for 10 5 25 IP65 motor brake cable DDK T wire size S M L 3 There is no polarity in electromagnetic brake terminals B1 and B2 3 SIGNALS AND WIRING 3 12 Grounding Ground the servo amplifier and servo motor securely To prevent an electric shock always connect the protective earth PE terminal terminal marked of the servo amplifier with the protective earth PE of the control box The servo amplifier switches the power transistor on off to supply power to the servo motor Depending on the wiring and ground cable routing the servo amplifier may be affected by the switching noise due to di dt and dv dt of the transistor To prevent such a fault refer to the following diagram and
116. Li Power supply L2 p Control circuit power supply Note Drive unit Servo motor Operation trouble thermal relay Forced stop ready RA1 RA2 RA3 RA4 EM1 OFF ON o ala 6 o Converter Controller p unit trouble forced stop 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 121 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 1 of the converter unit or the drive unit is turned OFF the Switch between CNP 1 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 0 000 When not connecting the magnetic contactor control connector CNP1 to t
117. Mass kg Jar brake screw size Ib A K in i x E e d Ade E _ O90 9 5 GRzG400 0 90 GN 2 589 a GRZG400 0 60 GRZG400 0 60 82 13 2 Aeron 647 GRZG400 5 00 116 83 Pat GRZG400 2 50 GRZG400 2 GRZG400 200 11 32 11 OPTIONS AND AUXILIARY EQUIPMENT f MR RB1H 4 40 168 n 36 15 5 Y ry mE ACE B 0 pr 1 s D y q i 5 6 5 lt Unit mm an WU 6 mounting hole N v e 1 X lo Y le 6 Approx 24 AS 149 173 11 33 Terminal screw M3 Tightening torque 0 5 to 0 6 N m 4 43 to 5 31 Ib in G3 G4 P Mounting screw Screw size M5 Tightening torque 3 24 N m 28 32 Ib in Regenerative Mass kg option 9 1 4 1 1 2 4 11 OPTIONS AND AUXILIARY EQUIPMENT 11 3 FR BU2 H Brake unit Use 200V class brake unit and a resistor unit with 200V class servo amplifier an
118. No ON 4 4 operation delay time Alarm Note 2 Yes OFF Main circuit power 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 SIGNALS AND WIRING 3 11 3 Wiring diagrams HF MP series HF KP series servo motor 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 10m or less 24VDC power supply for electromagnetic MR BKS1CBLLIM A1 L MR BKS1CBLLIM A2 L MR BKS1CBLLIM A1 H Servo motor Electromagnetic Trouble Forced stop MR BKSTCBLLIM A2 H brake MBR ALM O 0 Note 1 Connect 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 LIM 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 24VDC power MR BKS1CBL2M A2
119. Notch depth V depth Y J Frequency Frequency Notch frequency Notch frequency When machine resonance is large and frequency is low When machine resonance is small and frequency is high 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 SPECIAL ADJUSTMENT FUNCTIONS 2 Parameters The operation of adaptive tuning mode parameter 01 Parameter 01 nl Filter tuning mode selection Setting Filter adjustment mode Automatically set parameter o Filter OFF Note Parameter No PB13 1 Filter tuning mode Parameter No PB14 2 Manualmode Note Parameter No PB19 and 20 are fixed to the initial values 7 SPECIAL ADJUSTMENT FUNCTIONS 3 Adaptive tuning mode procedure Adaptive tuning adjustment 4 Operation Yes Is the target response reached Increase the response setting 0001 or 0000 Has vibration or unusual noise occurred Execute or re execute adaptive tuning Set parameter No PBO1 to EINEN Tuning ends automatically after the predetermined period of time Parameter 01 turns to 0002
120. 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 7096 of the rated torque 10000 10000 1000 1000 o o A o o During rotation E x During rotation 4 c A c 100 100 S g g 5 During servo lock j 10 10 1 1 0 100 2 200 250 0 100 2 200 250 Load ratio Note 1 Load ratio 96 Converter unit 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 30 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 WI THA LARGE
121. SW1 9 Used to set the axis No of servo amplifier Section 3 13 Test operation select switch SW2 1 Used to perform the test operation mode by using MR Configurator Section 3 13 Spare Be sure to set to the Down Cooling fan Fixed part position 4 places USB communication connector CN5 Connect the personal computer Section 11 8 Ns I O signal connector CN3 Used to connect digital I O signals Section 3 2 More over an analog monitor is output Section 3 4 f SSCNETII cable connector CN1A Section 3 2 Used to connect the servo system controller or the front ection axis servo amplifier Section 3 4 1 n SSCNETII cable connector CN1B Used to connect the rear axis servo amplifier For the final 5227 3 m axis puts 3 n p UE u Q Battery connector CN4 Used to connect the battery for absolute position data Section 11 9 backup Chapter 12 Py Rating plate 5 ection 1 12 13 U v w an Charge lamp A 7 Lit to indicate that the main circuit is charged While A 2 S this lamp is l
122. Section 12 3 s 5 SSCNETII cable connector CN1B Y D Used to connect the rear axis servo amplifier For the final y M axis puts a cap ection 3 i Encoder connector CN2 Section 3 4 i Used to connect the servo motor encoder Section 11 1 f oo Battery connector CN4 Sx H Used to connect the battery for absolute position data Section 11 9 backup Chapter 12 PTA Ri m DC reactor terminal block TE3 Section 3 4 Used to connect the DC reactor Section 11 1 E P Charge lamp 4 JA Lit to indicate that the main circuit is charged While 224 POL l this lamp is do not reconnect the cables cede 9 eu 5 7 5 LA Control circuit terminal block TE2 Section 3 1 Used to connect the control circuit power supply Section 3 3 Main circuit terminal block TE1 Used to connect the input power supply and servo Section 3 1 motor Section 3 3 Protective earth PE terminal Section 3 1 Ground terminal Section 3 3 Rating plate Section 1 5 1 16 1 FUNCTIONS AND CONFIGURATION 7 MR J3 11KB 4 to MR J3 22KB 4 The servo amplifier is shown without the front cover For removal of the front cover refer to section 1 7 2 inati Detailed Name Application Display The 3 digit seven segment LED shows the servo Chapter 4 status and alarm number Rotary axis setting switch
123. 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 Pentium 133 2 or more Windows 98 Windows 2000 Professional Pentium 150 2 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 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 Hard Disk 130MB or more of free space Browser Internet Explorer 4 0 or more Connectable with the above personal computer Connectable with the above personal computer Connectable with the above personal computer Connectable with the above personal computer MR JSUSBCBLSM 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
124. alarm history is cleared the setting is automatically made invalid reset to O For manufacturer setting Do not change this value by any means 0 10000 9999 pulse to 9999 Paar S 0000h Refer to Name and function column 0000h 0000h 0000h Refer to Name and function column 5 5 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 1 output selection Signal output to across MO1 LG Parameter No PC10 Analog monitor 2 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 Setting range mV PC11 Used to set the offset voltage for the analog monitor 1 MO1 999 to 999 12 Used to set the offset voltage for the analog monitor 2 2 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 be changed as listed below by changing the parameter 14 and PC12 value Refer to 3 for the measurement point Output item I ies Output item mes motor speed Torque
125. 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 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 C When using the servo amplifier of 11k to 22kW make sure to connect P and Factory wired 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 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 The following table indicates the connection wire sizes of the DC power supply P N terminals between the FR CV H and servo amplifier Total of servo amplifier capacities KW 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 Groundin
126. alcohol Tab b Removal With holding a tab of SSCNETIII cable connector pull out the connector When pulling out the SSCNETIII cable from servo amplifier be sure to put the cap on the connector parts of servo amplifier to prevent it from becoming dirty For SSCNETIII cable attach the tube for protection optical code s end face on the end of connector 3 SIGNALS AND WIRING 3 10 Connection of servo amplifier and servo motor During power on do not open or close the motor power line Otherwise a J N caution se malfunction or faulty may occur 3 10 1 Connection instructions Insulate the connections of the power supply terminals to prevent an electric N WARNING 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
127. allow for about 1096 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 2 n 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 E 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
128. always ground To conform to the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 Control box Servo motor Note Power supply o Line filter Ensure to connect it to PE terminal of the servo amplifier Do not connect it directly to the protective earth of the control panel Servo system controller Protective earth PE Note For 1 phase 200V to 230VAC connect the power supply to L L2 and leave Ls open There is no Ls for 1 phase 100 to 120VAC power supply Refer to section 1 3 for the power supply specification 3 SIGNALS AND WIRING 3 13 Control axis selection 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 III cable connection sequence Rotary axis setting switch SW1 Note SW2 Spare Be sure to set to the Down position Up Down Test operation select switch SW2 1 Set the test operation select switch to the Up position when performing the test operation mode by using MR Configurator Note This table indicates the status when the switch is set to Down Default
129. amplifier Servo motor NFB 1 phase 5 T i o Th 100 to 120 o 0 2 Motor 3 4 1 Note2 Note 3 Encoder cable d st Note 5 orced stop Note 5 Trouble Note 4 Note 1 Always connect P and P 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 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 SIGNALS AND WIRING 4 MR J3 60B4 to MR J3 200B4 Note 4 Controller Alarm forced stop Forced ON RA1 RA2 stop OFF O O alo olo 91 69 lt T ls Note 7 PORA Stepdown SK transformer Servo amplifier Servo motor NFB 3 1 200 to gt 230VAC is Note 3 Encoder Encoder cable S F d st Note 5 orced stop Note 5 Trouble Note 4 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
130. 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 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 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 24VD
131. 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 SSCNETIIL 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 INSTALLATION 2 5 Inspection items 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 A electric shock may occur In addition always confirm from the front of the servo WARNING 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 Do not test the servo amplifier with a megger measure insulation resistance or it may become faulty Do not disassemble and or repair the eq
132. 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 system controller Servo amplifier Position data Current position Home position data Detecting Detecting the the number position within of revolutions one revolution E c z speed control Servo motor Battery 1 pulse rev accumulative revolution counter Within one revolution counter High speed serial communication 12 1 12 ABSOLUTE POSITION DETECTION SYSTEM 12 2 Specifications 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 Electronic battery backup system Batt 1 piece of lithium battery primary battery nominal 3 6V atter y Type MR J3BAT Home position 32767 rev 30001 min Approx 10 000 hours battery life with
133. 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 Approx 65 close to the servo amplifier as possible for their best performance Example 1 NFB MC Servo amplifier o Power DE supply ams o Line noise amp FR BLF for wire size 5 5mm AWG10 or more filter 9 Number of turns 4 7 N o o o Power zs 1 supply EB Line noise filter Two filters are used Total number of turns 4 0 0 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 Make the connection cables as short as possible Leakage current 4mA Grounding is always required Red White Blue Green When using the FR BIF with a single phase power supply always insulate the wires that are not used for wiring S MC Servo amplifier About 300 Radio noise 200V class FR BIF 400V class FR BIF H 11 81 11 OPTIONS AND AUXILIARY EQUIPMENT f Varistors for input power supply Recommended Varistors are effecti
134. basis Parameter group Main description E iom parameters Make basic selling with these parameters Generally the operation is possible only with these MEUS Use these when making gain adjustment manually Extension setting parameters When changing settings such as analog monitor output signal or encoder electromagnetic brake No PD Mainly setting the basic setting parameters No PA O D allows the setting of the basic parameters at the time of introduction 5 1 Basic setting parameters 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 PARAMETERS 5 1 1 Parameter list PA01 For manufacturer setting 0000h Regenerative option 0000h Absolute position detection system 0000h Function selection A 1 0000h For manufacturer setting 0 PAO6 1 1 Auto tuning mode 0001h Auto tuning response 12 In position range 100 For manufacturer setting 1000 0 EN 1000 0 0000h PA14 POL Rotation direction selection 0 Encoder output pulses 4000 PA16 For manufacturer setting 0 Patz S Pais Parameter write inhibit 000Bh Uni
135. battery MR J3BAT connector 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 The personal computer is connected 2 device a Input device Connector Forced stop CN3 20 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 110101 automatically ON always ON can be set inside DM CN32 Devices can be assigned for DI1 DI2 DI3 with controller setting 00 CN3 12 For devices that be assigned refer to the controller instruction CN3 19 manual The following devices can be assigned for Q172HCPU Q173HCPU QD75MH 011 upper stroke limit FLS DI2 lower stroke limit RLS 013
136. 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 SIGNALS AND WIRING 6 MR J3 350B4 to MR J3 700B4 Note 4 Controller Alarm forced stop Forced ON RA1 RA2 stop OFF Note 8 alo olo Power supply of Cooling fan Note 7 Stepdown O SK transformer Servo amplifier Servo motor NFB fe 5 L ppm 2 regenerative U Motor gt OL resistor y AM PE i id NFB UD isse CN2 Note 3 Encoder cable eo BU Cooling fan Y CN3 24VDC 2 Note 5 Pe DOCOM DICOM Note 5 ALM RA1 Trouble Note 4 Note 1 Always connect P 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
137. 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 or more after power off MR J3 40B gt 60B 4 10B1 20B1 wenmg mewo 0 0 0 06 MR J3 22KB 4 p mE a Discharge time min MR J3 DU30KB J3 DU30KB MR J3 CR55K om J3 DU37KB MR J3 DU30KB4 J3 DU30KB4 Br toco J3 DU37KB4 E J3 DU45KB4 MR J3 DUSSKB4 J3 DU55KB4 MR J3 CR55K4 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 About the manuals gt gt 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 Sa
138. circuit power supply connector CNP1 Section 3 1 Connect the input power supply 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 SSCNETII cable connector CN1A Used to connect the servo system controller or the front axis servo amplifier Section 3 1 Section 3 3 Section 3 2 Section 3 4 SSCNETII cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Servo motor power connector CNP3 Section 3 1 Connect the servo motor Section 3 3 Encoder connector CN2 Section 3 4 Used to connect the servo motor encoder Section 11 1 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Section 3 2 Section 3 4 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 Fixed part Protective earth PE terminal Section 3 1 2 places Ground terminal Section 3 3 Rating plate 1 11 1
139. connect a protection coordination cable MR J3CDLO5M and 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 200V class MR J3 DU30KB MR J3 DU37KB Converter unit Drive unit TE2 2 TE2 1 Dynamic rake NFB MC ERO PL Option 3 phase gt E m ha Servo motor L CN40 CN40A at MR J3CDLO5M cable Gi Lu Termination connector Lai MR J3 TM 9 Option Ww Note 4 CNP1 CN1 MC1 1 1 24VDC MC2 2 5 Power factor improving DC reactor Option premesso 6 Noe2 5 arm D OoP olo Note 3 Eel Ires 24VDC power supply OHS2 Servo motor thermal relay OHS1 83 841 62 041 G4 Regenerative Regenerative Regenerative loption Note 1 loption Note 1 loption Note 1 Cooling fan Cooling fan Cooling fan R S R S R 5 Drive Motor Note 3 Operation unit thermal relay Forced stop steady c 2 RA4 EMI OFF Lo O O Converter Controller forced stop unit Note 1 For the MR RB137 For the MR RB137 three units are used as one set permissible wattage 3900W 2 Whe
140. described by way of setting examples 1 When you choose changing by input device a Setting Parameter No Abbreviation Name Setting Unit 7 Model loop gain Ratio of load inertia moment to servo motor 06 GD2 8 2 Position loop gain 09 VG2 Speed loop gain PB10 VIC Speed integral compensation Gain changing ratio of load inertia moment PB29 GD2B 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 Gain changing vibration suppression control PB33 VRF1B 7 vibration frequency setting Gain changing vibration suppression control PB34 VRF2B resonance frequency setting b Changing operation Control command OFF of controller Change of Before changing gain each gain CDT 100ms 4 0 120 3000 20 10 0 84 4000 50 0001 Changed by ON OFF of input device Used to set the value of the after changing vibration suppression control vibration frequency setting Used to set the value of the after changing vibration suppression control resonance frequency setting OFF Model loop gain 1 Ratio of load inertia moment 40 m to servo motor inertia moment Position loop gain 3000 Speed loop gain Speed integral compensation 7 14 10 0
141. 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 For the sink I O interface For the source I O interface refer to section 3 7 3 Refer to section 3 10 Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class 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 NOOA 3 SIGNALS AND WIRING 7 MR J3 11KB to MR J3 22KB Servo motor Note 4 Controller thermal relay Alarm forced stop Forced ON RA3 RA1 RA2 stop OFF 1 0 0 0 0 0 5 Servo amplifier Dynamic Servo motor NFB break ur e ELEC E Option 3 Pp T 200 to gt 230VAC gt Regenerative resistor i T _______ t 0 070 ES Anc Se eS Note 3 Encoder cable Eri odef Note 7 OHS2 24VDC Servo motor power supply thermal relay Forced sto oYo Note 5 P Note 5 Note 1 Always connect P 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
142. is open or 2 Connect correctly MR J3 L1B4 disconnected 800VDC or more 4 Regenerative transistor faulty Change the servo amplifier 5 Wire breakage of built in 1 For wire breakage of built in regenerative regenerative resistor or regenerative resistor change the servo amplifier option 2 For wire breakage of regenerative option change the regenerative option 6 Capacity of built in regenerative Add regenerative option or increase resistor or regenerative option is capacity insufficient motor power U V W FR BU2 brake unit is removed communication error disconnected power supply for servo amplifier communication error cable got dirty section 3 9 3 The 5 cable is broken Change the cable severed 4 Noise entered the servo amplifier _ Take noise suppression measures 5 Optical characteristic of SSCNETI Remove the vinyl tape and or wire sheath cable deteriorated because vinyl which contains migrating plasticizer and tape and or wire sheath which exchange the cable contains migrating plasticizer adhered to the cable Command Input pulse frequency 1 Command given is greater than the Check operation program frequency error of command pulse is maximum speed of the servo motor too high 2 Servo system controller failure Change the servo system controller measures measures communication error disconnected power supply for servo amplifier
143. less P and D 5k 7kW P and C When using the servo amplifier of 11k to 22kW make sure to connect P and P Factory wired 11 50 11 OPTIONS AND AUXILIARY EQUIPMENT b 400V class NF FR CVL FR CV H Servo amplifier Servo motor 51615 ere R2ILz Oli 99 U 3 nin to 22215 Sila 2 2 QLa V Thermal ON A ee T L Note 7 CY Po ae NG 1 7 OQ roo ON CN2 Note 2 OHS1 09 Tet EM1 RA1 Note 8 Note 5 Stepdown T MC1 em DOCOM transformer spd Note 1 DICOM Servo system controller SOO Note 1 Note 1 2 SEO RA2 aras c Lo 010 0 1 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 For the servo motor with thermal relay configure a sequence that will shut off main circuit power when the thermal relay operates For the servo amplifier configure a sequence that will switch the servo on after the FR CV H is ready 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 Configure a sequence that will make a stop with the emergency stop input of the servo system controller if an
144. less and the wiring must be twisted 11 54 11 OPTIONS AND AUXILIARY EQUIPMENT 6 Specifications Power regeneration common converter Total of connectable servo amplifier capacities kW 11 15 kW 3 5 5 7 11 15 15 22 Total of connectable servo motor Maximum servo amplifier capacity 33 46 61 90 115 145 215 rated currents A Regenerative braking torque Short time rating Total capacity of applicable servo motors 30096 torque 60s Note 1 Continuous rating 100 torque Power supply Rated input AC voltage frequency Permissible AC voltage fluctuation Three phase 200 to 220V 50Hz 200 to 230V 60Hz Three phase 170 to 242V 50Hz 170 to 253V 60Hz Permissible frequency fluctuation 5 Power supply capacity Note 2 kVA 20 28 41 52 66 Protective structure JEM 1030 cooling system Open type 00 forced cooling Environment Ambient temperature 10 C to 50 C non freezing Ambient humidity 90 RH or less non condensing Ambience Indoors without corrosive gas flammable gas oil mist dust and dirt Altitude vibration 1000m or less above sea level 5 9m s 2 or less No fuse breaker or leakage current breaker 30AF 30A SOAF 100AF 100AF 225AF 225AF 50A 75 100 125 125 225 175 Magnetic contactor Total of connectable servo amplifier capacities Power
145. 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 Abbreviation Pe _ p2_ Ratio feat inertia momento servo motor inerta moment PBO7 Model loop gain S oo o vVvG2 Speedioopgain 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 ratio of load inertia moment to servo motor inertia moment is 100 times or less The acceleration deceleration torque is 1096 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 PBO6 The following parameters are automatically adjusted in the auto tun
146. 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 5 Corrective actions N 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 electromagnet
147. power off 5 years from date of manufacture Note 1 Maximum speed available when the shaft is rotated by external force at the time of power failure or the like 2 Time to hold data by a battery with power off It is recommended to replace the battery in three years independently of whether power is kept on or off 2 Configuration Servo system controller Servo amplifier CN1 CN2 Servo motor Battery CN4 MR J3BAT 3 Parameter setting Set 1 in parameter No PA03 to make the absolute position detection system valid Parameter No PA03 1 Absolute position detection system selection 0 Used in incremental system 1 Used in absolute position detection system 12 2 12 ABSOLUTE POSITION DETECTION SYSTEM 12 3 Battery installation procedure 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 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 The internal circuits of the servo amplifier may be damaged by static electricity Always take the following precautions Ground human body and
148. proximity dog DOG 3 SIGNALS AND WIRING b Output device Connector i i Electromagnetic brake interlock In position Positioning completed Dynamic brake interlock Speed reached Limiting torque Zero speed 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 09 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 PDOO9 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
149. 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 P4 and P For 11kW or more disconnect 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 Rating plate Terminal box screw size Rating plate Note 1 Terminal cover Screw size G Servo amplifier Wai Tl FR BEL H NU EM NU Servo amplifier 5 2 NS FR BEL H P o P2 ae 2 es A SEA MEN 5 Smorless 9 Ee oe es 5m less B or less 11 gt gt E e TMounting leg 4 F ll Mounting leg 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 P and P 3 When over 11kW P2 becomes P respectively Power factor Dimensions
150. signal allotment CM10 R10P Power supply connector signal allotment CE05 2A24 10PD B View b earth B1 E B2 Note al Note For the motor Terminal Signal No e v with an electromagnetic brake supply electromagnetic brake power 24VDC There is no polarity Power supply connector signal allotment MS3102A18 10P MS3102A22 22P CE05 2A32 17PD B Brake connector signal allotment Terminal Signal No B1 1 Note B2 2 View c Note Note For the motor with an electromagnetic brake supply electromagnetic brake power 24VDC There is no polarity Power supply connector signal allotment CE05 2A22 23PD B Note For the motor with an electromagnetic brake supply electromagnetic brake power 24VDC There is no polarity Brake connector signal allotment MS3102A10SL 4P 9 View Terminal Signal No B1 A Note B2 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 OJO OJO 50m or less Servo motor Servo amplifier MC gt U L2 V Ls Mm Cooling fan Note 2 MBR Ra
151. stop Note 2 Forced stop RA2 0 0 0 0 o olo 39 O Converter unit RA4 Servo motor thermal relay Note 8 EM1 Operation ready OFF ON 3 SERVO AMPLIFIERS WITH A LARGE CAPACITY 30k TO 55kW Drive unit L0 oL L 9 oL Note 12 CN3 10 DICOM 24VDC 5 DICOM E 3 UMS 20 Z Bi Forced stop Plate SD Note 2 13 92 Terminal block 11 No te 4 BUE sp Note 101 7 FR BR H PR FR BU2 H 13 SERVO AMPLIFIERS WITHLA LARGE CAPACITY 30k TO SSKVV 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 P 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
152. terminal torque HIV wire mm size 200V class me SEE Ed we as 3 400V FR BU2 H30K Terminal block class FR BU2 H55K FR BUZ HTSK me 6 44 4 6 11 40 11 OPTIONS AND AUXILIARY EQUIPMENT 2 Control circuit terminal 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 RES SD MsGMSG SD SD Sheath Core Jumper 6 mm 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 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 2 the brake unit FR BUZ SK e 11 41 11 OPTIONS AND AUXILIARY EQUIPMENT 5 Crimping terminals for P and N terminals of servo amplifier a Recommended crimping terminals Always use recommended crimping terminals or equivalent since some crimping terminals cannot be installed depending on the size Number of Note 1 Servo amplifier Brake unit connected Crimping terminal Manufacturer
153. 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 SIGNALS AND WIRING 8 MR J3 11KB4 to MR J3 22KB4 Servo motor Note 4 Controller thermal relay Alarm forced stop Forced ON RAT RA2 stop OFF Cooling fan power supply 9 Stepdown A transformer Servo amplifier i NEB Me 3 phase SIR T zT 380 to 3 0 L2 480VAC gt O O 1 OC EM OP Regenerative 10 Note 1 resistor 4 l NFB l O Lu 99 O La1 CN2 Note 3 a Encoder Note 7 OHS1 OHS2 24VDC Servo motor power supply thermal relay CN3 CN3 24VDC DICOM 9 roubie M Note 4 Note 1 Always connect P and P Factory wired When using the power factor improving DC reactor refer to section 11 13 2 When using the regenerative option refer
154. 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 60 Model loop gain setting x 262144 pulse Droop pulse value pulse 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 MELSERVO J3 Guideline for machine resonance Guideline for machine resonance Parameter No 9 setting Parameter No PAO9 setting frequency Hz uency Hz uency Hz N WIND w e co Ojo e a eee eee Hd ee f a peel __ d ox eee d __ NEC NEN etic eee aa Sas eee Set eee pee en 4 eee pese nmn 2200015 aS IAN pee ced Ooo D E E o e ae 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 The functions given in this ch
155. the servo amplifier Always connect BUE and SD terminals Factory wired Connect the MSG and SD terminals of the brake unit to a correct destination Wrong connection results in servo amplifier and brake unit malfunction 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 Controller thermal relay forced stop OFF ON RA2 RA3 EM1 4 ALM MC RAI O SK e a Note 4 4 4 Servo amplifier NFB 4 Li 20 L2 3 Lu 587 121 MT BR5 H P N te 5 4 pR Note 1 Power suppl pply 6 FR BU2 H C Note 9 H P1 Note 2 PR MSG P P SD Note 7 wj Nete eT AS NC 9 gt BUE Note 8 Note 6 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 110 5A
156. the setting changes to 1110 0 When this parameter is set to 1010 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 5 5 Initial Setting Symbol Name and function Unit value range 2 VRFT Vibration suppression control tuning mode advanced vibration suppression control 0000h This parameter cannot be used in the speed control mode The vibration suppression is valid when the parameter 08 auto tuning setting is O2 or DII 3 When 08 is 11010 1 vibration suppression is always invalid Select the setting method for vibration suppression control tuning Setting this parameter to 11010 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 Autamatic Droop pulse A pon ue Machine end Machine end position position Vibration suppression control tuning mode control tuning mode parameter Dm Note control OFF Vibration suppression control tuning mode Parameter No PB19 Advanced vibration Parameter No PB20 suppression control SRM Rc at Note Parameter No PB19 and PB20 are fixed to the init
157. 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 For the sink I O interface For the source I O interface refer to section 3 7 3 Refer to section 3 10 Servo amplifiers does not have BW when the cooling fan power supply is 1 phase For the cooling fan power supply refer to section 3 10 2 3 b Stepdown transformer is required for coil voltage of magnetic contactor more than 200V class 3 SIGNALS AND WIRING 3 2 I O signal connection example Note 10 Servo amplifier Note 2 Magnetic brake interlock In position Note 13 14 Trouble Note 11 differential line driver Encoder B phase pulse differential line driver Encoder Z phase pulse differential line driver Control common 3 4 Analog monitor 1 Max 1mA meter both directions Analog monitor 2 Od Max 1mA meter both directions 24VDC Y Note 12 Note 12 Powe CN3 Note 14 supply Note 3 4 Forced stop Upper stroke limit FLS Note 18 Lower stroke limit RLS Proximity dog DOG Personal USB cable Note 5 computer MR J3USBCBL3M MR Configur
158. unit mA Servo motor power Leakage current kW mA 30 to 55 Alseres 5 120 120 100 1004 5401 5 80 5 so 5 60 5 60 Hth o o 20 5 20 0 0 2 5 514 38100 2 5 514 38100 3 5 8 22 60 150 3 5 8 22 60150 30 80 30 80 Cable size mm Cable size mm a 200V class b 400V class Fig 13 3 Leakage current example 191 102 for CV cable run in metal conduit 13 86 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 2 Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions 22mm x5mm 30mm x5mm Use a leakage current breaker designed for suppressing harmonics surges Find the terms of Equation 13 2 from the diagram 5 lg1 95 x 0 475 mA 5 Ig2 105 x 1000 gt 0 525 mA Ign O not used Iga 5 mA Igm 2 5 mA Insert these values in Equation 13 2 lg 10 0 475 0 5 1 gt 0 525 2 5 85 mA 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 55kW 13 9 9 EMC filter recommended For
159. unit with the front cover removed High voltage 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 N 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 N 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 e
160. us is e 4 Le 5 gs Cooling fan j E rn 1 ME m Y ae ij i A E With MR J3BAT 1 e l t E E D L J 20 5 l m 6 1 n 2 j 3placesfor sum H Ef pe E p p ground M4 Dp ur Built in regenerative 4 Em resistor lead terminal ees L SE fixing screw 3 Eurum zm IE zl 1 e I D ESA 1 E Mass 6 2 kg 13 7 Ib Terminal signal layout Mounting screw Screw size M5 TE1 Tightening torque 3 24 N m 28 7 lb in Llu BGiPIlclulvliw Terminal screw M4 ADBIOK STZ Tightening torque 1 2 N m Approx 6 1600 5 Approx 6 10 6 Ib in 2 Lu Lat Terminal screw M3 5 Note 5 Tightening torque 0 8 N m 8 4 MB screw 7 08 Ib in 1 ELE vum T e Terminal screw 4 i Tightening torque 1 2 N m 10 6 Ib in Terminal screw M4 5 i Tightening torque 1 2 N m u 10 6 Ib in x 9 Built in regenerative resistor lead O 1 terminal fixing screw lt Vy l 1 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 1 terminal block TE2 of the servo amplifier manufactured March 2007 or earlier le X P Tm c re ae x
161. 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 09 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 09 When the servo is off SA will be turned OFF ZSP turns on when the servo motor speed is zero speed 50 or less Zero speed can be changed using parameter No PCO7 Example Zero speed is 50r min OFF level Forward 70r min 20r min P rau ON level Hysteresis width 50r min Parameter No PC07 Servo motor speed Or min Parameter Reverse level 7 rotation 20r min direction OFF level 70r min zero speed ZSP OFF 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 l
162. vibration deletion of description compliant with JIS Addition of Note 5 Change of CN3 description Deletion of Note 1 Addition of MR Configurator compatible version Addition of recommended wires for MR J3 500B4 700B4 Jul 2007 SH NA 030051 C Section 11 11 1 Addition of cable diameter for MR J3 60B4 to 350B4 addition of Note 3 Cable 5 to 7 of MR J3 700B 4 Section 11 12 Addition of MR J3 60B4 to 350B4 compliant products Addition of no fuse breakers fuses and magnetic contactors for MR J3 500B4 and 700 4 Section 11 13 Addition of MR J3 60B4 to 350B4 compliant products unification of 1 and 2 Addition of power factor improving DC reactors for MR J3 500B4 and 700B4 Change of 2 Note2 Addition of Note3 Section 11 14 Addition of MR J3 60B4 to 350B4 compliant products Addition of power factor improving AC reactors for MR J3 500B4 and 700 4 Section 11 18 Addition of MR J3 60B4 to 350B4 as earth leakage circuit breaker selection example Section 11 19 Addition of EMC filter for MR J3 500B4 and 700 4 Section 11 19 1 Addition of MR J3 60B4 to 350B4 compliant products deletion of Note from TX series Section 11 19 3 Addition of TF3005C TX Section 12 3 1 Addition of description for 30kW or more in WARNING Addition of POINT Chapter 13 New addition of the details for 30kW or more Change of notation magnet contactor to magnetic contactor Section 13 1 6 1 Change of de
163. 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 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 Setting Increase in positioning address rotates the motor in PA14 Rotation direction setting tha COW direction irecti 08 Auto tuning mode Used 09 Auto tuning response 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
164. 0 w AxsNo6 06 Down Be sure to set to the o Down position AxisNo 9 09 8 anna 12 0 ason 4 15 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 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 CAUTION 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 Y Axis No settings Confirm that the axis No settings for rotary axis setting switch SW1 and servo system controller are consistent Refe
165. 0 10 TD 125 TD113 YF 1 E 4 YET 60 1 Japan Solderless 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 LARGE CAPACITY 30k 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 Power factor Magnetic Converter unit Drive unit Current Voltage improving DC improving DC Class contactor AC V reactor is not used reactor is used MR J3 DU30KB 400A frame 250A 225A frame 225A EM in 226 Dm l2 13 9 6 Power factor improving DC reactor The input power factor is improved to about 95 Unit mm Power factor improving Terminal Mass Converter unit Drive unit W1 X DC reactor screw kg Ib MR J3 DU30KB MR DCL30K MR J3 CR55K MR J3 DU37KB Ec DCL37K ss eo 22 MR J3 DU30KB4 r ooLsoK4 DCL30K 4 MR J3 DU37KB4 MR DCL37K 4 135 200 197 MR J3 CR55K4 2 MR J3 DU45KB4 MR DCL45K 4 212 i 16 54 9 5 MR J3 DU55KB4 DCL55K 4 260 215 232 20 94 Terminal block M3 5 screw For thermal sensor Terminal screw Terminal cover gt
166. 00 Permissible voltage fluctuation to 230VAC 170 to 3 170 to 253VAC 253VAC Permissible frequency fluctuation Within 5 Power supply capacity Refer to section 10 2 Refer to section 10 5 Voltage 1 phase 100 to 1 phase 200 to 230VAC 50 60Hz frequency 120VAC 50 60Hz Permissible voltage 1 phase 170 to 253VAC Control circuit fluctuation power supply Permissible frequency Within 5 fluctuation Input 45W Inrush current Refer to section 10 5 Voltage 24VDC 10 Interface power ower 5 supply Note 1 150mA or more capacity 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 Self cooled open Self cooled open Structure Force cooling open 00 00 00 In Note 2 0 to 55 non freezing Ambient operation PF 32 to 131 non freezing temperature 20 to 65 non freezing In storage 1 phase 85 to 132VAC 1 phase 85 to 132VAC Protective functions PF 4 to 149 non freezing Ambient 90 or less non condensing humidity Ambi nt Indoors no direct sunlight i Free from corrosive gas flammable gas oil mist dust and dirt EMEN DERE DERE ERR ejt7e i76 221 2 21 09 3 09 463 5 07 10 1 13
167. 002 Toa Electric Industries aH 4116118 1110 Signal layout IE MRR MDR Note Signal layout Note Signal layout 1 2 MR MR EKCBL O M H mes BAT MD E View seen from wiring side View seen from wiring side 7 8 9 P5 LG SHD Note Keep open the pins shown with Especially pin 10 is provided for manufacturer adjustment If it is connected with any other pin the servo amplifier cannot operate normally View seen from wiring side Note Keep open the pin shown with an KY 11 10 11 OPTIONS AND AUXILIARY EQUIPMENT b Internal wiring diagram MR EKCBL20M L MR EKCBL30M L Servo amplifier side Encoder side Servo amplifier side Encoder side P5 1 117 5 5 1 7 P5E LG 2 H 8 P5G LG 2 8 P5G T i i MR Hr 1 MR MR 3 1 MR MRR 4 L 2 MRR MRR 4 2 MRR BAT 9 L i 3 BAT MD 7 4 MD SD e 9 SHD MDR 8 H 5 MDR Note LI 9 3 BAT SD Plate SHD Note MR EKCBL20M H MR EKCBL30M H rS 3 MR EKCBL40M H Servo amplifier side Encoder side MR EKCBL50M H P5E Servo amplifier side Encoder side P5G P5 1 7 LG 2 8 P5G MR MRR BAT MR 3 1 MR SHD MRR 4 2 MRR MD 7 4 MD MDR 8 5 MDR BAT 9 3 BA
168. 1 gt Electromagnetic Note 1 ON WE NEN M c GF brake interlock MBR OFF l 95ms Servo on command ON hcec from controller OFF i Note 3 i i i Position command 101 0 Note 4 Fog Release delay Pr time and external relay Note 2 1 Electromagnetic Release brake Activate lee ee 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 2 13 37 13 SERVO AMPLIFIERS WITHLA LARGE CAPACITY 30k TO SSKVV 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 Servo motor speed
169. 1 OPTIONS AND AUXILIARY EQUIPMENT 11 3 3 Connection example 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 Controller thermal relay forced stop ON RA2 1 OFF SE UM 1 Servo amplifier CN3 Li L2 Ls Lu L21 FR BR H ap cl 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 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 P and P terminals P 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 Normal condition TH1 TH2 is conducting Abnormal condition TH1 TH2 is not co
170. 1 pm 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 2 D hole Power regeneration converter FR RC 15K FR RC H15K FR RC 30K FR RC H30K 11 47 11 OPTIONS AND AUXILIARY EQUIPMENT 11 5 Power regeneration common converter 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 L4 L2 L5 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 02 to O 001 1 Model FR CV LI Capacity Symbol Voltage class 200V
171. 10 Motor brake Motor brake cable 12 Motor brake 13 Motor brake 14 Motor brake 15 Encoder cable 16 Encoder cable 17 Encoder cable Encoder Em 2 cable MR BKS1CBL O Cable length 2 5 MR BKS1CBL O M A1 H Cable length 2 5 10m MR BKS1CBL O M A2 L Cable length 2 5 10m MR BKS1CBL O M A2 H Cable length 2 5 10m MR BKS2CBLO03M A1 L Cable length 0 3m MR BKS2CBL03M A2 L Cable length 0 3m MR J3ENCBL O M A1 L Cable length 2 5 10m MR J3ENCBL O M A1 H Cable length 2 5 10m MR J3ENCBL O M A2 L Cable length 2 5 10m MR J3ENCBL L1 M A2 H Cable length 2 5 10m Brake connector HF MP series HF KP series Refer to section 11 1 4 for details Brake connector HF MP series HF KP series Refer to section 11 1 4 for details Brake connector HF MP series HF KP series Refer to section 11 1 4 for details Refer to section 11 1 4 for details Brake connector HF MP series HF KP series Encoder connector HF MP series HF KP series Refer to section 11 1 2 1 for details Encoder connector Lm HF MP series HF KP series Refer to section 11 1 2 1 for details IP65 Load side lead IP65 Load side lead Long flex life 65 Opposite to load side lead 65 Opposite to load side lead Long flex life IP55 Load side lead IP55 Opposite to load side lead IP65 Load side lead
172. 10 3 this parameter be set manually PB10 VIC 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 PAO8 is set to O00 0 3 this parameter can be set manually PB11 VDC Speed differential compensation Used to set the differential compensation When parameter 24 is set to 013 O this parameter is made valid When parameter No PAO08 is set to OLI this parameter is made valid by instructions of controller PB12 For manufacturer setting Do not change this value by any means PB13 NH1 Machine resonance suppression filter 1 Set the notch frequency of the machine resonance suppression filter 1 Setting parameter 01 filter tuning mode 1 to 000 1 automatically changes this parameter When the parameter 01 setting is O0 0 0 0 the setting of this parameter is ignored 5 13 5 5 Initial Setting No Symbol Name and function Unit value range 14 NHQ1 Notch shape selection 1 0000h Refer to Used to selection the machine resonance suppression filter 1 Name and fo 10 function TE Notch depth selection column Oe ed pape Setting parameter 01 fil
173. 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 Set SW2 1 to DOWN DOWN 3 Perform motor less operation with the personal computer The display shows the following screen point flickers 4 10 5 5 5 5 Never adjust or change the parameter values extremely as it will make operation NCAUTION instable 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 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
174. 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 2 Wiring Deletion of parameter 08 name and initial value Deletion of built in regenerative register from excessive regenerative load warning 0 definition and cause Division of Load ratio graph for MR J3 LIB 4 and MR J3 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 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 Section 1 3 1 Sect
175. 2 Front view Side view 2 Mounting dimensional diagram Unit mm 9 5 Approx WS f 20 w1 Approx W3 Dimensions 9 5 281 5 WA 120 260 ETE W2 MR J3 DU30KB 37 ee 22 ee 260 20 281 95 45KB4 55KB4 MR J3 DU30KB4 120 222 5 37KB4 Converter unit Drive unit Drive unit model Wi 10 380 360 342 342 360 punched hole punched hole ITI 22 4 M6 screw 4 M6 screw Approx 10 Approx 19 Approx 10 Approx 19 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 WI THA LARGE CAPACITY 30k TO SSKVV 13 2 2 Inspection 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 NWARNING between L and L is safe with a voltage tester and others Otherwise electric shock may occur In addition always confirm from the front of the converter unit whether the charge lamp is off or not Any person who is involved in inspecti
176. 2 L Cable model 1 For motor brake connector MR BKS1CBL O M A1 L Connector JNAFTO2SJ1 R Hood socket insulator Signal layout MR BKS1CBL O M A2 L Bushing ground nut MR BKS1CBL O M A1 H Contact ST TMH S C1B 100 A534G Crimping tool CT160 3 TMH5B MR BKS1CBL O M A2 H Japan Aviation Electronics Industry Connector JNAFTO2SJ2 R E Hood socket insulator View seen from wiring side Bushing ground nut Contact ST TMH S C1B 100 A534G MR BKS2CBL03M A2 L Crimping tool CT160 3 TMH5B Japan Aviation Electronics Industry 2 Internal wiring diagram MR BKS1CBLLIM A1 H MR BKS1CBLLIM A2 H MR BKS2CBLO3M A1 L MR BKS2CBLO3M A2 L AWG 20 Note B1 AWG 20 B2 Note These are not shielded cables 11 18 11 OPTIONS AND AUXILIARY EQUIPMENT 11 1 5 SSCNETII cable not see directly the light generated from CN1A CN1B connector of servo amplifier or the end of SSCNETII cable When the light gets into eye you may feel something is wrong for eye The light source of SSCNETIII 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 O part of cable model Cables of which symbol exists are available Cable length Application 30m 40m Using inside MR J3BUSCM 015 05 1 3 5 panel standard cord Using outside MR J3BUSLIM A INAS 5 10 20
177. 21 203 026 000 Plug WAGO 3 Motor power MR PWS1CBL O M A1 L supply cable Cable length 2 5 10m Motor power MR PWS1CBL O M A1 H supply cable Cable length 2 5 10m MR PWS1CBL O M A2 L Cable length 2 5 10m Motor power supply cable MR PWS1CBL O M A2 H Cable length 2 5 10m Motor power supply cable Applicable cable example Wire size 0 08mm AWG28 to 2 5mm AWG12 Cable finish OD to 4 1mm REC Lever 231 131 WAGO Power supply connector HF MP series HF KP series 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 Application Supplied with servo amplifiers of 3 5kW in 200V class Supplied with servo amplifiers of 2kW in 200V class and 2kW in 400V class IP65 Load side lead IP65 Load side lead Long flex life IP65 Opposite to load side lead IP65 Opposite to load side lead Long flex life MR PWS2CBL03M A1 L Cable length 0 3m Motor power supply cable MR PWS2CBL03M A2 L Cable length 0 3m Motor power supply cable Power supply connector HF MP series HF KP series 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 11 4 55 Load side lead IP55 Opposite to load side lead 11 OPTIONS AND AUXILIARY EQUIPMENT Application 9 Motor brake cable
178. 220VAC 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 Resistor unit Brake unit Resistor unit Twist En 5m less 5m or less 10m or less 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 Crimping circuit terminal N P PR Tightening Brake unit
179. 3 2 0 3 20276 VSVCAWG 23 X 6P Ban gi shi 15038 Note 3 7 1 0 3 ETEF SVP 70 0 08 Equivalent to AWG 22 3P Ban gi shi 16824 4 0 0 3 72 03 Note 3 J14B0238 0 2 7P 8 Note 3 ETFE SVP 40 0 08mm X 6P Ban gi shi 15266 Note 4 UL Style 2103 AWG19 4 cores Note 4 UL Style 2103 AWG20 2 cores 6 These wire sizes assume that the UL compliant wires are used at the wiring length of 10m 11 71 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 T Not using power Servo amplifier Using power factor Voltage factor improving Note Class Current A contactor CORO improving reactor AC V MR J3 60B MR J3 70B 30A frame 15A 30A frame 10A MR J3 100B MR J3 40B1 225A frame 175A MR J3 60B4 30A frame 5A 30A frame 5A MR J3 22KB4 225A frame 125A 100A frame 100A 175 S N65 Note When not using the servo amplifier as a UL C UL Standard compliant product K5 class fuse can be used 11 13 Power factor improving DC reactor For the 100V power supply type 0 1 the power factor improving DC reactor cannot be used The power factor improving DC reactor increases the form factor of the servo amplifier
180. 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 and P Refer to section 11 13 Power factor Servo amplifier improving DC Note Always disconnect P1 and P2 For 11k to 22kW P P 2 I O signal wiring a The 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 Ps 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 STARTUP 4 2 Start up Connect the servo motor
181. 30VAC 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 Ls open Refer to section 1 3 for the power supply specification 1 21 1 FUNCTIONS AND CONFIGURATION b For 1 phase 100V to 120VAC RS Note 3 Power supply No fuse breaker NFB or fuse Magnetic contactor MC Power factor ZA improving FR BAL LY Regenerative option Servo amplifier Personal computer CN5 CN3 Junction terminal block Servo system controller or Front axis servo amplifier CN1B Rear servo amplifier CN1A or Cap Battery MR J3BAT Servo motor 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 i computer Note 3 Configurator Power supply CNS FE Oo No fuse breaker Servo amplifier NFB or fuse Magnetic contactor CN3 Junction
182. 5m without twisting or twisted cables longer than 10m may result in the brake unit malfunction Converter unit Converter unit Brake unit Resistor unit Brake unit Resistor unit ob 5m less 5m or less 10m or less 10m or less Twist 2 0 d Cables 1 Cables for the brake unit For the brake unit HIV cable 600V grade heat resistant PVC insulated wire is recommended Main Crimping circuit terminal i i N P PR Brake unit terminal HIV wire screw 2 AWG mm 14 Main circuit terminal 200V FR BU2 55K 14 6 4 4 class Terminal block FRBU2HEEK 13 97 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV b Control circuit terminal 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 Jumper RES SD MsGMsG SD SD Sheath Core 6 mm 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 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 Wiesze size Brak
183. 64 bit Windows XP and 64 bit Windows Vista are not supported Processor Note 2 3 Personal computer b Connection with servo amplifier 1 For use of USB Personal computer Servo amplifier pem 174 cable To USB MR J3USBCBL3M CN5 Option connector WEE C 11 63 11 OPTIONS AND AUXILIARY EQUIPMENT 11 9 Battery MR J3BAT 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
184. 77 397 397 41 9 176 1 76 221 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 7596 or smaller effective load ratio Environment 1 FUNCTIONS AND CONFIGURATION Servo amplifier MR J3 L 1 60B4 100 4 200 4 350 4 500 4 700 4 11 4 15 4 22 4 3 U 380 to 480VAC 50 60Hz Permissible Permissible voltage fluctuation fluctuation 3 ss 323 0 528 323 to 528VAC Permissible frequency Within 5 ithi RN i Power Power supply capacity capacity Refer to section 10 2 Refer to section 10 5 Voltage 1 phase 380 to 480VAC 50 60Hz frequency Permissible voltage 1 phase 323 to 528VAC Control circuit fluctuation power supply Permissible frequency Within 5 fluctuation Voltage 24VDC 10 2 400V class sup Interface power Power supply supply Note 150mA capacity 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 Self cooled open Structure IPOO Force cooling open
185. ACITY 30k TO SSKVV 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 ON power supply OFF a b Main circuit ON power supply OFF Converter unit alarm OFF 1 1 Drive unit control ON power supply OFF i 1 1 Base circuit OFF 8s EC H L ee 1 1 1 Servo on command l from controller OFF i 1 1 1 Drive unit alarm Alarm occurrence Reset command from controller OFF 50ms or more a in Figure When an alarm occurs on the drive unit shut off the main circuit power supply by the external sequence b in Figure Turn ON the main circuit power supply while an alarm of the drive unit is cancelled 13 43 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 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 st
186. ALM output signal at warning occurrence Name and o o 10 pu Selection of output device at warning occurrence Select the warning WNG and trouble ALM output status at warning occurrence Output of Servo amplifier Note Device status Warning occurrence Warning occurrence Note 0 off 1 on For manufacturer setting 0000h Do not change this value by any means 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 5 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 Gain adjustment mode explanation Parameter Estimation of load inertia Automatically set Gain adjustment mode Manually set parameters 08 setting moment ratio parameters Auto tuning mode 1 Always estimated initial value Auto tuning mode 2 0002 Fixed to parameter No PBO6 value Manual mode 0003 Interpolation mode 0000 Always estimated GD2 parameter 06 PG2 parameter 08 PG1 parameter 07 VG2 parameter 09 VIC parameter No PB10 PG2 parameter 08
187. ALS 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 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 Power off Control circuit OFF ON Base circuit OFF V Dynamic brake Invalid Servo on command from controller OFF Alarm 1s Reset command ON from controller OFF 50ms or more 60ms or more Alarm occurs 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 minu
188. Alarm history clear 0 Invalid not cleared 1 Valid cleared 5 5 5 4 I O setting parameters No PDO O Parameter whose symbol is preceded by is made valid with the following conditions Set the parameter value switch power off once after setting and then switch it on again or perform the controller reset 5 4 1 Parameter list Symbol Name Initial value For manufacturer setting 0000h 0000h 0000h 0000h 0000h 0000h PD07 Output signal device selection 1 CN3 13 0005h PD08 Output signal device selection 2 CN3 9 0004h PD09 Output signal device selection 3 CN3 15 0003h For manufacturer setting 0000h 0004h 0000h 0000h PD14 DOP3 Function selection D 3 0000h PD15 For manufacturer setting 0000h PD16 0000h PD17 0000h PD18 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h 0000h P015 PD16 P017 PD18 U o o U O O NIM IN 7 N N w NN U N 5 PARAMETERS 5 4 2 List of details Initial Setting Symbol Name and function value range PD01 For manufacturer setting 0000h PD02 Do not change this value by any means 0000h 0000h un 0000h PD06 0000h 007 DO1 Output signal device selection 1 CN3 13 Refer to Any input signal can be assigned to the CN3 13 pin Name and
189. BLO3M A2 L For HF MP HF KP servo motor Opposite to load side lead Use in combination with MR EKCBL L1 M L H 11 12 11 OPTIONS AND AUXILIARY EQUIPMENT a Connection of servo amplifier and servo motor Servo amplifier MR J3JCBLO3M A1 L A 2 2 Bei Servo motor MR EKCBLOM L H 2 Servo motor HF MP ERST o Z N Cable model 1 Junction connector 2 For encoder connector MR J3JCBLO3M A1 L Housing 1 172169 9 Connector 1674320 1 Contact 1473226 1 Crimping tool for ground clip 1596970 1 Cable clamp 316454 1 Crimping tool for receptacle contact 1596847 1 Crimping tool 91529 1 Tyco Electronics Tyco Electronics Signal layout Signal layout MR J3JCBLO3M A2 L View seen from wiring View seen from wiring side b Internal wiring diagram MR J3JCBLO3M A1 L Junction Encoder side connector connector P5 7 he ee 4103 P5 LG 8 H 6 MR 1 5 MR MRR 2 14 MRR MD 4 H 8 MD MDR 5 7 MDR BAT 3 12 BAT SEL 6 1 CONT 2 sHD 9 J 9 11 13 11 OPTIONS AND AUXILIARY EQUIPMENT 4 MR J3ENSCBL O M L MR J3ENSCBL O 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 O the cable model Cable lengths
190. C Control output Control output d signal signal 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 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 amplifiers 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 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 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 opti
191. C OHS1 OHS2 0 1 power supply G3 G4 Regenerative loption Note 1 Regenerative loption Note 1 Regenerative loption Note 1 Cooling fan Cooling fan Cooling fan Lu L21 Drive Motor Note 3 Operation unit thermal relay Forced stop ready RA1 2 RA4 EM1 OFF ON O O O O Converter Controller unit forced stop 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 1 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 WI THA LARGE CAPACITY 30k TO SSKVV b 400V class MR J3 DU30KB4 to MR J3 DU55KB4 Converter unit Drive unit Note 5 Power Dynamic brake Option NFB ONONO 07 07 0 Dynamic brake Option Servo motor lt 24VDC power supply Encoder cable Cooling fan r Q 04 OHS2 Servo motor thermal relay
192. CAPACITY 30k 55kW 13 3 6 Converter unit signal device explanations 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 interfaces symbols in column in the table refer to b of this section Se ree ee OO e division Digital I F power DICOM CN1 1 Used to input 24VDC 24VDC 10 150mA for I O interface The power supply supply input CN1 6 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 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 per 2 ALM turns off when power is switched off or the protective circuit is activated p alarm occurring ALM turns on within about 1 5s after power on CN1 8 When warning has occurred WNG turns Do Digital common DOCOM CN1 5 Common terminal for the ALM and WNG output signals of the converter unit CN1 9 Separated from LG Pins are connected internally For the source interface connect of 2AVDC external power supply Magnetic contactor CNP1 1 Connect to the operation coil of the magnetic contactor Always supplies the drive output control circuit power since it is c
193. CAPACITY 30k TO SSKVV 3 Outline dimension drawing Unit mm 2 10 installation hole 5 E of Terminal block TE1 U V IW Terminal screw M5 Tightening torque 2 0 N m 17 7 Ib in TE2 ale Terminal screw M5 Tightening torque 0 8 N m 7 1 lb in 370 390 330 Mounting screw Wi Hots 9 Screw size M8 10 Tightening torque 13 2 N m 117 Ib in 15 230 15 gt gt P 260 Mass Dynamic brake Kg Ib DBU 37K 8 17 64 DBU 55K 4 11 24 25 13 81 13 CAPACITY 30k TO SSKVV 13 9 4 Selection example of wires 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 2 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 C 140 F 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 diag
194. CAPACITY 30k TO SSKVV 13 8 2 Power supply equipment capacity and generated loss 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 L4 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 Note capacity kVA Drive unit generated heart W Area required Power factor for heat Converter unit Dri
195. D to reinstall it noise of the installation hook Note 1 The cooling fan cover can be locked with enclosed screws M4 X 40 2 By drilling approximately 4 of a hole on the front cover the front cover be locked on the body with an enclosed screw M4 X 14 1 20 1 FUNCTIONS AND CONFIGURATION 1 8 Configuration including auxiliary equipment 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 RST computer Note 3 MR Configurator Power supply CN5 1 f 1 p 1 No fuse breaker NFB or fuse 1 Junction terminal one ii block Servo system controller or Front axis servo amplifier CN1B Magnetic contactor MC Note 2 Line noise filter Rear servo amplifier FR BSF01 CN1A or Note 2 Power factor improving DC Servo motor reactor FR BEL 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 P and P2 3 A 1 phase 200V to 2
196. Drive unit Personal Analog monitor Digital or or computer 2 channel control drive unit cap Note Refer to section 13 3 6 for the power supply specification of the servo motor cooling fan 13 3 13 SERVO AMPLIFIERS WITH LARGE CAPACITY 30k 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 Regenerative resistor and power factor improving DC reactors are option Purchase them separately if required Section 13 9 2 13 9 6 Magnetic contactor To use the AC Converter unit Eyebolt m Digital connector wiring connector servo safely units pcs pcs Note pcs manuals ON J3 CR55K MRW3 CR55K4 J3 CR55K4 Note Magnetic contactor control connector is mounted to CNP1 of the converter unit before shipping Model 2 Drive unit Connection To use the AC Drive unit Eyebolt Model conductor servo safely units pcs pcs manuals MR J3 DU30KB MR J3 DU37KB MR J3 DU30KB4 to MR J3 DU55KB4 3 Servo motor To use the AC servo safely manuals Servo motor units 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 WI THA LARGE CAPACITY 30k TO SSKVV 13 1 3 Standard specifica
197. Drive unit control power supply Converter unit control power supply Coasting Or min ON OFF 1 1 mE 1 1 Main circuit ON power supply OFF y 8s i B ON 1 Base circuit Electromagnetic OFF brake operation PEE delay time Electromagnetic Note 1 ON brake interlock MBR OFF 1 1 ON from controller OFF Position command Or min Note 4 Fog Release delay Ck time and external WE f relay Note 2 Electromagnetic Release MEE brake 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 WITHLA LARGE CAPACITY 30k TO SSKVV 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 Coasting Servo motor speed Or min
198. E 4 DH 112 DH122 FVD14 8 Japan Solderless FDV5 5 S4 Terminal YNT 1210S FDV5 5 6 8 4 5 11 42 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 0 n 5 ji ite 4 6 56 6 185 52 62 1 68 132 5 1 FR BU2 30K FR BU2 H30K 2 5 hole Screw size M4 0 Ei Rating plate a DID ODD z 51 5 6 96 6 18 5 52 59 108 1 129 5 FR BU2 55K FR BU2 H55K H75K 2 05 hole Screw size M4 Rating plate 000000000 e 5 5 26 158 16 85 52 72 1 L 170 1 142 5 1 11 43 11 OPTIONS AND AUXILIARY EQUIPMENT 2 FR BR H resistor unit Unit mm x 59 2 a 2 E 2 Co
199. ETII cable connector CN1A Used to connect the servo system controller or the front axis servo amplifier Servo motor power connector CNP3 Section 3 1 Connect the servo motor Section 3 3 SSCNETII cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Encoder connector CN2 Section 3 4 Used to connect the servo motor encoder Section 11 1 Battery connector CN4 Used to connect the battery for absolute position data backup Section 3 2 Section 3 4 Section 3 2 Section 3 4 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 Cooling Fan Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Protective earth PE terminal Section 3 1 Fixed part Ground terminal Section 3 3 3 places Rating plate 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 A
200. 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 Mass kg Ib Model Leakage current mA MR J3 10B to MR J3 100B Note HF3010A UN MR J3 10B1 to MR J3 40B1 MR J3 250B MR J3 350B Note HF3030A UN 5 5 12 13 MR J3 500B MR J3 700B Note HF3040A UN 6 0 13 23 MR J3 11KB to MR J3 22KB Note HF3100A UN 15 33 07 7 5 16 54 12 5 27 56 MR J3 11KB4 TF3030C TX MR J3 15KB4 TF3040C TX MR J3 22KB4 TF3060C TX Note A surge protector is separately required to use any of these EMC filters MR J3 60B4 MR J3 100B4 TF3005C TX 84498 MR J3 200B4 to MR J3 700B4 TF3020C TX 5 5 2 Connection example EMC filter Servo amplifier NFB MC 0 oo Note 1 1 E Power supply O 0 2 092 5 L2 0 3 3 903 6 Ls E L21 1 Note 2 2 Surge protector 1 RAV 781BYZ 2 13 OKAYA Electric Industries Co Ltd Note 2 1 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 L L2 and leave Ls open There is no Ls 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 p
201. H 4 CN5 Note 2 1 Line noise filter FR BLF Servo amplifier ool J 9 Junction D terminal block o CN1 Servo system Note 2 controller Front axis Power factor servo amplifier CN1B improving DC 4 FR BEL Regenerative p CN18 gt Rear servo amplifier 5 option C t CN1A or Cap T 3 L 4 CN2 gr ED Battery MR J3BAT w L21 UIVI IW 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 Servo motor 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 Applicable cable example Cable finish OD 5mm or less 5 Connector for CNP3 PC4 3 STF 7 62 CRWH Phoenix Contact Bo po po Connector for CNP2 Note Applicable cable example 94920 0520 Molex Cable finish OD 3 8mm or
202. ING Display Regenerative Permissible 1 Wrong setting of parameter No Set correctly error regenerative power PA02 of the built in 2 Built in regenerative resistor or Connect correctly regenerative resistor regenerative option is not or regenerative connected option is exceeded 3 High duty operation or continuous 1 Reduce the frequency of positioning regenerative operation caused the 2 Use the regenerative option of larger permissible regenerative power of capacity the regenerative option to be 3 Reduce the load exceeded Checking method 7 Call the status display and check the regenerative load ratio 4 Power supply voltage is abnormal the power supply MR J3 L B 260VAC or more MR J3 LIB1 More than 135VAC MR J3 L B4 535VAC or more 5 Built in regenerative resistor or Change the servo amplifier or regenerative regenerative option faulty option Regenerative 6 Regenerative transistor faulty Change the servo amplifier transistor fault 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 Overspeed Speed has exceeded 1 Small acceleration deceleration time Increase acceleration deceleration time the instantaneous constant caused overshoot to be constant permissible speed large 2 Servo system is instable to cause 1 Re set servo gain to proper
203. 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 be confirmed a Operation Call the display screen shown after power on Using the MODE button show the diagnostic screen dd Eg Press MODE once seee External I O signal display screen 13 51 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV b Display definition The 7 segment LED segments and CN1 connector pins correspond as shown below CN1 7 Forced stop EM1 1 D LP Output signals LN LN t CN1 8 N 2 Warning WNG 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 LED is switched on off Indicates ON OFF of the trouble ALM signal Lit ON extinguished OFF e SECHS CN1 2 Press MODE once tent The lit LED moves to the upper LED of CN1 8 Lo EN y DIU Press UP once
204. K14 3 phase 380 to 440VAC 11K1M4 15K1M4 50Hz 15K24 22K24 3 phase 380 to 480VAC 60Hz HA LP15K14 3 phase 380 to 460VAC 65 50Hz 0 12 50Hz 20K14 22K1M4 50Hz 85 60Hz 0 14 60Hz HA LP25K14 3 phase 380 to 480VAC 110 50Hz 0 20 50Hz 60Hz 150 60Hz 0 22 60 2 51 82 are opened when heat is generated to an abnormal temperature Motor thermal relay OHS1 OHS2 Maximum rating 125V AC DC 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 Earth terminal ifier Note There is no BW when the power supply of the cooling fan is a 1 phase 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 Circuit must be servo off when an alarm occurrence opened during and when an electromagnetic brake forced stop EM1 interlock MBR Servo motor R 1 o x Electromagnetic brake 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 Refer to the Servo Motor Instruction Manual Vol 2 for specifications such as the power supply capacity a
205. LESHOOTING Display RAM memory fault Faulty parts in the servo amplifier Change the servo amplifier RAM Checking method 4 Clock error Printed board fault Alarm any of 12 and 13 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables Clock error aulty controller Change the servo system controller transmitted from the Checking method controller Alarm 13 occurs if servo controller is used in multiple CPU system Memory error 2 EEP ROM fault Faulty parts in the servo amplifier the servo amplifier EEP ROM Checking method Alarm 15 occurs if power is switched on after disconnection of all cables but the control circuit power supply cables ROM exceeded 100 000 At power on occurred between disconnected amplifier 3 Encoder cable Mum EA pousse 22 1 cable 1 breakage or shorted 4 Encoder cable type 2 wire 4 wire Correct the setting in the fourth p of selection was wrong in parameter parameter No PC04 setting CPU parts fault Faulty parts in the servo amplifier Change the servo amplifier ae error 3 ROM memory fault Checking method Flash ROM Alarm 17 or 19 occurs if power is switched on after disconnection of all cables but the control circuit power supply cable Motor Wrong combination Wrong combination of servo amplifier Use correct combination com
206. Mounting hole process drawing a lt 9 OUTLINE DRAWINGS 9 MR J3 11KB 4 to 22KB 4 Unit mm 260 2 12 236 12 80 260 2 12mounting hole fi evi yt DUM ry U a y ECL Z F3 Z olo ad 815 5 With MR J3BAT Rating plate ac zr ele 9 bd 1 HA n cri rale edle fedele Ln ed 1 12 183 26 227 152 6 26 156 gt 260 Y Approx 12 2360 5 Approx 12 g B N 8 4 10 screw Piedras EDS ja l d 1 Servo amplifier Mass kg Ib 25 MR J3 11KB 4 18 0 40 ki MR J3 15KB 4 18 0 40 MR J3 22KB 4 19 0 42 l jij Y b cpm pis e Mounting hole process drawing Approx 12 Terminal signal layout Mounting screw TE Te ER TY T Servo Screw Tightening torque amplifier size N m Ib in MR J3 11KB 4 26 5 MR J3 10 234 5 MR J3 22KB 4 pomme
207. ND CONFIGURATION 4 MR J3 350B Detailed Name Application Display The 3 digit seven segment LED shows the servo Chapter 4 status and alarm number Rotary axis setting switch SW1 Used to set the axis No of servo amplifier Section 3 13 Test operation select switch SW2 1 Used to perform the test operation mode by using MR Configurator Section 3 13 Spare Be sure to set to the Down position Main circuit power supply connector 1 Section 3 1 Connect the input power supply 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 SSCNETII cable connector CN1A Used to connect the servo system controller or the front axis servo amplifier Servo motor power connector CNP3 Section 3 1 Connect the servo motor Section 3 3 SSCNETII cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Encoder connector CN2 Section 3 4 Used to connect the servo motor encoder Section 11 1 Battery connector CN4 Used to connect the battery for absolute position data backup Section 3 2 Section 3 4 L ESSI Section 3 2 Section 3 4 SU Jes AC Pe y o Ness rh Section 3 2 S
208. Note 3 Driving in CCW 8M 4CCW direction direction Max torque CW direction Driving in CW direction T motor speed CW direction8M_ CCW direction Torque Note 3 eid CW 8M oe CCW Max AM Current command 5 Speed command Max current command Max torque command 0 Max current command Max speed Max torque command direction 8 CW direction Y M 5 5 ig Outputitem Output item Droop pulses Note 1 10V 100 pulses 100 pulse Feedback position Note 1 2 10V 1 Mpulses 1M pulse L CCW direction Feedback position Note 1 2 10V 100 Mpulses Droop pulses Note 1 10 10000 pulses 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 CW direction 1 pulses Note 1 10V 1000 pulses Droop pulses Note 1 10 100000 pulses Feedback position Note 1 2 10 10 Mpulses Bus voltage Note 4 10M4 a CCW direction 1000 pulse 100000 pulse 0 100000 pulse L 10V CW direction Y 10M4 4CCW direction 10M pulse gt 10M pulse L 10 CW direction Y 5 PARAMETERS 3 Analog monitor block diagram Speed command Droop pulse Bus voltage Position C t d command urrent encoder rece
209. O SSKVV b 400V class PORE MR J3 DU30KB4 MR J3 DU37KB4 MR J3 DU45KB4 MR J3 DU55KB4 Voltage frequency 1 phase 380 to 480VAC 50 60Hz Permissible voltage 1 phase 323 to 528VAC Control power fluctuation supply Permissible frequency Within 5 ithi fluctuation The main circuit power of drive unit is supplied by the converter unit Interface power Voltage 24VDC 10 supply Note 150mA Control system Overcurrent shut off overload shutoff electronic thermal protector Servo motor overheat protection encoder error protection undervoltage Protective function Instantaneous power failure protection overspeed protection Excessive error protection Force cooling open IPO0 ti 0 to 55 non freezing n operation Ambient i 32 to 131 non freezing temperature insi 20 to 65 non freezing n storage B 4 to 149 non freezing Ambient im 90 or less non condensing humidity 2 Indoors no direct sunlight Ambient ER s Free from corrosive gas flammable gas oil mist dust and dirt Altitude Max 1000m above sea level 5 9 m s or less 19 4 ft s or less kg Mass 397 258 Note 150mA is the value applicable when all I O signals are used The current capacity be decreased by reducing the number of I O points Environment Vibration 13 7 13 SERVO AMPLIFIERS WITHLA LARGE CAPACITY 30k TO SSKVV 13 1 4 Model definition 1 Rating plate
210. PO HF MPO HF KPO HC RPO HC UPO 1000r min 2000r min HC LPO MRJ3 0B 1 053 13 053 13 d 7 MR J3 20B 1 23 23 wRJS40B a 4 ama MRJ amp 0B 01 892 PSR OBS v MRJ34008 1 1 wo MRJ32008 m 121 21 152 202 3 3508 0 gt 209 22 202 MR s3 5008 m 4 52 353 503 352 502 302 MR J3 700B MR J3 15KB MR J3 22KB Servo amplifier 1000r min 701M 3 508 60 801 Servo motors Servo amplifier HA LPO ee 1500r min 60 4 54 MRA3 10084 104 eer MR J3 20084 1524 2024 EXTR MR J3 35084 3524 _ MR J3 50084 504 Se 3 1 4 _ 8014 12K14 MR J3 15KB4 15 4 MRJ3 22KB4 20Ki4 22 4 1 10 1 FUNCTIONS AND CONFIGURATION 1 7 Structure 1 7 1 Parts identification 1 MR J3 100B or less inati Detailed Name Application Display The 3 digit seven segment LED shows the servo Chapter 4 status and alarm number Rotary axis setting switch SW1 Used to set the axis No of servo amplifier Section 3 13 Test operation select switch SW2 1 Used to perform the test operation mode by using MR Configurator Section 3 13 Spare Be sure to set to the Down position Main
211. Polish Branch ul Krakowska 50 32 083 Balice Poland MITSUBISHI ELECTRIC EUROPE B V Russian Branch St Petersburg office Piskarevsky pr 2 bld 2 lit Sch BC Benua office 720 RU 195027 St Petersburg Russia MITSUBISHI ELECTRIC TURKEY A S mraniye Branch Serifali Mahallesi Nutuk Sokak No 5 TR 34775 Umraniye Istanbul Turkey ADROIT TECHNOLOGIES 20 Waterford Office Park 189 Witkoppen Road ZA Fourways South Africa MITSUBISHI ELECTRIC AUTOMATION CHINA LTD No 1386 Hongqiao Road Mitsubishi Electric Automation Center Changning District Shanghai China SETSUYO ENTERPRISE CO LTD 6F No 105 Wugong 3rd Road Wugu District New Taipei City 24889 Taiwan R O C MITSUBISHI ELECTRIC AUTOMATION KOREA CO LTD 1480 6 Gayang Dong Gangseo Gu Seoul 157 200 Korea MITSUBISHI ELECTRIC ASIA PTE LTD 307 Alexandra Road Mitsubishi Electric Building Singapore 159943 MITSUBISHI ELECTRIC FACTORY AUTOMATION THAILAND CO LTD 12th Floor SV City Building Office Tower 1 No 896 19 and 20 Rama 3 Road Kwaeng Bangpongpang Khet Yannawa Bangkok 10120 Thailand PT MITSUBISHI ELECTRIC INDONESIA Gedung Jaya 11th Floor JL MH Thamrin No 12 Jakarta Pusat 10340 Indonesia MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED Unit 01 04 10th Floor Vincom Center 72 Le Thanh Ton Street District 1 Ho Chi Minh City Vietnam MITSUBISHI ELECTRIC INDIA PVT LTD Pune Branch Emerald House EL 3 J Block M I D C Bhosari P
212. R J3BAT pa In ee 1 yd b Y f lo 7 200 128 5 328 5 S F Se ma FEE E 277 Mass 26 kg 57 3 Ib Terminal block signal layout Terminal block screw M6 Mounting screw Tightening torque 3 0 N m Screw size M6 26 6 Ib in Tightening torque 5 4 N m 47 8 Ib in Terminal block screw M4 Tightening torque 1 2 N 10 6 Ib in Terminal block screw M10 Tightening torque 10 0 N m 88 5 Ib in Terminal block screw M10 Tightening torque 10 0 N m 88 5 Ib in 13 65 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 2 MR J3 DU30KB4 MR J3 DU37KB4 2 6 Installation hole 380 Approx 60 240 200 Coslinaf B Cooling fan o 60 i 120 V Approx RO 180 wind direction cM 4 5 5 amp j o H co E CAAA c e Anannnann e For mounting MR J3BAT E tpi ee UULU UUUUUULUU amp Y X e 6
213. RB60 4 125 8 MR J3 22KB4 PX MR RBGK 4 When using cooling fans install them using the mounting holes provided in the bottom of the regenerative option In this case set in parameter 2 Top MR RB5E 9P 9F 6B 4 60 4 6K 4 Bottom 2 cooling fans 92x92 minimum air flow 1 0m3 Pul Mounting screw 4 M3 11 29 11 OPTIONS AND AUXILIARY EQUIPMENT 5 Outline drawing a MR RB032 MR RB12 Unit mm in FR d Approx 12 144 TE1 A f a l i iz N E Di 1 6 20 LD LC Regenerative TE1 Terminal block G3 G4 Terminal screw M3 Tightening torque 0 5 to 0 6 N m 4 to 5 Ib in Mounting screw Screw size M5 Tightening torque 3 24 N m 28 7 Ib in Variable dimensions option MR RB032 LB LC 15 119 MR RB12 11 30 15 169 11 OPTIONS AND AUXILIARY EQUIPMENT b MR RB30 MR RB31 MR RB32 MR RB34 4 MR RB3M 4 MR RB3G 4 8 5 125 150 8 5 c MR RB50 MR RB51 MR RB54 4 G4G3 100 Unit mm Cooling fan mounting screw 2 M4 screw za
214. RING Terminal box inside HA LP25K1 Motor power supply terminal block U V W M10 screw Encoder connector CM10 R10P o b Earth terminal S M6 screw Thermal sensor terminal block OHS1 52 screw Cooling fan terminal block BU BV BW M4 screw Terminal block signal arrangement U V BU BV BW OHS1 OHS2 3 SIGNALS AND WIRING Abbreviation Description Connect to the motor output terminals U V W of the servo amplifier During power on do Power supply not open or close the motor power line Otherwise a malfunction or faulty may occur Supply power which satisfies the following specifications Power Rated Voltage Voltage division frequency Servo motor consumption current IW A HA LP601 701M 200V 3 phase 200 to 220VAC 0 21 50Hz 11K2 50Hz 0 25 60Hz 3 phase 200 to 230VAC 60Hz HA LP801 12K1 200 to 230VAC 11K1M 15K1M 50Hz 60Hz 15K2 22K2 22K1M 85 60Hz 0 22 60Hz 175 60Hz 0 80 60Hz HA LP6014 701M4 400V 1 200 to 220VAC 42 50Hz 11K24 class 50Hz 54 60hz 3 phase 200 to 230VAC 60Hz HA LP8014 12
215. Regenerative option 0000h S Refer to the text 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 L1L100 since selecting regenerative option is carried out by the converter unit Set this parameter when using the regenerative option brake unit power regeneration converter or power regeneration common converter Parameter No PA02 E 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 a drive unit of 30kW 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
216. SCNETII cable Dac Controller HP CN1A ad CN1A 74 55 1 on 2415 BR CN1B CN1B o Sj CN1B _ 90 3 2 How to connect disconnect cable 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 SSCNETII cable Then when removing SSCNETII cable make sure to put a cap Keep the cap for CN1A CN1B connector and the tube for protecting light code of SSCNETIII cable a plastic bag with a zipper of SSCNETII 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 SSCNETII 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 SIGNALS AND WIRING 3 With holding a tab of SSCNETII 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
217. SP81 HC LP102 HF SP152 4 HF SP202 4 HF SP121 HF SP201 HC RP103 HC RP153 HC UP152 HC LP152 HF SP352 4 HC RP203 HC UP202 HC LP202 HF SP301 HF SP502 4 HC RP353 HC RP503 HC UP352 HC UP502 HC LP302 HA LP502 HF SP421 e c 9 N Ww Ww 1 c P A Ww 1 c c 9 A D Ww Ww D e dy o o vv R 2 N v EN 2 vy EN MR J3 500B 4 ajoaf a 32 42 42 x o s o ol o olojo Note 2 Servo amplifier generated heat W With servo off 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 20 20 20 20 15 20 20 20 20 25 Note 3 20 20 20 20 25 25 25 25 25 25 25 25 At rated 10 3 Area required for heat dissipation m7 Area required for 10 CHARACTERISTICS heat dissipation Note 1 Note 2 Servo amplifier Servo motor Power supply Servo amplifier generated heat W capacity kVA At rated torque With servo off m 300 25 6 0 HA LP702 25 6 0 MR J3 700B 4 HA LP6O1 4 25 52 HA LPTO1M 4 25 6 0 HC LP11K2 4 530 45 11 0 HC LP801 4 390 45 78 MR J3 11KB HC LP12K1 4 45 11 6 HC LP11K1M 4 45 11 0 HC LP15K2 4 640 45 13 0 MR J3 15KB HC LP15K1 4 640 45 13 0 HC LP15K1M 4 22 0 640 45 13 0 HC LP22K2 4 HC LP20K4 4 MR J3 22KB HC LP25K1 HC LP22K4M 4 Note 1 Note that
218. SSCNETII 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 SSCNETII 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 L M and MR J3BUS L1M A cables away from vinyl tape because the optical characteristic may be affected 55 cable ap cu MR JBBUSDM a MRASBUSEIMA MR J3BUSOMB O Optical code Cable A Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable Normally cable is not affected by plasticizer 3 Precautions for migrating plasticizer added materials Generally soft polyvinyl chloride PVC polyethylene resin PE and fluorine resin contain non migrating plasticizer and they do not affect the optical characteristic of SSCNETII cable However some wire sheaths and cable ties which contain migrating plasticizer phthalate ester may affect MR J3BUS L M and MR J3BUS M A cables made of plastic In addition MR J3BUS L M B cable made of quartz glass is not affected by plasticizer 2 INSTALLATION 4 Bundle fixing Fix
219. Section 3 3 Section 3 2 Section 3 4 Section 3 2 Section 3 4 Charge lamp Lit to indicate that the main circuit is charged While Fixed part this lamp is lit do not reconnect the cables 3 places Battery holder Contains the battery for absolute position data backup Section 12 3 Protective earth PE terminal Section 3 1 Ground terminal Section 3 3 Rating plate 1 12 1 FUNCTIONS AND CONFIGURATION 3 MR J3 200B 4 inati Detailed Name Application Display The 3 digit seven segment LED shows the servo Chapter 4 status and alarm number Rotary axis setting switch SW1 8 p 9 Used to set the axis No of servo amplifier Section 3 43 4 s es lam T Test operation select switch SW2 1 m 5 2 72 Used to perform the test operation mode by using MR Configurator Section 3 13 Spare Be sure to set to the Down position Main circuit power supply connector CNP1 Section 3 1 Connect the input power supply 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 SSCN
220. T 6 CONT SD Plate 9 SHD Note Always make connection for use in an absolute position detection system Wiring is not necessary for use in an incremental system When fabricating the cable use the wiring diagram corresponding to the length indicated below Applicable wiring diagram Cable flex life Less than 10m 30m to 50m Standard MR EKCBL20M L Long flex life MR EKCBL20M H MR EKCBL30M H MR EKCBL40M H MR EKCBLSOM 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 MR ECNM cc Servo amplifier side connector Encoder side connector Receptacle 36210 0100PL Housing 1 172161 9 Shell kit 536310 3200 008 Connector pin 170359 1 3M Tyco Electronics or equivalent Or Cable clamp MTI 0002 Connector set 54599 1019 Molex Toa Electric Industries 3 MR J3JCBLO3M A1 L MR J3JCBLO3M A2 L The servo amplifier and servo motor cannot be connected with these cables only The servo motor side encoder cable MR EKCBL L1 M L H is required Protective Cable model Cable length Flex life Application structure MR J3JCBLOS3M A1 L For HF MP HF KP servo motor Load side lead Use in combination with MR EKCBL OM L H 0 3m 20 Standard MR J3JC
221. Tightening torque 1 2 N La 10 6 Ib in TE1 1 12 bs Terminal block screw M10 Tightening torque 10 0 m TE1 2 88 5 Ib in 1 2 1 Terminal block screw M10 Tightening torque 10 0 m PE 88 5 Ib in Terminal block screw M10 Tightening torque 10 0 m 88 5 Ib in 13 64 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 13 7 2 Drive unit 1 MR J3 DU30KB MR J3 DU37KB MR J3 DU45KB4 MR J3 DU55KB4 Unit mm 2 Installation hole Approx 20 300 200 20 260 Approx 80 180 fan Terminal block layout E Terminal cover removed 1 i H D 39 eE T e Ni dT ERR 1 For mounting 2 1 M
222. VDC 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 Static capacity CIE S E Rated Maximum Varistor voltage PURI B nergy ibi limit voltage rating range VIMA voltage immunity immunity power value Note 220 140 180 5 0 4 25 360 300 500 time 198 to 242 Note 1 time 8 X 20us 13 5 4 71 0 Hnit mm Example ERZV10D221 Matsushita Electric Industry TNR 10V221K Nippon chemi con Outline drawing mm ERZ C10DK221 3 0 or less 30 0 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 tr
223. WCNS3 MR PWONS1 MR PWCNS2 MR BKCN MR CCN1 Power supply connector DDK CE05 6A18 10SD B BSS Connector and Back shell CE3057 10A 1 D265 Cable clump Power supply connector DDK CE05 6A22 22SD B BSS Connector and Back shell CE3057 12A 1 D265 Cable clump Power supply connector DDK CE05 6A32 17SD B BSS Connector and Back shell CE3057 20A 1 D265 Cable clump Power supply connector DDK CE05 6A22 23SD B BSS Connector and Back shell CE3057 12A 2 D265 Cable clump Power supply connector DDK CE05 6A24 10SD B BSS Connector and Back shell CE3057 16A 2 D265 Cable clump Electromagnetic brake connector MS3106A10SL 4S D190 Plug DDK Amplifier connector 3M or equivalent of 3M 10120 3000VE connector Amplifier connector 3M or equivalent of 3M 36210 0100PL Receptacle Power supply connector DDK CE05 6A18 10SD D BSS Connector and Back shell CE3057 10A 1 D Cable clump Power supply connector DDK CE05 6A22 22SD D BSS Connector and Back shell CE3057 12A 1 D Cable clump Power supply connector DDK CE05 6A32 17SD D BSS Connector and Back shell CE3057 20A 1 D Cable clump Power supply connector DDK CE05 6A22 23SD D BSS Connector and Back shell CE3057 12A 2 D Cable clump Power supply connector DDK CE05 6A24 10SD D BSS Connector and Back shell CE3057 16A 2 D Cable clump D MS3106A10SL 4S D190 Plug DDK Amplifier connector 3M or equivalent of 3M 10120 3000PE conne
224. WIRING 3 Alarm occurrence Servo motor speed Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake 10ms i ON 4 Base circuit OFF me Electromagnetic Note ON Electromagnetic brake brake interlock MBR OFF operation delay time 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 Dynamic brake Servo motor speed Dynamic brake Electromagnetic brake Electromagnetic brake Note 1 i i ON 15 to 100ms Base circuit OFF 10 gt e Electromagnetic Note 2 ON brake interlock MBR OFF e Electromagnetic brake l i operation delay time arm Note2 Yes OFF Main circuit ON power Control circuit OFF Note 1 Changes with the operating status 2 ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 3 SIGNALS AND WIRING 5 Only main circuit power supply off control circuit power supply remains Dynamic brake Dynamic brake x Electromagnetic brake Electromagnetic brake 10 Servo motor speed Note 15ms or more Base circuit Note 3 ON 1 Electromagnetic brake interlock OFF o MBR yy Electromagnetic brake
225. a Section 6 4 2 Section 8 2 Section 9 1 Section 9 1 1 to 7 Section 9 2 3 Section 10 1 Section 10 2 Section 10 2 1 Section 10 3 Section 10 5 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 Change of servo motor diagram Change of Note1 Deletion of power specification notation addition of Note Correction of indication Ab To Ab Change of description for AC Change of Basic setting parameters description Addition of setting available options Addition of parameter setting due to addition of regenerative option Deletion of POINT This parameter cannot be used in the speed control mode Change of parameter No PB17 from for manufacturer setting to Automatic setting parameter Change of parameter No PCO06 from for manufacturer setting to function selection C 3 Addition of Note for parameter No PC01 Change of parameter 6 from for manufacturer setting to function selection C 3 Addition of Note4 for parameter No PC09 Change of setting description for parameter No PC10 Addition of Note4 Addition of parameter 07 Change of description for Adjustment procedure Step5 Addition of Note to the Definition for alarm 32 Correction of the Cause4 for alarm 52 Addition of MR J3 60B4 to 350
226. able wire size 2mm AWG14 to 3 5mm AWG12 Cable finish 9 5 to 13mm Plug CE05 6A24 10SD D BSS Cable clamp CE3057 16A 2 D DDK i Example of applicable cable Applicable wire size 5 5mm AWG10 to 8mm AWG8 Cable finish 613 to 15 5mm For HA LP For HC UP For HC LP For HC UP For HC LP For For HA LP For HC UP For HC LP For 11 7 Inside panel standard cord Outside panel standard cable Long distance cable For connection with PC AT compatible personal computer EN standard compliant IP65 Be sure to use this when corresponding to EN standard 65 11 OPTIONS AND AUXILIARY EQUIPMENT 11 1 2 Encoder cable connector sets 1 MR J3ENCBL O 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 Protective Cable model Flex life Application sot ain NE AP ERN c motor L fl i motor MR J3ENCBL O M A2 H Opposite to load side lead a Connection of servo amplifier and servo motor Servo amplifier MR J3ENCBLOIM A1 L MR J3ENCBLOIM A1 H 0 Servo motor HF MP
227. acturer setting 29 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 PB33 VRF1B Gain changing vibration suppression control vibration frequency setting PB34 VRF2B Gain changing vibration suppression control resonance frequency setting PB35 For manufacturer setting to PB45 App 1 APPENDIX Extension setting parameters PC O 0 I O setting parameters PD 0 0 Symbol Symbol Name PCO1 Error excessive alarm level PDO1 For manufacturer setting 2 MBR Electromagnetic brake sequence output to ENRS Encoder output pulses selection PD06 For manufacturer setting PCOB For manufacturer setting 9 MOD1 Analog monitor 1 output PD15 For manufacturer setting to PD32 bs 12 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 For manufacturer setting to PC16 PC17 COP4 Function selection C 4 PC18 For manufacturer setting to PC20 PC21 Alarm history clear PC22 For manufacturer setting to PC32 App 1 2 Converter unit Symbol PAO01 Regenerative selection PA02 Magnetic contactor drive output selection For manufacturer setting to 07 08 Statu
228. agnetic brake terminals B1 and B2 3 SIGNALS AND WIRING 2 When the power supply connector and the electromagnetic brake connector are shared 50m or less Servo motor Servo amplifier Electromagnetic brake interlock Trouble Forced MBR ALM stop RA2 RA1 EM1 24VDC power spy for o o o o oTo electromagnetic brake 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 Electromagnetic Encoder Power supply brake HF SP52 4 to 152 4 MS3102A18 10P H HF SP51 CM10 R2P DDK 81 J HF SP202 352 502 4 MS3102A22 22P a pma HF SP121 to 301 4 LI ILI HF SP421 702 CE05 2A32 17PD B o gt BE HC RP103 to 203 CM10 R10P CE05 2A22 23PD B The connector for HC RP353 503 DDK CE05 2A24 10PD B power is shared HC UP72 152 CE05 2A22 23PD B HC UP202 to 502 CE05 2A24 10PD B MS3102A10SL 4P The connector for HC LP52 to 152 CE05 2A22 23PD B power is shared HC LP202 302 CE05 2A24 10PD B MS3102A10SL 4P 3 SIGNALS AND WIRING Encoder connector
229. 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 JOG operation positioning operation programmed operation DO forced output Note 1 Note 3 d Test operation mode Motor less operation Note 1 denotes of numerals 00 to 16 and what it means is listed below 0 Settothetestoperation mode 1 Fistaxs 2 Secodaxs 3 Thrdaxs 4 e 5 Fifth axis 6 Sixth axis 8 Eihhais 9 2 indicates the warning alarm No 3 Requires the MR Configurator 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 If necessary verify controller program by using motorless operation Refer to section 4 5 2 for the motorless operation Test operation of servo motor In this step confirm that the servo amplifier and servo motor operate normally alone in JOG operation of test operation mode 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 y Test operation of servo motor In this step confirm that the servo motor rotates correctly under the
230. alone by commands 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 In this step connect the servo motor with the machine and confirm that the and machine connected 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 STARTUP 4 5 Test operation mode The test operation mode is designed for servo operation confirmation and not for machine operation confirmation Do not use this mode with the machine Always use the servo motor alone f an operation fault occurred use the forced stop EM1 to make a stop 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 pos
231. amp amp y i Lo 236 2 255 270 2 How to assemble the attachment for a heat sink outside mounting attachment ae Attachment Screw 2 places 11 65 11 OPTIONS AND AUXILIARY EQUIPMENT 3 Fitting method Attachment 1 E Punched hole Servo amplifier Fit using the Servo Control box assembling amplifier yl gt gt SI screws e f 6 x v Attachment a Assembling the heat sink outside mounting attachment b Installation to the control box 4 Outline dimension drawing Unit mm 2 11 1 Panel x e e S xe 5 E Ld acm LE i e Servo 1 Y 1 1 lp amplifier 2 1 Attachment Servo amplifier I 2 HH e 1 ai I Ls 1 ot Panel S 236 3 2 280 155 11 5 Mounting Approx 260 hole Approx 260 11 66 11 OPTIONS AND AUXILIARY EQUIPMENT 11 11 Selection examp
232. ance frequency setting For manufacturer setting U N rad s ms H Hz N PB10 PB11 PB12 PB13 PB14 PB15 PB16 PB17 PB18 PB19 PB20 PB21 PB23 PB24 25 PB26 PB27 lid PB30 PB31 PB32 PB33 o o 5 10 5 5 No Symol mitalvalue For manufacturer setting 5 2 2 Detail list Initial Setting Symbol Name and function value range mechanical system Response of Notch depth PBO1 FILT Adaptive tuning mode adaptive filter II 0000h Select the setting method for filter tuning Setting this parameter to O00 1 filter tuning mode 1 automatically changes the machine resonance suppression filter 1 parameter No PB13 and notch shape selection parameter No PB14 Machine resonance point s EL Frequency L Frequency Notch frequency Filter tuning mode selection Setting Filter adjustment mode Automatically set parameter o Filter OFF Note Parameter No PB13 1 Filter tuning mode Parameter No PB14 22 Manualmode __ Note Parameter No PB13 and 14 are fixed to the initial values When this parameter is set to 00 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 T1100 2 When the filter tuning is not necessary
233. 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 magnetic contactor after detection of alarm occurrence on the controller side 5 For the sink interface For the source 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 If deactivating output of trouble ALM with parameter change configure up the power supply circuit which switches off the 3 SIGNALS AND WIRING 5 MR J3 500B MR J3 700B Note 4 Controller Alarm forced stop Forced RA1 RA2 stop ON Note 7 alo olo Power supply of Cooling fan SK 2 Servo amplifier Servo motor jun Ub NC t Built in NS 9 2 regenerative Motor 230VAC resistor 3 4 1 L Lu 5 O 1 CN2 Note 3 Encoder cable lt lt BU Cooling fan CN3 _ 24vDC 9 Note 5 Forced stop DOCOM I DICOM ALM Troubl Note 9 rouble M Note 4 Note 1 Always connect P 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
234. 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 Servo motor amplifier TB 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 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 10m or less MR PWS1CBLEIM A1 L 4 MR PWS1CBLOIM A2 L S lif MR PWS1CBLLTM A1 H S t ervo amplifier MR PWSTCBLOM A2 H ervo motor AWG 19 AWG 19 white AWG 19 black AWG 19 green yellow GERE 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 50m or less MR PWS1CBL2M A2 H MR PWS2CBL03M A1 L MR PWS2CBL03M A2 L CNP3 Extension cable aM Servo amplifier v Servo motor U AWG 19 red FU AWG 19 white W AWG 19 black W 769 AWG 19 green yellow
235. ange the servo motor 47 Cooling fan The cooling fan of 1 Cooling fan life expiration Refer to Change the cooling fan of the servo error the servo amplifier section 2 5 amplifier stopped or its speed decreased to or 2 Foreign matter caught the cooling Remove the foreign matter below the alarm fan stopped rotation level 3 The power supply of the cooling fan Change the servo amplifier failed Overload 1 Load exceeded 1 Servo amplifier is used in excess 1 Reduce load overload protection of its continuous output current 2 Check operation pattern characteristic of 3 Use servo motor that provides larger servo amplifier output 2 Servo system is instable and 1 Repeat acceleration hunting deceleration to execute auto tuning 2 Change the auto tuning response setting 3 Set auto tuning to OFF and make gain adjustment manually 3 Machine struck something 1 Check operation pattern 2 Install limit switches 4 Wrong connection of servo motor 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 th
236. ansmission 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 a
237. apter 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 Parameter Parameter Parameter Current control No PB01 No PB16 No PB23 comman Bi se 1 0000755 7 7 Hoda iter Machine resonance suppression filter is Machine resonance LILI1LI Adaptive tuning suppression filter 2 Manual setting 7 2 Adaptive filter II 1 Function Adaptive filter II 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 Machine resonance point Machine resonance point Mechanical Mechanical system system response response level Frequency level Frequency 1 i i Notch
238. 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 7096 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 100 100 z z 10 During servo lock 10 During servo lock E 5 p o o 5 0 1 0 1 0 50 100 150 200 250 300 0 50 100 150 200 250 300 Note Load ratio Note Load ratio MR J3 10B 1 MR J3 20B 1 MR J3 40B 1 MR J3 60B 4 to MR J3 100B 4 1000 10000 During operation 100 1000 N 2 RI During operation 10 During servo lock i 100 During servo lock 5 5 5 5 8 8 1 10 0 1 1 0 50 100 150 200 250 300 0 50 100 150 200 250 300 Note Load ratio 96 Note Load ratio 9o MR J3 200B 4 to MR J3 350B 4 MR J3 500B 4 MR J3 700B 4 10 1 10 CHARACTERISTICS 10000 1000 v i f m L During operation E M 100 c 5 6
239. arge 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 _ 2000 to 3000 setting ms A Speed loop gain setting 1 ratio of load inertia moment to servo motor inertia moment setting 3 Model loop gain PG1 Parameter 07 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 Speed loop gain setting T 1 iod guideline 1 ratio of load inertia moment to servo motor inertia moment 4 8 6 ERAL GAIN ADJUSTMENT 2 For position control a Parameters The following parameters are used for gain adjustment Abbreviation 06 Ratio of load inertia moment to servo motor inertia moment PB07 Model loop gain 8 Position loop gain 09 Speed loop gain PB10 Speed integral compensation b Adjustment procedure 2 10 Brief adjust with auto tuning Refer to section 6 2 3 tel Change the setting of auto tuning to the manual mode Parameter PEE No PA08 0003 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 chang
240. ator E option CN5 Servo system controller Note 6 SSCNETIIIcable option CN1A SW SW2 Note 8 CN1B 12 Note 1 Between electrodes 20 MR J3 B 2axis Note 7 CN1A 5 1 ons Note 8 212 MR J3 B Note 7 Note 6 3 919 7 SSCNET II lt CN1A 5 1 option CN1B Note 8 12 MR J3 B n axis Note 7 CN1A 5 1 Note 9 ll SW2 Note 8 CN1B 12 3 10 3 SIGNALS AND WIRING Note 1 To prevent an electric shock always connect the protective earth PE terminal terminal marked D of the servo amplifier to the 11 12 13 protective earth PE of the control box 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 If the controller does not have an forced stop EM1 function always install a forced stop switch Normally closed When starting operation always turn on the forced stop EM1 Normally closed contacts By setting 0100 DRU parameter 04 of the drive unit the forced stop EM1 can be made invalid Use MRZJW3 SETUP 221E For the distance between electrodes of SSCNETII cable refer to the following table Distance between Cable Cable model name Cable length electrodes Standard cable outside panel MR J3BUS O M A 5mto20m to 20m Long distanc
241. b FREBALOTSK 135 120 115 s7 75 ms 286m MR J3 60B 708 4081 FR BAL 1 5K us wo n s zs m ms 370846 7 MR J3 200B FR BAL 3 7K MR J3 350B FR BAL 7 5K MR J3 500B FR BAL 11K MR J3 700B 4 5 4 45 140 5 4 MR J3 100B FR BAL 2 2k 192 rs 10 ws m 0 5 6 5 6 8 8 FR BAL 15K ES Lm we pwss a m o xen EE MR J3 11KB MR J3 15KB FR BAL 22K MR J3 22KB FR BAL 30K MR J3 60B4 FR BAL H1 5K M M M 1 M M um M M MR J3 100B4 FR BAL H2 2K 4 0 E M5 125 M6 19 41 89 0 M6 M8 M8 0 us wo 9 z zs m ms MR J3 200B4 FR BAL H3 7K 200 190 70 M5 M35 MR J3 350B4 FR BAL H7 5K 120 M4 MR J3 700B4 270 MR J3 11KB4 5 19045 43 94 80 FR BAL H15K MR J3 15KB4 FR BAL H22K Approx 35 2 1 17045 25 M8 d Approx 77 16 Approx 43 2 2 19025 25 M8 T Approx 94 80 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 220 275 301 301 140 140 26 44 69 90 33 7 1 10 120 100 10 30 11045 12 5 5 27 59 53 99 19 MR J3 22KB4 FR BAL H30K 11 15 Relays recommended Relay used for digital output signals interface DO 1 Small relay with 12VDC or 24
242. bination of servo amplifier and servo motor connected error and servo motor Encoder error 2 Communication error 1 Encoder connector E eai Perr occurred between E eai encoder and servo 2 Encoder cable faulty ee or change the cable amplifier Wire breakage or shorted 3 Encoder fault Change the servo motor Main circuit error Ground fault 1 Power input wires and servo motor Connect correctly occurred at the power wires in contact motor power U V 2 Sheathes of servo motor power Change the cable and W phases of cables deteriorated resulting in the servo amplifier ground fault 3 Main circuit of servo amplifier failed Change the servo amplifier 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 1 Voltage drop in encoder After leaving the alarm occurring for a few data in error Battery disconnected minutes switch power off then on again Always make home position setting again 2 Battery voltage low Change the battery 3 Battery cable or battery is faulty Always make home position setting again Power was switched 4 Home position not set After leaving the alarm occurring for a few on for the first time in minutes switch power off then on again the absolute position Always make home position setting again detection system 8 TROUBLESHOOT
243. ble 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 IHALP3OK2 60 JHALP37K2 60 Hapka e 0 702 8 eser 2 mapos f 2 HF SP201 HA LP12K1 HA LP701M4 O 6 FHALP2OKT 38 Hapai 60 Harpon e Hapnik IHAiP3OKIM 6o JHALPS7KIM 6o 0 e Note Use a composite cable and others when combining with wiring of the electromagnetic brake power in the same cable App 9 REVISIONS manual number is given on the bottom left of the back cover Print Data Manual Number 2005 SH NA 030051 A First edition Jan 2006 SH NA 030051 B 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 Section 1 7 2 Addition of removal and reinstallation of front cover for 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 Section 3 8 2 Addition of For CN2 connector 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 m
244. cal transmission of SSCNETIII 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 Controller Alarm forced stop Forced ene ON RA2 stop Servo motor 3 phase 200 to 230 CN2 Note 3 Encoder cable CN3 CN3 24VDC Note 5 Forced stop EM1 DOCOM if DOCOM DICOM ALM Trouble 1 Ned Note 5 3 SIGNALS AND WIRING Note 1 Always connect P and P 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 For the encoder cable use of the option cable is recommended Refer to section 11 1 for selection of the cable If deactivating output of trouble ALM with parameter change configure up the power supply circuit which switches off the magnetic co
245. chine rapid feed rate mm min in min Servo motor inertial ent kg cm oz 2 Load inertia moment converted into equivalent value on servo motor 2 iBrake time constant oit 5 Delay time of control 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 2 Dynamic brake time constant The following shows necessary dynamic brake time constant for the equations 10 2 a 200V class servo motor Time constant 1 ms 25 73 20 15 23 e 8 10 053 o 13 E 5 He 6 43 O 1000 2000 3000 4000 5000 6000 O 1000 2000 3000 4000 5000 6000 Speed r min Speed r min HF MP series HF KP series 10 6 10 CHARACTERISTICS Time constant t ms Time constant T ms Time constant T ms Time constant 7 ms 120 100 0 500 1000 1500 2000 0 500 1000 1500 2000 Speed r min HF SP1000r min series 0 500 1000 1500 2000 2500 3000 Speed r min HC RP series 70 60 50 40 30 20 10 05 50 500 10001500200025003000 Speed r min HC UP3000r min
246. 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 Maximum number of connected servo amplifiers Total of connectable servo motor rated currents 33 46 6 90 5 5 25 Maximum number of connected servo amplifiers _ Total of connectable servo motor rated currents 90 15 145 215 When using the FR CV H always install the dedicated stand alone reactor FR CVL H FR CV H22K AT FR CVL H22K 11 49 11 OPTIONS AND AUXILIARY EQUIPMENT 3 Connection diagram a 200V class NF FR CVL FR CV Servo amplifier Servo motor MC 00 OU
247. closely is available for a combination of servo amplifiers of 200V 3 5kW or less Addition of CAUTION Addition of MR J3 500B4 and 700 4 Addition of MR J3 60B4 to 350B4 Addition of Note 7 Change of description for Note 7 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 1 L2 L11 and L21 Table content change Table content change Addition of POINT Addition of cable handling procedures for MR J3 200B4 and 350B4 Addition and change of description Change of description Change of CN2 connection diagram to RoHS compliant parts Addition of sentence to the dynamic brake interlock description Change of the zero speed diagram Change of description for Function Application of Digital I F common from DOG EMG to Addition of supplementary explanation to the output pulse Addition of CAUTION Change of description for motor power supply to servo motor power Addition of POINT for contactor connection Change of Note1 Change of servo alarm switch to trouble ALM in a Wiring diagrams PrintData Number Jul 2007 SH NA 030051 C Section 3 10 2 3 Section 3 10 2 3 b Section 3 11 3 1 Section 3 12 Section 4 3 2 Chapter 5 Section 5 1 3 Section 5 1 8 Section 5 2 1 Section 5 3 1 Section 5 3 2 Section 5 3 3 2 Section 6 3 1
248. 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 Recommended filter Soshin Electric Converter unit Drive unit Mass kg Leakage current Model mA MR J3 CR55K MR J3 DUSOKB MR J3 DU37KB HF3200A UN 9 18 MR J3 CR55K4 MR J3 DU30KB4 to MR J3 DU55KB4 TF3150C TX 2 Connection example EMC filter Converter unit NFB MC I o L Note 1 4 Power supply 9 6 02 5 L2 03 6 3 3 0 3 OLt1 ola Drive unit O Li L QLo Note For power supply specifications refer to section 13 1 3 13 88 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 3 Outline drawing HF3200A UN Unit mm 3 6 5 Length 8 3 6 5 3 10 T SPPE o
249. corresponding to the specified symbols are prepared Cable length Protective Cable model Flex life Application Tr umm D Dm um men MR J3ENSCBL OML 2 5 10 20 30 IP67 Standard For HF SP HA LP HC RP HC UP MR J3bENSCBL Long flex 2 5 10 20 30 40 50 IP67 HC LP servo motor L1 life a Connection of servo amplifier and servo motor Servo amplifier MR J3ENSCBLOM L MR J3ENSCBLOM H g Servo motor HF SP Cable model 1 For CN2 connector 2 For encoder connector MR J3ENSCBL O M L Receptacle 36210 0100PL Connector set 54599 1019 Molex In case of 10m or shorter cables Shell kit 36310 3200 008 Straight plug 10 5 105 Socket contact CM10 3M 22SC C1 100 Crimping tool 357J 50446 DDK Applicable cable AWG20 to 22 4116 8 1110 PE LG EX N In case of 20m or longer cables Pata 31 51 1 Straight plug CM10 SP10S M RS N BAT his Gu Socket contact CM10 E 22SC C2 100 Crimping tool 357J 50447 DDK Applicable cable AWG23 to 28 Note Signal layout Note Signal layout View seen from wiring side View seen from wiring side Note Keep open the pins shown with DSJ Especially pin 10 is provided for manufacturer adjustment If it is connected with any other pin the servo MR J3ENSCBL O H Note Signal layout amplif
250. ctor 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 inati Detailed Name Application Display The 3 digit seven segment LED shows the servo Chapter 4 status and alarm number Rotary axis setting switch SW1 Used to set the axis No of servo amplifier Section 3 13 sw1 TEST 1 91 2 Test operation select switch SW2 1 Used to perform the test operation mode by using MR Configurator Section 3 13 Spare Be sure to set to the Down position 1 2 Main circuit power supply connector CNP1 Section 3 1 Connect the input power supply 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 Section 3 4 More over an analog monitor is output Servo motor
251. 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 Wires mm ES 1 3 Note 2 Converter unit 1 2 3 U V E Drive unit Lay La m n BW OHS1 ae MR J3 DU30KB 38 AWG2 AME MR J3 CR55K MR J3 DU37KB 60 AWG2 0 d SAVEEN MR J3 DU30KB4 22 AWG4 b 22 AWG4 2 AWG14 5 AWG10 a 1 25 AWG16 MR J3 DU37KB4 22 AWG4 b 22 AWG4 J3 1 25 AWG16 MR J3 CR55K4 MR J3 DU45KB4 38 AWG2 38 AWG2 MR J3 DU55KB4 38 AWG2 38 AWG2 c 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 Applicable tool Manufacturer Crimping terminat FVD5 5 10 YNT4240 o o FVD22 10 YF 1 E 4 YNE 38 DH 123 DH113 R38 8 YPT 60 21 M TD 124 TD112 R38 10 YF 1 E 4 YET 60 1 Terminal YPT 60 21 R6
252. d Electromagnetic brake interlock Trouble Forced MBR ALM stop RA2 O O 24VDC power supply for electromagnetic brake OHS2 Servo motor 24VDC thermal relay power supply B 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 Note 3 3 SIGNALS AND WIRING 2 400V class Note4 Cooling fan power supply P 50m or less N Servo amplifier Servo motor p 0 04 L2 V V 2 NFB 07 4 w E BU CX RI CN3 24VDC BW Cooling fan Note 2 DICOM ALM i ep MBR Ra gt Electromagnetic brake interlock Trouble Forced MBR ALM stop RA2 RA1 EM1 24VDC power RM supply for t oe B1 Note 1 electromagnetic E B2 brake OHS1 OHS2 Servo motor 24VDC Note 3 power supply thermal relay E 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
253. d 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 C Keep cables and flammable materials away from the case Ambient temperature condition of the brake unit is between 10 C 14 F and 50 122 F Note that the condition is different from the ambient temperature condition of the servo amplifier between 0 32 F and 55 C 131 F 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 02 of the serv
254. d 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 _ 2000 to 3000 setting ms 7 Speed loop gain 2 setting 1 ratio of load inertia moment to servo motor inertia moment 2 setting 3 Model loop gain PG1 Parameter 07 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 Speed loop gain setting 1 T guideline 1 ratio of load inertia moment to servo motor inertia moment 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 _ Speed loop gain 2 setting T 1 1 guideline 1 ratio of load inertia moment to servo motor inertia moment 4 9 6 10 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
255. d side lead MR PWS1CBL O M A2 H 2 5 10 IP65 Long flex For HF MP servo motor life Opposite to load side lead 03 For HF MP HF KP servo motor MR PWS2CBL O M A1 L Standard Load side lead For HF MP HF KP servo motor MR PWS2CBL D M A2 L IER 55 Standard Opposite to load side lead 1 Connection of servo amplifier and servo motor MR PWS1CBLLIM A1 L MR PWS1CBLLIM A1 H MR PWS2CBLOS3M A1 L Servo amplifier Servo motor HF MP HF KP MR PWS1CBLLIM A2 MR PWS1CBLLIM A2 CNPS connector MR PWS2CBLO3M A2 supplied with servo amplifier Servo motor HF MP HF KP 2 Cable model 1 For motor power supply connector MR PWS1CBL O M A1 L Connector JN4FT04SJ1 R Signal layout Hood socket insulator MR PWS1CBL O M A2 L Bushing ground nut ML Contact ST TMH S C1B 100 A534G MATH Crimping tool CT160 3 TMH5B MR PWS1CBL L1 M A2 H Japan Aviation Electronics Industry Connector JNAFTO4SJ2 R MR PWS2CBLO03M A1 L Hood socket insulator Bushing ground nut Contact ST TMH S C1B 1 00 A534G View seen from wiring side MR PWS2CBLOS3M A2 L Crimping tool CT160 3 TMH5B CM Japan Aviation Electronics Industry 2 Internal wiring diagram MR PWS1CBLLIM A1 H MR PWS1CBLLIM A2 H MR PWS2CBLOSM A1 L MR PWS2CBLOS3M A2 L AWG 19 Red Note AWG 19 White AWG 19 Black AWG 19 G
256. d to approx 0A in 3ms MR J3 22KB4 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 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 NWARNING 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 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 Servo amplifier Personal computer Servo amplifier
257. dows Internet Explorer and Windows Vista are registered trademarks or trademarks of Microsoft Corporation in the United States Japan and or other countries Intel Pentium and Celeron are trademarks of Intel Corporation in the United States and or other countries All other product names and company names are trademarks or registered trademarks of their respective companies Warranty 1 Warranty period and coverage We will repair any failure or defect hereinafter referred to as failure in our FA equipment hereinafter referred to as the Product arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider However we will charge the actual cost of dispatching our engineer for an on site repair work on request by customer in Japan or overseas countries We are not responsible for any on site readjustment and or trial run that may be required after a defective unit are repaired or replaced Term The term of warranty for Product is twelve 12 months after your purchase or delivery of the Product to a place designated by you or eighteen 18 months from the date of manufacture whichever comes first Warranty Period Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work Limitations 1 You are requested to conduct an initial failure diagnosis by yourself as a general r
258. 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 Servo amplifier drive unit Servo motor drive unit Servo motor 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 Servo amplifier drive unit drive unit DICOM Control Control output output signal signal 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 3 Test run adjustment N CAUTION Before operation check the parameter settings Improper settings may cause some machines to perform unexpected operation parameter settings must not be changed excessively Operation will be insatiable 4 Usage N CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
259. 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 Control No PB27 CDP Parameter No PB26 1 command of 1 1 1 controller 1 1 Command pulse frequency Droop pulses Changing Model speed 1 1 1 1 1 1 1 1 1 1 1 CDS Parameter 27 1 1 1 1 1 1 1 1 1 1 1 1 1 GD2 Parameter 06 Valid GD2 value PG2 Parameter 08 Valid PG2 value VG2 Parameter 09 Valid VG2 value VIC Parameter No PB10 Valid VIC value VRF1 Parameter No PB19 Valid VRF1 value VRF2 Parameter N
260. e SD Table 13 2 Recommended wire Characteristics of one core Note 2 Length Core size Number Insulation coating Finishing Wire model m ft of cores Wires mm resistance OD d mm p mm Note 1 0 5 to 5 20 UL20276 AWG 28 Note 1 d is as shown below d Conductor Insulation sheath 2 Standard OD Max OD is about 1096 greater 13 74 13 SERVO AMPLIFIERS WITH A LARGE CAPACITY 30k 55kW 13 9 2 Regenerative option 4 The specified combinations of regenerative options converter unit and drive unit CAUTION may only be used Otherwise a fire may occur 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 Drive unit MR RB139 NOS T Three MR RB136 4 Nelo 2 Three MR RB137 MR RB138 4 1 3 Q 59 1 30 in parallel in parallel MR J3 DU30KB MR J3 CR55K 1300 3900 MR J3 DU37KB MR J3 DU30KB4 MR J3 DU37KB4 MR J3 CR55K4 1300 MR J3 DU45KB4 MR J3 DU55KB4 Note 1 The composite resistor value of three options is 1 3Q The resistor value of one option is 4Q 2 The composite resistor value of three options is 50 The resistor value of one option is 150 2 Parameter setting
261. e 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 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 Impedance Q Unit mm 10 to 100MHz 100 to 500MHz 0 al cable band 13 1 30 1 Product name 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 p peepe O Relay Surge suppressor Surge suppressor This distance should be short
262. e cable MR J3BUS O M B 30mto50m 50 Standard code inside panel MR J3BUS O M 0 15m to 3m The wiring of the second and subsequent axes is omitted Up to eight axes n 1 to 8 may be connected Refer to section 3 13 for setting of axis selection Make sure to put a on the unused CN1A CN1B Supply 24VDC 10 150mA current for interfaces from the outside 150mA is the value applicable when all I O signals 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 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 The pins with the same signal name are connected in the servo amplifier The signal be changed by parameter No PD07 PD08 PDO9 14 15 For the sink I O interface For the source I O interface refer to section 3 7 3 Devices be assigned for DI1 DI2 with controller setting For devices that be assigned refer to the controller instruction manual The assigned devices are for the Q173DCPU Q172DCPU Q173HCPU Q172HCPU and QD75MHLI 3 11 3 SIGNALS AND WIRING 3 3 Explanation of power supply system 3 3 1 Signal explanations For the layout of connector and terminal block r
263. e cable example Te 3 Cable finish OD 4 1 less CNP4 Connector for CNP2 721 205 026 000 Plug WAGO 1454 CNP2 i CNP3 Connector for CNP3 721 203 026 000 Plug E o el el 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 Bar terminal type Th 2 Crimping tool Note 2 For 1 cable Note 1 For 2 cable 1 25 1 5 Al1 5 10BK AI TWIN2 x 1 5 10BK Variocrimp 4 206 204 225 25 048 Note 1 Manufacturer Phoenix Contact 2 Manufacturer WAGO 3 15 3 SIGNALS AND WIRING c The twin type connector for 2 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 2 DL E 11 Lu Power supply Rear axis or Front axis L21 L21 3 MR J3 350B a Servo amplifier power supply connectors Servo amplifier power sup
264. e capacity of connectable servo amplifier specify the value of servo amplifier 11 55 11 OPTIONS AND AUXILIARY EQUIPMENT 11 6 External dynamic brake 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 09 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 J3 15KB4 DBU 22K 4 0 MRJ322KB4A J3 22KB4 11 56 11 OPTIONS AND AUXILIARY EQUIPMENT 2 Connection example ALM Operation ready Servo amplifier ON RA1 EM1 OFF Servo motor U V O
265. e is not required Increase the speed loop gain within the vibration and unusual noise free range and return slightly if vibration takes place Decrease the speed integral compensation within the vibration free range and return slightly if vibration takes place integral compensation Increase the position loop gain and return slightly if vibration takes place the position loop gain Increase the model loop gain and return slightly if overshooting takes Increase the position loop gain While checking the settling characteristic and rotational status fine adjust Fine adjustment each gain 6 GENERAL GAIN ADJUSTMENT c Adjustment description 1 Speed loop gain VG2 parameter 09 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 _ Speed loop gain 2 setting frequency Hz 1 ratio of load inertia moment to servo motor inertia moment x2 x 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 loa
266. e power supply to clear 2 Check operation pattern the alarm Then the overload 3 Use servo motor that provides larger operation is repeated output 8 TROUBLESHOOTING Display 52 Overload 2 Machine collision 1 Machine struck something 1 Check operation pattern the like caused max 2 Install limit switches For the time of the alarm occurrence 2 Wrong connection of servo motor correctly refer to the section Servo amplifier s output terminals U 10 1 V W do not match servo motor s input terminals U V W 3 Servo system is instable and 1 Repeat acceleration deceleration to hunting execute auto tuning 2 Change the auto tuning response setting 3 Set auto tuning to OFF and make gain adjustment manually 4 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 between the model constant is too small constant position and the 2 Torque limit value set with controller Increase the torque limit value actual servo motor is too small position exceeds the 3 Motor cannot be started due to 1 Check the power supply capacity parameter 01 torque shortage caused by power 2 Use servo motor which provides larger setting value initial supply voltage drop output value 3 revolutio
267. e 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 F 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 Lmax Lmax Vo Jm JL Forced stop EM1 mia Time constant Machine speed ts Time H E 10 2 Maximum Coasting seinan aa mm in Ma
268. e servo amplifier is ready to operate V Bus voltage The converter unit voltage is displayed 0 to 999 Status display Symbol Unit Description Continuous effective load torque is displayed Note The effective value in the past 15 seconds is displayed relative to the rated 0 to 300 current of 10096 Effective load ratio The peak output is displayed Note Peak load ratio The peak value in the past 15 seconds is displayed relative to the rated 0 to 400 torque of 100 Regenerative The percentage of regenerative power to the permissible regenerative value 019300 load ratio is displayed Note Output 7 converter unit bus voltage X output current 13 50 13 SERVO AMPLIFIERS WITH A LARGE CAPACITY 30k 55kW 13 4 3 Diagnostic mode 1 Diagnostic list Display Not ready Initializing An alarm occurred External forced stop status Sequence 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 Indicates the ON OFF status of external I O signal Lit ON Extinguished OFF For details refer to 2 of this section External I O signal display Allows external I O signal to be switched on off forcibly For Output signal forced output details refer to 3 of this section Software version low Indicates the version of the software Software version high
269. e unit HIV wire mm of the brake unit 200V FR BU2 55K 38 2 class 400V FR BU H55K 14 6 class FR BU2 H75K 13 98 1 3 SERVO AMPLIFIERS WITH LARGE CAPACITY 30k 55kW e Crimping terminals for L and L terminals of TE2 1 of servo amplifier 1 Recommended crimping terminals Always use recommended crimping terminals or equivalent since some crimping terminals cannot be installed depending on the size Number of Note 1 Converter unit Brake unit connected Crimping terminal Manufacturer Applicable units tool 200V MR J3 CR55K FR BU2 55K 2 38 S6 Japan Solderless Terminal class Note 2 R38 6S NICHIFU Note 2 400V MR J3 CR55K4 FR BU2 H55K FVD14 6 Japan Solderless Terminal b class FR BU2 H75K 2 38 56 Solderless Terminal Note 2 R38 6S NICHIFU Note 2 Note 1 Symbols in the applicable tool field indicate the following applicable tools Servo amplifier side crimping terminals Crimpi Crimping terminal ping Manufacturer terminal YPT 60 21 IET Japan Solderless TD 124 TD 112 YF 1 E 4 YET 60 1 Terminal NOP60 NICHIFU NOM60 Japan Solderless 1 E 4 38 DH 112 DH 122 Terminal 2 Coat the crimping part with an insulation tube 13 99 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 4 Outline dimension drawings a FR BU2 H brake unit
270. e 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 WITHLA LARGE CAPACITY 30k TO SSKVV 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 Or min NJ Drive unit control ON iE power supply OFF E Converter unit control ON power supply OFF NE Main circuit ON power supply OFF Note5 3s Tb ON f i i E Base circuit i i i Electromagnetic OFF i i brake operation delay time 1
271. ecreases 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 Mechanical Machine resonance point system response i level Frequency Notch width Notch depth Y Notch depth Frequency Notch 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 V Frequency Parameter No PBO1 Parameter No PB15 PB13 PB14 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 suppre
272. ection 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 Servo motor U 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 3 The earth terminal of the servo motor is connected to the PE terminal of the servo amplifier Servo amplifier Servo motor 4 P1 P2 For 11kW or more P1 P should be connected Servo amplifier di P1 O 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 twisted cable should be used Refer to section 11 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
273. ection 3 4 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 Ing Protective earth PE terminal Section 3 1 Ground terminal Section 3 3 Fixed part Rating plate 1 14 1 FUNCTIONS AND CONFIGURATION 5 MR J3 350B4 MR J3 500B 4 The servo amplifier is shown without the front cover For removal of the front cover refer to section 1 7 2 Detailed Name Application Display The 3 digit seven segment LED shows the servo Chapter 4 status and alarm number Rotary axis setting switch SW1 Used to set the axis No of servo amplifier Section 3 13 Test operation select switch SW2 1 Used to perform the test operation mode by using MR Configurator 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 Section 3 2 Used to connect digital I O signals ection More over an analog monitor is output Section 3 4 Battery holder Contains the battery for absolute posi
274. ed 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 Environment Converter unit servo amplifier drive unit 0 to 55 non freezing 0 to 40 non freezing Ambient operation 32 to 131 non freezing 32 to 104 non freezing temperature ro 20 to 65 non freezing 15 to 70 non freezing In storage 4 to 149 non freezing 5 to 158 non freezing Ambient 90 RH or less non condensing 80 RH or less non condensing humidity 90 RH or less non condensing 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 KP series X Y 49 m s HF SP51 81 HF SP52 to 152 HF SP524 to 1524 HC RP Series X Y 24 5 mis HC UP72 152 HF SP121 201 HF SP202 352 P X 24 5 m s Y 49 m s HF SP2024 3524 HC UP202 to 502 HF SP301 421 5 502 702 2 2 X 24 5 m s Y 29 4 m s Note HF SP5024 7024 5 9 or less 5 5 Vibration HC LP52 to 152 X 9 8 m s Y 24 5 mis HC LP202 to 302 X 19 6 m s Y 49 m s HA LP601 to 12K1 HA LP701M to 15K1M HA LP502 to 22K2 6014 12K14 X 11 7 m s Y 29 4 m s HA LP701M4 15K1M4 HA LP11K24
275. ee of MR RB137 or MR RB138 4 Servo motor OHS2 Servo motor thermal relay OHS1 24VDC power supply B Note 1 When using the Power factor improving DC reactor remove the short bar across P1 P2 2 63 64 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 is R400 and S is S400 13 77 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 5 Outline dimension drawings Unit mm J 2 10 hole 10 1 Eod 1 aes MR RB139 MR RB136 4 10 22 05 SSH MR RB137 138 4 11 24 25 cb ee i 24 23 Terminal block signal layout TE1 c Note 2 Note 2 lt lt SS Terminal screw M5 EE CE EE Sem Tightening torque 2 0 N 17 7 Ib in Mounting screw Screw size M8 Tightening torque 13 2 N m 117 Ib in
276. efer to outline drawings in chapter 9 Abbreviation Connection target Description Application 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 open Servo amplifier MR J3 MR J3 MR J3 10B to 70B 100B to 10B1 to Power supply 22KB 40B1 3 phase 200V to 230VAC 50 60Hz Leben Main cireuit power 1 phase 200V to 230VAC 50 60Hz h eee poem supply 1 phase 100V to 120VAC 50 60Hz a es Setvo amplffier MR J3 60B4 to 22KB4 Power supply 3 phase 380V to 480VAC 50 60Hz 1 MR J3 700B or less When not using the power factor improving DC reactor connect P and P Factory wired When using the power factor improving DC reactor disconnect P and P2 and connect the Power factor power factor improving DC reactor to P1 and P2 improving DC 2 MR J3 11KB 4 to 22KB 4 reactor MR J3 11KB 4 to 22KB 4 do not have Pz 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 Factory wired 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 i
277. egenerative 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 Always remove wiring across P C of servo amplifier built in regenerative resistor Servo amplifier Regenerative option 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 0m 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 il LLL A EN E 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
278. elect the encoder output pulse direction and encoder output pulse setting Name and lolo function L Encoder output pulse phase changing column Changes the phases of A B phase encoder pulses output eerie Servo motor rotation direction Encoder output pulse setting selection refer to parameter No PA15 0 Output pulse designation 1 Division ratio setting 4 COP1 Function selection C 1 0000h Refer to Select the encoder cable communication system selection Name and 0 0 0 function T 2 column 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 5 2 Function selection C 2 0000h Refer to Motor less operation select Name and 0100 function column Motor less operation select 0 Valid 1 Invalid 5 19 5 5 Initial Setting No Symbol Name and function Unit value range 6 COP3 Function selection C 3 0000h Refer to Select the error excessive alarm level setting for parameter 01 Uode an 101910 column Co 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 availab
279. en by our company any damages to products other than the Product and also compensation for any replacement work readjustment start up test run of local machines and the Product and any other operations conducted by you Change of Product specifications Specifications listed in our catalogs manuals or technical documents may be changed without notice 6 Application and use of the Product 1 For the use of our General Purpose AC Servo its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in General Purpose AC Servo and a backup or fail safe function should operate on an external system to General Purpose AC Servo when any failure or malfunction occurs 2 Our General Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries Therefore applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies and also which require a special quality assurance system including applications for railway companies and government or public offices are not recommended and we assume no responsibility for any failure caused by these applications when used In addition applications which may be substantially influential to human lives or properties for such as airlines medical treatments railway service incineration and fuel systems man operated material handling equipme
280. encoder fell to about 3V or less Detected with the encoder setting warning could not be made the in position range setting occurrence 2 Command pulse entered after clearing of Do not enter command pulse 3 Creep men high Reduce creep Reduce creep speed Battery warning of battery for Battery voltage fell to 3 2V or less Change the battery absolute position detection Detected with the servo amplifier system reduced Excessive There is a possibility that power increased to 85 or 1 Reduce frequency of regeneration regenerative power may of permissible regenerative power of positioning warning exceed permissible built in regenerative resistor or regenerative 2 Change the regenerative regenerative power of option option for the one with larger built in regenerative Checking method capacity resistor or regenerative Call the status display and check 3 Reduce load regenerative load ratio option 8 TROUBLESHOOTING Display E1 Overload warning There is a possibility that Load increased to 85 or more of overload Refer to 50 51 overload alarm 1 or 2 may 1 or 2 occurrence level r Cause checking method Refer to 50 51 Absolute position Absolute position encoder 1 Noise entered the encoder Take noise suppression counter warning pulses faulty measures 2 Encoder faulty Change the servo motor The multi revolution 3 The moveme
281. ene lamp rative Cooling fan a Dynamic brake Lu Control en Electro L circuit magnetic L21 power 82 brake supply Voltage Overcurrent Current S amplifier detection protection detection B m battery for absolute position 1 detection system 1 1 1 Encoder 1 1 1 i Position ae Model position Model speed control control Virtual motor 1 1 1 1 1 1 1 1 l Actual position Actual speed Current control control control 1 i L MR J3BAT 1 1 1 1 1 1 Personal Analog monitor Digital Controller or Servo amplifie computer 2 channels control servo amplifier or cap Note Refer to section 1 3 for the power supply specification 1 FUNCTIONS AND CONFIGURATION 3 MR J3 11KB 4 to 22KB 4 Power factor improving DC Regenerative reactor option cu XA vu b LIT Servo amplifier P4 P 6 N Servo motor ET Diode Thyristor NFB O Note Power o supply 0
282. ener guide reete add eee 13 67 13 8 1 Overload protection characteristics ssssssssssssssssssseeeeee een eene 13 67 13 8 2 Power supply equipment capacity and generated loss 13 68 13 8 3 Dynamic brake 0 211 1 1 1 1 1 0 000 000 nennen nennen nennen 13 69 13 8 4 Inrush currents at power on of main circuit and control 13 72 13 9 QDUONS disc MH 13 72 13 91 Gables and connectors iiit e e n T E ERO MU HEUS 13 72 13 9 2 Regenerative Option isi ead tee ea hie nde eden 13 75 13 9 3 External dynamic brake ENa EAAS EAEN enne 13 79 13 9 4 Selection example of wires eene enne 13 82 13 9 5 No fuse breakers fuses magnetic contactors sssssssssssssseeeeeeeneen 13 84 13 9 6 Power factor improving DC reactor ssssssseseeeeeeeenneneenneneeneenn nnns 13 84 13 9 7 ne noise filter FER BLEE ott ott su tte tu a aestas 13 85 13 9 8 Leakage current breaker 2 ier tie HU e be E Hb M Re dis 13 86 13 9 9 EMC filter recommended preii dune den date dee dote den dete dn ete dn dte dene 13 88 13 9 10 ER BU2 H Brake Unit coron pci eeepc t ka e etit ets 13 90 App T Parameter
283. enerative power generated Alarm history clear Alarm history is cleared arameter No PC21 Output signal DO Output signal can be forced on off independently of the servo status forced output Use this function for output signal wiring check etc BECAS JOG operation positioning operation DO forced output Test operation mode pon P i d m eae i 3 However MR Configurator is necessary for positioning operation Analog monitor output Servo status is output in terms of voltage in real time Parameter 9 MR Configurator Using a personal computer parameter setting test operation status display Section 11 8 etc can be performed 2 5 Gain changing function Machine analyzer function n n O n n n lj D 5 o o o o o o o 5 5 5 5 3 5 3 A N N Lt I T A w 2 5 AR 1 FUNCTIONS AND CONFIGURATION 1 5 Model code definition 1 Rating plate MITSUBISHI AC SERVO MODEL 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 afa MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN r Model r Capacity a Applicable power supply Rated output current Seria
284. ent 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 motor Servo amplifier HF KPLI HF MPLI HF sPLT1 5 2 HC UPLI HA LPET4 MR J3 10B 1 30 MR J3 20B 1 _ J3 70B mee J3 100B E 43 200 SC ae eue 23 3508 23 5008 MR J3 700B 5 Note 1 5 Note 5 Note 1 MR J3 11KB J3 15KB 2 J3 22KB 2 Servo motor Servo m biis amplifier HF SPLIA4 114 HA LPL124 soe n 16 10 MR J3 11KB4 Note 2 MR J3 15KB4 Note 2 Note 2 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 1x108 5x107 1x107 a Long flex life encoder cable 5
285. er 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 mm Note 1 4 Servo amplifier 2 Lat 4 B2 12 U V m e BU bis BW OHS1 ud MR J3 MR J3 n MR J3 EIE 1 25 AWG16 J3 60B 2 AWG14 1 25 AWG16 2 AWG14 n J3 70B C J3 100B MR J3 200B MR J3 350B 3 5 AWG12 3 poen MR J3 500B 5 5 AWG10 a 5 a Note 2 1 25 AWG16 MR J3 700B 2 AWG14 1 25 AWG16 8 AWG8 8 AWG8 b 3 5 AWG12 a Note 2 Note 3 Note 3 MR J3 11KB 4 AWG6 c 22 AWG4 Note 2 5 5 AWG10 j 1 25 AWG16 MR J3 15KB 1 25 AWG16 22 AWG4 d pem e 2 AWG14 1 25 AWG16 Note 2 g MR J3 22KB 50 AWG 1 0 f 5 AWG10 Note 2 MR J3 60B4 1 25 AWG16 MR J3 100B4 2 AWG14 1 25 AWG16 2 AWG14 MR J3 200B4 ET MR J3 350B4 2 AWG14 g 2 AWG14 g MR J3 500B4 1 25 AWG16 Note 2 2 AWG14 g 5 5 AWG10 a h 5 5 AWG10 a MR J3 700B4 1 Note 2 3 MR J3 11KB4 8 AWG8 I 8 AWG8 3 5 AWG12 j Note 2 MR J3 15KB4 1 25 16 14 AWG6 c 22 AWG4 5 5 AWG10 j 2 AWG14 1 25 AWG16 Note 2 g MR J3 22KB4 14 AWG6 m 22 AWG4 n 5 5 AWG10 k Note 2 Note 1 Alphabets in the table indicate crimp
286. er 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 Other connectors 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 55kW 1 Makeup of cables and like The following shows the cable makeup for connection with the servo motor and other model Converter unit Drive unit 7 CNP1 CN40 Ch ae 2 8 6 3 gt Edul p s Servo motor HA LP Terminal box Eu Application Protection MR J3CDLUIM Connector 10120 3000PE Connector PCR S20FS coordination Refer to 2 of this Shell kit 10320 52F0 008 Case PCR LS20LA1 cable section 3M or equivalent Honda Tsushin Kogyo Connector set MR J2CN1 A Connector 10120 3000PE Connector PCR S20FS Refer to 2 of this Shell kit 10320 52F0 008 Shell kit PCR LS20LA1 section 3M or TT Honda Tsushin Kogyo Termination MR J3 TM connector Encoder cable MR JBENSCBL cud Cable length Standard 2 5 10 20 life 5 Encoder cable MR J3ENSCBLUCIM H For HA LP series IP67 Cable length Refer to section 11 1 2 4 for details Long flex
287. erence of the A and B Encoder B phase LB CN3 7 phase pulses be changed using parameter pulse LBR CN3 17 Output pulse specification and dividing ratio setting can be set Refer to section Differential line bubus 5 1 9 driver Encoder Z phase LZ CN3 8 Outputs the zero point signal in the differential line driver system of the encoder One pulse LZR CN3 18 pulse is output per servo motor revolution turns on when the zero point position is Differential line reached driver The minimum pulse width is about 400us For home position return using this pulse set the creep speed to 100r min or less voltage Resolution 10 bits voltage Resolution 10 bits d Power supply Symbol possis Function Application Digital I F power DICOM CN3 5 Used to input 24VDC 24VDC 10 150mA for I O interface of the servo amplifier supply input CN3 10 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 Digital I F common DOCOM CN3 3 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 Monitor common LG CN3 1 Common terminal of M01 M02 CN3 11 Pins are connected internally Shield Connect the external conductor of the shield cable 3 SIGN
288. erly chose the auto tuning mode 2 parameter 08 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 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 PBO6 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 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
289. ers of the 5k to 22kW t Nominal 5 Power regeneration f P regenerative power Servo amplifier 2 500 converter kW kw 300 MR J3 500B FR RC 15K 15 9 200 MR J3 700B 9 MR J3 11KB P 100 FR RC 30K 30 MR J3 15KB FR RC 55K MR J3 22KB 3 50 MR J3 500B4 30 FR RC H15K 15 20 MR J3 700B4 S z MR J3 11KB4 0 50 75 100 150 FR RC H30K 30 MR J3 15KB4 Nominal regenerative power 96 FR RC H55K MR J3 22KB4 11 45 11 OPTIONS AND AUXILIARY EQUIPMENT 2 Connection example Note 6 Power supply Note 1 Servo amplifier O L11 O L21 Power factor improving reactor NFB MC Note 7 lt gt 0 Tro 00 OL gt o o 8 O 00 Q L3 CN3 CN3 24VDC Forced stop oJEMT DG DICOM ALM Trouble Note 3 Im X X4 Note 2 O Q Pi P C B m or less Note 4 N RDY Note 5 Ready o o o p RDY gt output C gt C R L Alarm O S L2 output T Ls 9 RX 0R Sx Note 1 1 Phase detection OS terminals 0 TX E d Power regeneration converter FR RC H FR RC H i RC H ALM Operation RA 1 o 6 o o amp l8 olo 1 Cuni oic Fio ci 1 When not using the phase detection terminals fit the jumpers across RX R SX S and TX T
290. ess 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 SSCNETIII cable connection Refer to section 3 9 Grounding Refer to section 3 12 Control axis selection Refer to section 3 13 pins with the same signal name are connected in the drive unit 13 3 1 Magnetic contactor control connector CNP1 Always connect the magnetic contactor wiring connector to the converter unit If the WARNING 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 O0 01 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 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 LARGE CAPACITY 30k 55kW 1 Enabling control function of magnetic contactor parameter No PAO2 0001 initial value Connecting the magnetic contactor control connector CNP1 to the operating coil of the magnetic contactor enables to control the magnetic contactor Converter unit NFB MC 0
291. ethods marked in the alarm deactivation column The alarm is automatically canceled after removing the cause of occurrence Alarm deactivation m Display Display Name Power Converter Error reset CPU reset OFF ON warning Alarms Converter Main circuit off Alarms 1B alarm warning 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 As soon as an alarm occurs mark servo off and power off the main circuit and control circuit 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 Converter An alarm occurred in the 1 An alarm occurred in the converter Check the alarm of the converter alarm converter unit during servo unit during servo on unit and take the action following on the remedies for alarms of the converter unit Refer to section 13 6 1 2 2 The protection coordination cable or Connect correctly terminal connector is not correctly connected 13 62
292. evel 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 SIGNALS AND WIRING e yo Warning WNG 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 Battery warning 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 Variable gain When using this signal make it usable by the setting of parameter selection No PD07 to PD09 CDPS is on during variable gain Absolute position When using this signal make it usable by the setting of parameter erasing No PD07 to 09 ABSV turns on when the absolute position erased This signal cannot be used in position loop mode C Output signals pin No Encoder A phase CN3 6 Outputs pulses per servo motor revolution set in parameter No PA15 in the differential pulse i CN3 16 line driver system In CCW rotation of the servo motor the encoder B phase pulse Differential line lags the encoder A phase pulse by a phase angle of 1 2 driver The relationships between rotation direction and phase diff
293. everse rotation start Click the Reverse button Click the Pause button c Program operation Positioning operation can be performed in two or more operation patterns combined without using the servo system controller Use this operation with the forced stop reset This operation may be used independently of whether the servo is on or off and whether the servo system controller is connected or not Exercise control on the programmed operation screen of the MR Configurator For full information refer to the MR Configurator Installation Guide Click the Start button Click the Reset button d Output signal DO forced output Output signals can be switched on off forcibly independently of the servo status Use this function for output signal wiring check etc Exercise control on the DO forced output screen of the MR Configurator 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 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 STARTUP 4 5 2 Mo
294. f voltage and acts of God including without limitation earthquake lightning and natural disasters a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company viii any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Term of warranty after the stop of production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of production 3 Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product However the terms and conditions of the repair work may differ depending on each FA Center Please ask your local FA center for details Exclusion of responsibility for compensation against loss of opportunity secondary loss etc Whether under or after the term of warranty we assume no responsibility for any damages arisen from causes for which we are not responsible any losses of opportunity and or profit incurred by you due to a failure of the Product any damages secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforese
295. 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 O 4X 000000 MELSERVO MR J3BAT 3 6V 2000mAh SERIAL O4X0O00000 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 203 i 4 M10 Screw Sel E aN lt 1 oy e hole 2 m e i 1
296. fe Use of AC Servos 0300077 Enclosed in converter unit and servo amplifier drive unit MELSERVO Servo Motor Instruction Manual Vol 2 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 About the wires used for wiring Wiring wires mentioned in this instruction manual are selected based on the ambient temperature of 40 104 F A 13 CONTENTS 1 FUNCTIONS AND CONFIGURATION 1 1 to 1 28 T 1 1 1 2 Function block diagratm 2 aired ted e Ce dne i dne ede ce de E 1 2 1 3 Servo amplifier standard specifications 1 5 MCAS FRUITION list eee sae a eect aa Ea ke oe a Ei 1 7 Si Modelicode Genin ton x t eren at E es Fal 1 8 1 6 Combination with servo nennen tns 1 10 en tpe 1 11 1 71 Parts identifiCatiOn rior Tek Saree le PORE ea ede uA 1 11 1 7 2 Removal and reinstallation of the front cover 1 18 1 8 Configuration including auxiliary equipment seen 1 21 2 1 Installati
297. from the servo amplifier Cable model Cable length Application MR J3BTCBLO3M 0 3m For HF MP HF KP HF SP HA LP HC RP HC UP HC LP servo motor a Connection of servo amplifier and servo motor Servo amplifier 21 J3BTCBLO3M Note e Encoder cable C lt gt Servo motor ae Note For the detector cable refer to 1 2 3 and 4 of this section Cable model 1 For CN2 connector 2 Junction connector 3 For battery connector MR J3BTCBLO3M Receptacle 36210 0100PL Plug 36110 3000FD Connector DF3 2EP 2C Shell kit 536310 3200 008 Shell kit 36310 F200 008 Contact DF3 EP2428PCA 3M 3M Hirose Denki Or Connector set 54599 1019 Molex 11 16 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 the O part of the cable model The cables of the lengths with the symbols are available Refer to section 3 10 when wiring Cable model Cable length Protective Ei life Application structure MR PWS1CBL O M A1 L 2 5 65 Standara HF KP servo motor Load side lead MR PWS1CBL O M A2 L 2 5 1P65 Standard HF KP servo motor Opposite to load side lead MR PWS1CBL O M A1 H 2 5 10 IP65 Long flex For HF MP HF KP servo motor life Loa
298. g DC reactor connect it after 15258 2 DC reactor removing the connection plate across P P2 Regenerative brake TE1 2 Connect to the P and C terminals of the regenerative option Connect to the L L terminals of the drive unit DC link LT L TE2 2 Use the connection bar which is supplied with the drive unit to connect Connect this terminal to the protective earth PE terminals of the Grounding servo motor and control box for grounding Note The permissible tension applied to any of the terminal blocks TE1 1 TE1 2 TE2 2 is 350 N 2 Drive unit Description Connection target a Note Abbreviation MR J3 DU30KB MR J3 DU30KB4 to Application Terminal block MR J3 DU37KB MR J3 DU55KB4 22 Connect 1 phase 200 to Connect 1 phase 380 to Control circuit power supply Lt L2 TE3 230VAC 50 60Hz 480VAC 50 60Hz Connect to the L and L terminals of the converter unit L L power supply input Lt L TE2 1 Use the connection bar which is supplied with the drive unit to connect TE1A Connect to the servo motor power terminals U V W Connect this terminal to the protective earth PE terminals of the Grounding 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 WI THA LARGE CAPACITY 30k TO SSKVV 13 3 4 How to use the connection bars Make sure to use
299. g attachment 2 0000000 0000 11 65 11 11 Selection example 11 67 11 12 No fuse breakers fuses magnetic contactors 11 72 11 13 Power factor improving DC reactor sse enne nennen 11 72 11 14 Power factor improving AC reactors sssssssesseeeeeeeeneenneen eene nre nnns 11 74 11 15 Relays recommehtded renidet panes Fe na Feder pate 11 75 11 16 Surge absorbers recommended sse enne rennen nennen nnns 11 76 11 17 Noise reduction techniques ege eee tta 11 76 11 18 Leakage current breaker tree t exe Ru the ERR RR Eee 11 83 11 19 EMC filter recommended entrent esent ne osea a sede 11 85 12 1 Feat tes iine ioa ea ee eia eile 12 1 12 2 Specifications M t dct n ete ete Meet 12 2 12 3 Battery installation procedure ssrin O E ATA rennen nnns 12 3 12 4 Confirmation of absolute position detection 12 5 13 SERVO AMPLIFIERS WITH LARGE CAPACITY 30k TO 55kW 13 1 to 13 102 13 1 Functions and Menus n rent eret a en sei de DE n ek debe Peu ne E p e e a Ru ETE TEM ea e Ra Rd 13 1 T9 TelEunctionm block diagralis
300. g 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 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 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
301. g wire size mm FR CV 7 5K to FR CV 15K FR CV 22K FR CV 30K FR CV 37K FR CV 55K a FR CV H22K FR CV H30K 8 FR CV H37K FR CV H55K 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 50mm 22mm Servo amplifier 15kW R2 L1 P L First unit Note 50mm assuming that the total of servo amplifier 52 12 N L O capacities is 27 5kW since 15kW 7kW 3 5kW T2 Ls 2 0kW 27 5kW Servo amplifier 7kW Second unit R L Note 22mm assuming that the total of servo amplifier S Lz capacities is 15kW since 7kW 3 5kW 2 0kW T MC1 12 5kW Servo amplifier 3 5kW Third unit Note 8mm assuming that the total of servo amplifier N capacities is 7kW since 3 5kW 2 0kW 5 5kW Servo amplifier 2KW Fourth unit Note 2mm assuming that the total of servo amplifier capacities is 2kW since 2 0kW 2 0kW 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
302. ging condition item Refer to section 7 6 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 3 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 PB32 VICB Gain changing speed integral compensation Set the speed integral compensation when the gain changing is valid This parameter is made valid when the auto tuning is invalid parameter No PA08 O00 3 PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment Multiplier Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid PB30 This parameter is made valid when the auto tuning is invalid parameter No PA08 0 0 3 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 02 setting is OOO 2 and the parameter 26 setting is 000 1 When using the vibration suppression control gain changing always execute the This parameter is made valid when the auto tuning is invalid parameter No PA08 0 0 PB31 VG2B Ga
303. gnetic brake interlock Servo motor speed Note 1 7ms ON 1 d Base circuit OFF 10ms e Electro magnetic Invalid to we d brake interlock MBR Valid OFF Note 2 15 to ma 1 A Electro magnetic iN y brake operation hoe nvali delay time Valid i Main circuit Power m Wi Control circuit OFF 1 RA1 OFF Invalid 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 PDO7 PD08 or 09 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 5 Unit mm DR e q L d ca S LJ e 4 v A N f fx Yy Bale 100 B G 2 3 C F Terminal block E UIVIW Lele 13 14 DIRI Screw M3 5 Tightening torque 0 8 N m 7 Ib in Connection Dynamic brake Mass wire mm7 kg lb N ote Screw M4 Tightening torque 1 2 N m 10 6 lb in DBU MK 200 1 140 20 5
304. h Function selection C 2 0000h Function selection C 3 0000h Zero speed 50 Pc08 For manufacturer setting 0 Analog monitor 1 output Analog monitor 2 output Analog monitor 1 offset 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 For manufacturer setting PC16 PC17 Function selection C 4 PC18 For manufacturer setting PC19 PC20 Alarm history clear For manufacturer setting 3 5 RRENEN EEE 5 18 5 PARAMETERS 5 3 2 List of details Initial Setting No Symbol Name and function Unit value range 1 ERZ Error excessive alarm level 3 rev 1 Note 2 This parameter cannot be used in the speed control mode Note 1 to Set error excessive alarm level with rotation amount of servo motor 200 Note 1 Setting can be changed in parameter 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 2 Electromagnetic brake sequence output ms 0 Used to set the delay time Tb between electronic brake interlock MBR and the base to drive circuit is shut off 1000 ENRS Encoder output pulse selection 0000h Refer to Use to s
305. hanging parameters of the FR BU2 H is not necessary Whether a parameter can be changed or not is listed below Change possible Remarks No Name impossible o Brake mode switchover Impossible Do not change the parameter 1 Monitor display data selection Possible Refer to FR BU2 H Brake Unit Instruction Manual Input terminal function selection 1 Impossible Do not change the parameter 78 energization time ECL Alarm history clear For manufacturer setting 3 Connection example 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 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 Brake unit Converter unit Brake unit Connecting two cables to Passing wiring P and N terminals 13 91 1 Converter unit Note 1 O Li L2 O Ls d O id QOL La L21 Note 5 Drive unit RA1 Controller forced
306. he installing screws into the screw holes A B C D 13 14 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 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 asa support When pulled up to the top the cover is fixed 13 15 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 2 How to close Close the cover using the axis asa support Press the cover against the terminal box until the installing knobs click 13 16 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 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 asa support When pulled up to the top the cover is fixed
307. he 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 WITHLA LARGE CAPACITY 30k TO SSKVV 13 3 2 Input power supply circuit Insulate the connections of the power supply terminals Not doing so can cause an electric shock A 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 A N 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 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 Magnetic contactor control connecto
308. he regeneration capability In this case set O OFA in parameter 2 5m or less Do remove the short bar Servo amplifier P1 Note Series connection AAA cx 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 MR RB5E 9P 9F 6B 4 60 4 and 6K 4 provided by Mitsubishi Electric Corporation Regenerative Regenerative power W Resistance Number of Servo amplifier resistor resistors MR J3 11KB_ GRZG400 150 500 80 6 4 3 15 GRZG400 0 90 1300 45 5 MRJ 22KB GRzZG400 062 850 130 5 MR J3 11KB4 GRZG400 500 soo 80 2 4 MRJ3 5KB4 GRZG400250 0 1300 125 5 3 22 4 GRZG400 200 850 1300 0 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
309. he 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 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 xx gb s option Diode Servo motor Rive ee aot Li Note 2 e i L2 supply f L3 Note 3 Cooling fan RENS Dynamic brake Con
310. ial values When this parameter is set to 1010 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 O00 0 2 When the vibration suppression control tuning is not necessary the setting changes to O0 0 0 0 When this parameter is set O00 0 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 For manufacturer setting Do not change this value by any means PBO4 FFC Feed forward gain This parameter cannot be used in the speed control mode Set the feed forward gain When the setting is 100 the droop pulses during operation 100 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 Pol For manufacturer setting not change this value by means 5 12 5 5 Initial Setting Symbol Name and function value range PBO6 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 inter
311. ic 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 Circuit must be servo off when an trouble ALM opened during and when an electromagnetic brake forced stop EM1 interlock MBR Servo motor RA 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 N 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 About processing of waste e Whe
312. ice terminal a FVD5 5 4 YNT 1210S Note 1 b 8 4NS YHT 8S FVD14 6 DH 112 DH122 1 E 4 38 l d FVD22 6 DH 113 DH123 YPT 60 21 aa Note 1 e 38 6 TD 112 TD 124 YF 1 E 4 YET 60 1 YPT 60 21 c Note 1 f R60 8 TD 113 TD 125 1 E 4 60 1 9 FVD2 4 YNT 1614 h FVD2 M3 j FVD5 5 6 YNT 1210S k FVD5 5 8 FVD8 6 DH 111 DH121 m FVD14 8 YF 1 E 4 YNE 38 DH 112 DH122 n FVD22 8 DH 113 DH123 YPT 60 21 Note 1 p R38 8 TD 112 TD 124 1 4 60 1 4 FVD2 6 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 Manufacturer Japan Solderless Terminal 11 OPTIONS AND AUXILIARY EQUIPMENT 2 Wires for cables When fabricating a cable use the wire models given in the following table or equivalent Length MR J3ENCBL M A1 L 2to 10 MR J3ENCBL M A2 L MR J3ENCBL M A1 H MR J3ENCBL M A2 H MR J3JCBLO3M A1 L MR J3JCBLO3M A2 L MR EKCBL O M L MR EKCBL MR J3ENSCBL 2to 10 21010 Encoder cable 2 0 30 20 30 to 50 2 to 10 20 30 2 to 10 MR J3ENSCBL 20 to 50 2 to 10 2 to 10 Motor power 2to 10 supply cable 2 to 10 0 3 0 3 o 10 o 10 Motor brake o 10 cable o 10 Note 1 d is as shown below d Conductor Insulat
313. id OFF Note ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 13 45 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 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 Uynamic brake Electromagnetic brake Electromagnetic brake release Servo motor speed Electromagnetic brake x 10ms 1 OFF i 1 Base circuit Electromagnetic brake operation delay time Electromagnetic brake Note ON interlock MBR OFF Forced stop command Invalid ON from controller or forced stop EM1 Valid OFF Main circuit ON power supply OFF Note ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 13 46 13 SERVO AMPLIFIERS WITH A LARGE CAPACITY 30k 55kW 13 3 8 Servo motor side details box Encoder connector signal arrangement QE CM10 R10P CM10 R10P Terminal
314. idth 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 gt 10 lg1 lgn lga K 192 Igm mA Leakage current breaker current breaker Cable NV Noise filter Tvpe Mitsubishi us Converter Drive Cable di products unit unit Models provided with mm um a harmonic and surge 101 Ign 1 192 gm reduction techniques General models Leakage current on the electric channel from the leakage current breaker to the input terminals of the drive unit Found from Fig 13 3 Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor Found from Fig 13 3 Leakage current when a filter is connected to the input side 4 4mA per one FR BIF or FR BIF H 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 Table 13 7 Converter unit example Igm drive unit s leakage current Example 1 Converter unit Leakage current Drive
315. ier cannot operate normally View seen from wiring side Note Keep open the pin shown with an GY 11 14 11 OPTIONS AND AUXILIARY EQUIPMENT b Internal wiring diagram MR J3ENSCBL2M L H MR J3ENSCBL20M L MR J3ENSCBL20M H MR J3ENSCBL5M L H MR J3ENSCBL30M L MR J3ENSCBL30M H MR J3ENSCBL10M L H Servo amplifier Encoder side MR J3ENSCBL40M H Servo amplifier Encoder side side connector connector MESSENSCDESUNMH side connector connector Servo amplifier Encoder side P5 P5 side connector connector P5 1 P5 LG LG LG 2 LG P5 MR 3 MR LG MRR 4 MRR BAT 9 BAT SD Plate SHD MR MR MRR MRR BAT BAT SD SHD 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 MR J3SCNS Option Servo amplifier side connector Encoder side connector Receptacle 36210 0100PL Straight plug CM10 SP10S M Shell kit 536310 3200 008 Socket contact CM10 22SC S1 100 3M Applicable wire size AWG20 or less Or Recommended tightening jig 357J 51456T Connector set 54599 1019 DDK Molex 11 15 11 OPTIONS AND AUXILIARY EQUIPMENT 5 MR J3BTCBLO3M This cable is a battery connection cable Use this cable to retain the current position even if the detector cable is disconnected
316. ilure 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 SPECIAL ADJUSTMENT FUNCTIONS 3 Vibration suppression control tuning mode procedure Vibration suppression control tuning adjustment Operation Yes Is the target response reached Increase the response setting Has vibration of workpiece end device increased Stop operation Execute or re execute vibration suppression control tuning Set parameter 2 to 0001 Resume operation Tuning ends automatically after operation is performed the predetermined number of times Parameter 02 turns to 0002 or 0000 as vibration of workpiece end device been resolved Using the machine analyzer or from Factor machine end vibration waveform set Estimation cannot be made as the vibration suppression control machine end vibration has not been manually transmitted to the motor end The response of the model loop gain
317. ime 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 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 SSCNETII cable laying Refer to section 2 4 Parts Having Service Lives Refer to section 2 6 13 20 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 13 2 1 Installation direction and clearances Install the equipment in the specified direction Not doing so can cause a failure IN 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 sure to connect a drive unit to the right side of a converter unit as shown in the diagram By 21 Cooling fan 100mm or J wind direction Converter unit Drive unit Sorri or more A 4 o ji z gt 4 e eje 9 30mm 2 i cum il i P I ig a 1 em CM p s 120 J intake A 9 pp
318. in 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 OO 3 changing after the servo motor has stopped 5 16 5 5 Initial Setting Symbol Name and function value range 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 PBO2 setting is OOO 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 For manufacturer setting PB36 Do not change this value by any means 1 5 17 5 5 5 3 Extension setting parameters 0 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 Unit Error excessive alarm level 3 Electromagnetic brake sequence output 0 Encoder output pulses selection 0000h Function selection C 1 0000
319. ing length of 1m Inrush currents Ao p Converter unit Drive unit lt Main circuit power supply L1 L2 Ls Control circuit power supply L11 L21 ECKE J3 DU30KB 163A 18A MR J3 CR55K MR J3 DU37KB J3 DU37KB Attenuated to approx 20A in 180ms Attenuated to approx in 100ms MR J3 DU30KB4 MR J3 DU37KB4 339A 19A MR J3 CR55K4 MR J3 DU45KB4 Attenuated to approx 20A in 70ms Attenuated to approx in 60ms 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 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 NWARNING 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 Use the specified auxiliary equipment and options Unspecified ones may lead to a CAUTION 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 Ref
320. ing length of servo amplifier 3 5kW connection diagram from 5 5mm to 3 5mm Section 11 5 4 b 2 Change of wiring length between the servo amplifier 2kW and the one 15kW in connecting diagram Section 11 6 3 a Addition of Note to Table Section 11 6 3 b Addition of Note to Table Section 11 8 2 a Table content change Change of position for Windows Vista Deletion of RS 422 232C conversion cable Section 11 11 Change of description for Recommended wires to Wires selection example Addition of three POINTs Section 11 11 1 Deletion of body paragraph Change of description for IV wires selection example Addition of HIV wires selection example Change of crimping terminal selection example Section 11 12 Change of Table Section 11 13 Addition of table for dynamic brake wire size Section 11 17 2 b Deletion of AC electromagnetic brake from body paragraph Chapter 12 Change of description for Note Addition of POINT Section 13 1 5 Partial deletion of body paragraph Section 13 3 Change of description for Note Section 13 3 7 1 b Change of timing chart Section 13 3 7 3 a 1 to Addition of Note 3 Section 13 7 1 Change of pound notation for mass to three significant digits Section 13 7 2 Change of pound notation for mass to three significant digits Section 13 8 3 Change of description form Change of dynamic brake of HA LP2000r min series character
321. ing mode 2 Abbreviation PBO7 Model loop gain 08 Position loop gain 09 Speed loop gain PB10 Speed integral compensation 6 GENERAL GAIN ADJUSTMENT 6 2 2 Auto tuning mode operation The block diagram of real time auto tuning is shown below Load inertia Automatic setting moment Loop gains Current Servo gt Q PG1 VG1 gt Q control PG2 VG2 VIC Current feedback Set 0 or 1 to turnon Real time auto Position speed ean tuning section feedback 1 1 i Load inertia i table O O moment ratio Switch estimation section Speed feedback 1 1 jenem noua O Rane dre dan di Parameter 08 Parameter 09 Parameter 06 Load inertia moment ratio estimation value Gain adjustment mode Response selection 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 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 prop
322. ing 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 Modei Wiesmm FR RC 15K 14 AWG6 FR RC 30K 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 mm Note 1 4 Servo amplifier 1 3 6 7 2 Lit L21 4 5 B1 B2 Li L2 L5 U V W BU BV BW OHS1 OHS2 MR J3 10B 1 MR J3 20B 1 MR J3 40B 1 1 25 AWG16 MR J3 60B 2 AWG14 1 25 AWG16 2 AWG14 MR J3 70B MR J3 100B 1 25 AWG16 MR J3 200B 2 AWG14 MR J3 350B 3 5 AWG12 3 5 AWG12 MR J3 500B 5 5 AWG10 5 5 AWG10 a AWG14 g Note 2 1 25 AWG16 h MR J3 700B 1 25 AWG16 1 25 AWG16 8 AWG8 b 8 AWG8 b 2 AWG14 g Note 2 Note 3 Note 3 25 MR J3 11KB 14 AWG6 c 14 AWG6 c Note 2 3 5 AWG12 j 1 25 AWG16
323. ion such as enclosure vibration Refer to section 7 4 4 Setting parameter 02 vibration suppression control tuning mode to 000 1 automatically changes this parameter When parameter 02 is set to O 00 2 this parameter can be set manually PB20 VRF2 Vibration suppression control resonance frequency setting This parameter cannot be used in the speed control mode Set the resonance frequency for vibration suppression control to suppress low frequency machine vibration such as enclosure vibration Refer to section 7 4 4 Setting parameter 02 vibration suppression control tuning mode to O0 00 1 automatically changes this parameter When parameter 2 is set to 000 2 this parameter can be set manually PB21 pud manufacturer du 77 not du 77 this value by any means PB23 VFBF Low pass filter selection Refer to Select the low pass filter Name and ojo 0 m column 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 close to the one calculated with bir PB24 MVS Slight vibration suppression control selection Refer to Select the slight vibration suppression control and PI PID change Name When parameter No PA08 auto tuning mode is set to OI 3 this parameter is and made valid Slight vibration suppre
324. ion 1 5 2 Section 1 6 Section 1 7 1 3 4 Section 1 8 3 4 Section 2 1 1 b Section 2 3 2 Section 3 1 5 to 8 Change of switch numbers 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 Change of appearance of MR J3 200B to the same as MR J3 200B4 Addition of models with reduction gear to body paragraph 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 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 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 Change of description 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 Section 3 2 Section 3 3 3 1 a Section 3 3 3 2 3 Section 3 7 2 2 Section 3 10 2 3 a 1 to 2 Section 3 10 2 3 b Section 3 11 2 Section 4 1 2 1 c 2 to 3 Section 5 2 1 Section 7 4 Section 7 6 3 Section 7 6 4
325. ion 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 55kW NFB Note 4 o Power supply Converter unit Drive unit L o MC SOO Li 1 57 09 L2 CN1 SOO Ls Servo motor L2 CNP1 P MC1 1 MC2 2 1 Note 3 O L11 TM 121 2 Drive Note 5 Operation unit forced stop Forced stop ready RA1 RA2 EM1 OFF ON Converter unit Q Forced stop Note 5 Note 1 14 13 O a 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 09 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 WI THA LARGE
326. ion sheath 2 Purchased from Toa Electric Industry Table 11 3 Wires for option cables Characteristics of one core 6 3 pairs Insulation Conductor coating OD AwG22 70 0 08 3 pairs AWG26 E 30 0 08 4 pairs resistance d mm mm Note 1 2 4 2 4 2 12 6 pairs 12 0 18 5 5 23 65 or 23 or 63 or 0 2mm edis 400 08 0 7 pairs or 5 63 or 5 10 25 Core size Structure Wires mm 7 0 26 AWG22 N o o 6 AWG22 8 pairs 7 0 26 AWG23 1210 18 6 pairs i AWG22 6 70 0 08 3 pairs AWG24 1 40 0 08 6 pairs 4 2 airs 6 g 50 0 08 2 AWG19 Note 6 38 14 AWG20 109 0 08 or less 1 3 0 67 1 2 0 88 0 88 1 2 1 2 1 2 88 0 3 ess 6 ess 3 ess 7 4 ess 6 ess 5 ess 5 ess 3 ess 3 ess 6 ess 5 ess 40 ess 1 3 3 Standard OD Max OD is about 10 greater 4 Kurabe 5 Taiyo Electric Wire and Cable Note 3 Finishing OD mm Wire model Note 3 VSVP 7 0 26 AWG 22 or equivalent 3P Ban gi shi 16823 Note 3 ETFE SVP 70 0 08 AWG 22 or equivalent 3P Ban gi shi 16824 Note 5 2464 1061 A SB X 26AWG Note 3 20276 composite 4 pair shielded cable A TYPE 7 3 8 2 0120276 AWG 23 6pair BLACK 7 2 3 14 2343 6 3 7 1 0 3 VSVP 7 0 26 Equivalent to AWG 22 3P Ban gi shi 16823 Note
327. ion terminal block Unit mm 4 5 2m M3 x5L 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 Description The following table shows MR Configurator software version for each servo amplifier Compatible servo amplifier Drive unit a OL ser te es Li wra o o o o o Display high speed monitor trend graph i Minimum resolution changes with the processing speed of the personal computer Display history amplifier data Digital 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 Data read save delete print 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
328. irective guidelines on the converter unit and servo amplifier drive unit refer to the 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 J8 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 O HF KP O HF SP Note HF SP O 4 Note HC RP O HC UP O HC LP O HA LP Note HA LP O 4 Note Note For the latest information of compliance contact Mitsubishi 2 Installation 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
329. is as follows Auto tuning adjustment Acceleration deceleration repeated i oad inertia moment ratio estimation value stable Auto tuning Conditions not satisfied Estimation of load inertia moment ratio is difficult Choose the auto tuning mode 2 parameter No PA08 0002 and set the load inertia moment ratio parameter 06 manually Adjust response level setting so that desired response is achieved on vibration free level Acceleration deceleration repeated Requested performance satisfied No To manual mode 6 GENERAL GAIN ADJUSTMENT 6 2 4 Response level setting in auto tuning mode Set the response The first digit of parameter 09 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 100 2 filter tuning mode parameter 01 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 fil
330. 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 7 4 Setting Regenerative resistor regenerative option aiia valu Standard supplied regenerative resistor 00 with a cooling fan to cool it MRRBSE 00 MR RB9P oo MR RB9P with a cooling fan to cool it MRRBO 00 MR RB6B 4 00 MR RB6B 4 with a cooling fan to cool i 00 MR RB60 4 with a cooling fantocoolit 00 MR RB6K 4 with a cooling fan to cool i 00 4 Connection of the regenerative option 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 C 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
331. is section A 10 Undervoltage Power supply voltage Review the power supply dropped occurred for more than 60ms 2 Shortage of power supply capacity caused the power supply voltage to drop at start etc 3 Failure of the part in the converter Change the Converter unit unit pF Checking method 4 Alarm A 10 occurs if power is switched on after connectors A 12 disconnected 2 The number of write times to EEP disconnected CPU parts fault Failure of the part in the converter unit Change the converter unit Memory error 3 ROM memory fault Checking method Flash ROM Alarm A 17 A 19 occurs if power is switched on after connectors disconnected Memory error 1 RAM memory fault Failure of the part in the converter unit Change the converter unit RAM r Checking method Alarm A 12 occurs if power is switched on after connectors disconnected Memory error 2 EEP ROM fault 1 Failure of the part in the converter Change the converter unit EEP ROM unit Checking method Alarm A 15 occurs if power is Switched on after connectors 13 58 13 SERVO AMPLIFIERS WITH LARGE CAPACITY 30k 55kW Display Cause Regenerative Permissible regenerative 1 Wrong setting of parameter 01 Set Set correctly error power of regenerative 2 Regenerative option is not Connect correctly option is exceeded connected 3 High duty operation or continu
332. istics Change of body paragraph Section 13 9 1 2 Change of Note Section 13 9 3 2 Addition of Note to Table Section 13 9 4 Change of description for Recommended wires to Wires selection examples Addition of three POINTs Section 13 9 4 1 Deletion of body paragraph Change of description for IV wires selection example Addition of HIV wires selection example Change of crimping terminal selection example Section 13 9 5 Deletion of Note Section 13 9 9 2 Deletion of surge protectors from wiring diagram Section 13 9 10 4 b Correction of C dimension Appendix 4 Change of body paragraph Appendix 5 New addition for explanation of servo amplifier MR J3 200B RT Print Data Manual Number Jun 2008 SH NA 030051 D Appendix 6 New addition of servo motor power cables selection example Dec 2011 SH NA 030051 E Section 1 5 2 The description is changed Section 2 4 2 3 The description is changed Section 13 1 4 2 b The description is changed Aug 2013 SH NA 030051 F Section 11 4 POINT is added Section 11 4 2 Note is added Section 13 9 10 POINT is added Jun 2014 SH NA 030051 G Section 11 2 4 CAUTION is added This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of
333. it do not reconnect the cables e Main circuit terminal block control circuit protective earth TE Section 3 1 Used to connect the input power supply servo motor Section 3 3 regenerative option and ground 1 17 1 FUNCTIONS AND CONFIGURATION 1 7 2 Removal and reinstallation of the front cover 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 Hold the ends of lower side of the front cover with Pull up the cover supporting at point A both hands Pull out the front cover to remove 1 FUNCTIONS AND CONFIGURATION Reinstallation of the front cover Front cover setting tab
334. itioning 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 Initial value Setting range Speed r min 0 to max speed Acceleration deceleration time constant ms 1000 0 to 50000 2 Operation method Forward rotation start Click the Forward button Reverse rotation start Click the Reverse button 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 4000 0 to 99999999 Speed r min 0 to max speed Acceleration deceleration time constant ms 1000 0 to 50000 4 STARTUP 2 Operation method Forward rotation start Click the Forward button R
335. its 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 Brake unit Converter unit Brake unit Connecting two cables to Passing wiring P and N terminals 13 95 1 3 SERVO AMPLIFIERS WITH A LARGE CAPACITY 30k 55kW Y F Q stop Note 2 Converter unit Drive unit Lt o OL Ol NFB Note 1 6 5 L 21 9 Note 3 supply 24VDC DOCOM CN3 DICOM zm 1 Note 2 DOCOM O L11 Lat Note 5 Drive Controller Note 2 unit forced stop uM RA1 RA2 RA4 RA5 RA6 Converter Servo motor Operation unit thermal relay ready Note 8 OFF N SK 5 Note 6 OPR FR BU2 H Note 12 PR Not ree ote O Oo P SDo Note 4 0 4 5 To REE O SD Note 10 Terminal block 13 96 13 SERVO AMPLIFIERS WITHLA LARGE CAPACITY 30k TO SSKVV Note 1 10 11 12 For power supply specifications refer to section 13 1 3 Configure the circuit to turn OFF the forced stop EM1 of the drive unit and the converter unit at the same time Always connect P and P2 terminals Factory wired When u
336. ived gt Current Servo Motor control control from a controller Current feedback Encoder Position feedback Position feedback data returned to gt a controller Feedback position i standard position Note Sano speed Torque Feedback osition Note The feedback position is output based on the position data passed between servo system controller and servo amplifier The parameter number 1 14 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 X 10000 Parameter No PC13 setting value Setting range PC13 Sets the lower order four digits of the standard position 9999 to 9999 pulse of feedback position 14 Sets the higher order four digits of the standard position 9999 to 9999 10000pulses of feedback position 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 0000 After setting this parameter is made valid by switch power from OFF to ON Parameter No PC21
337. l number 1 FUNCTIONS AND CONFIGURATION 2 Model MR J3 100B or less MR J3 60B4 100B4 MR J3 LIBLILI With regenerative resistor Series Symbol Description Indicates a servo amplifier of 11k to 22kW that does not use a regenerative resistor as standard accessory Power supply Symbol Power supply Note 1 or 1 phase 200 None to 230VA Note 2 4 phase 100 to 120VAC 3 phase 380 to 480VAC 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 Rating plate MR J3 200B 4 SSCNETII interface M dy Rating plate Rated Symbol 5 kW Rating pl te MR J3 350B4 500B 4 MR J3 700B 4 i Y ef Trees pae ey Rating plate Rating plate MR J3 11KB 4 to 22KB 4 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 HF S
338. le of wires Refer to section 11 1 5 for SSCNETII 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 2 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 C 140 F 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 1 Main circuit power supply lead 3 Motor power supply lead Servo amplifier Servo motor Power supply Mio I PI I iE U V Q W Motor 2 Control power supply lead 8 Power regeneration 4 Electromagnetic converter lead brake lead T E B1 Electro magnetic Power regeneration Lt m 9 B2 brake converter 1 25952 5 5 2 214 1 Encodercable 55 4 Regenerative option lead Cooling fan Power supply EE C 6 Cooling fan lead Thermal Note There is no L for 1 phase 100 to 120VAC pow
339. le to software version B1 or later PCO7 25 Zero speed r min 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 8 For manufacturer setting Do not change this value by any means 09 MOD1 Analog monitor 1 output 0000h Bw to Used to selection the signal provided to the analog monitor 1 MO1 output Refer to Name section 5 3 3 and 0 010 function column n Analog monitor 1 MO1 output selection 0 Servo motor speed z8V max speed Torque 8 torque Note 2 6 Droop pulses T0V 100 pulses Note 1 8 Droop pulses 10 10000 pulses Note 1 79 Droop pulses 107100000 pulses Note 1 B Feedback position 0 10 Mpulses Note 1 3 D Busvoltage 4SVIA00VjNote 2 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 0001h Refer to Used to selection the signal provided to the analog monitor 2 MO2 output Refer to Name section 5 3 3 and 0101 feien column Select the analog monitor 2 2 output The settings are the same as those of parameter 09 PC11 MO1 Analog monitor 1 offset mV 999 Used to set the offset voltage of the analog monitor 1 MO1 outpu
340. less 5 qs 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 rimping too anufacturer For 1 cable For 2 cables PM 1 25 1 5 AI1 5 8BK AI TWIN2 x 1 5 8BK 2 0 2 5 AI2 5 8BU AI TWIN2x2 5 10BU CRIMPFOX ZA3 Phoenix Contact 10 pre 2 2 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 ciini ai ini 1000010011020 l 20000000000 Approx 80 195 ME I a n y 6 mounting hole jEs XH U
341. llowing encoder cables are of four wire type When using any of these encoder cables set parameter No PC04 to 1 O O00 to select the four wire type MR EKCBL30M L MR EKCBL30M H MR EKCBL40M H 50 The servo amplifier and servo motor cannot be connected with these cables only The servo motor side encoder cable MR J3JCBLO3M A1 L or MR J3JCBLO3M A2 L is required The numerals in the Cable Length field of the table are the symbols entered in the of the cable model The cables of the lengths with the symbols are available Cable model Cable length Protective Flex life Application x li icati structure s Note For HF MP HF KP servo MR EKCBL O M L 20 30 IP20 Standard motor Use in combination with Note Note Note Long fle MR EKCBL O 20 Note Note Note iS Long flex MR J3JCBLO3M A1 L or 30 40 50 life MR J3JCBLO3M A2 L Note Four wire type cable 11 9 11 OPTIONS AND AUXILIARY EQUIPMENT a Connection of servo amplifier and servo motor Servo amplifier MR EKCBLOIM L ME cose MR J3JCBLO3M L Cable length 0 3m cT Servo motor HF MP 1 2 Lr Cable model 1 For CN2 connector 2 For encoder connector MR EKCBL O M L Receptacle 36210 0100PL Connector set 54599 1019 Molex Housing 1 172161 9 Shell kit 36310 3200 008 Crimping pin 170359 1 3M Tyco Electronics or equivalent Cable clamp 0
342. mplifier 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 Noises transmitted Noise radiated directly by servo amplifier in the air from servo amplifier 1 Noise radiated from the power supply cable Route 2 Noise radiated from servo motor cable 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 h Noise sneaking from grounding cable due to Route 8 leakage current Sass Sensor power supply Instrument Receiver 09 Sensor CENE Servo motor 4 L 11 77 11 OPTIONS AND AUXILIARY EQUIPMENT Noise transmission route Suppression techniques When measuring instruments receivers sensors etc which handle weak signals and may malfunction due to noise and or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier such devices may malfunction due to noises transmi
343. n The service life of the servo amplifier may be shortened Servo amplifier 24VDC DOCOM Note Forced stop Note For the sink interface For the source interface refer to section 3 7 3 3 13 3 SIGNALS AND WIRING 3 3 3 CNP1 CNP2 CNP3 wiring method 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 Servo amplifier i ra lt i 1 ra J CNP1 A Connector for CNP2 Applicable cable example i Cable finish OD to 3 8mm 94928 0520 Molex CNP2 1 LI 1 Connector for CNP3 54928 0370 Molex 1 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
344. n 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 O in the alarm deactivation column The alarm is automatically canceled after removing the cause of occurrence Alarm deactivation Name Display Name Power Error CPU 92 reset reset Battery cable disconnection warning Undervoltage 12 1 Ram O J 13 Clockerror Memory error 2 EEP ROM Overload warning 1 16 error 1 At power on Warnings position counter warning Servo forced stop warning Memory error 3 Flash ROM Controller forced stop warning Cooling fan speed reduction warning Main circuit off warning a gt o N Moo re a 0 a Rees Overload warning 2 Output watt excess warning Oo Oo Oo Motor combination error O Absolute position erase secl mw 3 Overvoltage or EGER 6 aera E257 org in N 5 frequency error rcu 6 Oo 7
345. n diagram 2 5 hole 17 5 installation hole n L less 10 el T S lt 9 T N 4 screw type A B c Accessory fittings AERSBAN DSET 100 86 30 2 AERSBAN ESET 70 56 campe 1pc 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 L 12 Ls and of the motor power supply U V W Pass each of the FR BSF01 for wire size 3 5mm AWG12 or less 3 phase wires through the line noise filter an equal number of Approx 110 times in the same direction For the main power supply the effect 95 0 5 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 Approx 22 5 number of passes
346. n 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 01 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 WI THA LARGE CAPACITY 30k TO SSKVV 13 5 Parameters for converter unit Never adjust or change the parameter values extremely as it will make operation INCAUTION instable 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 Symbol Initial value 01 Regenerative option 0000h o PA02 Magnetic contactor drive output selection 0001h ind For manufacturer setting PA04 PAO6 PAO7 100 8 Status display selection 0000h 09 Alarm history clear 0000h PA10 For manufacturer setting 0000h PA12 Input filter setting 0002h PA1 For manufacturer setting 0000h PA1 0000h PA1 0000h PA1 0000h PA1 0000h PA1 0000h 0000h ee 1A
347. n 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 Servo amplifier MR J3 10B to MR J3 10B1 to MR J3 60B4 to Control circuit bung ed supply 22KB 40B1 22 4 power supply 1 phase 200V to 230VAC 50 60Hz 1 phase 100V to 120VAC 50 60Hz 1 phase 380V to 480VAC 50 60Hz 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 Regenerative option Servo motor power 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 Protective earth Connect to the earth terminal of the servo motor and to the protective earth PE of the control PE box to perform grounding 3 12 Return converter Brake unit 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 s
348. n 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 1 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 WI THA LARGE CAPACITY 30k TO SSKVV b 400V class MR J3 DU30KB4 to MR J3 DU55KB4 Converter unit NFB Note 6 supply ojo O Drive unit Dynamic brake Option Servo motor Cooling fan 04 OHS2 Servo motor thermal relay NFB MC MR J3CDLO5M cable nar 3 phase Termination 380 to 480VAC O connector 50 60 2 49 Option o U 0 V v gt Power factor improving DC reactor Option Encoder cable I gt gt eats 24VDC power supply HRY G3 G4 Regenerative Regenerative Regenerative option Note 1 loption Note 1 option Note 1 Cooling fan Cooling fan Cooling fan 24VDC Note 4 Note 3 Stepdown Drive Motor Note 3 Operation Pla
349. n 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 AN 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 sec
350. nction terminal block PS7W 20V14B F YOSHIDA ELECTRIC INDUSTRY with the option cable MR J2HBUSLIM as a set A connection example is shown below Servo amplifier Cable clamp Junction terminal block AERSBAN ESET PS7DW 20V14B F Jt 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 J2HBUSLIM cable and junction terminal block Junction terminal block Servo amplifier PS7W 20V14B F CN3 Note MR J2HBUSLIM CN Terminal block LG 1 1 H CX 4 1 1 2 2 Lt 9 2 2 DM Doc 3 L Lt 3 3 HN bo Mz s DICO 5 5 po 5 5 5 DICO ee LB 7 7 HO Lit 7 7 7 LB LZ 8 8 L Lt 8 8 8 2 9 L 9 9 INP DICO 10 L i 10 10 DICO LG 11 H 11 11 ILG DI2 12 12 12 MBR 13 13 13 MBR MO2 14 14 14 MO2 15 L 15 15 LAR 16 L 16 16 LAR LBR 17 L 17 17 LBR LZR 18 L ES 18 18 128 DI3 19 L 19 19 DI3 2 e e 20 20 EM1 SD Shell Shell Shell Shell NN E 50 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 11 OPTIONS AND AUXILIARY EQUIPMENT 3 Outline drawings of junct
351. nd 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 Servo motor Electromagnetic Trouble Forced 24VDC brake ALM stop B1 o oTo o lt gt 24VDC e 2 Setting In parameter 2 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 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 re Servo motor speed r min 1 i 95ms
352. nducting 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 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 Brake unit Servo amplifier Brake unit Brake unit P N Connecting two cables to Passing wiring P and N terminals 11 37 11 OPTIONS AND AUXILIARY EQUIPMENT Note 1 Note 7 Servo motor Controller thermal relay forced stop ON RA2 1 OFF O O o o alo olo O ALM REI Servo amplifier CN3 20 NFB Note 1 o Power 57 supply t Li L2 Ls Lu L21 2
353. ng 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 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 Command frequency Droop pulses pulse Servo motor speed 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
354. ns 4 Position loop gain 1 parameter Increase set value and adjust to ensure 8 value is small proper operation 5 Servo motor shaft was rotated by 1 When torque is limited increase the limit external force 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 8 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 9 SSCNETII cable fault Change the SSCNETII cable 10 Optical characteristic of SSCNETII Remove the vinyl tape and or wire sheath cable deteriorated because vinyl which contains migrating plasticizer and tape and or wire sheath which exchange the cable contains migrating plasticizer adhered to the cable USB Communication with 1 USB cable breakage Change the USB cable communication MR Configurator in time out error test operation mode stopped for longer than the specified time USB Serial communication 4 USB cable fault Change the USB cable communication 81707 occurred Open cable or short circuit between servo amplifier and 2 Communication device e g Change the communication device e g communication personal computer faulty personal computer device e g personal computer 8 TROUBLESHOOTING Display
355. nt entertainment machines safety machines etc are not recommended and we assume no responsibility for any failure caused by these applications when used We will review the acceptability of the abovementioned applications if you agree not to require a specific quality for a specific application Please contact us for consultation SH NA 030051 G MODEL MRJ3 8 INSTRUCTIONMANUAL MODEL CODE 1CW202 MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BLDG MARUNOUCHI TOKYO 100 8310 This Instruction Manual uses recycled paper SH NA 030051 G 1406 MEE Printed in Japan Specifications are subject to change without notice
356. nt amount from the home Make home position setting counter value of the position exceeded a 32767 rotation or again absolute position encoder 37268 rotation in succession exceeded the maximum revolution range warning range controller is outside setting range External forced stop was made valid EM1 warning was turned off forced stop Controller forced llc Forced stop signal was entered into the stop warning Servo system controller forced stop Cooling fan speed The speed of the servo Cooling fan life expiration Refer to section Change the cooling fan of the reduction warning amplifier decreased to or 2 5 servo amplifier below the warning level This warning is not displayed with MR J3 The power supply of the cooling fan is Change the servo amplifier broken 4 6 7 E8 70B 100B among servo amplifiers equipped with a cooling fan m Main circuit off Servo on command was Switch on main circuit power warning issued with main circuit power off Overload warning Operation in which a During a stop the status in which a current 1 Reduce the positioning 2 current exceeding the flew intensively in any of the U V and W frequency at the specific rating flew intensively in phases of the servo motor occurred positioning address any of the U V and W repeatedly exceeding the warning level Reduce the load phases of the servo motor Replace the servo amplifier was repeated servo moto
357. ntactor 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 Controller Alarm forced stop Forced en RA1 RA2 stop OFF oe ret OF Servo motor NFB 1 __ 200 to 230VAC _ Motor Note 3 Encoder cable Encoder F d st Note 5 orced stop Note 5 Trouble Note 4 Note 1 Always connect P and P 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 SIGNALS AND WIRING 3 For MR J3 10B1 to MR J3 40B1 Note 4 Controller Alarm forced stop Forced 1 2 stop OFF o o o o Servo
358. ntrol circuit Note i 5 terminal I I T Main circuit terminal x Approx 35 W11 Approx 35 BT For FR BR 55K FR BR H55K a hanging bolt is placed on two locations Indicated below o x Hanging bolt 204 5 2 lt Wz5 J Note Ventilation ports are provided both sides and the top The bottom is open Approximate R Ww W1 H H1 H2 D1 mass kg esistor unit 170 410 20 432 220 32 6 15 270 410 400V 270 class 410 Unit mm Approximate 1 Resistance SE Resistor unit mass oh i Y C LI NE 200V MT BR5 55K 2 0Q 50 class 400V class S M6 4 ae i H S Halepa 63 8 P1933 Mad 37 60 1021 Y 480 N p 510 15 300 75 4 15 mounting hole 7 5 450 17 5 11 44 11 OPTIONS AND AUXILIARY EQUIPMENT 11 4 Power regeneration converter When using the FR RC H power regenerative converter refer to Power Regeneration Converter FR RC Instruction Manual IB NA 66330 When using the power regeneration converter set O O 01 in parameter No PA02 1 Selection The converters can continuously return 7596 of the nominal regenerative power They are applied to the servo amplifi
359. o PB20 Valid VRF2B VRF2 value Parameter No PB34 7 11 7 SPECIAL ADJUSTMENT FUNCTIONS 7 6 3 Parameters When using the gain changing function always set 00103 in parameter 08 auto tuning to choose the manual mode of the gain adjustment modes The gain changing function cannot be used in the auto tuning mode Parameter No Abbreviation Multi Control parameters before changing Ratio of load inertia moment to 6 GD2 plier servo motor inertia moment x1 7 1 Model loop gain rad s i osition and speed gains of a model used to set the sponse level to a command Always valid PB08 PG2 _ Positionioop gain rads 9 ve2 Speedioopgain rads PBi0 vic___ Speedintegral compensation ms Gain changing ratio of load inertia Multi Used to set the ratio of load inertia moment to servo motor PB29 GD2B moment to servo motor inertia plier inertia moment after changing moment x1 Used to set the value of the after changing position loop Used to set the value of the after changing speed loop PB31 VG2B Gain changing speed loop gain 2 rad s gain in PB32 VICB Gain speed integral d Used to set the value of the after changing speed integral compensation compensation PB26 Gain changing selection Used to select the changing condition kpps Used to set the changing condition values PB27 CDS Gain changing condition CDT
360. o amplifier to O O 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 Number of Permissible Total Brake unit Resistor unit connected continuous resistance units power kW e 200V FR BU2 15K FR BR 15K 1 09 8 MRJ3 500 Note 2 parallel 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 400V FR BU2 H30K FR BR H30K 1 1 99 16 MR J3 500B4 class MR J3 700B4 MR J3 11KB4 FR BU2 H55K FR BR H55K 1 3 91 MR J3 11KB4 MR J3 15KB4 MR J3 22KB4 FR BU2H75K MT BR5 H75K MR J3 22KB4 11 3 2 Brake unit parameter setting Applicable servo amplifier Normally when using the FR BU2 H changing parameters is not necessary Whether a parameter can be changed or not is listed below Change jo dne impossible o Brake mode switchover Impossible Do not change the parameter 1 Monitor display data selection Possible Refer to the FR BU2 H Brake Unit Instruction Manual Input terminal function selection 1 Impossible Do not change the parameter 78 energization time perm ri Clr Alarm history clear For manufacturer setting 11 35 1
361. o cc os P 5 Cn S a 2 SESS ER E Wr oO 9 t RQay z gt 9 9 g D 8 amp 8 LE 5 WS WN WS Q S D AN g cao 2 MN 5 8 g o 9 EG o Z 2 o g o6 o gt gt o 5 632 E GL oo 262 EE o 905 Ow 5 eo 0 5 Y es oes NS SS x E c 5 8 5 5 286 5 9 5 v S 2 22 g 5 oS Ze ES 6 ES 8 o 9 Bk c D x EE O mR 25 S Z o p o g 56 oO 5 5 2 Z O o 5059069 S 9 O 5 n cuaagaocoisaanai o d e a o olj o c mc E 9 Q OG c o os S 9 oc amp N 5 9 055029 SS 8 o cert gt 5 N oxs 2256 NS c EO 9 2 2890 o Poa je REC e o N e 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
362. 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 When using the brake unit set the parameters as shown below Parameter 01 of the MR J3 CR55K 4 converter unit 00 Initial value Parameter 02 of the drive unit Odoo Initial value Connect the brake unit to the bus of the converter unit L and L of TE2 1 for use As compared to the MR RB 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 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 Number of Permissible Total 1 l Applicable converter Brake unit Resistor unit connected continuous resistance nit uni units power kW 200V FR BU2 55K FR BR 55K 2 parallel MR J3 CR55K class MT BR5 55K 2 parallel MR J3 CR55K 400 FR BU2 H55K FR BR H55K 2 parallel MR J3 CR55K4 class FR BU2 H75K MT BR5 H75K 2 parallel MR J3 CR55K4 13 90 13 SERVO AMPLIFIERS WITHLA LARGE CAPACITY 30k TO SSKVV 2 Brake unit parameter setting Normally c
363. ol 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 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 insulation reinforced in I O 5 Grounding a To prevent an electric shock always connect the protective earth PE terminals marked of the converter unit and servo amplifier drive unit to the protective earth PE of the control box b Do not connect two ground cables to the same protective earth PE terminal Always connect the cables to the terminals one to one a 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 o Crimping terminal E Insulating tube
364. on 11 1 5 34 SSCNETME MR J3BUSLIM B cable Cable length 30 to 50m Refer to section 11 1 5 35 USB cable MR J3USBCBL3M Cable length 3m 36 n Connector set MR CCN1 37 Junction terminal block Recommend ed MR BKCN 9 Power supply MR PWCNS1 connector set 40 Power supply MR PWCNS2 connector set 33 55 in set 3 3 Connector PF 2D103 Japan Aviation Electronics Japan Aviation Electronics Industry Ltd Industry Ltd gt Connector PF 2D103 Japan Aviation Electronics Japan Aviation Electronics Industry Ltd Industry Ltd gt For CN5 connector minB connector 5 pins Connector PF 2D103 Connector PF 2D103 For personal computer connector A connector Connector 10120 3000PE Shell kit 10320 52F0 008 3M or similar product PS7DW 20V14B F YOSHIDA ELECTRIC INDUSTRY CO LTD MR J2HBUSLIM L Junction terminal block PS7DW 20V14B F is not available from us as block our option MR option For using the junction terminal J2HBUSCIM is necessary Refer to section 11 7 for details Plug D MS3106A10SL 4S D190 DDK For cable connector YS010 5 8 Daiwa Dengyo Example of applicable cable Applicable wire size 0 3mm AWG22 to 1 25mm AWG16 Cable finish 5 to 8 3mm Plug CE05 6A22 23SD D BSS Cable clamp CE3057 12A 2 D DDK i Example of applicable cable Applic
365. on 13 3 2 Converter unit connectors CN40B Connect the termination connector MR J3 TM L L terminals TE2 Connect to the L L terminals of the converter unit using the connection conductors supplied Control circuit terminal L11 L21 Supply control circuit power Section 13 3 3 Motor power supply terminals TE1 Connect to U V W of the servo motor Protective earth PE terminal Ground terminal Rating plate Section 13 1 4 13 11 13SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 3 Drive unit MR J3 DUSOKB MR J3 DU37KB MR J3 DU45KB4 MR J3 DU55KB4 This servo amplifier is shown without the front cover For removal of the front cover refer to section 13 1 7 E Detailed Name Application explanation Display The 3 digit seven segment LED shows the servo Chapter 4 status and alarm number Rotary axis setting switch SW1 SW1 Used to set the axis No of drive unit 1 Section 3 13 1 SW Test operation select switch SW2 1 Used to perform the test operation mode by using MR Configurator Spare Be sure to set to the Down 1 2 position USB communication connector CN5 F Section 11
366. on direction and clearances 2 2 44 12 0000 000000 2 1 2 2 Keep outiforeign materials 2 3 2 3 edi eda bn ote da i e E n ug n det uat Ea o ur ea 2 3 2 4 SSCNETII cable laying creer Fete regere crt en renean tree nen 2 4 2 5 Inspectioniltelmis s ciconia iere i dU I NIIT RIEN 2 6 2 6 Parts having service E 2 6 3 1 Input power supply 3 2 3 2 VO signal connection example cune tbe tt ete a ea sce ea ee ett 3 10 3 3 Explanation of power supply 3 12 3 9 T Signal explanatioris 1 o di m e RI ge UR de ee Ran E E de un HR uds 3 12 3 3 2 Power on sequehiCe 4 2 m np o RID RU ID AGER AG ABO MAD Ae ERO 3 13 3 3 3 CNPT CNP2 CNP3 wiring method i nre nre nre nre 3 14 3 4 Connectors and signal 3 23 3 5 Signal device explanatioris e eret er et dede ea ete abe ra e ata dba 3 24 3 6 Alarm occurrence timing 3 27 Su Inter
367. on of 2 Connector for 2kW 3 5kW 400V Deletion of 0 3m from table Change of CN2 connection diagram to RoHS compliant parts Addition and change of connector description Deletion of 0 3m from table Addition and change of connector description Change of CN2 connection diagram to RoHS compliant parts Addition and change of connector description Change of CN2 connection diagram to RoHS compliant parts Addition of connector set Deletion of 20 to 30m from table Addition of regenerative brake options for MR J3 500B4 and 700B4 Addition of regenerative option capable for MR J3 60B4 to 350 4 Addition of inverse efficiency and capacitor charging for MR J3 350B4 Addition of parameter setting due to addition of regenerative option Addition of regenerative option MR RB5G 4 Addition of regenerative option MR RB3M 4 MR RB3G 4 Addition of regenerative option MR RB5G 4 Addition of regenerative option MR RB1H 4 Addition of brake unit for MR J3 500B4 and 700B4 Change of description Addition of power regeneration converter for MR J3 500B4 and 700B4 Deletion of notation for power supply specification change of description in Note 5 addition of Note 6 Addition of Note 6 to disconnect the wiring of regenerative brake register in servo amplifier of 7kW or less Addition of Note 8 Revision of cable diameter for 400V deletion of Note For item Altitude
368. on should be fully competent to do the work NCAUTION Otherwise you may get an electric shock For repair and parts replacement contact your safes representative 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 WITHLA LARGE CAPACITY 30k TO SSKVV 13 3 Signals and wiring Any person who is involved in wiring should be fully competent to do the work 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 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 exce
369. ondary damage accident compensation caused by special factors unpredictable by Mitsubishi damages to products other than Mitsubishi products and to other duties 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
370. onducted with L4 in the converter unit Magnetic contactor wiring connector the converter unit WARNING 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 02 setting to 0 when controlling without magnetic contactor control connector 1 Refer to section 13 3 1 13 35 13 SERVO AMPLIFIERS WITH A LARGE CAPACITY 30k 55kW 2 I O interfaces a Digital input interface Give a signal with a relay or open collector transistor Refer to section 3 7 3 for the source input Converter unit For transistor 5mA EM1 5 6kQ Switch DICOM Vces S 1 0V 24VDC 10 Iceo S 100 uA 150mA 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 Note 24VDC 10 150mA Note If th
371. op 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 x Servo motor speed ON Base circuit OFF Electromagnetic brake Note ON interlock MBR OFF Converter main circuit ON off warning OFF Main circuit ON power supply OFF Invalid ON Forced stop EM1 Valid OFF Note ON Electromagnetic brake is not activated OFF Electromagnetic brake is activated 13 44 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 2 When 1 is invalid When the forced stop 1 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 Servo motor speed Electromagnetic brake 10ms 35 m Base circuit OFF Electromagnetic brake 3s Electromagnetic brake Note ON operation delay time interlock MBR MBR OFF Converter main circuit ON i off warning OFF Main circuit ON power supply OFF Invalid ON Forced stop EM1 Val
372. ore for parameter 02 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 007 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 02 00 Addition of FA Section 11 2 5 d Addition Section 11 5 Addition Section 11 6 Addition Section 11 7 Error correction Section 11 10 Addition Section 11 11 Addition of cooling fan thermal Addition of Table 11 2 Note 2 Section 11 19 Addition of EMC filter HF3100A UN Jul 2007 SH NA 030051 C Addition of servo amplifier MR J3 60B4 to 350B4 Addition of servo amplifier MR J3 500B4 and 700 4 Addition of servo motor HF SP524 1024 1524 2024 3524 Addition of drive units MR J3 DU30KB 4 37KB 4 45 4 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
373. ous 1 Reduce the frequency of regenerative operation caused the positioning permissible regenerative power of 2 Use the regenerative option of the regenerative option to be larger capacity exceeded 3 Reduce the load Checking method Call the status display and check the regenerative load ratio 4 Power supply voltage is abnormal Review power supply MR J3 CR55K 260VAC or more MR J3 CR55K4 520VAC or more regenerative option 6 Ground fault occurred in servo motor power U V W Regenerative transistor fault 7 Regenerative transistor faulty Change the converter unit Checking method 1 The regenerative option has overheated abnormally The alarm occurs even after removal of the built in regenerative resistor or regenerative option Over voltage Converter bus voltage exceeded to following 2 Though the regenerative option is Set correctly voltage used the parameter 01 setting MR J3 CR55K 400VDC is 00 not used MR J3 CR55K4 800VDC 3 Lead of regenerative 1 Change lead option insufficient increase capacity 7 Power supply voltage high Review the power supply 8 Ground fault occurred in servo motor Correct the wiring power U V W Parameter Parameter setting is wrong 1 Converter unit fault caused the Change the converter unit error parameter setting to be rewritten 2 Regenerative option not used with Set parameter 01 cor
374. ower of the converter unit d in Figure off and then on b or make the drive unit servo on c Refer to section 13 6 1 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 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 ON power supply OFF 1 1 1 Main circuit ower suppl ppy OFF 1 1 1 1 1 1 Converter unit alarm Drive unit control power supply Base circuit Servo on command from controller Drive unit alarm Alarm occurrence Reset command from controller OFF 50ms or more a in Figure 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 WI THA LARGE CAPACITY 30k TO SSKVV b When controlling magnetic contactor by external sequence 1 Converter unit When an alarm occurs on the converter unit the servo on tu
375. peed loop mode 3 For the sink I O interface For the source I O interface refer to section 3 7 3 Differential line driver output 35mA or less 3 SIGNALS AND WIRING 3 7 2 Detailed description of interfaces This section provides the details of the signal interfaces refer to the division in the table given in section 3 5 Refer to this section and make connection with the external equipment 1 Digital input interface DI 1 Give a signal with a relay or open collector transistor Refer to section 3 7 3 for the source input For transistor Servo amplifier 1 j 4 5 60 ae Switch Gye m ADICOM EIS 1 2 lt 1 0 24VDC 10 Iceo S100 4A 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 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 SIGNALS AND WIRING 3 Encoder output pulse DO 2 Diffe
376. place 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 While checking the settling characteristic and rotational status fine adjust Fine adjustment each gain Ed Decrease the speed integral compensation within the vibration free range and return slightly if vibration takes place integral compensation ES 6 GENERAL GAIN ADJUSTMENT c Adjustment description 1 Speed loop gain parameter 09 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 _ Speed loop gain setting frequency Hz 1 ratio of load inertia moment to servo motor inertia moment x2 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 l
377. ply connectors Connector for CNP1 PC4 6 STF 7 62 CRWH Phoenix Contact Applicable cable example Cable finish OD 65mm or less 5 Connector for CNP3 PC4 3 STF 7 62 CRWH Phoenix Contact d 1 1 1 1 1 1 1 CNP3 1 1 1 1 1 1 1 1 2 Connector for CNP2 Note Applicable cable example 94928 0520 Molex Cable finish OD 3 8mm or less E 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 Bar terminal type 2 Crimping tool Manufacturer For 1 cable For 2 cables 1 25 1 5 Al1 5 8BK AI TWIN2 x 1 5 8BK 2 0 2 5 AI2 5 8BU AI TWIN2 2 5 10BU CRIMPFOX ZA3 Phoenix Contact Al4 10GY 3 16 3 SIGNALS AND WIRING 2 2 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 connecto
378. polation 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 PAO68 is set to 0 00 2 0010 3 this parameter be set manually PBO7 PG1 Model loop gain 24 rad s Set the response gain up to the target position to Increase the gain to improve track ability in response to the command 2000 When auto turning mode 1 2 is selected the result of auto turning is automatically used When parameter 08 is set to O0 00 1 000 3 this parameter can be set manually 08 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 PAO8 is set to 11010 3 this parameter can be set manually PBO9 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 PAO8 is set to T10
379. power connector CNP3 Section 3 1 Connect the servo motor Section 3 3 SSCNETII cable connector CN1A Section 3 2 Used to connect the Servo system controller or the front Section 3 4 axis servo amplifier SSCNETII cable connector CN1B Section 3 2 Used to connect the rear axis servo amplifier For the final Section 3 4 axis puts a cap Encoder connector CN2 Section 3 4 Used to connect the servo motor encoder Section 11 1 Battery connector CN4 Used to connect the battery for absolute position data section tts backup Chapter 12 Section 3 2 Control circuit connector CNP2 Section 3 1 Connect the control circuit power supply regenerative Section 3 3 option 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 5 Protective earth PE terminal Section 3 1 Cooling fan Ground terminal Section 3 3 Fixed part Rating plate Section 1 5 3 places App 5 APPENDIX App 5 2 Configuration including auxiliary equipment 1 8 Configuration including auxiliary equipment Note 3 RST Power supply No fuse breaker NFB or fuse Magnetic contactor MC Personal computer MR Configurator r H
380. r 1 of the converter unit can be made valid or invalid with parameter No PAO02 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 WI THA LARGE CAPACITY 30k TO SSKVV 1 When magnetic contactor control connector CNP1 is made valid factory set 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 J3CDLO5M 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 200V class MR J3 DU30KB MR J3 DU37KB Converter unit Drive unit TE2 1 Dynamic brake NFB MC L Option 3 phase o Hox Servo motor CN40A 207 10 OR MR J3CDLO5M o cable Teminajon 17008 0 j fw connector V cen y Option Encoder cable CN2 MC1 DICOM 24VDC MC2 DOCOM Note 4 Power factor improving DICOM Power DC reactor Option Iroa supply 24VD
381. r 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 Servo motor 5m or less Q OHS1 OHS2 Servo motor thermal relay 24VDC power supply P Note 2 763 9 9 Ga Regenerative option Cooling fan Note 4 R S O 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 is R400 and S is 5400 13 76 1 b 137 MR RB138 4 Note 3 Power supply Power factor improving DC reactor Option Converter unit 5m or less P Note 2 Vos gar Toa Ga Regenerative Regenerative Regenerative option option option Cooling fan Cooling fan Cooling fan Note 4 Note 4 Note 4 R S R R gt 3 SERVO AMPLIFIERS WITH LARGE CAPACITY 30k 55kW Three of MR RB137 or MR RB138 4 are required per converter unit Please purchase thr
382. r to speed unit cooling fan decreased section 2 6 converter unit reduction to or below the warning 2 The power supply of the cooling fan 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 09 switch power off once Switching it on again clears the alarm history At this time the parameter No PAO9 setting returns to 0000 a Overload There is a possibility that Load increased to 85 or more of Refer to A 50 A 51 A E0 A E1 A E6 E8 13 61 13 CAPACITY 30k TO SSKVV 13 6 2 Drive unit 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 m
383. r to section 3 12 v Parameter setting Set the parameters as necessary such as the used control mode and regenerative option selection Refer to chapter 5 y Test operation of servo motor For the test operation with the servo motor disconnected from the machine alone i Tes mode and operated at the speed as low as possible check whether the servo motor rotates correctly Refer to sections 4 5 y Test operation of servo motor For the test operation with the servo motor disconnected from the machine alone by commands P 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 Connect the servo motor with the machine give operation commands from the and machine connected host command device and check machine motions Gain adjustment Make gain adjustment to optimize the machine motions Refer to chapter 6 y Actual operation y 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 L11 L21 of the servo amplifier should satisfy the defined specifications Refer to s
384. r with the one of larger capacity Output watt The status in which the Continuous operation was performed with Reduce the servo motor excess warning wattage speed the output wattage speed x torque of the speed torque of the servo motor servo motor exceeding 150 of the rated 2 Reduce the load exceeded the rated output Jl output continued steadily 8 TROUBLESHOOTING 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 ood a a ff 1 acacacceeaceaccaceoeccecdaao 96 mounting hole E 1 EX D 5562020202007 O 40 E SEE E 22 80 ns i E 1 Tis 4 E cNP2 CNP3 wl a n uid od O O DIC amp 161 168 o a C5 D
385. raCes 3 28 3 751 Interial conriection dIagrar x a pite ie RE UR nein MIU lane 3 28 3 7 2 Detailed description 3 29 3 7 3 Source O interfaces nee i e de bte n ae d te is d o e e de dne 3 31 3 8 Treatment of cable shield external conductor eee 3 32 3 9 SSCNETII cable connection 3 33 3 10 Connection of servo amplifier and servo motor 3 35 3 10 1 Connection 4 41 000000 3 35 3 10 2 Power supply cable wiring diagrams sssssseeeeeeeeeeenneen 3 36 3 11 Servo motor with an electromagnetic brake essen nennen 3 46 3 11 1 Safety precautions 4 ete ne e date Le te all einai einai c d gt 3 46 9 14 2 Timing Charts nee iit Ha emt am ur de ade ire deb ue Id aee dnb uer tage beide ee rd 3 47 3 11 3 Wiring diagrams HF MP series HF KP series servo 3 50 Jil 2 Groundilg 4 blab n ELE omn inteso sub SE sub Ebo sibi bi ser A b 3 51 3 19 Gonltrol axis selection 5505 e
386. ram shows the wires used for wiring Use the wires given in this paragraph or equivalent 3 Converter unit Drive unit 3 Motor power supply lead Servo motor Power factor DC reactor 4 Regenerative option lead Regenerative option C m 1 Main circuit power supply lead Sy Power supply au YTY 5 22 Control power supply lead 13 82 13 SERVO AMPLIFIERS WITH LARGE CAPACITY 30k 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 Wires mm NEP 1 3 Note 2 Converter unit 3 U V E Drive unit n is Em Er RA BW OHS1 ug MR J3 DUSOKB 50 MR J3 CR55K 3 60 AWG2 0 d Note 4 MR J3 DU30KB4 22 AWG4 b 30 AWG2 c 2 AWG14 5 AWG10 a 1 25 AWG16 MR J3 DU37KB4 30 AWG2 38 AWG2 MR J3 CR55K4 1 25 AWG16 MR J3 DU45KB4 38 AWG2 50 AWG1 0 MR J3 DU55KB4 50 AWG1 0 60 AWG2 0 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
387. range where in position INP is output in the command pulse unit Servo motor droop pulse 4 Command pulse Command pulse Droop pulse In position range pulse ON In position INP OFF 5 PARAMETERS 5 1 8 Selection of servo motor rotation direction Parameter Unit Seti nitial value ni etting range No Symbol Name SM POL Rotation direction selection 0 04 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 Servo motor rotation direction Parameter No PA14 s ttin When positioning address When positioning address P increases decreases 0 ow Jw Reverse rotation CW 5 1 9 Encoder output pulse Parameter Unit Ss nitial value ni etting range No Symbol Name aiiis PA15 Encoder output pulse 4000 1 to 65535 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 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 frequenc
388. ration 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 PBO7 value and vibration frequency is as indicated below Make setting after decreasing PG1 e g reduce the response setting 1 5xPG1 gt vibration frequency 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 E x10 When parameter No PB23 is set to 0110 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 SREB Low pass filter selection 0 Automatic setting initial value 1 Manual setting parameter 18 setting 7 6 Gain changing function This function can change the gains You can change between gains
389. re version Vo high MILI Regenerative load Sixth alarm in Parameter ratio 96 past No PA18 A t z vene i Note Parameter error Parameter No No PA19 rt wd 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 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 Display Ready off a Lt Status 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 Indication range The ready off is displayed during initialization or alarm occurrence the roF off forced stop status or when the bus voltage is not established ready is displayed when the servo was switched on after completion E on of initialization and th
390. 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 WI THA LARGE CAPACITY 30k TO SSKVV 2 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 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 Converter unit alarm Drive unit control power supply Base circuit Servo on command from controller Drive unit alarm Reset command from controller a in Figure ON OFF 1 L lt X 50ms or more 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 p
391. 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 el Operation command Stopping condition The base circuit is shut off and the servo motor coasts The base circuit is shut off and the dynamic brake operates to bring Forced stop command the servo motor to stop The controller forced stop warning E7 Servo system controller occurs The base circuit is shut off and the dynamic brake operates to bring Alarm occurrence x the servo motor to stop Servo amplifier ES Forced stop The base circuit is shut off and the dynamic brake operates to bring EM1 OFF the servo motor to stop The servo forced stop warning E6 occurs 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 E power to switch ON SSCNETII communication Servo system controller power ON SSCNETII communication beginning Initial data communication with servo
392. rectly converter unit was selected in parameter No PA02 3 The number of write times to Change the converter unit EEP ROM exceeded 100 000 due to parameter write etc 13 59 13 SERVO AMPLIFIERS WITHLA LARGE CAPACITY 30k TO SSKVV Display MC drive circuit Magnetic contactor drive 1 Wrong connection of the magnetic Review the wiring circuit error contactor When the magnetic 2 Parameters specifying whether to Set parameter 02 correctly contactor is turned on the use not use the magnetic contactor main circuit power supply is do not match the configuration not turned on within two 3 Magnetic contactor failed Change the magnetic contactor seconds after the servo on 4 Magnetic contactor drive circuit Change the converter unit of the drive unit faulty When the magnetic Checking method contactor is opened the Check the output of magnetic main circuit power supply is contactor control connector CNP1 turned on although the Power supply voltage is applied to this connector Take care to avoid an magnetic contactor is electric shock at connecting opened Refer to section 3 3 2 Open phase Power supply error 1 Any of Li L2 and is disconnected Or open 2 Failure of the part in the converter Change the converter unit unit Inrush current Inrush current suppressor 1 Power on off was repeated with high Review operation pattern suppressor circuit error frequency circuit er
393. reen yellow lt Note These not shielded cables 11 17 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 Cable length Protective pi life Application structure MR PWS1CBL O M A1 L 2 5 65 Standara HF KP servo motor Load side lead MR PWS1CBL O M A2 L 2 5 1P65 Standard HF KP servo motor Opposite to load side lead MR PWS1CBL O M A1 H 2 5 10 IP65 Long flex For HF MP HF KP servo motor life Load side lead MR PWS1CBL O M A2 H 2 5 10 IP65 Long flex For HF MP servo motor life Opposite to load side lead 03 For HF MP HF KP servo motor MR PWS2CBL O M A1 L Standard Load side lead For HF MP HF KP servo motor MR PWS2CBL D M A2 L ERES 55 Standard osite to load side lead 1 Connection of servo amplifier and servo motor MR BKS1CBLOIM A1 L MR BKS1CBLLIM A1 H MR BKS2CBL03M A1 L 1 Servo motor 24VDC power gt supply for electromagnetic r HF KP brake coo MR BKS1CBLOM A2 L MR BKS1CBLOM A2 H MR BKS2CBL03M A
394. regeneration common converter FR CV HO kW S N20 S N35 S N50 S N65 S N95 5 95 S N125 11 15 Maximum servo amplifier capacity kW 11 15 15 22 Total of connectable servo motor rated currents A 43 57 71 110 Short time rating Continuous rating Regenerative braking torque Total capacity of applicable servo motors 300 torque 60s Note 1 100 torque Power supply 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 5 Power supply capacity kVA 52 66 100 Protective structure JEM 1030 cooling system Open type IP00 forced cooling Environment Ambient temperature 10 C to 50 non freezing Ambient humidity 90 RH or less non condensing Ambience Indoors without corrosive gas flammable gas oil mist dust and dirt Altitude vibration 1000m or less above sea level 5 9m s 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 th
395. rential line driver system a Interface Max output current 35mA Servo amplifier Servo amplifier LA LB LZ gt LAR LBR LZR SD b Output pulse Servo motor CCW rotation EAT Time cycle T is determined by the settings L of parameter No PA15 LAR T 4 0 LB ET LOI L cp au RS 28 __ 400us or more gt 14 4 Analog output Servo amplifier MO1 MO2 Output voltage 10V LG Max 1mA Max Output current Resolution 10 bit 3 SIGNALS AND WIRING 3 7 3 Source interfaces In this servo amplifier source type 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 Approx 5mA 24VDC 10 Vces 1 0V 150mA Iceo lt 100UA 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 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
396. rns 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 b Converter unit control ON power supply OFF 1 1 i Main circuit ON power supply OFF 1 1 i a d c Converter unit alarm A ON j d4 ON OFF 1 1 Alarm occurrence Alarm occurrence Drive unit control ON power supply OFF ON Base circuit OFF 1 38 38 ON Servo on command from controller Drive unit alarm Reset command from controller 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 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 WI THA LARGE CAP
397. ror 2 Inrush current suppressor resistance Change the converter unit overheated 3 Inrush current suppressor circuit faulty A Main circuit Main circuit device 1 The power supply was turned on and Review operation pattern device overheat off continuously by overloaded overheat status 2 Ambient temperature of converter Review environment so that unit is over 55 ambient temperature is 0 to 55 A Cooling fan The cooling fan of the 1 Cooling fan life expiration Refer to alarm converter unit stopped or its section 2 6 converter unit speed decreased to or 2 Foreign matter caught in the cooling Remove the foreign matter failed Overload 1 Load exceeded overload Converter unit is used in excess of its 1 Reduce load protection characteristic of continuous output current 2 Review operation pattern converter unit Overload 2 Load exceeded overload Converter unit is used in excess of its Review operation pattern of a protection characteristic of output current for a short time drive unit converter unit Note Watchdog CPU parts fault Failure of the part in the converter unit Change the converter unit 8 Checking method Alarm 888 occurs if power is switched on after connectors disconnected Note At power on 888 appears instantaneously but it is not an error 39 3A 45 47 50 51 88 13 60 13 SERVO AMPLIFIERS WITH A LARGE CAPACITY 30k 55kW 3 Remedies for warnings
398. rotector is connected 11 85 11 OPTIONS AND AUXILIARY EQUIPMENT 3 Outline drawing a EMC filter HF3010A UN Unit mm 3 M4 3 4 o SS 4 zum En Approx 41 gt 6544 273 2 R 288 4 300 5 gt 25 ea aaa eee BE T 11 86 11 OPTIONS AND AUXILIARY EQUIPMENT HF3100A UN M8 160 3 TF3005C TX TX3020C TX TF3030C TX 6 R3 25 length8 3 M4 N e x lt 4 M4 140 1 155 2 11 87 Unit mm Approx 67 5 3 150 2 Approx 160 170 5 11 OPTIONS AND AUXILIARY EQUIPMENT TF3040C TX TF3060C TX Unit mm 8 M M4 4 3 M6 M6 p z o N n x lt 22 22
399. rque 1 2 N m 10 6 16 in No i PE terminal z Terminal screw 4 gw i Tightening torque 1 2 N m 10 6 1 Built in regenerative resistor lead terminal fixing screw i Y 1 Pa 0 Note Screw size is M3 5 for the control circuit terminal block TE2 of the servo of amplifier manufactured in April 2007 or later Screw size is M3 for the control x terminal block TE2 of the servo amplifier manufactured in March 2007 or earlier E Mounting hole process drawing 9 OUTLINE DRAWINGS 8 MR J3 700B 4 Unit mm 6 2 6 mounting hole _ Approx 80 200 172 138 62 V 7 gt 160 _ Cooling fan 6 Terminal layout i of WE ae Terminal cover open yo I
400. rrent capacity be decreased by reducing the number of I O points Environment Vibration 13 5 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 2 as unit a 200V class Voltage frequency 1 phase 200 to 230VAC 50 60Hz Permissible voltage Control power fluctuation supply Permissible frequency Within 5 ithi eee 9 Power consumption Interface power 24VDC 10 supply Note 150 External option Overcurrent shut off overload shutoff electronic thermal protector Servo motor overheat protection encoder error protection undervoltage 1 phase 170 to 253VAC Protective function Instantaneous power failure protection overspeed protection Excessive error protection Force cooling open IP00 0 to 55 non freezing In operation Ambient mm F 32 to 131 non freezing temperature 20 to 465 non freezing In storage 4 to 149 non freezing Ambient 90 or less non condensing humidity In in storage Indoors no direct sunlight Ambient Free from corrosive gas flammable gas oil mist dust and dirt Altitude Max 1000m above sea level 5 9 m s or less 19 4 ft s or less 26 Mass ko 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 Environment Vibration 13 6 13 SERVO AMPLIFIERS WITHLA LARGE CAPACITY 30k T
401. rs 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 Pont It may be difficult for a cable to be inserted to the connector depending 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 well 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 54932 0000 Molex Unit mm 72 5 Uy T Approx 4 9 L 4 7 Approx 3 eae Bx lo IN LOI 5 gt Z 27254 XJ Approx 7 7 Approx 3 4 b 231 131 WAGO Unit mm 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
402. ry 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 E For manufacturer setting 0 cot Do not change this value by any means 0000h 13 56 13 SERVO AMPLIFIERS WITH A LARGE CAPACITY 30k 55kW Initial Setting No Symbol Name and function Unit value range PA12 Input filter setting 0002h Refer to Select the input filter Name and 0 010 function L column 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 For manufacturer setting Do not change this value by any means 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 Error OFF ON reset Undervoltage 1 Memory error2
403. s 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 Ad Ab The servo system controller is faulty Initializing A b Initializing During initial setting for communication specifications hut Initial setting for communication specifications completed and then it synchronized AC Initializing i with servo system controller Ajd Initializing During initial parameter setting communication with servo system controller During motor encoder information and telecommunication with servo system A E Initializing controller A F Initializing During initial signal data communication with servo system controller COP During the completion process for initial data communication with servo system A H Initializing completion controller The power supply of servo system controller is turned off during the power suppl AIA Initializing standby P and 4 WP PEY of servo amplifier is on Note 1 01 amp Ready OFF The ready off signal from the servo system controller was received Note 1 Servo ON The ready off signal from the servo system controller was received Note 1 Cl amp Servo OFF The ready off signal from the servo system controller was received Note 2 Alarm Warning The
404. s display selection 09 Alarm history clear PA10 For manufacturer setting PA11 PA12 Input filter setting PA13 For manufacture setting to PA19 App 2 APPENDIX App 2 Signal layout recording paper App 3 Twin type connector Outline drawing for 721 2105 026 000 WAGO Unit mm Latch Coding finger Detecting hole 4x A B 26 45 25 2 75 A 15 1 2 9 D C 4 75 EREHRg 8s ES 1 y 89996 B O JIGS T 4A 12 7 Driver slot Wire inserting hole App 3 APPENDIX App 4 Change of connector sets to the RoHS compatible products The following connector sets have been changed to RoHS compliant since June 2014 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 Mode Current Product RoHS Compatible Product MR J3SCNS Amplifier connector 3M or equivalent of MR ECNM 36210 0100JL Receptacle Note MR PWCNS4 MR PWCNS5 MR P
405. s in 400V class to 2kW in 200V and 400V class Change of corresponding model from HF SP121 201 to HF SP121 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 Correction of Note position for connecting diagrams such as MR EKCBL30M H Addition of description Crimping tool 91529 1 in the list of Junction Connector Change of corresponding model of HF SP to HF SP HA LP HC RP HC UP HC LP Addition of corresponding model of HA LP HC RP HC UP HC LP Change of junction connector of 36110 3000 to 36110 3000FD Battery connector from DF3 EP2428PCF to DF3 EP2428PCA Addition of Note Addition of Note Change of built in regenerative register value of MR J3 60B4 100 4 from 15 to 20 Addition of Note 1 2008 SH NA 030051 D Section 11 2 4 Change of description Section 11 2 5 a Change of tightening torque size from 3 2 to 3 24 Section 11 3 3 4 a Change of description Section 11 3 4 2 Correction of C dimension Section 11 5 4 a 1 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 wir
406. scription I O signal connector to Digital connector addition of rating plate Change in description of CN3 and CN6 Section 13 1 6 2 3 Change of rating plate designated position Section 13 1 7 Enlargement of diagram for removing and reinstalling terminal block cover Section 13 3 Addition of POINT reference Signal device explanations section 3 5 Section 13 3 1 1 a Revision of magnetic contactor sequence addition of Note 3 Section 13 3 1 1 b Revision of magnetic contactor sequence addition of Note 3 and 4 Section 13 3 1 2 a Revision of magnetic contactor sequence addition of Note 3 and 4 addition of magnetic contactor control CNP1 13 3 1 2 b Revision of magnetic contactor sequence addition of Note 3 to 5 addition of magnetic contactor control CNP1 13 3 2 1 2 Change of description in Note for servo motor output and servo motor power supply to servo motor power Section 13 3 4 2 Correction of reference for CN2 and CN3 Section 13 3 6 Raise of section 13 3 5 3 to section 13 3 6 Section 13 3 7 Raise from section 13 3 6 Change of description in chart servo motor power to servo motor power supply Section 13 4 3 2 b Change of display Section 13 4 3 3 Deletion Print Data Manual Number Jul 2007 Jun 2008 SH NA 030051 C SH NA 030051 D 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
407. se button to close the absolute encoder data display window 12 5 12 ABSOLUTE POSITION DETECTION SYSTEM MEMO 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 4 converter units and the MR J3 DUL 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 Startup Chapter 4 General gain adjustment Chapter 6 Special adjustment functions Chapter 7 Absolute position detection system Chapter 12 13 1 Functions and menus 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 WITHLA LARGE CAPACITY 30k TO SSKVV 13 1 1 Function block diagram The function block diagram of this servo is shown below Power factor Regenerative improving option Converter Pi Diode A NEE Thyristor MC Li 9 eit L4 6 34 0 0 o 2 A2 A A supply 9 9 717 9 0 9 Eu 2 O
408. 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 gt 10 lg1 lgn lga K Ig2 lgm mA 11 1 Cable K Constant considering the harmonic contents f T Mitsubishi K ID Noise ue products filter Cable amplifier Models provided with harmonic and surge reduction techniques 191 Ign 192 Igm 9119 9 9 9 BV C1 General models NFB 3 NV L 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 4 120 120 _ 100 100 go 8 80 3 9 60 8 60 c 4 40 mA 40 0 0 2 5 5 14 38 100 2 3 5 8 1422 3880 150 5 5 3060 100 3 5 8 22 60 150 30 80 Cable size mm Cable size mm a 200V class b 400V class Fig 11 3 Leakage current example 191 192 for CV cable run in metal conduit 11 83 11 OPTIONS AND AUXILIARY EQUIPMENT Table 11 4 Servo mo
409. sing the power factor improving DC reactor refer to section 13 9 6 Connect P and N terminals of the brake unit to a correct destination Wrong connection results in the converter unit and brake unit malfunction For the converter unit and the drive unit of 400V class a stepdown transformer is required Contact rating 1a contact 110 5A 220VAC Normal condition TH1 TH2 is conducting Abnormal condition TH1 TH2 is not conducting 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 Connect the thermal relay censor of the servo motor Do not connect more than one cable to each L and L terminals of TE2 1 of the converter unit Always connect BUE and SD terminals Factory wired Connect MSG and SD terminals of the brake unit to a correct destination Wrong connection results in the converter unit and brake unit malfunction For connecting L and L terminals of TE2 1 of the converter unit to the terminal block use the cable indicated 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
410. ssion control cannot be used in the speed control function mode column olo L 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 aks For manufacturer setting 0000h Pe not change this value by any means 5 15 5 5 Initial Setting Symbol Name and function Unit value range PB26 Gain changing selection 0000h Refer to Select the gain changing condition Refer to section 7 6 Name and 00RA function T column KE 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 chan
411. ssion filter 1 becomes effective 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 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 SPECIAL ADJUSTMENT FUNCTIONS 7 4 Advanced vibration suppression control 1 Operation Vibration suppression control is used to further suppress machine end vibration such as workpiece end vibration and base shake The motor side operation is adjusted for positioning so that the machine does not shake Position Position Motor end Motor end Machine end t Machine end t Vibration suppression control OFF Vibration suppression control ON Normal control When the advanced vibration suppression control vibration suppression control tuning mode parameter No PB02 is execu
412. ssively 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 Converter unit drive unit drive unit signal 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 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 WI THA LARGE CAPACITY 30k TO SSKVV Explanations on the following item are the same as those for servo amplifiers with 22kW or l
413. stance rapid feed rate EH mm min in min 3 motor inertial moment joe aid 0 Gaye UCET ELS 2 in Load inertia moment converted into equivalent value on servo motor shaft 2 in Brake time constant 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 WITHLA LARGE CAPACITY 30k TO SSKVV b Dynamic brake time constant The following shows necessary dynamic brake time constant t for the equations 13 1 40 555 40 35 35 F HA LP25K14 HA LP30K1 HA LP30K14 30 HA LP37K1 30 F 4 HA LP37K14 v my 25 25 5 5 1 20 1 20r c c Q Q o o 15 15 10 10 5r 5r 0 a a a a 0 0 200 400 600 800 1000 1200 0 200 400 600 800 1000 1200 Speed r min Speed r min HA LP1000r min series 60 60 HA LP37K1M HA LP37K1M4 50 HA LP45K1M4 HA LP50K1M4 40 HA LP30KIM HA LP30K1M4 b b 5 5 2 8 8 D E 2 10 0 1 1 1 0 500
414. system controller Initialization communication Note 1 When alarm warning Note 3 Ready OFF servo OFF No is displayed LF re patie teeny ee Mer mmm Ready ON Flicker display At occurrence of overload warning Note 2 Ready ON servo OFF Note 3 7 When alarm occurs Flicker 4 displa alarm code appears Rc play uring controller Servo forced stop display During forced stop Flicker display Ordinary operation fT L Alarm reset or warning Servo system controller power OFF Note 3 Servo system controller power 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 416 indicate the axis number Below example indicates Axis1 1axis 2 axis 16 axis 4 STARTUP 2 Indication list 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 axi
415. t dui pulse ulse rev Willy 5 PARAMETERS 5 1 2 Parameter write inhibit Parameter Unit Seti nitial value ni etting range No Symbol Name o PA19 Parameter write inhibit 000Bh Refer to the text 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 Basic setting Gain filter Extension setting I O setting Setting operation parameters parameters parameters parameters No PAOO No PBOO No PC OO No PD O00 Parameter No PA19 setting Reference 0000h we O 000Bh Reference O initial value O 000Ch 7 100Bh Parameter Write No PA19 only Referee 100Ch Parameter Write No PA19 only 5 PARAMETERS 5 1 3 Selection of regenerative option Parameter Unit Seti nitial value ni etting range No Symbol Name grane PA02
416. t 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 Undervoltage Power supply voltage Check the power supply MR J3 LB power failure of 60ms or longer 160VAC or less 3 Shortage of power supply capacity MR J3 DB1 caused the power supply voltage to 83VAC or less drop at start etc MR J3 O1B4 4 The bus voltage dropped to the 280VAC or less following value or less MR J3 CB 200VDC MR J3 01B1 158VDC MR J3 01B4 380VDC 5 Faulty parts in the servo amplifier Change 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 TROUB
417. t to 999 5 5 4 Initial 7 Setting No Symbol Name and function Unit value range 12 2 Analog monitor 2 offset Used to set the offset voltage of the analog monitor 2 MO2 output PC13 MOSDL Analog monitor feedback position output standard data Low Used to set the standard position of feedback output with analog monitor 1 01 or 2 M02 For this parameter the lower order four digits of standard position in decimal numbers are set pulse 9999 to 9999 14 MOSDH Analog monitor feedback position output standard data High Used to set the standard position of feedback output with analog monitor 1 01 or 2 M02 For this parameter the higher order four digits of standard position in decimal numbers are set E For manufacturer E PN Do not E this value by means PC17 COP4 Function Selection C 4 Home position setting condition in the absolute position detection system can be selected 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 For manufacturer setting Do not change this value by any means BPS Alarm history clear Used to clear the alarm history 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
418. t contact CM10 22SC S2 100 DDK MR PWCNS4 Plug CE05 6A18 10SD D BSS Cable clamp CE3057 10A 1 D DDK Example of applicable cable Applicable wire size 2mm AWG14 to 3 5mm AWG12 Cable finish 10 5 to 14 1mm MR PWCNS5 Plug CE05 6A22 22SD D BSS Cable clamp CE3057 12A 1 D DDk Example of applicable cable Applicable wire size 5 5mm AWG10 to 8mm AWG8 Cable finish 612 5 to 16mm Brake connector set Power supply connector set 29 Power supply connector set 2 2 For HF SP51 81 For HF SP52 152 E For HF SP121 to 301 For HF SP202 to 502 IP67 Be sure to use this when 23 24 26 7 8 9 30 31 supply connector set Cable for connecting battery MR PWCNS3 Plug CE05 6A32 17SD D BSS Cable clamp CE3057 20A 1 D i DDK Example of applicable cable 21 Applicable wire size 14mm AWG6 to For HF SP702 22mm AWGA For HA LP702 Cable finish 22 to 23 8mm MR J3BTCBLO3M Refer to section 11 1 2 5 for details 11 6 corresponding to EN Standard For connection of battery 11 OPTIONS AND AUXILIARY EQUIPMENT Product Mode Description Application 32 55 MR J8BUSLIM Cable length 0 15 to 3m Refer to section 11 1 5 MR J3BUS O M A Cable length 5 to 20m Refer to secti
419. t the selection of servo forced stop to Invalid 010 L1 At this time the forced stop EM1 automatically turns on inside the servo amplifier 5 PARAMETERS 5 1 6 Auto tuning Parameter Unit Seti nitial value ni etting range No Symbol Name dna 8 Auto tuning mode 0001h gt Refer to the text 09 Auto tuning response L 42 e 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 0 _ 3 enano Note The parameters have the following names PB06 Ratio of load inertia moment to servo motor inertia moment 7 Model loop gain PB08 Position loop gain 09 Speed loop gain PB10 Speed integral compensation 5 5 2 Auto tuning response parameter 09 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 resonance frequency Hz resonance frequency Hz Low response 355 1 Middle response 400 0 5 1 7 In position range Parameter insu Unit Sti nitial value ni etting range No Symbol Name arene PA10 In position range 0 to 65535 This parameter cannot be used in the speed control mode Set the
420. tc 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 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 N 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 specifi
421. te SD p transformer SY unit thermal relay Forced stop ready RA1 RA2 RA4 EM1 OFF oN 0 0 olo uc Converter Controller unit forced stop 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 Pz 3 Make up a sequence that turns off the drive unit forced stop 1 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 WI THA LARGE CAPACITY 30k TO SSKVV 13 3 3 Terminal Refer to section 13 7 for the terminal block arrangement and signal layout Converter unit Connection target Note Description Abbreviation Application Terminal block MR J3 CR55K MR J3 CR55K4 ESE Connect 3 phase 200 to Connect 3 phase 380 to Main circuit power supply Lai L2 L3 TE1 1 230VAC 50 60Hz to L1 L2 Ls 480VAC 50 60 2 to L1 L2 A Connect 1 phase 200 to Connect 1 phase 380 to Control circuit power supply Lt L21 TE3 230VAC 50 60 2 480VAC 50 60Hz Power factor improving Pi P TE1 2 When using the power factor improvin
422. ted 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 20 2 Parameter Select the operation of the vibration suppression control tuning mode parameter No PBO2 Parameter No PB02 010 0 T Vibration suppression control tuning mode Setting Vibration suppression control tuning mode Automatically set parameter 0 Vibration suppression control OFF Note Vibration suppression control tuning mode Parameter No PB19 Advanced vibration suppression control Parameter No PB20 2 Manualmode M Note Parameter No PB19 and 20 are fixed to the initial values 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 fa
423. ter Setting of parameter No PAO9 Machine characteristic Response level setting ME Machine resonance E Machine rigidity MM Guideline of corresponding machine frequency guideline Large conveyor 9 Arm robot General machine tool conveyor 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 If machine resonance occurs filter tuning mode parameter 01 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 b Adjustment procedure Brief adjust with auto tuning Refer to section 6 2 3 hole c el FoU a mn a cM 08 0003 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 c ee Set a slightly larger value to the speed integral compensation Increase the speed loop gain within the vibration and unusual noise free range and return slightly if vibration takes place Increase the model loop gain and return slightly if overshooting takes Increase the model loop gain
424. ter tuning mode 1 to 000 1 automatically changes this parameter When the parameter 01 setting is T1100 0 the setting of this parameter is ignored PB15 NH2 Machine resonance suppression filter 2 4500 Hz 100 Set the notch frequency of the machine resonance suppression filter 2 pa Set parameter No PB16 notch shape selection 2 to 1 to make this parameter valid PB16 NHQ2 Notch shape selection 2 0000h Refer to Select the shape of the machine resonance suppression filter 2 Name and 0 function ll A column Machine resonance suppression filter 2 selection 0 Invalid 1 Valid Notch depth selection To 17 Automatic setting parameter The value of this parameter is set according to a set value of parameter 06 Ratio of load inertia moment to servo motor inertia moment 5 14 5 5 Initial Setting No Symbol Name and function Unit value range PB18 LPF Low pass filter setting 3141 rad s 100 Set the low pass filter Setting parameter No PB23 low pass filter selection to I automatically 18000 changes this parameter When parameter No PB23 is set to 10 this parameter can be set manually PB19 VRF1 Vibration suppression control vibration frequency setting This parameter cannot be used in the speed control mode Set the vibration frequency for vibration suppression control to suppress low frequency machine vibrat
425. tes 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 bus voltage dropped to 200VDC or less for the MR J3 L B to 158VDC or less for the MR J3 B1 or to 380VDC or less for the MR J3 B4 3 SIGNALS AND WIRING 3 7 Interfaces 3 7 1 Internal connection diagram Servo amplifier Forced stop CN3 DD 20 EM1 CN3 DICOM DI1 2 MBR DI2 12 t Approx Note 2 INP Note 3 5 6kQ v Isolated ALM Note 3 CN3 LA LAR LB LBR LZ LZR CN5 MO1 LG Analog monitor Ds OVDC I USB MO2 LG OVDC c Servo motor 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 s
426. the cable at the closest part to the connector with bundle material in order to prevent SSCNETII 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 gt Optical cord Loose slack Bundle material gt Cable 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
427. 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 Servo amplifier FR BAL H MR J3 0 B 4 NFB o 3 phase d L 200 to 230VAC i or o 3 phase 380 to 480VAC REESE Servo amplifier MR J3 OB 4 Ww gt L4 Installation screw Note IU 1 phase n 200v to 230VAC jd RXisv riz L3 i w1 Servo amplifier gt e FR BAL MR J3 B1 NFB 1 phase 0 100 to120VAC Note For the 1 200 to 230 power supply Connect the power supply to L4 Lz and leave L5 open 11 74 11 OPTIONS AND AUXILIARY EQUIPMENT Servo ampiier Dimensions mm Mounting Terminal Mass Low wit H D Dti screw size screw size kg Ib MR J3 10B 208 1081 MR J3 40B 20
428. 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 C at the ambient temperature of 40 C With a 5 C 41 F safety margin the system should operate within a maximum 55 C 131 F limit The necessary enclosure heat dissipation area can be calculated by Equation 10 1 P K AT PA aE ae E E A E 10 1 where A Heat dissipation area P Loss generated in the control box W AT Difference between internal and ambient temperatures C K Heat dissipation coefficient 5 to 6 When calculating the heat dissipation area with Equation 10 1 assume that P is the sum of all losses generated in the enclosure Refer to Table 10 1 for heat generated by the servo amplifier A indicates the effective area for heat dissipation but if the enclosure is directly installed on an insulated wall that extra amount must be added to the enclosur
429. 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 le lel e e W 3 1197 Connection d conductors gt i Gi ej 97 1 Ha TO Gla ese a wy 27 Ler NEI Rn JL 19 13 32 13 SERVO AMPLIFIERS WI THA LARGE CAPACITY 30k TO SSKVV 13 3 5 Connectors and signal arrangements pin configurations of the connectors as viewed from the cable connector wiring section CN1 Digital I O connector Model 17JE 23090 02 D8A K11 CG D sub 9 pin or 1 Converter unit e el CN6 Leave this open equivalent CN40 Connect to CN40A of the DDK drive unit CNP1 CN1 MTM m CN3 Leave this open o le CNP1 Magnetic contactor wiring connector
430. tion 1 3 for the power supply specification 1 26 1 FUNCTIONS AND CONFIGURATION 6 MR J3 700B 4 RST Note 3 Power supply No fuse breaker NFB or fuse 7 Magnetic contactor MC FR BLF reactor Power factor improving DC Servo amplifier FR BEL H Note 1 Battery MR J3BAT CN3 CN1A Regenerative option Personal computer Junction D terminal block Servo system controller or Front axis servo amplifier CN1B Rear servo amplifier CN1A or Cap U vVIw 5 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 P 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 RST
431. tion data backup Section 12 3 SSCNETII cable connector CN1A Used to connect the servo system controller or the front axis servo amplifier Section 3 2 Section 3 4 SSCNETII cable connector CN1B Used to connect the rear axis servo amplifier For the final axis puts a cap Encoder connector CN2 Section 3 4 Used to connect the servo motor encoder Section 11 1 Battery connector CN4 Used to connect the battery for absolute position data backup DC reactor terminal block TE3 Section 3 4 Used to connect the DC reactor Section 11 1 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Section 3 2 Section 3 4 Section 11 9 Chapter 12 S TAANA TAY N 28 6 _ xe le A Main circuit terminal block TE1 f a Used to connect the input power supply and servo motor Control circuit terminal block TE2 Section 3 1 Fixed part Used to connect the control circuit power supply Section 3 3 4 places 4p Protective earth PE terminal Section 3 1 Ground terminal Section 3 3 Rating plate 1 15 Section 3 1 Section 3 3 1
432. tions 1 Converter unit Voltage frequency 3 phase 200 to 230VAC 50 60Hz 3 phase 380 to 480VAC 50 60Hz Permissible voltage Main circuit power 3 phase 170 to 253VAC 3 phase 323 to 528VAC fluctuation supply EE Permissible frequency TA Within 5 fluctuation Voltage frequency 1 phase 200 to 230VAC 50 60Hz 1 phase 380 to 480VAC 50 60Hz Permissible voltage 1 phase 170 to 253VAC 1 phase 323 to 528VAC Control power fluctuation suppl Permissible frequenc ppa i Agen Within 5 fluctuation Interface power 24VDC 10 supply Note 130mA One MR RB139 1300W One MR RB136 4 1300W Using regenerative option Three MR RB137 3900W Three MR RB138 4 3900W Regenerative overvoltage shutoff overload shutoff electronic thermal protector Protective function f Regenerative alarm protection undervoltage instantaneous power failure protection Force cooling open IP00 to 55 non freezing Ambient 32 to 131 non freezing temperature 20 to 65 non freezing In storage 4 to 149 non freezing Ambient In operation T 90 or less non condensing humidity Indoors no direct sunlight Ambient VP Free from corrosive gas flammable gas oil mist dust and dirt Altitude Max 1000m above sea level 5 9 m s or less 19 4 ft s or less 25 Mass ko 55 1 Note 130mA is the value applicable when all I O signals used The cu
433. to 22K24 HA LP15K1 to 37K1 HA LP22K1M to 37K1M HA LP30K2 37K2 HA LP15K14 to 37K14 X Y 9 8 m s HA LP22K1M4 to 50K1M4 HA LP30K24 to 55K24 Note Except the servo motor with reduction gear N 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 N 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
434. to t nllig uu e e DE RED n RR UR tah lek EORR Le ta 5 6 SET In position range 3 in HE HEP bU Enden pee bv tube 5 7 5 1 8 Selection of servo motor rotation 5 8 nennen 5 8 5 2 Gain filter parameters No PBEI LI sssesseeeeneenennenne 5 10 5 21 ParaMmeleriliSter rt tem ati alie sabeis nai dba sae ra 5 10 5 2 2 Detalll list ci tror Bee eret re e rp eR RR RS 5 11 5 3 Extension setting parameters No PCL1 LI eene nnns 5 18 5 3 1 Parameter list db te dt e et ie d ce ted ct auteur cute 5 18 5 3 2 List of details eet Ue e d e et i 5 19 9 9 3 Analog TnohltOE ete ehe ee Ru RR RR ERR XR Ua He ehe e eee tee eae tte p 5 22 5 3 4 Alarmihistory Clear mno MIRO HB ER s 5 24 5 4 I O setting parameters eroien E E nennen 5 25 SA Parame E terae BE RO 5 25 5 4 2 Listof details ir e gea tta een eee ed 5 26 6 1 Different adjustment 5 40224242 4 0 0 enne enint 6 1 6 1 1 Adjustment a single servo 6 1 6 1 2 Adjustment using MR 6 2 G2 PAULO TUNING fs
435. tor s leakage current example Igm Table 11 5 Servo amplifier s leakage current example 1 Servo amplifier capacity Leakage current kW mA 0 1 to 0 6 0 75 to 3 5 Note Servo motor power Leakage current kW mA 0 05 to 1 p38 fg 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 S Rated sensitivity current of leakage Servo amplifier Mio circuit breaker mA MR J3 10B to MR J3 350B MR J3 10B1 to MR J3 40B1 15 MR J3 60B4 to MR J3 350B4 2 Selection example Indicated below is an example of selecting a leakage current breaker under the following conditions 2mm x5m 2mm x5m NV mm 9 amplifier Servo motor 1 MR J3 40B HF KP43 191 Iga 92 Use leakage current breaker generally available Find the terms of Equation 11 1 from the diagram Sibi 91 20 5 0 1 mA lg2 2 20 0 4 mA 1000 Ign 0 not used 0 1 mA Igm 0 1 mA Insert these values in Equation 11 1 lg gt 10 0 1 0 0 1 1 0 1 0 1 24 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 10 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
436. torless operation in controller 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 torque aS 222 721 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
437. trol dn Electro circuit 24 1 magnetic power i brake supply Hu EN Base Voltage Overcurrent Current amplifier detection protection detection 1 ku ay eut f Position Virtual command encoder input Model position Model speed control control Actual position control Actual speed control Virtual motor Current control I F Control Controller or servo amplifier Optional battery for absolute position 1 detection system Personal computer Analog monitor 2 channels Digital 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 open There is no Ls 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 r a um Servo amplifier Py 2 UB oll c N E S ee ee ee Servo motor Diode C stack Relay ETE 25 me Te Power 9 Current supply detector CHARGE O Reg
438. tted through the air The following techniques are required 1 Provide maximum clearance between easily affected devices and the servo amplifier 1 2 3 2 Provide maximum clearance between easily affected signal cables and the cables of the servo amplifier 3 Avoid laying the power lines Input cables of the servo amplifier and signal cables side by side or bundling them together 4 Insert a line noise filter to the I O cables or a radio noise filter on the input line 5 Use shielded wires for signal and power cables or put cables in separate metal conduits When the power lines and the signal cables are laid side by side or bundled together magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur The following techniques are required 1 Provide maximum clearance between easily affected devices and the servo amplifier 4 5 6 2 Provide maximum clearance between easily affected signal cables and the cables of the servo amplifier 3 Avoid laying the power lines I O cables of the servo amplifier and signal cables side by side or bundling them together 4 Use shielded wires for signal and power cables or put the cables in separate metal conduits When the power supply of peripheral devices is connected to the power supply of the servo amplifier System noises produced by the servo amplifier may be transmitted back through the power supply 7 cabl
439. uipment 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 Life guideline Smoothing capacitor Servo amplifier stop times 100 000 times 1 Smoothing capacitor Affected by ripple currents etc and deteriorates in characteristic The life of the capacitor greatly depends on ambient temperature and operating conditions The capacitor will reach the end of its life in 10 years 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
440. ule It can also be carried out by us or our service company upon your request and the actual cost will be charged However it will not be charged if we are responsible for the cause of the failure 2 This limited warranty applies only when the condition method environment etc of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product 3 Even during the term of warranty the repair cost will be charged on you in the following cases i a failure caused by your improper storing or handling carelessness or negligence etc and a failure caused by your hardware or software problem ii a failure caused by any alteration etc to the Product made on your side without our approval iii a failure which may be regarded as avoidable if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry iv a failure which may be regarded as avoidable if consumable parts designated in the instruction manual etc are duly maintained and replaced v replacement of consumable parts battery fan smoothing capacitor etc vi a failure caused by external factors such as inevitable accidents including without limitation fire and abnormal fluctuation o
441. une 411026 Maharashtra State India MITSUBISHI ELECTRIC AUSTRALIA PTY LTD 348 Victoria Road P O Box 11 Rydalmere N S W 2116 Australia Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax 1 847 478 2100 1 847 478 2253 52 55 9171 7600 52 55 9171 7649 55 11 4689 3000 55 11 4689 3016 49 2102 486 0 49 2102 486 1120 44 1707 28 8780 44 1707 27 8695 39 039 60531 39 039 6053 312 34 935 65 3131 34 935 89 1579 33 1 55 68 55 68 33 1 55 68 57 57 420 251 551 470 420 251 551 471 48 12 630 47 00 48 12 630 47 01 7 812 633 3497 7 812 633 3499 90 216 526 3990 90 216 526 3995 27 11 658 8100 27 11 658 8101 86 21 2322 3030 86 21 2322 3000 886 2 2299 2499 886 2 2299 2509 82 2 3660 9510 82 2 3664 8372 8335 65 647 3 2308 65 6476 7439 66 2682 6522 to 6531 66 2682 6020 62 21 3192 6461 62 21 3192 3942 84 8 3910 5945 84 8 3910 5947 91 20 27 10 2000 91 20 2710 2100 61 2 9684 7777 61 2 9684 7245 MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and or other countries Microsoft Win
442. upply 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 1 1 Main circuit ON Control circuit power OFF 1 Base circuit ON OFF N c y 1 95ms 10ms 1 95 Servo on f from controller OFF 3 Forced stop Install an forced stop circuit externally to ensure that operation can be stopped and N CAUTION mugs 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 EMI is turned off at a forced stop When EMI 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 ru
443. urer adjustment Though the shape is similar to RS 422 communication connector CN3 do not connect anything including a personal computer and MR PRUOS parameter unit L L terminal 2 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 Section 13 3 3 TE1 2 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 Section 13 9 10 connect anything other than the brake unit Rating plate Section 13 1 4 13 10 13 SERVO AMPLIFIERS WITH A LARGE CAPACITY 30k 55kW 2 Drive unit MR J3 DU30KB4 MR J3 DU37KB4 The servo amplifier is shown with the front cover opened For removal of the front cover refer to section 13 1 7 vn Detailed Name Application Display The 3 digit seven segment LED shows the servo Chapter 4 status and alarm number Rotary axis setting switch SW1
444. using the contents noted in this manual 2005 MITSUBISHI ELECTRIC CORPORATION Country Region USA Mexico Brazil Germany UK Italy Spain France Czech Republic Poland Russia Turkey South Africa China Taiwan Korea Singapore Thailand Indonesia Vietnam India Australia Sales office MITSUBISHI ELECTRIC AUTOMATION INC 500 Corporate Woods Parkway Vernon Hills IL 60061 U S A MITSUBISHI ELECTRIC AUTOMATION INC Mexico Branch Mariano Escobedo 69 Col Zona Industrial Tlalnepantla Edo C P 54030 M xico MITSUBISHI ELECTRIC DO BRASIL COM RCIO E SERVICOS LTDA Rua Jussara 1750 Bloco B Anexo Jardim Santa Cecilia CEP 06465 070 Barueri SP Brasil MITSUBISHI ELECTRIC EUROPE B V German Branch Gothaer Strasse 8 D 40880 Ratingen Germany MITSUBISHI ELECTRIC EUROPE B V UK Branch Travellers Lane Hatfield Hertfordshire AL10 8XB U K MITSUBISHI ELECTRIC EUROPE B V Italian Branch Centro Direzionale Colleoni Palazzo Sirio Viale Colleoni 7 20864 Agrate Brianza Milano Italy MITSUBISHI ELECTRIC EUROPE B V Spanish Branch Carretera de Rub 76 80 Apdo 420 08173 Sant Cugat del Vall s Barcelona Spain MITSUBISHI ELECTRIC EUROPE B V French Branch 25 Boulevard des Bouvets F 92741 Nanterre Cedex France MITSUBISHI ELECTRIC EUROPE B V Czech Branch Avenir Business Park Radlicka 751 113e 158 00 5 Czech Republic MITSUBISHI ELECTRIC EUROPE B V
445. value overshoot 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 32 Overcurrent Current that flew is 1 Short occurred in servo motor power Correct the wiring permissible current of IPM IGBT of the servo the servo amplifier the servo amplifier amplifier faulty If the alarm 32 Checking method 1 occurs again when Alarm 32 occurs if power is turning ON the servo switched on after U V and W are after resetting the disconnected alarm by turning OFF ON the power 3 Ground fault occurred in servo when the alarm 32 motor power U V W first occurred the 4 External noise caused the Take noise suppression measures transistor IPM overcurrent detection circuit to IGBT of the servo misoperate 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 8 TROUBLESHOOTING Dept Overvoltage The following shows 1 Regenerative option is not used Use the regenerative option the input value of 2 Though the regenerative option is Set correctly converter bus used the parameter 02 voltage setting is 00 not used MR J3 L1B 1 3 Lead of built in regenerative resistor 1 Change the lead 400VDC or more or regenerative option
446. ve 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 CHEMI CON are recommended For detailed specification and usage of the varistors refer to the manufacturer catalog Maximum rating Static n Varistor voltage Power um Maximum limit capacity Permissible circuit Surge current Energy rating range supply Varistor voltage voltage voltage immunity immunity Bow sew m WW M n M 200V class TND20V 471K 7000 2 time 1200 470 423 to 517 7500 1 time 400V class TND20V 102K 625 825 400 1650 500 1000 900 to 1100 6500 2 time Unit mm 100V class TND20V 431K ELS 10000 1 time 1300 430 387 to 473 100 Note For special purpose items for lead length L contact the manufacturer 11 82 11 OPTIONS AND AUXILIARY EQUIPMENT 11 18 Leakage current breaker 1 Selection method 191 192 Ign Iga Igm 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
447. ve unit Servo motor 4 Power factor improving DC dissipation improving DC Atrated torque At zero torque 2 reactor is not reactor is used HA LP30K1 MR J3 DUSOKB HA LP30K1M 1550 1100 450 HA LP30K2 MR J3 CR55K HA LP37K1 MR J3 DU37KB HA LP37K1M 1830 1280 550 HA LP37K2 HA LP25K14 1080 850 230 MR J3 HA LP30K14 DU30KB4 HA LP30K1M4 1290 1010 280 60 30 30 25 HA LP30K24 n HA LP37K14 J3 HA LP37K1M4 1542 1200 342 MR J3 CR55K4 ay HA LP37K24 MR J3 HA LP45K1M4 71 59 1810 1370 440 DU45KB4 HA LP45K24 MR J3 HALPSOKIM4 80 467 2120 1650 470 DUS5KB4 HA LP55K24 2150 1650 500 Note The heat generated by the drive unit is indicated in the term within the parentheses and the heat generated by the converter unit in the right term 0 6 6 8 8 2 13 68 13 SERVO AMPLIFIERS WITHLA LARGE CAPACITY 30k TO SSKVV 13 8 3 Dynamic brake characteristics 1 Dynamic brake operation a Calculation of coasting distance Vo Jm JL 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 ON Forced stop EM1 OFF Time constant Machine speed up Maximum coasting di
448. vo 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 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 SSCNETII cable laying SSCNETII 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 OM MR J3BUS OI 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
449. 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 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 4 12 3 12 ABSOLUTE POSITION DETECTION SYSTEM 2 For MR J3 500B or more MR J3 350B4 or more 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 pct name Axis OOStation MR J Diagnastics motor rotation System information display Tuning data Absolute encoder data System composition listing Axis name setting Amplifier diagnostic 2 By choosing Absolute Encoder Data in the sub menu the absolute encoder data display window appears 5 Absolute encoder data 3 Press the Clo
450. x106 Long flex life motor power cable Long flex life motor brake cable SSCNETII cable using long distance cable 1x106 b Standard encoder cable Standard motor power cable 5x105 Standard motor brake cable SSCNETII cable using inside panel standard cord SSCNETII cable using outside panel standard cable Q 1x105 n 5x10 o iL 4 1 10 5x10 1x10 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 Main circuit power supply L4 L2 L3 Control circuit power supply L141 L21 20 to 30A Attenuated to approx in 1 to 2ms MR J3 500B 44A Attenuated to approx 20A in 20ms MR J3 700B 88A Attenuated to approx 20A in 20ms MR J3 11KB 30A Attenuated to approx OA in 3ms MR J3 15KB 235A Attenuated to approx 20A in 20ms MR J3 22KB MR J3 60B4 100B4 100A Attenuated to approx 5A in 10ms 40 to 50A MR J3 200B4 120A Attenuated to approx 12A in 20ms Attenuated to approx 0A in 2ms MR J3 350B4 500B4 66A Attenuated to approx 10A in 20ms MR J3 700B4 67A Attenuated to approx 34A in 20ms Attenuated ORDER SERRA MR J3 11KB4 MR J3 15KB4 325A Attenuated to approx 20A in 20ms 45A Attenuate
451. xample grounding is indicated by 6 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 1 To prevent electric shock note the following N 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
452. y is 4 6Mpps after multiplication by 4 Use this parameter within this range 5 5 1 For output pulse designation Set L1L10 L1 initial value in parameter 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 2 For output division ratio setting Set 0010 in parameter The number of pulses per servo motor revolution is divided by the set value Resolution per servo motor revolution Set value Output pulse pulses rev For instance set 8 to Parameter No PA15 the actually output A B phase pulses are as indicated below B phase output pulses 202144 1 8192 pulse 5 PARAMETERS 5 2 Gain filter parameters Parameter whose symbol is preceded by is made valid with the following conditions Set the parameter value switch power off once after setting and then switch it on again or perform the controller reset 5 2 1 Parameter list Symbol Initial value PBO1 FILT Adaptive tuning mode Adaptive filter IT 0000h Vibration suppression control tuning mode PB02 VRFT SM 0000h advanced vibration suppression control For manufacturer setting 04 Feed forward gain 05 lcm For manufacturer setting 500

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