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MR-J2-A - Specifications And Installation Guide IB(NA

1. Unit in 94 Caution plate 35 L a 1 57 5 3 9 z English 1 85 63 D ids r 98 920 F A pA LO E I rh D LA D r Oil seal sip P S17308B TY r I 1 26 Top Bottom 01 10 TUV pl ui TF Motorplate l 079 Z T Pier T 1 732 Encoder connector L KL MS3102A20 29P m Power supply connector CE05 2A14S 2PD B D17 Brake connector MS3102E10SL 4P amp e a 20 63 M Section AA threads depth 0 79 Note 1 For the pin outs of the power supply and encoder connectors refer to 3 Section 3 2 3 2 For horizontal installation it is recommended to face the power supply and encoder connectors down Variable Dimensions Inertia Moment WK ozin Braking Force oz in L KL HA FF43CB UE 8 11 5 12 7 24 HA FF63CB UE 8 47 10 93 10 SPECIFICATIONS 5 HC SF series 1 Standard without electromagnetic brake without reduction gear Variable Inertia Moment Model Dimensions in REP WK oz in L KL HC SF52 cce 4 7 I 36 22 HC SF102 74 90 HC SF81 HC SF152 HC SF153
2. W J X10 kg m kg Note 1 For the pin outs of the power supply and encoder connectors refer to 3 Section 3 2 3 2 For horizontal installation it is recommended to face the power supply and encoder connectors down HA FF053C UE HA FF13C UE Unit mm le 137 MERE UNE 54 k 46 12 2 5 25 4 94 5 gt 1 ERE Bottom E S e i 2 E B Caution plate 7 English Top Q Oil seal Bottom 10207B x 41 32 I Motor plate TUV plate 3 1 Wc 20 66 5 Y ioe Power supply connector Lion CE05 2A148 2PD B D17 MS3102A20 29P Note 1 For the pin outs of the power supply and encoder connectors refer to 3 Section 3 2 3 2 For horizontal installation it is recommended to face the power supply and encoder connectors dowr Output Inertia Moment Weight W J X10 kgem kg HA FF13C UE 10 48 10 SPECIFICATIONS
3. HA FF23C UE HA FF33C UE Unit mm la L 2 30 76 ARMES 25 ML TTT 16 4 1 LA E Bottom LL ede a au Caution plate Top LA English Bottom Oil seal fq ik S15307B T V plate Top a 7 132 Bottom i 20 1 La KL 2 5 _ Encoder connector MS3102A20 29P Power supply connector Th CE05 2A148 2PD B D17 4 dte M4 x 0 7 threads depth 15 Section AA Note 1 For the pin outs of the power supply and encoder connectors 7 7 refer to 3 Section 3 2 3 Variable Dimensions Inertia Moment 2 For horizontal installation it is recommended to face the power 4 2 supply and encoder connectors down L KL J X 107 kg m HA FF23C UE 0 35 HA FF33C UE 0 50 HA FF43C UE HA FF63C UE Unit mm 100 Caution plate je L Ka ss F I gt English 47 1643 o 35 4 09 RED mo i Aa d cas s By ML E ML ME m icem
4. Conduit Connector UPlug Servo Motor Plug Conduit Connector Conduit Side Connector Daiichi Denshi Kogyo Servo Motor Type Maker Size Model 1 2 RCC 104RL MS20F VF 04 3 4 RCC 106RL MS20F VF 06 16 MSA 16 20 FCV16 22 MSA 22 20 FCV22 RCC 304RL MS20F VF 04 RCC 306RL MS20F VF 06 MAA 16 20 FCV16 MAA 22 20 FCV22 Nippon Flex Straight Daiwa Dengyo MS3102A20 29P MS3106A20 29S D190 Nippon Flex Daiwa Dengyo For brake connection Conduit Plug Conduit Connector Conduit Servo Motor Plug Conduit Connector Conduit Side Connector Daiichi Denshi Kogyo Type Maker Size Modell ID Conduit Connector UPlug Servo Motor Nippon Flex 1 4 ROC 102RL MS10F VF 02 8 3 Daiwa Dengyo 10 MSA 10 10 FCV10 Nippon Flex 1 4 ROC 302RL MS10F VF 02 8 3 Daiwa Dengyo 10 MAA 10 10 FCV10 Straight MS3102A10SL 4P MS3106A10SL 4S D190 Angle 3 WIRING 2 EN Standard UL C UL Standard compliant a When using cabtyre cables For power supply connection Plug Cable Cable Connector Cable Plug Cable Connector Servo Motor Plug Cable connector Side Connector Daiichi Denshi Kogyo Type Cable OD Model Servo Motor 4to8 ACS 08RL MSI4F 8to12 ACS 12RL MS14F 4to8 A
5. 4 99 mounting hole Use hexagon socket head cap screw Moter plate 111 Encoder connector MS3102A20 29P 1 l H Power supply connector CE05 2A22 23P Power supply connector layout CE05 2A22 23P Z695005 10 53 10 SPECIFICATIONS Variable i Braking Force Inertia Moment Dimensions N m JOX10 k L KL i HC SF121B HC SF202B HC SF203B HC SF201B HC SF352B HC SF353B i Unit mm Opposite side 39 5 18 3 DN Moter plate 450 r4 8 Bottom EM od zu EET ee ee SS J 9 lt S Z 5 Oil seal 40608B Motor flange direction 4 013 5 mounting hole Use hexagon socket head cap screw Encoder connector MS3102A20 29P Power supply connector Brake connector CE05 2A24 10P MS3102A10SL 4P Brake connector layout Power supply connector layout MS3102A10SL 4P CE05 2A24 10P 26953190 Braking Force Inertia Moment Model 4 2 J X10 Unit mm HC SF301B 111 4 013 5 mounting hole Use hexagon socket head cap screw 79 256 Moter plate Opposite side fBottomi Pop i Top j 0114 3 9025
6. 5 Rated speed 3000 r min 6 Rated output Rated Output W 50 100 200 400 750 4 Electromagnetic brake Electromagnetic Brake Without With 1 INTRODUCTION b HA FF series low inertia small capacity Series name Appearance 1 Compliance with Standard Specifications Standard model Japan EN UL C UL Standard 3 Reduction gear Shaft Shape HA FF 2 Shaft type Note Standard 053 to 73 D cut shaft 053 13 For general Note The Standard shafts of the HA FF23 to Reduction Gear Without 63 are with keys and those of the other in rial machin i dustna machine models are straight shafts For precision application 4 Electromagnetic brake Electromagnetic Brake Without With 5 Input power supply form EN UL C UL Standard compliant model Standard model Lead Cannon connector 6 Rated speed 3000 r min 7 Rated output Rated Output W Rated Output W 50 300 100 400 200 600 1 INTRODUCTION c HC SF series middle inertia middle capacity HC SF Appearance Series name 1 Shaft type Shaft shape Standard Straight shaft With keyway Note Without key
7. 5 177 i Motor flange direction U Encoder connector Brake connector Motor flange direction 1 811 MS3102A20 29P MS3102A10SL 4P Power supply Brake Earth connector CE05 2A24 10P Brake connector layout Power supply connector layout MS3102A10SL 4P CE05 2A24 10P BC10823 10 96 10 SPECIFICATIONS 6 HC RF series 1 Standard without electromagnetic brake without reduction gear Unit in 4 90 35 mounting hole Use hexagon Socket head cap screw Power supply connector CE05 2A22 23P Encoder connector MS3102A20 29P T Power supply connector layout CE05 2A22 23P Variable Inertia Moment 3 21 Model Model Dimensions in WK oz in HC RF103 8 20 HC RF153 10 39 HC RF203 2 Without electromagnetic brake Encoder connector MS3102A20 29P Variable Dimensions in 1 77 Oil seal 12 58 Power supply connector layout CE05 2A22 23P Barking Force L KL oz in Inertia Moment WK oz in 3 94 Unit in 4 00 35 mounting hole Use hexagon Socket head cap screw HC RF103B 7 28 2 80 991 10 12 HC RF153B 8 27 3 78 991 12 30 HC RF203B 9 25 4 76 10 97 991 14 49 10 SPECIFICATIONS 7 HC UF series 1 Standard without electromagne
8. Unit mm For reverse rotation command Rotation direction a For forward rotation command Motor plate Opposite side Li DU LI M6 threads depth 12 Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Brake lead 2 0 3 0 3m With end insulated round Red Phase U crimping terminal 1 25 4 White Phase V BC12073 Encoder cable 0 3m Black Phase W BC1 20793 With connector 1 172169 9 Green yellow Earth AMP make Variable Model Dimensions L KL HC MF43BG1 210 125 6 K9005 1 5 19 96 0 344 HC MF43BG1 230 145 6 K9012 1 12 25 288 0 388 Reduction Reduction Ratio Inertia Moment Gear Model Actual Reduction Ratio J X10 kg m Unit mm For reverse rotation command Rotation direction For forward rotation command m 4 09 Motor plate Opposite side Caution plate i olt sc 777 supply lead 4 AWG19 0 3m Brake lead 2 0 3 0 3m Wihend asd d With end insulated round crimping terminal 1 25 4 With end insulated roun Red Phase U BC12074 gt crimping terminal 1 25 4 White Phase V B Encoder cable 0 3m BC12094 With connector 1 172169 9 Beek m AMP make reen yellow 10 26 Model 10 SPECIFICATIONS Brake Force Nem Reduction Gear Model Reduction Radio Normal Reduction ratio
9. z 24VDC B2 2 Setting procedure 1 Set O11 in parameter No 1 to make the electromagnetic brake interlock signal MBR valid 2 Using parameter No 33 electromagnetic brake sequence output set a time delay from electromagnetic brake operation to base circuit shut off as in the timing chart shown in 3 in this section 3 60 3 WIRING 3 Timing charts a Servo on signal SON ON OFF Tb ms after the servo on SON signal is switched off the servo lock is released and the servo motor coasts If the electromagnetic brake is made valid in the servo lock status the brake life may be shorter Therefore when using the electromagnetic brake in a vertical lift application or the like set Tb to about the same as the electromagnetic brake operation delay time to prevent a drop Servo motor speed 0 r min 2 ON Base circuit OFF Electromagnetic Invalid ON Electromagnetic brake brake interlock MBR Valid OFF operation delay time ON OFF Servo on SON b Emergency stop signal EMG ON OFF Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake Electromagnetic brake release Servo motor speed R 180ms ON Base circuit SEE 180ms Electromagnetic Invalid ON Electromagnetic brake brake interlock MBR Valid OFF operation delay time Invalid ON Valid OFF E
10. 8 6 8 2 1 Alarm and warning list nennen enn 8 6 8 2 2 Alarms ee De v A oup ee ode Pur eR 8 7 8 2 3 Warmin S eet cutie eat oce cto aestu c Ee de cu e saecu tun 8 13 CHAPTER9 CHARACTERISTICS 1 4 ua a aa dre Enn ieie 9 1 9 12 9 1 Overload protection characteristics n a n 9 2 9 2 Losses generated in the servo amplifier L 9 4 9 3 Electromagnetic brake characteristics u enne 9 6 9 4 Dynamic brake characteristics U eene nennen enne nen 9 10 9 5 Vibration rank iiU eet UE awu ai nee eel LY de epe at 9 12 CHAPTER 10 SPECIFICATIONS U u u u u u u 10 1 10 110 10 1 Standard specifications eene enne nnns entren trennen nnn nens 10 2 10 2 Torque Characteristics awa aa 10 6 10 3 Servo motors with reduction gears a 10 10 10 4 Servo motors with special shafts enne 10 14 10 5 Outline dimension drawings n a nensis 10 16 10 5 1 Servo amplifiers er Lec tere estere Le en T bt edere eoe S Ee dare 10 16 1 0 5 2 Servo MOO lS wit Su a eter eco E epe sa E e eed ated eee Bu a ua 10 19 10 5 3 Servo motors in inches a a
11. 0079 8 81N J 1 73 Power supply connector N Brake connector lt Encoder connector CE05 2A14S 2PD BID17 MS3102E10SL 4P MS3102A20 29P Note 1 For the pin outs of the power supply and encoder connectors Braking refer to 3 Section 3 2 3 Output Inertia Moment Force 2 For horizontal installation it is recommended to face the power W WK oz in ozin ozin supply and encoder connectors down HA FF053CB UE 50 HA FF13CB UE Unit in 6 77 1 18 1 85 0 43 011 Caution plate 0 98 4 90 18 S10207B x 1 61 11 26 qu a T V plate Top i Motrplae FL 1 I ia F 079 K 398 X i 1 73 Power supply connector Brake connector i Encoder connector CE05 2A14S 2PD B D17 MS3102bE10SL 4P MS3102A20 29P Note 1 For the pin outs of the power supply and encoder connectors refer to 3 Section 3 2 3 2 For horizontal installation it is recommended to face the power supply and encoder connectors down Braking 2 Force oz in Output Inertia Moment
12. Operation Across Across 1 LSP SG LSN sa CCW CW direction direction Forward Short Short O O rotation Reverse rotation stroke end Open Short O Short Open O Aers rotation Open Open CW Set parameter No 41 as indicated below to switch on the signals keep terminals connected automatically in the servo amplifier Parameter No 41 Automatic ON 1 LSP LSN Note 1 Refer to Section 3 1 4 2 P Position control mode S Speed control mode T Torque control mode 3 9 3 WIRING s Connec He yo Signal Symbol ior pin Functions Applications Division No Note 1 Torque limit CN1B Connect TL SG to limit torque according to the voltage DI 1 level max torque 8V of analog torque limit TLA Across TL SG Torque Limit Open Internal torque limit 1 parameter No 28 Valid torque Torque limit relationship limit Analog torque limit Analog torque lt internal torque limit 1 limit Analog torque limit Internal torque gt internal torque limit 1 limit 1 Forward rotation CN1B Used to start the servo motor in any of the following directions start Servo Motor Starting Direction Stop servo lock CCW CW Reverse rotation start Stop servo lock If both ST1 and ST2 are switched on or off during op
13. PE terminals Terminal screw M4 x 0 7 Tightening torque 1 24 N m 175 6 oz in 10 17 Unit mm 190 7 48 Unitin Terminal layout Terminal cover open io 00000 LA ni 6 0 24 FRONT MSTB2 5 6 ST 5 08 Phoenix Contact make 10 SPECIFICATIONS 3 MR J2 200A MR J2 350A 26 00 24 mounting hole 70 2 76 195 7 68 Unit mm Unit in Terminal layout TE2 5 12 M4 screw PERRERA 1 FERRER Servo Amplifier Model MR J2 200A MR J2 350A Weight kg Ib 2 0 4 41 TE1 L1 L2 L3 U V W Terminal screw M4 x 0 7 Tightening torque 1 24 N m 175 6 oz in TE2 L11 L21 D P C N Terminal screw M4 x 0 7 Tightening torque 1 24 N m 175 6 oz in 10 18 Aoc eS 3 M4 screw PE terminal PE terminals Terminal screw M4 x 0 7 Tightening torque 1 24 N m 175 6 oz in 10 SPECIFICATIONS 10 5 2 Servo motors 1 HC MF series 1 Standard Without electromagnetic brake without reduction gear Variable Model Dimensions L KL HC MF053 81 5 29 5 0 019 HC MF13 96 5 44 5 0 03 Inertia Moment J X10 kg m Unit mm 042 Moter plate Opposite side Power supply lead 4 AWG19
14. Trouble 1 Alarm reset als i Emergency stop l I Servo ON m Upper limit Lower limit a Operating Status A1SY40 Servo ON ABS transfer mode ABS request Alarm reset Electromagnetic brake output Note 4 Ge Servo alarm F e ABS communication error hom ABS checksum error Note 2 COM2 1 J va Note 1 UA UWA Ba ki A1SD75 P Proximity signal TTT Positioning completion For notes refer to page 5 6 5 ABSOLUTE POSITION DETECTION SYSTEM Note 1 2 For dog type home position return Do not connect when homeposition return is of the data set type If the servo motor provided with the zero point signal is started the 15075 AD75 will output the deviation counter clear signal Therefore do not connect the clear signal of the MR J2 A to the A1SD75 AD75 but connect it to the output module of the programmable contoroller This circuit is for your reference The electromagnetic brake output should be controlled via a relayconnected to the programmable controller output Use the differential line driver system for pulse input Do not use the open collector system To reinforce noise suppression connect LG and pulse output COM CHAPTER 6 OPTIONS AND AUXILIARY EQUIPMENT This chapter offers how to use various options and auxiliary equipment 6 1 Dedicated op
15. 2 Display definition CN1B ps zs p CNIB CNIBCNIB CN1B CN1B 9 5 17 Ed 16 14 E w j BRE 1 Lit ON nput signals Extinguished OFF Output signals EN e h L k J fh ZN p CNB 14 4 6 19 18 19 The 7 segment LED shown above indicates ON OFF EB Each segment at top indicates the input signal and each segment at bottom indi cates the output signal The signals corresponding to the pins in the respective con trol modes are indicated below 2 OPERATION Connector a Control modes and I O signals Signal Note 2 Symbols of I O Signals in Control Modes Input Output Note 1 I O P S S S T T T P 8 CR SP1 Note 3 SP1 Note 3JSP1 SP1 CR 14 OP OP OP OP OP Note 6 8 18 INP SA SA x Note 8 19 RD RD RD RD Note Note 9 4 DO1 DO1 DO1 Note 7 5 SON SON SON TLC TLC TLC VLC VLC VLC TLC Note 7 7 LOP SP2 LOP SP2 LOP Note 6 6 Note 7 8 Note 7 9 PC ST1 Note 4 ST1 ST1 RS2 Note 4 JRS2 RS2 PC TL ST2 Note 5 ST2 ST2 RS1 Note 5 RS1 RS1 TL Note 7 14 RES RES RES RES RES 15 EMG EMG EMG EMG EMG 16 LSP LSP LSP x x LSP 17 LSN LSN LSN x x LSN Note 6 18 ALM ALM ALM ALM Note 6 8 19 ZSP ZSP ZSP ZSP 1 I Input signal O Output signal 2 P Position control mo
16. 4 00 35 mounting hole 05 12 Use hexagon socket head cap screw Oil seal 30457B MS3102A20 29P CE05 2A22 23P Pomer ep connictet layout 7694854 Variable i i Inertia Moment Dimensions in 2 2 WK oz in L KL HC SF121 HC SF202 HC SF203 HC SF201 HC SF352 HC SF353 Unit in L 341 16 93 Bottom eme ree spe 3 40608B Motor flange direction Encoder connector 1 MS3102420 29P KL 4 00 53 mounting hole Use hexagon socket head cap screw Power supply connector E Power supply connector layout GEOS CE05 2A24 10P Z695393A 10 94 10 SPECIFICATIONS Output Inertia Moment kW WK oz in 8 189 Moter plate Opposite side 0 71 3 11 Encoder connector MS3102A20 29P Power supply connector CE05 2A2 10P 40608B Oil seal Power supply connector layout CE05 2A24 10P 2 With electromagnetic brake Variable I I Braking Force Dimensions in oz in Model L KL Inertia Moment WK oz in Unit in 06 93 4 00 53 mounting hole Use hexagon socket head cap screw BC10628 HC SF52B 1204 45 52 HC SF53B HC SF102B HC SF103B HC SF81B HC SF152B HC SF153B 1204 84 20 Unit
17. Unit in For reverse rotation command Rotation direction For forward rotation command Motor plate Opposite side Power supply lead 4 AWG19 11 8in P threads With end insulated round crimping terminal 1 25 4 depth R Red Phase U White Phase V Encoder cable 11 8in Black Phase W With connector 1 172169 9 AMP make Green yellow Earth BC12080 10 74 10 SPECIFICATIONS b With electromagnetic brake Variable Dimensions in L KL Braking Force ozem Reduction Gear Model Inertia Moment WK oz in Reduction Ratio Backlash 6 22 3 07 45 BK1 05B ASMEKA 1 5 0 38 3 min 6 85 3 70 45 BK1 09B ASMEKA 1 9 0 34 3 min 6 85 3 70 45 BK1 20B A5MEKA 1 20 0 39 3 min 6 85 3 70 2 0 3 11 8in Encoder cable 11 8in Blue B1 B2 AMP make Brake lead 45 Motor plate Opposite side BK1 29B ABMEKA Power supply lead 4 AWG19 11 8in 1 20 0 33 3 min Unit in For reverse rotation command Rotation direction For forward rotation command sL 02 756 4 00 260 With end insulated round 9 crimping terminal 1 25 4 With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth 10 75 BC12081 BC12100 10 SPECIFICATIONS Model Braking Force oz in Reduction
18. Conduit OPlug Conduit Connector Conduit u Conduit Connector Plug Servo Motor Plug Conduit Connector Conduit Side Connector Daiichi Denshi Kogyo Type Maker Size Model Modell ID Nippon Flex 1 4 RCC 102RL MS10F VF 02 8 3 Servo Motor Straight HC SF202 B to 702 B Daiwa Dengyo 10 MSA 10 10 FCV10 MS3102A10SL 4P MS3106A10SL 4S D190 HC UF202 B to 502 B Nippon Flex 1 4 RCC 302RL MS10F VF 02 8 3 Angle Daiwa Dengyo 10 MAA 10 10 FCV10 3 50 3 WIRING 2 Waterproof IP65 EN Standard UL C UL Standard compliant a When using cable type cables For power supply connection Cable Cable DPlug Clamp Cable DPlug Clamp Cable NEN Servo Motor DPlug Daiichi Denshi Kogyo Cable Clamp Daiichi Denshi Kogyo Side Connector Model Cable OD Model Servo Motor HC SFS2 B to 152 B Straight CE05 6A22 235D B BSS 9 5 to 13 CE3057 12A 2 D265 HC RF103 B to 203 B CE05 2422 23PD B HC UF72 B 152 B Angle CE05 8A22 23SD B BAS 12 5 to 16 CE3057 12A 1 D265 HC RF353 B to 503 B CE05 2A24 10PD B HC SF202 B to 502 B Straight CE05 6A24 10SD B BSS 13 to 15 5 CE3057 16A 2 D265 HC UF202 B to 502 8 Angle CEO5 8A24 10SD 8 BAS 15 to 19 1 CE3057 16A 1 D265 Straight CE05 6A32 17SD B BSS 22 to 23 8 CE3057
19. Positioning unit Servo amplifier a Bee Electronic gear parameters No 3 4 Machine counter Servo motor CMX Q P CDV d Machine stop position M 1 b Cumulative command C Servo on SON pulses i stroke end LSP LSN input quo Cumulative feedback pulses When a position shift occurs check a output pulse counter b cumulative command pulse display c cumulative feedback pulse display and d machine stop position in the above diagram A B and C indicate position shift causes For example A indicates that noise entered the wiring between positioning unit and servo amplifier causing pulses to be mis counted In a normal status without position shift there are the following relationships 1 Q P positioning unit s output counter servo amplifier s cumulative command pulses 2 p CMX parameter No 3 CDV parameter No 4 C cumulative command pulses x electronic gear cumulative feedback pulses 3 C Al M cumulative feedback pulses x travel per pulse machine position Check for a position shift in the following sequence 1 When Qz P Noise entered the pulse train signal wiring between positioning unit and servo amplifier causing pulses to be mis counted Cause A Make the following check or take the following measures Check how the shielding is done Change the open collector system to the differential line driver system Run wiring away from the power circ
20. 3 WIRING Signal Functions Applications Division Note 1 Encoder Z phase pulse Open collector Outputs the zero point signal of the encoder One pulse is output per servo motor revolution OP and LG are connected when the zero point position is reached Negative logic Min pulse width is about 800us For zeroing using this pulse set the creep speed to 100r min or less DO 2 Encoder A phase pulse Differential line driver Encoder B phase pulse Differential line driver Outputs pulses per servo motor revolution set in parameter No 27 in the differential line driver system The encoder B phase pulse lags the encoder A phase pulse by a phase angle of 7 2 Encoder Z phase pulse Differential line driver The same signal as OP is output in the differential line driver system Analog Monitor output 1 Data specified for CH1 in parameter No 17 is output to across MO1 LG in analog form Analog output Analog Monitor output 2 Note 1 Refer to Section 3 1 4 Data specified for CH2 in parameter No 17 is output to across MO2 LG in analog form 2 P Position control mode S Speed control mode T Torque control mode 3 16 Analog output 3 WIRING 3 Power supply Control Connec VO Mode Signal Symbol tor Functions Applications Division Note 2 Pin No Note 1 PST I F internal power VDD CN1B U
21. Oil seal S40608B OL Brake Earth Encoder connector Brake connector MS3102A20 29P MS3102A10SL 4P Power supply connector CE05 2A24 10P Brake connectorlayout Power supply connector layout MS3102A10SL 4P CE05 2A24 10P BC10823 10 54 10 SPECIFICATIONS 6 HC RF series 1 Standard without electromagnetic brake without reduction gear Unit mm 4 09 mounting hole 100 Use hexagon socket head cap screw Power supply connector MS3102A20 29P CE05 2A22 23P Power supply connector layout CE05 2A22 23P Variable Model Dimensions Inertia Moment J X10 kg m HC RF103 1 5 HC RF153 1 9 HC RF203 2 3 2 With electromagnetic brake Unit mm 4 9 mounting hole Use hexagon socket head cap screw Motor plate Opposite side 81 5 Encoder connector MS3102A20 29P Power supply connector layout CE05 2A22 23P Variable Model Dimensions L KL HC RF103B 185 71 1 85 HC RF153B 210 96 2 25 HC RF203B 235 2 65 Barking Force Inertia Moment Nem J X10 kg m 10 55 10 SPECIFICATIONS 7 HC UF series 1 Standard without electromagnetic brake Inertia Moment Model 4 2 J X10 kg m HC UF72 10 4 Unit mm 110 5 mem k E Moter plate 3 mel
22. Opposite side 2 M6 screw 9114 3 9025 l Bottom L Top Oil seal 30457B 81 5 Motor flange direction Encoder connector MS3102A20 29P 4 013 5 mounting hole Use hexagon socket head cap screw Power supply connector Power supply connector layout CE05 2A22 23P CE05 2A22 23P 2695911 Inertia Moment Model 4 2 J X10 HC UF152 22 1 Unit mm 0176 120 55 13 3 Moter plate Opposite side 81 5 Encoder connector MS3102A20 29P T Power supply connector CE05 2A22 23P 4 013 5 mounting hole Use hexagon socket head cap screw Earth Power supply connector layout CE05 2A22 23P 2695912 10 56 10 SPECIFICATIONS Variable Output h Inertia Moment kW Dimensions J X1 0 kg m HC UF202 Unit mm 2 M8 screw 0200 0 025 Bottom Bottom _ Oil seal 40608B Motor flange direction Encoder connector MS3102A20 29P 4 013 5 mounting hole Use hexagon socket head cap screw ae 16 Power supply connector Power supply connector layout CE05 2A24 10P CE06 2A24 TOF 2695914 Inertia Moment Weight Model 4 2 J X10 kg m kg HC UF13 T 0 8 Unit mm TUV plate Motor plate Motor plate
23. N For forward rotation command 4 90 354 L 2 913 0 3 543 Motor plate Opposite side fete ee Power supply lead 4 AWG19 11 8in Brake lead 2 0 3 11 8in With end insulated round crimping terminal 1 25 4 With ene insulated round Red Phase U BC12074 crimping terminal 1 25 4 Q White Phase V BC1 2094 Black Phase W Green yellow Earth Encoder cable 11 8in With connector 1 172169 9 AMP make 10 68 10 SPECIFICATIONS Brake Force Reduction Reduction Radio Inertia Moment oz in Gear Model WK oz in Normal Reduction ratio Actual Reduction ratio HC MF43BG1 184 K10020 1 20 253 5000 3 83 60min max HC MF73BG1 340 K10005 1 5 1 5 6 26 60min max HC MF73BG1 340 K10012 1 12 525 6048 9 90 60min max HC MF73BG1 K12020 1 20 625 12544 10 25 60min max Model Backlash Variable Dimensions in Reduction Ratio Model LC LF LGLMILNLP HC MF43BG1 5 20 0 39 0 512 0 63 1 20 HC MF73BG1 5 20 0 39 0 512 0 63 i 1 5 HC MF73BG1 5 20 0 39 0 512 0 63 1 12 HC MF73BG1 6 38 0 3910 512 0 787 1 20 Unit in 5 For reverse rotation command Rotation direction For forward rotation command oD L LR 4012 OLD Motor plate Opposite side P threads Power supply lead 4 AWG19 11 8in With end insulated ro
24. Z umm Ys a Z VN SAA ON1A pin 18 is switched off e Press SET for more than 2 seconds a VN LL VN 2 24 2 OPERATION 3 Test operation mode 1 The test operation mode is designed to confirm servo operation and not to confirm machine operation In this mode do not use the servo NCAUTION motor with the machine Always use the servo motor alone 2 f any operational fault has occurred stop operation using the emer gency stop EMG signal This mode cannot be used for the absolute position detection system MEMORANDUM Set parameter No 1 to select the incremental positioning system 1 Jog feed Jog feed can be performed without pulse train input from acommand unit or the like a Mode change Call the display screen shown after power on L J b Press MODE once m meme Ka J e Press UP three times d e Press SET for more than 2 seconds eWhen this screen appears jog feed can be performed EB w Flickers in the test operation mode Nu b Starting method Perform the following operation to rotate the servo motor at 200r min At this time the acceleration deceleration time constant is 1s Whenperforming jog feed connect EMG SG and VDD COM when internal power supply is used Rotation Direction Operation CCW To
25. 4 to 149 non freezing 5 to 158 non freezing Storage humidity 90 RH or less non condensing Ambience Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt Altitude Max 1000m 3280 ft above sea level Vibration 5 9 0 6G or less MC MF series HA FF series HU UF13 to 43 X Y 19 6 HC SF81 HC SF52 to 152 HC SF53 to 153 HC RF series HC UF72 152 HC SF121 201 HC SF202 352 HC SF208 353 Y 49 HC UF202 HC SF301 11 7 Y 29 4 ft s 19 4 or less MC MF series HA FF series Y 64 HU UF13 to 43 HC SF81 HC SF52 to 152 HC SF53 to 153 HC RF series HC UF72 152 HC SF121 201 HC SF202 352 HC SF203 353 HC UF202 HC SF301 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 For safety of personnel always cover rotating and moving parts Never hit the servo motor or shaft especially when coupling the servo motor to the ma chine 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 AN Wire the equipment
26. Applicabl cies MR J2 200A 200A 350A 100A 200A 200A 350A Note 1 Rated output 12 20 30 10 15 20 35 Continuous Rated torque 11 5 19 1 28 6 4 78 7 16 9 55 16 7 running duty 1630 2707 4053 677 1015 1353 2367 Note 1 Rated speed r min 1000 Maximum speed r min 1200 3000 2500 Permissible instantaneous speed r min 1380 345 2850 m 34 4 57 3 14 4 21 6 28 5 50 1 oz in 4875 8120 2041 3061 4039 7100 Power rate at continuous rated torque kW s 30 9 44 5 16 7 25 6 215 344 Note 7 J x10 kg 2 425 82 13 7 200 45 82 0 Inertia moment wk oz in 232 448 74 9 109 232 448 Note 6 Recommended ratio of load inertia moment to servo motor shaft inertia moment Maximum torque 15 times or less 15 times or less Servo amplifier built in regenerative brake resistor Note 4 MR RB032 30W 80 Regenerative MR RB12 100W brake duty MR RB32 300W times min 70 100 54 136 64 MR RB30 300W 330 250 192 95 MR RB50 500W 550 430 320 Note 3 Power supply capacity 1 5 2 1 3 5 4 8 1 0 1 7 2 5 3 5 5 5 Rated current 5 1 7 1 9 6 16 3 2 6 9 11 17 Maximum current 15 3 21 3 28 8 48 9 6 18 27 33 51 Speed position detector Encoder resolution 16384 pulses rev Encoder resolution 16384 pulses rev Accessories Encoder oil seal Encoder oil seal Totally enclosed s
27. MR J2T BLOM Cable Length m inch 0 5 19 68 Servo amplifier side 1 39 37 Junction terminal block side CN1A CN1B side Note Abbreviated Signal Code Junction Terminal Position Control Mode Speed Control Mode Torque Control Mode Block Terminal No LG LG LG LG LG LG 10 NP VC VC VLA 0 PP VDD 11 1 A N Note The label furnished with the relay terminal block is for position control mode When using the relay terminal block in the speed control mode or torque control mode use the furnished signal seal to change the abbreviated signal code 3 Bus cable MR J2HBUSO5M MR J2HBUS1M MR J2HBUS5M Servo amplifier side Servo amplifier side connector connector 10120 6000EL Connector 10120 6000EL Connector 10320 3210 000 Shell kit 10320 3210 000 Shell kit Plate 6 OPTIONS AND AUXILIARY EQUIPMENT 4 Communication cable This cable may not be used with some personal computers After fully ex NOTICE amining the signals of the RS 232C connector refer to this section and fabricate the cable Select the communication cable according to the shape of the RS 232C connector of the personal computer used When fabricating the cable refer to the connection diagram in this section The following must be observed in fabrication Always use a shiel
28. Note 1 phase 230VAC O O P Note 12 Note 4 iim Regenerative prake optio B To be shut off when servo on signal switches off or alarm 10m 32ft or less signal is given COM Speed selection 1 o o SP1 1 SG Encoder cable Option Ready RD J Speed reached I T SA Personal computer SG Note 5 8 0 CN i B Note 5 8 3 Communication cable Windows 3 1 95 Note 3 7 External emergency stop Option Servo on Reset Speed selection 2 Forward rotation start 15m 49ft or less Reverse rotation start Note 7 Forward rotation stroke end Reverse rotation stroke end C c C z ROR Monitor output Max 1mA meter 14 Do not connect when external E uer em Ga Reading in both directions power supply is used Note 2 6 50 Note 9 Trouble mon ALM 2m 6 5 or less Zero speed POR ZSP Encoder Z phase pulse differential line driver Note 7 Limiting torque POR TLC Encoder A phase pulse differential line driver Upper limit setting CR arn P15R Note 14 Analog speed command Encoder B phase pulse differential line driver 10V Rated seed Y ve Control common Upper limit setting 3 2 5 Encoder Z phase pulse open collector C3 Note 11 Analog command limit Sue eT 10V max torque i j m 6 5ft or less 2 OPERATION Note 1 To prevent an electric shock always connect the protective earth N WARNING PE terminal termi
29. 2 0 se MITSUBISHI e i Positioning unit MR J2 60A To CN1A Magnetic contactor To CN1B gt B Junction terminal block To CN3 Power factor Personal improring computer Set up reactors 4 4 I software x Note 1 Encoder cable 1 Power leads Control circuit terminal block L21 Regenerative brake option Note 1 The HA FFLIC UE HC SF series have Cannon connectors Refer to Section 3 2 2 2 A single phase AC230V power supply may be used with the servo amplifier of MR J2 70A or less Connect the power supply to L1 and L2 terminals and leave L3 open Servo motor 1 15 1 INTRODUCTION 2 Single phase 100V power supply model 1 phase AC100V Options and Auxiliary Equipment Refer To power supply o No fuse breaker Section 6 2 2 E Magnetic contactor Section 6 2 2 RETR Set up software Section 6 1 5 Regenerative brake option Section 6 1 1 No fuse breaker PT T or fuse Cables Section 6 2 1 H Power factor improving reactors Section 6 2 3 MR J2 CA1 LAS MITSUBISHI E I Positioning unit MR J2 60A To CN1A Magnetic SQ Y Billi contactor 2 d Q D B To CN1B z MOR Junction terminal block n n To CN3 Power factor Personal improring 1 Comiltor Set up reactors 4 software Note Encoder cable Control c
30. Encoder cable 0 3m With connector 1 172169 9 BC07328A AMP make Variable Model Dimensions L KL HC MF23 UE 108 5 58 0 09 HC MF43 UE 133 5 81 0 14 Inertia Moment J X10 o kg m Unit mm e With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Encoder cable 0 3m Black Phase W With connector 1 69 Green yellow Earth BC07329A AMP make 10 38 10 SPECIFICATIONS Inertia Moment J X10 o kg m 0 675 Unit mm 150 40 TUV plate Motor plate Motor plate Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Encoder cable 0 3m Red Phase U With connector 1 172169 9 White Phase V AMP make Black Phase W Green yellow Earth BC07330A 2 With electromagnetic brake Variable I Barking Force Inertia Moment Model Dimensions 4 2 Nem J X10 kg m L KL HC MF053B UE 117 5 37 5 0 32 0 022 HC MF13B UE 132 5 52 5 0 32 0 032 Unit mm E 25 Motor plate TUV plate Motor plate Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth With end insulated round crimping terminal 1 25 4 B1 B2 BC07369A 10 39 10 SPECIFICATIONS Variable Model Dimensions Barking Force Inertia Moment N m J X10 kg m L KL HC
31. to 152 B to 153 B Electro B B B HC RF103 B to 203 B a n HC UF72 B 152 EMG ye magnetic To be shut off when servo on signal switches off or by alam signal Encorder Encorder cable Note 1 To prevent an electric shock always connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the control box 2 This circuit applies to the servo motor with electromagnetic brake 3 WIRING 3 2 3 1 0 terminals 1 HC MF UE series Power supply lead Encoder connector signal arrangement 4 0 52 0 3m With end insulated round crimping terminal 1 25 4 1 2 3 Red U phase MR MRR BAT White V phase 4 5 6 Black W phase MD MDR Green Earth 7 8 9 Encoder cable 0 3m With connector 172169 9 P5 LG SHD Brake cable AMP make 2 0 5 0 3m With end insulated round crimping terminal 1 25 4 2 HA FF series Earth terminal M3 screw Encoder connector signal arrangement 1 2 3 MR MRR BAT 4 5 6 MD MDR 7 8 9 PS LG SHD Encoder cable 0 3m Power supply cable Brake cable With connector 172169 9 VCTF3 1 252 0 5m VCTF2 0 52 0 5m AMP make With end insulated round With end insulated round crimping crimping terminal 1 25 4 terminal 1 25 4 Red Uphase White
32. 23 73 53 43 3 0 500 1000 1500 2000 2500 3000 Speed r min Fig 9 5 HC MF Dynamic Brake Time Constant 9 10 Time constant s 0 04 0 035 0 03 0 025 0 02 0 015 0 01 0 005 0 mm in mm min in min kg cm oz in kg cm oz in 5 5 0 50 500 Speed r min 1000 Fig 9 6 HC SF1000r min Dynamic Brake Time Constant 9 CHARACTERISTICS Time constant s Time constant s Fig 0 045 0 04 0 035 0 03 0 025 0 02 0 015 152 0 01 102 0 005 05 500 1000 1500 2000 Speed r min 9 7 HC SF2000r min Dynamic Brake Time Constant 500 1000 1500 2000 2500 3000 Speed r min Fig 9 9 HC RF Dynamic Brake Time Constant Time constant s 0 07 0 06 0 05 0 04 0 03 0 02 0 01 0 0 73 43 23 50 500 10001500200025003000 Speed r min Fig 9 11 HC UF3000r min Dynamic Br ake Time Constant 9 11 0 12 0 1 0 08 0 06 0 04 0 02 Time constant s 153 00 50 500 1000 1500 2000 2500 3000 Speed r min Fig 9 8 HC SF3000r min Dynamic Brake Time Constant 0 1 0 09 72 0 08 0 07 0 06 0 05 0 04 0 03 0 02 0 01 Time constant s 152 202 0 500 1000 1500 2000 Speed r min Fig 9 10 HC UF2000r min Dynamic BrakeTime Constant Table 9 3 HA FF Dynamic Brake Time Constant Servo Motor Brake Time Constant s
33. 3 WIRING For brake connection Cable Connector Servo Motor Servo Motor Side Connector CDPlug Plug Daiichi Denshi Kogyo Cable Connector Cable Cable Connector Type Maker Cable OD Model HC SF202 B to 702 B HC UF202 B to 502 B MS3102A10SL 4P MS3106A10SL 4S Straight 4108 ACS 08RL MS10F Nippon Flex 8 to 12 ACS 12RL MS1OF Daiwa Dengyo 5 to 8 3 YS010 5 to 8 3 48 4108 ACA 08RL MS10F Nippon Flex 8 to 12 ACA 12RL MS10F Daiwa Dengyo 5 to 8 3 YLO10 5 to 8 3 WIRING b When using flexible conduits For power supply connection Conduit CDPlug Conduit Connector Conduit UL Conduit Connector OPlug Servo Motor Plug Conduit Connector Conduit ervo Motor Side Connector Daiichi Denshi Kogyo Type Maker Size Model Model ID RCC 104RL MS22F VF 04 14 0 Nippon Flex RCC 106RL MS22F VF 06 19 0 RCC 108RL MS22F 08 24 4 Straight MSA 16 22 FCV16 15 8 Daiwa Dengyo MSA 22 22 FCV22 20 8 HC SF52 B to 152 B MSA 28 22 FCV28 26 4 HC RF103 B to 203 B CE05 2A22 23PD B MS3106A22 23S D190 RCC 304RL MS22F VF 04 14 0 HC UF72 B 152 B Nippon Flex RCC 306RL MS22F VF 06 19 0 RCC 308RL MS22F VF 08 24 4 MAA 16 14 FCV16 15 8 Daiwa Dengyo MAA 22 22 FCV22 20 8 MAA 28 22 FCV28 26 4 RCC 104RL MS24F VF 0
34. Fig 3 8 Connection Example 3 24 CCW forward rotation in driving mode reverse rotation in regenerative mode No torque 3 WIRING c Analog torque command offset Using parameter No 30 the offset voltage of 999 to 999mV can be added to the TC applied voltage as shown in Fig 3 9 Max torque r7 A 1 Parameter 30 offset range i 999 999mV 0 8 TC applied voltage V Fig 3 9 Analog Torque Command Offset Range 2 Torque limit By setting parameter No 28 internal torque limit 1 torque is always limited to the maxi mum value during operation A relationship between limit value and servo motor generated torque is as in 1 1 in this section Note that the analog torque limit TLA is unavailable 3 Speed limit a Speed limit value and speed The speed is limited to the values set in parameters No 8 to 10 internal speed limits 1 to 3 or the value set in the applied voltage of the analog speed limit VLA A relationship between the analog speed limit VLA applied voltage and the servo motor speed is shown in Fig 3 10 The limit directions determined by the forward rotation selection RS1 and reverse rotation selection RS2 are indicated in Table 3 5 Rated speed i CCW direction 0 10 Forward VLA applied voltage V rotation GA Rated speed Y Fig 3 10 VLA Applied Voltage vs Speed RS1 ON Reverse rotation CW direction Tabl
35. Settling time 40ms or less Middle duty 60 to 100 times min Settling time 100ms or less Low duty less than 60 times min Settling time more than 100ms Find the acceleration and deceleration torques and continuous effective load torque as described in 2 to make a final selection For high duty positioning the JL value should be as small as possible If positioning is infrequent as in line control the JL value may be slightly larger than in the above conditions 2 Acceleration and deceleration torques The following equations are used to calculate the acceleration and deceleration torques in the following operation pattern o 9 o Command e 5 Nofot 5 Ta E as EN B E 4 Servo motor i 1 Dou P speed f Pd o L2 i CN 2 r min r min pps Time Tpsa Tpsd Acceleration torque Ta Deceleration torque Td JL Jm No 1 9 55 x 104 Acceleration torque JL Jm No l 9 55 x 10 Deceleration torque Tb 3 Torques required for operation Torques required for the servo motor are the highest during acceleration If any of the torques obtained with Equations 11 9 to 11 13 exceeds the maximum servo motor torque the servo motor speed cannot be increased as commanded Confirm that the calculated value is lower than the servo motor s maximum torque Since a friction load is normally applied during d
36. Variable Inertia Moment Model Dimensions in 2 2 WK oz in L KL HC MF053 UE 3 52 1 48 0 10 HC MF13 UE 4 11 2 07 0 16 Unit in 01 654 2 00 177 01 575 Motor plate 1 594 Opposite side Motor plate Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth Encoder cable 11 8in With connector 1 172169 9 BC07328A AMP make Variable Model Dimensions in L KL HC MF23 UE 4 27 2 28 0 49 HC MF43 UE 5 26 3 19 0 77 Inertia Moment WK oz in Unit in L 1 181 D 2 362 4 00 228 wo amp With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Encoder cable 11 8in Black Phase W With connector 1 172169 9 Green yellow Earth BC07329A AMP make 10 80 10 SPECIFICATIONS Inertia Moment Model 2 2 WK oz in HC MF73 UE 3 69 Unit in 5 905 1 575 TUV plate Motor plate 4 00 260 Motor plate Caution plate Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25 4 Encoder cable 11 8in Red Phase U With connector 1 69 9 White Phase V AMP make Black Phase W Green yellow Earth BC07330A 2 With electromagnetic brake Variable Barking Force Inertia Moment Model Dimensions in I 2 2 02 WK oz in
37. omg E 410ms 10mg RD OFF Power ON Timing Chart 4 Emergency stop Servo amplifier To ensure safety always install an emergency stop switch VDD across EMG SG By disconnecting EMG SG the dynamic brake is operated to bring the servo motor to a sudden stop At this time the display shows the servo emergency stop alo EMG warning A E6 SG During ordinary operation do not use the emergency stop signal to alternate stop and run The service life of the servo amplifier may be shortened Also if the start signal is on or a pulse train is input during an emergency stop the servo motor will rotate as soon as the warning is reset During an emergency stop always shut off the run command 3 58 3 WIRING 3 6 Alarm occurrence timing chart When an alarm has occurred remove its cause make sure that the opera CAUTION tion signal is not being input ensure safety and reset the alarm before restarting operation When an alarm occurs in the servo amplifier the base circuit is shut off and the servo motor is coated to a stop Switch off the main circuit power supply in the external sequence To reset the alarm switch the control circuit power supply off then on However the alarm cannot be reset unless its cause of occurrence is removed f Trouble ON ALM OFF 1s P x RES ON 3 Instantaneous power failure alarm OFF a 50ms 4 15ms or more Al
38. 0 48 0 63 Caution plate f L fa 29 English I t2 English 25 25 5 gt A m Botfom Y EL 5 UD Top I CIT m 41 a NM seal Bp PLU eft om S17308B a Y 32 Top Bottom 28 T V plat i T Motorplate 5 T Pa 20 ZL IF r42 5 k 44 Encoder connector L KL MS3102A20 29P Power supply connector Brake connector CE05 2A14S 2PD B D17 Note 1 For the pin outs of the power supply and encoder connectors refer to 3 Section 3 2 3 2 For horizontal installation it is recommended to face the power supply and encoder connectors down MS3102E10SL 4P o 5 ate 5 x 0 8 threads depth 20 Section AA Variable Dimensions Braking Force Nm Inertia Moment J X 10 kg m HA FF43CB UE HA FF63CB UE 10 51 1 33 1 55 10 SPECIFICATIONS 5 HC SF series 1 Standard without electromagnetic brake without reduction gear Model Variable Dimensions L KL Inertia Moment J X10 kg m HC SF52 HC SF53 51 5 6 6 HC SF102 HC SF103 HC SF81 HC SF152 HC SF153
39. 5 7 B G2 BM2 15B 5 BM3 25B 5 BM2 05B 01MES HA FF13 B G2 HA FF23 B G2 HA FF33 B G2 HA FF43 B G2 Note Values in parentheses are those for the servo motors with electromagnetic brakes 10 87 10 SPECIFICATIONS LL Earth terminal M3 screw Caution plate Opposite side 200W or more Earth terminal M3 screw Opposite side 100W or less 91 85 Power supply cable VCTF 3 0 05 19 7 With end insulated round crimping terminal 0 05 4 Red PhaseU White Phase V Black Phase W Encoder cable 11 8 With connector 172169 9 AMP make Note Servo Motor Reduction Reduction Inertia Variable Dimensions in 4 90 47 Model Gear Model Moment WK oz in Ratio LD LF LG LK LL LR Q 1 60 1 63 HA FF13 B G2 BL1 45B 1 45 o4MES 3 99 4 84 BL1 20B 1 20 _oomMeES 3 46 4 18 HA FF23 B G2 BL1 29B 1 29 geMES 447 4 89 BL2 45B 145 _oomMeES 4 81 5 54 BL1 20B 1 20 _o3MES 8 39 9 12 HA FF33 B G2 BL2 29B 1 29 _o3MES 4 99 5 71 BL2 45B 1 45 03MES 6 52 8 43 BL1 09B V9 _04 13 00 14 91 BL2 20B 1 20 games HA FF43 10 99 12 90 BL2 29B 04MES
40. 5 ABSOLUTE POSITION DETECTION SYSTEM 2 Applicable general purpose programmable controller units Positioning Unit Unit AD71 AD71S2 AD71S7 A1SD71S2 ATSD71S7 AX40 41 42 AY40 41 42 AD75P A1SD75P FX 1PG FX 1GM FX E 20GM FX 10GM FX2 32MT Note 1 The A0J2CPU cannot be used 2 For the availability of the units not listed above consult Mitsubishi 3 The absolute position detection program is not required for the FX 1GM FX E 20GM and FX 10GM Configuration General purpose Servo amplifier programmable controller AD75 or the like Battery Servo motor 4 Overview of absolute position detection data communication 1 System block diagram As shown below the encoder consists of not only the position controlling A B and Z phase signals but also a counter designed to detect a position within one revolution and a cumulative revolution counter designed to detect the number of revolutions Whether the general purpose programmable controller power is on or off the absolute position detection system keeps the absolute position of the machine detected and battery backed Therefore once the home position has been set during machine installation dog type zeroing is not needed thereafter at power on ensuring ease of recovery after a power failure or fault Also battery backed by the super capacitor in the encoder absolute position data can be hel
41. B G2 1 29 7 59 9 50 BL2 45B 1 45 games 7 01 10 16 BL1 05B V5 _06 7 75 BL1 09B 1 9 9 66 06MES HA FF63 14 23 16 14 B G2 BL2 20B 1 20 o6MES 12 22 14 13 BL2 29B 06MES 1 29 Note Values in parentheses are those for the servo motors with electromagnetic brakes 10 88 10 SPECIFICATIONS HA FF63 B G2 1 45 Unit in 14 61 16 04 5 51 Caution plate Power supply cab VCTF 3 0 05 19 7 With end insulated round crimping terminal 0 05 4 Red Phase U White Phase V Black Phase W Encoder cable 11 8 With connector 172169 9 AMP make Note Reduction Reduction Inertia Note Gear Model Ratio Moment Weight Ib WK oz in 17 14 65 7 19 00 74 3 BL3 45B 06MES 1 45 Note Values in parentheses are those for the servo motors with electromagnetic brakes 10 89 10 SPECIFICATIONS 4 HA FFC UE series 1 Standard without electromagnetic brake without reduction gear HA FF053C UE 2 4 72 ie 1 18 1 81 0 42 0 1 0 98 5 Bottom amp e 5 5 d ka 7 ig R lt Caution plate o English p N Oil seal Bottom GM10204B q 1 26 Botto
42. Cumulative command pulses Command pulse frequency Analog speed command voltage Note 1 Analog torque command voltage Note 2 Regenerative load ratio Effective load ratio Peak load ratio Within one revolution position ABS counter Load inertia moment ratio In speed control mode Analog speed limit voltage in torque control mode In torque control mode Analog torque limit voltage in speed or position control mode Status display at power on in corresponding control mode 0 Depends on the control mode Control Mode Status Display at Power On Position Cumulative feedback pulses Position speed Cumulative feedback pulses servo motor speed Speed Servo motor speed Speed torque Servo motor speed analog torque command voltage Torque Analog torque command voltage Torque position Analog torque command voltage cumulative feedback pulses 1 Depends on the first digit setting of this parameter 2 OPERATION Name and Function Initial Value Setting Range Control Mode Basic parameters Parameter block Used to select the reference and write ranges of the parameters Set Value Reference Range Write Range No 0 to 19 No 0 to 19 No 19 No 19 No 0 to 49 No 0 to 19 No 0 to 49 No 0 to 49 0000 0000h to 000Ch Expansion parameters Function selection 2 Used to selec
43. HA FF053 13 0 02 HA FF23 0 05 HA FF33 0 07 HA FF43 0 09 HA FF63 0 12 9 CHARACTERISTICS Use the dynamic brake at the load inertia moment indicated on the right 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 contact Mitsubishi 9 5 Vibration rank Servo Amplifi Load Inertia Moment ervo pter Ratio times MR J2 10A to MR J2 200A MR J2 10A1 to MR J2 40A1 MR J2 350A The vibration rank of the servo motor is V 10 at the rated speed Measure vibration in the following position with the servo motor installed as shown below Bottom Servo motor Measuring position Servo Motor Vibration Measuring Conditions 9 12 CHAPTER 10 SPECIFICATIONS This chapter gives the specifications of the servo 10 1 Standard specifications 10 2 Torque characteristics 10 3 Servo motors with reduction gears 10 4 Servo motors with special shafts 10 5 Outline dimension drawings 10 5 1 Servo amplifiers 10 5 2 Servo motors 10 5 3 Servo motors in inches 10 5 4 Cable side plugs CHAPTER 1 INTRODUCTION OPERATION CHAPTER 2 CHAPTER 3 WIRING INSTALLATION CHAPTER 4 ABSOLUTE POSITION DETECTION SYSTEM CHAPTER 5 CHAPTER 6 OPTIONS AND AUXILIARY EQUIPMENT INSPECTION CHAPTER 7 TROUBLESHOOT
44. Main circuit terminal block TE1 Used to connect the input power supply and servo motor Section 3 1 1 Protective earth PE terminal Ground terminal 44 Section 3 4 1 INTRODUCTION Removal of the front cover 1 Hold down the removing knob 2 Pull the front cover toward you Front cover Reinstallation of the front cover 1 Insert the front cover hooks into the front cover sockets of the servo amplifier 2 Press the front cover against the servo amplifier until the removing knob clicks Front cover hook Z 2 places X N Front cover socket 2 places 1 INTRODUCTION 1 2 2 Servo motor Encoder cable Encoder connector for HC SF HC RF Name Application Refer To Section 6 1 2 Encoder Section 3 2 Section 10 1 Power cable Power leads U V W Earth lead Brake lead For motor with electromagnetic brake Power supply connector for HC SF HC RF Section 3 2 Servo motor shaft 1 13 Section 4 2 4 Section 10 4 1 INTRODUCTION 1 3 Function list Function Description Note Control Mode Refer To Position control mode MR J2 A is used as position control servo Section Section Section Speed control mode MR J2 A is used as speed control servo Section Section Section Torque control mode MR J2 A is used as torque control s
45. Model MS3102A20 29P Variable L KL Dimensions Oil seal 30457B CE05 2A22 23P Power supply connector layout CE05 2A22 23P Inertia Moment J X10 kg m Unit mm 4 09 mounting hole Use hexagon socket head cap screw HC SF121 HC SF202 HC SF203 42 5 HC SF201 HC SF352 HC SF353 81 5 79 Bottom Topi 40608B 9114 3 Q 025 Encoder connector MS3102A20 29P KL Power supply connector CE05 2A24 10P 10 52 Motor flange direction Power supply connector layout CE05 2A24 10P 176 2694854 Unit mm 4 13 5 mounting hole Use hexagon socket head cap screw 2695393 10 SPECIFICATIONS Output Inertia Moment kW J X10 kg m HC SF30 Unit mm 176 Moter plate 9114 3 Doo 4 913 5 mounting hole Use hexagon socket head cap screw CE05 2A2 10P Power supply connector layout CE05 2A24 10P Note 1 For connection with a load use a locking element or the like BC10628 2 With electromagnetic brake Variable Model Dimensions L KL HC SF52B ie sss 51 5 8 5 8 3 HC SF102B 85 HC SF103B i HC SF81B HC SF152B HC SF153B Braking Force Inertia Moment N m J X10 kg m
46. TL ST2 Note 5 ST2 ST2 RS1 Note 5 RS1 RS1 TL SG SG SG SG SG P15R P15R P15R P15R P15R TLA TLA Note 6 Note 6 TLA Note 6 TLA TC TC TC TLA COM COM COM COM COM RES RES RES RES RES EMG EMG EMG EMG EMG LSP LSP LSP X X LSP LSN LSN LSN X X LSN ALM ALM ALM ALM ZSP ZSP ZSP ZSP SG SG SG SG For notes refer to the next page 3 WIRING Note 1 I Input signal O Output signal Others e g power 2 P Position control mode S Speed control mode T Torque control mode P S Position speed control change mode S T Speed torque control change mode T P Torque position control change mode Set parameter No 45 to use CR Set parameter No 47 to use PC Set parameter No 48 to use TL By setting parameters No 43 to 48 to make TL available TLA can be used Set parameter No 49 to use WNG and BWNG Set parameters No 43 to 48 to change signals Set parameter No 49 to select alarm codes Refer to Chapter 8 10 The signal of CN1A 18 is always output 11 Set parameter No 1 to select MBR 0709 SE OX OT EO 3 Symbols and signal names Signal Name Signal Name Servo on Limiting speed Forward rotation stroke end Ready Reverse rotation stroke end Zero speed Clear In position S
47. cece cece a enne 3 36 3 2 2 Connection diagram 3 37 3 2 9 c l O terminals o u su u la nente eed ee vele me nn s ee dte ie andes 3 38 3 2 4 Connectors used for servo motor wiring I wami 3 41 3 32 COMMON line roi ote tete ote tu dees t devas cobs ete saute de E SUDDEN 3 55 e de c ds 3 56 3 5 aee Ael 3 57 3 6 Alarm occurrence timing chart l nennen nennen enne nnn 3 59 3 7 Servo motor with electromagnetic brake a 3 60 CHAPTER 4 INSTALLATION baden 4 1 4 9 4 1 Servo amplifier aS AUA ANAANZA 4 2 4 2 SerVvO MOTOT SQ z adini eet e otto E asp bat ese du P aa d sauce rhe dee nodes 4 5 CHAPTER 5 ABSOLUTE POSITION DETECTION 5 1 5 6 CHAPTER6 OPTIONS AND AUXILIARY EQUIPMENT 6 1 6 27 6 4 Dedicated optionis seien ede de eee eee dl ge e ee n eL d 6 2 6 1 1 Regenerative brake options U ne eene 6 2 6 1 2 Cable cornrnectors iie am alla aa eb UL adi a DUE 6 7 6 1 3 Junction terminal NDI u u Cn usu nennen nnn eren nnne 6 14 6 1 4 Maintenance junction card U U 6 15 6 1 5
48. CDPlug Conduit Conduit Connector Servo Motor Servo Motor Side Connector Plug Daiichi Denshi Kogyo Plug Conduit Connector Conduit ui Conduit Connector Conduit Model Type Maker Size Model Model HC SF52 B to 702 B HC RF103 B to 503 B HC UF72 B to 502 B MS3102A20 29P MS3106A20 298 D190 For brake connection Plug Conduit Con Servo Motor HC SF202 B to 702 B HC UF202 B to 502 B duit Connector Servo Motor Side Connector MS3102A10SL 4P Plug Daiichi Denshi Kogyo MS3106A10SL 4S D190 Straight Nippon Flex 1 2 RCC 104RL MS20F VF 04 3 4 RCC 106RL MS20F VF 06 Daiwa Dengyo 16 MSA 16 20 FCV16 22 MSA 22 20 FCV22 CDPlug Nippon Flex RCC 304RL MS20F VF 04 RCC 306RL MS20F VF 06 Daiwa Dengyo Conduit Connector MAA 16 20 FCV16 Conduit MAA 22 20 1 Conduit Connector FCV22 Conduit Straight Maker Nippon Flex Size RCC 102RL MS10F Model ID VF 02 Daiwa Dengyo MSA 10 10 FCV10 Angle Nippon Flex RCC 302RL MS10F VF 02 Daiwa Dengyo 3 54 MAA 10 10 FCV10 3 WIRING 3 3 Common line The power supply and its common line are shown below Digital output Digit
49. L KL Reduction Ratio Actual Reduction Ratio Inertia Moment J X10 kg m HC MF23G1 153 102 6 K9005 1 5 19 96 0 249 HC MF23G1 173 122 6 K9012 1 12 25 288 0 293 HC MF23G1 173 122 6 K9020 Motor plate Opposite side Power supply lead 4 AWG19 0 3m 1 20 253 5000 0 266 For reverse rotation command qucm For forward rotation command g N With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth Encoder cable 0 3m With connector 1 172169 9 AMP make Variable Dimensions L KL Reduction Model Gear Model Reduction Ratio Actual Reduction Ratio Inertia Moment J X10 kg m HC MF43G1 178 125 6 K9005 1 5 19 96 0 296 HC MF43G1 198 145 6 K9012 1 12 25 288 0 339 Encoder cable 0 3m With connector 1 172169 9 AMP make Unit mm For reverse rotation command Rotation direction For forward rotation command Motor plate Opposite side Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth BC12069 BC12089 10 23 10 SPECIFICATIONS Model Model Reduction Gear Reduction Radio Normal Reduction ratio Actual Reduction ratio Inertia Moment J X10 kg 2
50. L KL HC MF053B UE 4 63 1 48 45 0 12 HC MF13B UE 5 22 2 08 45 0 18 Unit in L 0 984 01 654 2 00 177 Motor plate With connector 1 172169 9 Power supply lead 4 AWG19 11 8in AMP make With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth 2 0 82 11 8in With end insulated round crimping terminal 1 25 4 B1 B2 BC07369A 10 81 10 SPECIFICATIONS Variable Dimensions in L KL Model Barking Force oz in Inertia Moment WK oz in HC MF23B UE 5 53 2 28 184 0 47 HC MF43B UE 6 52 3 19 184 T V plate Motor plate 02 441 Motor plate 1 04 Unit in 1 181 02 362 4 00 228 g EE D eae ES Brake lead 2 0 3 11 8in With end insulated round crimping terminal 1 25 4 B1 B2 Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth BC07354A Barking Force Inertia Moment oz in WK oz in 7 303 TUV plate Motor plate Motor plate Encoder cable 11 8in With connector 1 172169 9 AMP make Brake lead 2 0 32 11 8in With end insulated round crimping terminal 1 25 4 B1 B2 10 82 Unit in 1 575 4 00 260 Power supply lead 4 AWG19 11 8 With end insulated ro
51. N LI VO LI Torque limit voltage Software Sixth alarm Torque command voltage mV version L in past I _ E em L LL LI E Regenerative load ratio Software Parameter Yo version H error No I ut m Li l LI vf Effective load ratio Automatic VC offset n l Peak load ratio ED ru Note The initial status display at power on depends on the control mode LI Within one revolution position Control Mode Initial Display pulse rc Position Cumulative feedback pulses C L ABS counter Speed Motor speed r Torque Torque command voltage U OL Load inertia moment ratio times 11 2 18 2 OPERATION 2 3 2 Status display The servo status during operation is shown on the 4 digit 7 segment LED display Press the d or DOWN button to change display data as desired When the required data is selected the corresponding symbol is displayed Press the button to display that data Name Display Range Description Cumulative feedback pulses 9999 to 9999 Feedback pulses from the servo motor encoder are counted anddisplayed When the value exceeds 9999 it begins with zero Press the BER button to reset the display value to zero When the servo motor is rotating in the reverse direction the decimal points in the upper 3 digits are lit Servo motor speed 5400 to 5400 The servo motor speed is displayed When the servo motor is rotating in the reverse directio
52. Opposite side Oil seal 10207 Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 U Red Phas White Phase V T Encoder cable 0 3m Black Phase W Green yellow Earth With connector 1 172169 9 AMP make BC11740A 10 57 10 SPECIFICATIONS Variable Dimensions L KL Model Inertia Moment J X10 kg m 77 43 8 0 241 HC UF23 92 58 8 0 365 HC UF43 Motor plate Motor plate Opposite side TUV plate Power supply lead 4 AWG19 Encoder cable 0 3m Witt AMP make With end insulated round crimpi Output W Oil seal Unit mm 0 3m ing terminal 1 25 4 BC11513A HC UF73 790 85 Motor plate Opposite side TUV plate Motor plate mem EL Top Oi Encoder cable 0 3m Power Unit mm 0123 il seal supply lead 4 AWG19 0 3m With connector 1 172169 9 AMP make Red Gree Model Output kW With end insulated round crimping terminal 1 25 4 Inertia Moment J X10 kg m Phase U White Phase V Black Phase W BC11357A n yellow Earth Weight kg 144 55 E3146 Unit mm 39 5 13 3 _ Opposite side 2 M6 screw Y TUN a eh LS EE __
53. m Warnings m gt gt gt gt gt gt gt gt gt gt m gt NOTE 0 OFF 1 ON 8 TROUBLESHOOTING 8 2 2 Alarms NWARNING NOTICE 1 When any alarm has occurred eliminate its cause ensure safety then reset the alarm and restart operation Otherwise injury may occur 2 If an absolute position erase alarm A 25 occurred always make home position setting again Otherwise misoperation may occur When any of the following alarms has occurred always remove its cause and allow about 30 minutes for cooling before resuming operation If opera tion is repeated by switching control circuit power off then on to reset the alarm the servo amplifier servo motor and regenerative brake option may become faulty Regenerative error A 30 Overload 1 A 50 Overload 2 A 51 When an alarm occurs the trouble signal ALM switches off and the dynamic brake is operated to stop the servomotor At this time the display indicates the alarm No Alarm Code CN1B 19 pin CN1A 18 pin CN1A 19 pin Name Definition Cause Action 0 0 Undervoltage Power supply voltage dropped MR J2 L1 A 160V or less MR J2 L1 A1 83V or less Power supply voltage is low 2 Power failed instantaneously for 15ms or longer 3 Shortage of power supply capacity caused the power supply voltage to drop
54. m Internal speed limit 2 Internal speed command 3 naja O U U O Internal speed limit 3 Acceleration time constant S pattern acceleration deceleration time constant ms Torque command time constant ms For manufacture setting Communication baudrate selection alarm history clear Analog monitor output Status display selection Parameter block 2 OPERATION Name Control Mode Initial Value Customer Setting Function selection 2 0000 Function selection 3 Command pulse selection 0000 Function selection 4 U 0000 Feed forward gain 0 Zero speed U 50 Analog speed command maximum speed Analog speed limit maximum speed Analog torque command maximum output Encoder output pulses Internal torque limit 1 0 0 aja Analog speed command offset mV Analog speed limit offset mV Analog torque command offset mV Analog torque limit offset mV Analog monitor offset 1 mV Analog monitor offset 2 mV Electromagnetic brake sequence output 0 0 o o oloaH ioooia3aHio lo u o vu alaa ms Ratio of load inertia moment to servo motor inertia moment 0 1 times Position loop gain 2 rad s Expansion parameters Speed loop gain 1 rad s Speed loop g
55. of the cumulative feedback pulses To refer to and or set the expansion parameters make them valid with parameter No 19 parameter write disable e button MODE Status display S ri Eu Lr rri 1 dri L Note ai m Li Li cu Cumulative feedback pulses Sequence Current alarm Servo type Selective function 2 pulse D ore Doo d J Ll J Motor speed External I O Last alarm Selective function 1 Selective function 3 r min signal display Ji E Oo 1 ooon i Droop pulses Output signal Second alarm pulse forced output in past i i 4 f MEINE i i dI NEN i Cumulative command pulses Test operation Third alarm e pulse Jog feed in past DOWN PE FE F IE ic m D TA di Fd n J Command pulse frequency Test operation Fourth alarm Status display Input signal selection 7 kpps Positioning operation in past Iur Dir 1 m 21 d mot 12 d Speed command voltage Test operation Fifth alarm Parameter write Output signal selection 1 Speed limit voltage mV Motor less operation in past disable T cr Hc i
56. of the relay or the like Maximum current Not less than twice the drive current of the relay or the like 6 22 6 OPTIONS AND AUXILIARY EQUIPMENT 3 Cable clamp fitting AERSBAN LISET Generally the earth of the shielded cable may Strip the cable sheath of only be connected to the connector s SD ter therclampedar a minal 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 ampli fier for the encoder cable Peel part of the cable sheath to expose the external conduc tor 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 Cable plate Cable clamp A B Earth plate T x S External conductor Clamp section diagram Unit mm Unit in Outline drawing Earth plate Clamp section diagram L or less 24 93 0 940 Note Screw hole for grounding Connect it to the earth plate of the control box Type A B Accessory Fittings Clamp Fitting 100 86 AERSBAN DSET clamp A 2pcs A 3 94 3 39 70 56 AERSBAN ESET 2 76 2 20 clamp B 1pc 6 OPTIONS AND AUXILIARY EQUIPMENT 4 Line noise filter FR BLF FR BSF01 This filter is effective in suppressing noises radiated from the power supply side and output side of the servo amplifier and als
57. 0 2 PISI Ball screw lead Pb 16mm Ball screw diameter 20mm Ball screw length 500mm Gear diameter servo motor 25mm Gear diameter load shaft 40mm Gear face width 10mm 1 Selection of control parameters 1 Setting of electronic gear command pulse multiplication numerator denominator There is the following relationship between the multiplication setting and travel per pulse Ag ball screw lead CMX A 8192 x gear ratio CDV When the above machining specifications are substituted in the above equation CMX 8192 85 512 CDV Wa 16 125 Acceptable as CMX CDV is within 1 50 to 20 2 Input pulse train frequency for rapid feed fo Vo 30000 fo 60 AR 60 0 005 7100000 pps Acceptable as fo is not more than 200kpps 2 Servo motor speed Vo No Pb n 3000 r min 3 Acceleration deceleration time constant T Tpsd to ts psa ps 5 60 ts 0 05 s ts settling time Here this is assumed to be 0 15s 11 11 11 SELECTION 4 Operation pattern 4 3000 o o 5 E o Time s 0 05 0 05 ts o Tpsa Tpsd 0 15 r min bee _ His 1 5 5 Load torque converted into equivalent value on servo motor shaft Travel per servo motor revolution 1 AS a 10 mm ueWegeAS _ UA eeN 6 Load inertia moment converted into eguivalent value on servo motor shaft Moving part AS Y E oc 1 52
58. 0 94 1 04 20 0 79 22 0 0 87 ACA 12RL 34 20UNEF 2B 98 0 to 912 0 00 32 to 0 47 24 26 4 0 94 1 04 10 110 23 0 91 25 3 1 00 CHAPTER 11 SELECTION This chapter describes how to calculate the capacity of the servo motor needed for the machine used 11 1 Specification symbol list 11 2 Position resolution and electronic gear setting 11 8 Speed and command pulse frequency 11 4 Stopping characteristics 11 5 Capacity selection 11 6 Load torque equations 11 7 Load inertia moment equations 11 8 Precautions for zeroing 11 9 Selection example CHAPTER 1 INTRODUCTION OPERATION CHAPTER 2 CHAPTER 3 WIRING INSTALLATION CHAPTER 4 ABSOLUTE POSITION DETECTION SYSTEM CHAPTER 5 CHAPTER 6 OPTIONS AND AUXILIARY EQUIPMENT INSPECTION CHAPTER 7 TROUBLESHOOTING CHAPTER 8 CHARACTERISTICS CHAPTER 9 SPECIFICATIONS CHAPTER 10 SELECTION CHAPTER 11 11 1 11 SELECTION 11 1 Specification symbol list The following symbols are required for selecting the proper servo Acceleration torque N m Deceleration torque N m Servo motor torque necessary for acceleration Servo motor torque necessary for deceleration Torque applied during servo motor stop Load torque converted into equivalent value on servo motor shaft Load torqu
59. 1 Power supply voltage fault 2 Servo amplifier faulty Improved when connectors CN1A and CN1B are disconnected Power supply of CN1 cabling is shorted Improved when connector CN2 is disconnected 1 Power supply of encoder cabling is shorted 2 Encoder is faulty Alarm occurs Refer to Section 8 2 and remove cause Section 8 2 Switch on servo on signal Alarm occurs Refer to Section 8 2 and remove cause Section 8 2 Switch on forward rotation start RS1 or reverse rotation start RS2 Servo motor does not rotate Call the status display and check the analog torque command Analog torque command is OV Section 2 3 2 Call the external I O signal display and check the ON OFF status of the input signal RS1 or RS2 is off 1 Section 2 3 3 Check the internal speed limits 1 to 3 parameters No 8 to 10 Set value is 0 Check the internal torque limit 1 parameter No 28 Set value is 0 3 Section 2 3 5 8 TROUBLESHOOTING 8 2 Alarms and warnings 8 2 1 Alarm 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 2 or 8 2 3 and take the appropriate action Set 1 in parameter No 49 to output the alarm code in ON OFF status across the corresponding pin and SG Warnings A 92 to A EA have no codes Any al
60. 2695914 Inertia Moment Model 2 2 WK oz in HC UF13 0 361 Unit in 2 756 012 362 4 40 228 TUV plate Motor plate Motor plate Opposite side fT Bottom Ee f L Top ff Oil seal S10207 Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Ass Encoder cable 11 8in Green yellow Earth With connector 1 172169 9 AMP make BC11740A 10 99 10 SPECIFICATIONS Variable Model Dimensions in L KL HC UF23 2 953 1 724 1 318 HC UF43 3 543 2 315 1 996 Inertia Moment WK oz in Unit in L 1481 Motor plate Motor plate Opposite side TUV plate Oil seal SC15307 Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth BC11513A Model Output W Inertia Moment WK oz in Weight Ib HC UF73 750 11 0 Unit in Motor plate Opposite side Oil seal 520357 Caution plate Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth BC11357A Encoder cable 11 8in With connector 1 172169 9 AMP make 2 With electromagnetic brake Model Output kW Braking Force ozin Inertia Moment WK oz in
61. 8 to 10 or the analog speed limit VLA in the torque control O mode They are disconnected when the servo on signal SON switches off Zero speed ZSP CN1B ZSP SG are connected when the servo motor speed is zero DO 1 19 speed 50r min or less Zero speed can be changed using parameter No 24 Limiting torque TLC CN1B TLC SG are connected when the torque generated reaches DO 1 6 the value set to the internal torque limit 1 parameter No 28 or analog torque limit TLA They are disconnected when the OJO servo on signal SON switches off Electromagnetic MBR s DO 1 brake interlock 19 Set 10 in parameter No 1 to use this NOTICE parameter Note that ZSP will be made unavailable AIAIA In the servo off or alarm status MBR SG are disconnected When an alarm occurs they are disconnected at zero speed or less independently of the base circuit status Warning WNG Set 1Llin parameter No 49 to use NOTICE this signal AAA When warning has occurred WNG SG are connected When there is no warning WNG SG are disconnected within 1 second after power on Note 1 Refer to Section 3 1 4 2 P Position control mode S Speed control mode T Torque control mode 3 14 3 WIRING Connec Signal tor Pin No Functions Applications y o Division Note 1 Battery warning Set 01 in parameter No 49 to use NOTICE this signal BWNG SG are connected when battery cable breakage
62. Backlash em HC MF43G1 K10020 1 20 253 5000 0 653 60min max HC MF73G1 K10005 1 5 1 5 1 02 60min max HC MF73G1 K10012 1 12 525 6048 1 686 60min max HC MF73G1 K12020 1 20 Model 625 12544 1 75 Variable Dimensions 60min max LELFLG HC MF43G1 10 10 HC MF73G1 10 10 HC MF73G1 10 10 HC MF73G1 Motor plate Opposite side oD T 12 15 Power supply lead 4 AWG19 0 3m Encoder cable 0 3m With end insulated round crimping terminal 1 25 4 With connector 1 172169 9 Red Phase U AMP make White Phase V Black Phase W Green yellow Earth 10 24 Rotation direction 4 oLZ For forward rotation command Unit mm For reverse rotation command P threads depth R BC12070 10 SPECIFICATIONS b With electromagnetic brake Variable Braking Force Reduction Reduction Inertia Moment Nem Gear Model Ratio JOX10 kg m2 Dimensions Backlash L KL 154 74 0 32 K6505 1 5 9 44 0 058 60min max 172 92 0 32 K6512 1 12 49 576 0 080 60min max 172 92 0 32 K6520 1 20 25 484 0 062 60min max Unit mm For reverse rotation command Rotation direction a For forward rotation command Motor plate Opposite side Motor plate M4 th
63. Dn s e D 1 be OFF Note Note Note When ZSP is not on control cannot be changed if LOP is switched on off If ZSP switches on after that control cannot not be changed Fig 3 13 P S Change Timing Chart 2 Torque limit in position control mode As in 1 1 in this section 3 WIRING 3 Speed setting in speed control mode a Speed command and speed The servo motor is run at the speed set in parameter No 8 internal speed command 1 or at the speed set in the applied voltage of the analog speed command VC A relationship between analog speed command VC applied voltage and servo motor speed and the rotation directions determined by the forward rotation start signal ST1 and reverse rota tion start signal ST2 are as in 1 a 2 in this section b Connection diagram Generally connect as shown in Fig 3 14 When a precision speed command is required refer to 1 b 2 in this section Servo amplifier Japan Resistor RRS10 or equivalent Fig 3 14 Connection Example c Speed selection 1 SP1 and speed command value Use speed selection 1 SP1 to select between the speed set to the internal speed com mand 1 and the speed set to the analog speed command VC as indicated in Table 3 8 When the speed is changed during rotation it is increased or decreased according to the value set in parameter No 11 or 12 When the internal speed command 1 is used to command the speed the speed does not vary
64. For single phase 100V power supply Make up a sequence which CAUTION switches off the MC at alarm occurrence or emergency stop Servo amplifier uerr E ens ower supply Single phase 100VAC Make up a sequence which N CAUTION switches off the MC at alarm occurrence or emergency stop Servo amplifier Power supply QOl o O O OL1 3 phase oo ST a Oto L Note 13 1 phase 230VAC O O O OO L3 mtt Regenerative Note 4 9 2 I gt Note 12 brake option OP To be shut off when servo on signal switches off or alarm signal is given Note 5 8 Note 5 8 CN2 Encoder cable Option Personal computer Note 5 8 10 ld i mee ae Communication cable Windows 3 1 95 Option i 15m 49ft or less z 5 Positioning unit AD75P AISD75P at 5 Note 11 10m 32ft or less CN1B Note 5 8 Note 5 8 10 Note 3 7 External emergency stop alo Sreser fone tees pie Monitor output Proportion control 070 PC 8 moz den amp 1 meter Torque limit oo Ut ie lulii Reading in both directions Note 7 Forward rotation stroke end 9 9 sr Tie 50 Pp Reverse rotation stroke end ELE 2m 6 5ft or less e a gt 10m 32ft or less Do not connect when external CN1B Note 5 8 power supply is used Note 2 6 co
65. Inertia Moment oz in Gear Model Ratio WK oz in Dimensions in Backlash L KL 6 06 2 91 45 K6505 1 5 9 44 0 32 60min max 6 77 3 62 45 K6512 1 12 49 576 0 44 60min max 6 77 3 62 45 K6520 1 20 25 484 0 34 60min max Unit in For reverse rotation command Rotation direction CN For forward rotation command 2 4 40 276 Motor plate Opposite side Motor plate b M4 threads Caution plate Wa Power supply lead 4 AWG19 11 8in depth 0 315 Brake lead With end insulated round crimping terminal 1 25 4 Z037118n Red Phase U With end insulated round crimping terminal 1 25 4 White Phase V BC12071 Black Phase W BC1 2091 Encoder cable 11 8in Green yellow Earth With connector 1 172169 9 AMP make Variable Braking Force Reduction Reduction Inertia Moment oz in Gear Model Ratio WK oz in Dimensions in L KL 6 65 3 43 45 K6505 1 5 9 44 0 38 60min max 7 36 4 21 45 K6512 1 12 49 576 0 50 60min max 7 36 4 21 45 K6520 1 20 25 484 0 40 60min max Backlash Unit in For reverse rotation command Rotation direction For forward rotation command 4 q0 276 Motor plate Opposite side Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25 4 Brekeload gt e Red Phase U 2 0 3 11 8in With end i
66. NC Control output Control output signal signal 6 Servo amplifier Use a noise filter etc to minimize the influence of electromagnetic interference which may be given to electronic equipment used near the servo amplifier Do not install a power capacitor surge suppressor or radio noise filter FR BIF option with the power line of the servo motor 7 When using the regenerative brake resistor switch power off with the alarm signal Otherwise a transistor fault or the like may overheat the regenerative brake resistor causing a fire 8 Do not modify the equipment CN1A CN1B CN2 and CN3 have the same shape Wrong connection of the NOTICE connectors will lead to a failure Connect them correctly 3 WIRING 3 1 Servo amplifier Only the specified voltage should be applied to each terminal Otherwise a A CAUTION burst damage etc may occur 3 1 1 Terminal blocks 1 Signal arrangement Terminal block signals are as listed below Servo Amplifiers J2 MR J2 10A MR J2 10A1 MR J2 70A MR J2 200A MR J2 100A MR J2 350A Terminal positions Control circuit terminalblock TE2 Main circuit IAAI terminal block IS Q e TE1 L2 13 U V W Terminal signals Protective 6969699 earth PE terminals 3 WIRING 2 Signals Description Main circuit power input terminals Supply L1 L2 and L3 with the following po
67. Otherwise misoperation or explosion may occur CAUTION a For HC MF HA FF Optional cables MR JCCBL2M L MR JCCBL10M L MR JCCBL10M H MR JCCBL5M L to to MR JCCBL2M H MR JCCBL30M L MR JCCBL50M H MR JCCBL5M H Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side P5 19 17 5 19 L7 P5 19 Hefe il7 re n LG t LG Hti P5 j20 H 5 20 i P5 20 tte LG h2 HG IE LG 12 LG h2 H t P5 i i E P5 18 P5 04 LG 2 LG 2 i LG 2 E IE 18 18 ti 18 MR 7 MR 7 a MR 7 H1 MRR 17 H2 MRR 17 42 MRR 17 42 MD 6 6 4 MD 6 H4 MDR 16 45 MDR 16 5 MDR 16 45 BAT 9 H3 BAT 9 H3 BAT 9 H3 LG 1 LG 1 LG 1 SD Plate tg SD Plate 977777272277 9 SD Plate 94777777 9 For fabrication When fabricating an encoder cable fabricate it as shown below The cable of max 50m length may be fabricated When the user manufactures the detector cable there is no need to connect MD signals For use of AWG24 For use of AWG22 Servo amplifier side Encoder side Servo amplifier side Encoder side P5 aly P5 19 L7 LG LG 11 5 P5 20 LG LG 12
68. Overspeed Speed has exceeded the instantaneous permissible speed Input command pulse frequency exceeded the permissible instantaneous speed frequency Set command pulses correctly Small acceleration deceleration time constant caused overshoot to be large Increase the acceleration deceleration time constant Servo system is instable to cause overshoot 1 Re set servo gain to proper value If servo gain cannot be set to proper value 1 Reduce load inertia moment ratio or 2 Reexamine acceleration deceleration time constant Electronic gear ratio is large parameters No 3 4 Set correctly Encoder faulty Change the servo motor Current that flew is higher than the permissible current of the servo amplifier Overcurrent Short occurred in servo amplifier output phases U V and W Correct the wiring Transistor IPM of the servo amplifier faulty Checking method Alarm A 32 occurs if power is switched on after U V and W connectors are disconnected Change the servo amplifier Ground fault occurred in servo amplifier output phases U V and W Correct the wiring External noise caused the overcurrent detection circuit to misoperate Take noise suppression measures Converter bus voltage exceeded 400V Overvoltage Lead of built in regenerative brake resistor or regenerative brake
69. Servo amplifier NEC 15252 or 15V Japan Resistor RRS10 or equivalent Japan Resistor RRS10 or equivalent Fig 3 5 Connection Example 1 Fig 3 6 Connection Example 2 3 22 3 WIRING c Speed selection 1 SP1 speed selection 2 SP2 and speed command values Use speed selection 1 SP1 and speed selection 2 SP2 to select the speed from among those set to the internal speed commands 1 to 3 and set to the analog speed command VC as indicated in Table 3 3 When the speed is changed during rotation it is increased or decreased according to the value set in parameter No 11 or 12 When the internal speed commands 1 to 3 are used to command the speed the speed does not vary with the ambient temperature Table 3 3 SP1 SP2 and Speed Command Values Across SP1 SG Across SP2 SG Speed Command Value Open Open Analog speed command VC Short Open Internal speed command 1 parameter No 8 Internal speed command 2 parameter No 9 Internal speed command 3 parameter No 10 2 Speed reached SA SA SG are connected when the servo motor speed has nearly reached the speed set to any of the internal speed commands 1 to 3 or to the analog speed command Internal speed Internal speed command 2 Preset speed selection command ON Start ST1 ST2 OFF I RET ON Speed reached SA fip Pe 3 Torque limit Same as in 1 1 in this section To use the analog t
70. Weight Ib HC UF72B 0 75 1204 67 796 22 0 5 669 2 165 16 93 Unit in Moter plate Wo o7 Opposite side 2 M6 screw e S 3 Batam ACE Bottom i y SENS 2 a E 8304578 Motor flange direction 0 77 Brak rake U Encoder connector MS3102A20 29P Power supply 4 00 53 mounting hole connector Use hexagon socket CE05 2A22 23P head cap screw Power supply connector layout CE05 2A22 23P 2695981 10 100 10 SPECIFICATIONS Output kW 6 043 d 2 165 0 5121 0 12 Moter plate Opposite side 2 M6 screw Oil seal 30457B Motor flange direction 4 90 53 mounting hole Use hexagon socket head cap screw CE05 2A22 23P Power supply connector layout CE05 2A22 23P 2695982 Variable 2 Braking Force Inertia Moment Model Dimensions in 2 2 WK oz in HC UF202B 255 876 Unit in 08 661 _ poon 2 1 Bottom Top Oil seal 40608B 4 00 53 mounting hole Use hexagon socket head cap screw Be AA Brake Brake connector layout Power supply connector layout MS3102A10SL 4P CE05 2A24 10P BC10647A 10 101 10 SPECIFICATIONS Output Braking Force Inertia Moment kW WK oz in Unit in 3 937
71. contact us 3 4 10 5 10 SPECIFICATIONS 10 2 Torque characteristics If load is opplied at stop during servo lock 70 of the rated torque must not be exceeded N CAUTION 1 HC MF series HC MF053 HC MF13 HC MF23 HC MF43 0 6 1 0 2 0 4 0 Short duration Short duration ER operation region operation region 2 Short duration operation region 0 75 1 5 Ex 3 0 durati i i 0 4 Short duration operation region T x z 30 5 2 1 0 8 20 x 5 5 d Note Note 0 25 0 5 0 1000 2000 3000 4000 4500 1000 2000 3000 4000 4500 1000 2000 3000 4000 4500 1000 2000 3000 4000 4500 Speed r min Speed r min Speed r min Speed r min HC MF73 2 HA FF series 8 0 HA FF053 HA FF13 dec didt 0 6 1 0 operation region i 6 0 I Je oh Note The broken line indicates Short duration Short duration 2 operation region E operation region the torque characteristic gt z o 075 2 40 of the servo motor used e 04 5 with the single phase s 100V power supply series servo amplifier 1000 2000 3000 4000 4500 Speed 1000 2000 3000 4000 1000 2000 3
72. fier heat sink regenerative brake resistor servo motor etc as they may be at high temperatures You may get burnt 1 Selection of control mode With parameter No 0 select the control mode to be used This parameter is made valid by setting it and switching power off once then on again Parameter No 0 L Set Value Control Mode Position control mode Position speed control change mode Speed control mode Speed torque control change mode Torque control mode Torque position control change mode 2 11 2 OPERATION 2 Position control mode Disconnect the servo motor from the machine make sure that it operates properly and recon nect it with the machine Power on Test operation Parameter setting 1 Switch off the servo on signal m SON 2 When power NFB is switched on L the display shows C cumulative feedback pulses In the test operation mode make sure that the servomotor runs Refer to 3 in Section 2 3 3 Set the required parameters Refer to Section 2 3 5 The servo amplifier and servo motor need not be set in parameters as they are set automatically Setting example Parameter Set Value Description No 0 0300 Control mode Regenerative brake option Position MR RB12 used Electromagnetic brake interlock
73. in 4 00 35mounting hole Use hexagon socket head cap screw L 2 165 Re Moter plate Opposite side Oil seal 30457B Encoder connector MS3102A20 29P Power supply connector CE05 2A22 23P Power supply connector layout CE05 2A22 23P 10 95 10 SPECIFICATIONS HC SF121B Variable Dimensions in HC SF202B HC SF203B Braking Force Inertia Moment WK oz in oz in HC SF201B HC SF352B HC SF253B Unit in s Moter plate 0 71 4 HK Opposite side o m S sz Bottom T 108 s Oil seal S40608B LI Encoder connector MS3102A20 29P KL Brake connector Power supply connector MS3102A10SL 4P Power supply connector layout CE05 2A24 10P Motor flange direction CE05 2A24 10P Motor flange direction A VA Brake Brake connector layout MS3102A10SL 4P 4 00 53 mounting hole Use hexagon socket head cap screw Z695319D Braking Force Inertia Moment Model 2 2 oz in WK oz in HC SF301B 6103 606 886 Unit in 10 079 3 11 Moter plate 0 71 0 12 4 00 53mounting hole Use hexagon socket head cap screw Opposite side Bottom i Top j Oil seal Roan SO S40608B
74. parameter values are set automatically Each value provides an ideal hunting less gain for parameter No 34 if machine resonance does not occur Parameter No 6 Parameter No Parameter No Parameter No Parameter No Switch servo on and perform operation several Auto tuning is performed If vibration still persists execute steps 2 and 3 If vibration occurs due to machine resonance make adjustment in the procedure of Adjustment 1 or 2 2 52 2 OPERATION Adjustment 4 Operation Description Set 0101 in parameter No 2 Auto tuning is selected Response is set to low level Switch servo on and perform operation several times Auto tuning is performed Check to see if vibration reduced Make gain adjustment in either of the following methods 1 and 2 1 Set the machine s load inertia moment to servo motor inertia moment in parameter No 34 When it is unclear set an approximate value Switch servo on and perform operation Temporary adjustment When this parameter value is set the following parameter values are set automatically Each value provides an ideal hunting less gain for parameter No 34 if machine resonance does not occur Parameter No Parameter No Parameter No Parameter No Parameter No Auto tuning is performed 2 in parameter No 2 Auto tuning is made invalid to enable manual setting of par
75. 10 85 2 037 4 114 2 037 4 114 2 037 4 114 11 12 3 11 12 3 11 12 3 10 SPECIFICATIONS HA FF33 B G1 HA FF43 B G1 Unit in 4 90 39 LL 1 48 Earth terminal M8 screw Opposite side Caution plate 91 85 M6 screw depth 0 39 Power supply cable VCTF 3 0 05 19 7in With end insulated round crimping terminal 0 05 4 Encoder cable 11 8in Red Phase U With connector 172169 9 White Phase V AMP make Black Phase W Section AA Note 2 Reduction Note 1 Variable Reduction Gear Inertia Moment Dimensions Rati WK oz in atio Model LL HA FF33 ue 2 980 3 704 9 84 11 3 14 3 15 9 B G1 110 GR S 30 2 980 3 704 9 84 11 3 14 3 15 9 1 30 2 939 3 663 9 84 11 3 14 3 15 9 HA FF43 15 5 577 7 490 10 2 11 63 17 6 19 6 7 490 Servo Motor Model Note 1 Weight Ib B G1 1 10 5 577 7 490 10 2 11 63 17 6 19 6 1 30 5 536 7 449 10 2 11 63 17 6 19 6 Note 1 Values in parentheses are those for the servo motors with electromagnetic brakes 2 Nominal reduction ratios For actual reduction ratios refer to Section 10 3 HA FF63 B G1 Unit in 4 00 47 10 81 12 26 1 83 Earth terminal M3 screw Opposite side Caution plate M6 screw depth 0 47 Power supply cable Section AA VCTF 3 0 05 19 7in
76. 10 61 10 5 4 Cable side 10 103 CHAPTER 11 SELECTIQON ire Lon baden ecoute cas a ve pu awa 11 1 11 13 11 1 11 2 11 3 11 4 11 5 11 6 11 7 11 8 11 9 Specification symbol list sii ek ected 11 2 Position resolution and electronic gear setting u 11 3 Speed and command pulse frequency enne nnns 11 4 Stopping characteristics sse nennen 11 5 Capacity selectiOn iet idet ce Ere etie Pato d te a eL apex dU eo rt EU dae RUE 11 6 Load torque equations aaa 11 8 Load inertia moment equations U U U u 11 9 Precautions for ZENO nennen eren nnn wakaa n 11 10 Selection example iecore en Ug Le ete D Le el ae ei Dd da 11 11 CHAPTER 1 INTRODUCTION This chapter provides basic information needed to use this servo 1 1 Inspection at delivery 1 1 1 Packing list 1 1 2 Model definition 1 1 3 Combination with servo motor 1 2 Parts identification and applications 1 2 1 Servo amplifier 1 2 2 Servo motor 3 Function list 4 Basic configuration 1 4 1 MR J2 100A or less 1 4 2 MR J2 200A or more INTRODUCTION CHAPTER 1 OPERATION CHAPTER 2 CHAPTER 3 WIRING INSTALLATION CHAPTER 4
77. 10120 3000VE Connector MS3106B20 29S Straight plug 6 ed setfor yocns 10320 52F0 008 Shell kit MS 3057 12A Cable clamp For Servo amplifier side connector 3M or equivalent CN1A Control signal 10120 3000VE Connector 7 MR J2CN1 52F0 i CNIB 7 connector 10320 52F0 008 Shell kit 2 MR J2TBLDM Servo amplifier side connector or equivalent Junction terminal block side connector A 10120 6000EL Connector HIF3BA 20D 2 54R Hirose Electric Length 0 5 m gia ene s Tt 10320 3210 000 Shell kt block cable B Maintenance Refer to Section 6 1 4 ForS a MR J2CN3TM CN3 junction card Communication Servo amplifier side connector 3M or equivalent PC98 series personal computer cable for pogg P C CSBCBL3M 10420 6000EL Connector id connector Cable length 3 m 10320 3210 000 Shell kit Japan Aviation Electronics 10 Connector DE 25PF N Case DB C2 J9 Communication Servo amplifier side connector 3M or equivalent DOS V personal computer side cable for pog y CFGATCBDM 10120 6000EL Connector Connector Cable length 3 m 10320 3210 000 Shell kit Japan Aviation Electronics 11 Connector DE 9SF N Case DE C1 J6 S6 Junction 12 terminal block MR TB20 Refer to Section 6 1 3 10120 6000EL Connector 10120 6000EL Connector MR J2HBUSLIM 10320 3210 000 Shell kit 10320 3210 000 Shell kit 13 Bus cable Cable length in 0 5 1 5 m 6 OPTIONS AND AUXILIARY EQUI
78. 11 10 109 10 SPECIFICATIONS Nippon Flex make Threads C Cable Diameter Tightening Nut Nipple Body flats corners E F G Width across Width across Number of corners E F G Width across Width across Number of flats corners corners Unit mm Unit in ACS 08RL MS10F 9 1e 24UNEF 2B 94 010 98 0 00 16 to 0 32 20 22 0 0 79 85 20 22 0 0 79 08 ACS 08RL MS14F 34 20UNEF 2B 94 010 08 0 00 16 to 0 32 20 220 0 79 0 87 22 242 0 87 0 95 ACS 12RL MS10F 9 1e 20UNEF 2B 08 01o 012 0 00 3210 0 47 24 26 4 0 94 1 04 24 264 0 94 1 04 ACS 12RL MS14F 34 20UNEF 2B Threads C Applicable 98 010012 0 00 32 to 0 47 Cable Diameter 24 26 4 0 94 1 04 Tightening Nut Lock Nut 36 28 6 1 42 1 13 F G Width across Width across Number of flats corners corners Width across flats F G Width across Number of corners corners Unit mm Unit in ACA 08RL 9 1e 2A4UNEF 2B 94 0 to 08 0 90 16 to 0 32 20 220 amp 0 79 0 87 20 0 79 22 0 087 ACA 08RL 34 20UNEF 2B 04 0 to 08 0 90 16 to 0 32 20 22 0 0 79 0 87 23 0 91 25 3 1 00 ACA 12RL 9 1e 20UNEF 2B 98 0 to 912 0 00 32 to 0 47 24 26 4
79. 2 CHAPTER 3 INSTALLATION CHAPTER 4 ABSOLUTE POSITION DETECTION SYSTEM 5 CHAPTER 6 OPTIONS AND AUXILIARY EQUIPMENT INSPECTION CHAPTER 7 TROUBLESHOOTING CHAPTER 8 CHARACTERISTICS CHAPTER 9 SPECIFICATIONS CHAPTER 10 SELECTION CHAPTER 11 3 WIRING N WARNING N CAUTION Any person who is involved in wiring should be fully competent to do the work Before starting wiring make sure that the voltage is safe in the tester more than 10 minutes after power off Otherwise you may get an electric shock 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 mo tor may misoperate resulting in injury Connect cables to correct terminals to prevent a burst fault etc Ensure that polarity is correct Otherwise a burst damage etc may occur The surge absorbing diode installed to the DC relay designed for control output should be fitted in the specified direction Otherwise the signal is not output due to a fault disabling the emergency stop and other protective circuits Servo Amplifier COM 24VDC
80. 20A 1 D265 Angle 05 8 32 1750 22 to 23 8 CE3057 20A 1 D265 HC SF702 B CE05 2A32 17PD B For encoder connection Cable Plug Clamp Cable Back shell Cable M CAR DPlug 4 Back shell Cable Clamp Back shell Cable Clamp Servo Motor Plug Daiichi Denshi Kogyo Daiichi Denshi Kogyo Servo Motor Side Connector Daiichi Denshi Kogyo Type Model Cable OD Model HC SF52 B to 702 B HC RF103 B to 503 B MS3102A20 29P MS3106A20 29S D190 6 8 to 10 CE3057 12A 3 D265 HA UF72 B to 502 B Angle CE 20BA S Straight CE02 20BS S 3 WIRING For brake connection DPlug Cable Cable Connector Cable CDPlug Q Cable Connector Servo Motor CDPlu Servo Motor DPlug Side Connector Daiichi Denshi Kogyo Cable Connector Type Maker Cable OD Model HC SF202 B to 702 B HC UF202 B to 502 B MS3102A10SL 4P MS3106A10SL 4S D190 Straight 4to8 ACS 08RL MS10F Nippon Flex 8 to 12 ACS 12RL MS1OF Daiwa Dengyo 5to 8 3 YS0 10 5 to 8 3 52 4108 ACA 08RL MS10F Nippon Flex 8 to 12 ACA 12RL MS10F Daiwa Dengyo 5 to 8 3 YL0 10 5 to 8 3 WIRING b When using flexible conduits For power supply connection Conduit CDPlug Conduit Connctor Conduit
81. 4 Red Phase U White Phase V Brake lead Black Phase W 2 0 3 11 8in Green yellow Earth 12036 With end insulated round BC1 2039 crimping terminal 1 25 4 Encoder cable 11 8in With connector 1 172169 9 AMP make 10 62 10 SPECIFICATIONS Model Variable Dimensions in L KL Braking Force 02 Inertia Moment WK oz in HC MF23B 5 18 1 03 184 0 74 HC MF43B ith connector 1 AMP make Model 6 16 2 84 184 1 04 Unit in 02 362 L 1 181 Motor plate Opposite side 4 00 228 Power supply lead 4 AWG19 11 8 With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth Brake lead 2 0 32 11 8in With end insulated round crimping terminal 1 25 4 BC12037 BC12039 Braking Force Inertia Moment oz in WK oz in HC MF73B 03 228 Caution plate Encoder cable 11 8in With connector 1 172169 9 AMP make 340 3 96 Unit in Motor plate Opposite side 0 315 9418 Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth Brake lead 2 0 3 11 8in With end insulated round crimping terminal 1 25 4 BC12038 10 63 10 SPECIFICATIONS 3 With reduction gear for general industrial m
82. 5 5 Battery connector CON1 Used to connect the battery for absolute position data backup Display The four digit seven segment LED shows the servo status and alarm number Chapter 5 5 Section 6 2 8 Section 2 3 Operation section Used to perform status display diagnostic alarm and parameter setting operations 9 e MODE UP DOWN SET L Used to set parameter data Used to change the display or data in each mode Used to change the mode Section 2 3 I O signal connector CN1A Used to connect digital I O signals Section 3 1 2 I O signal connector CN1B Used to connect digital I O signals Section 3 1 2 Communication connector CN3 Used to connect a personal computer or output analog monitor Section 3 1 2 Section 6 1 5 Name plate Section 1 1 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Encoder connector CN2 Connector for connection of the servo motor encoder Section 3 1 2 Main circuit terminal block TE1 Used to connect the input power supply and servo motor Section 3 1 1 Control circuit terminal block TE2 Used to connect the control circuit power supply and regenerative brake option Section 3 1 1 Protective earth PE terminal Ground terminal Section 3 4 1 INTRODUCTION 2 MR J2 20
83. 56683 3 J 56 220 640 4000 Per braking Permissible braking work Per hour ozein 7936 31176 90693 566833 Brake looseness at servo motor shaft 0 19 to 2 5 0 12 to 1 2 0 1 to 0 9 0 2 to 0 6 degrees Number of braking 20000 20000 20000 20000 cycles times Brake life Note 3 Work WI 4 15 32 200 braking ozein 567 2126 Note 1 There is no manual release mechanism When it is necessary to hand turn the servo motor shaft for machine centering etc use a separate 24VDC power supply to release the brake electrically The value for initial ON gap at 20 C The brake gap will increase as the brake lining wears but the gap is not adjustable The brake life indicated is the number of braking cycles after which adjustment will be re quired 4 24VDC of the internal power output for interface VDD cannot be used Always use a separate power supply N 9 CHARACTERISTICS 2 Electromagnetic brake power supply 24VDC of the internal power output for interface VDD cannot be used Prepare the following power supply for use with the electromagnetic brake only Examples of connection of the brake exciting power supply are shown in Fig 9 3 a to c a is for AC off and b and c for DC off When DC is switched off the braking delay time will be shortened but a surge absorber must be installed on the brake terminal For the selecti
84. 74 74 LK 23 23 33 33 L LR 55 55 75 75 HC MF13BG2 HC MF13BG2 HC MF13BG2 HC MF13BG2 Unit mm For reverse rotation command For forward rotation command Rotation direction Motor plate Opposite side Motor plate ji Bottom Top Caution plate Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth Brake lead 2 0 3 0 3m With end insulated round crimping terminal 1 25 4 Encoder cable 0 3m With connector 1 172169 9 AMP make BC12082 BC12101 10 34 10 SPECIFICATIONS Braking Force Reduction Gear Reduction Inertia Moment N m Model Ratio J X10 kg m Model HC MF23BG2 1 3 BK1 05B 02MEKA 1 5 0 239 HC MF23BG2 1 3 BK2 09B 02MEKA 1 9 0 256 HC MF23BG2 1 3 BK3 20B 02MEKA 1 20 0 405 HC MF23BG2 1 8 BK3 29B 02MEKA 1 29 0 324 Variable Dimensions Reduction Ratio Model LG LH LK L LR HC MF23BG2 8 60 23 55 106 6 6 1 5 HC MF23BG2 10 74 33 75 11246 6 1 9 HC MF23BG2 10 85 35 85 129 1 20 HC MF23BG2 10 85 35 85 129 1 29 Unit mm For reverse rotation command Rotation direction For forward rotation command Motor plate Oppo
85. 964 Note 2 Release delay time S 0 03 0 03 0 04 0 1 0 03 Braking delay time AC off Fig a 0 1 0 12 0 1 0 12 0 12 0 12 Note 2 s DC off Fig s b c 0 02 0 03 0 03 0 03 0 03 0 03 J 22 0 64 0 18 0 400 4500 400 ozein 3117 6 9069 3 2550 7 56683 3 637687 1 56683 3 J 56 220 640 180 460 4000 45000 4000 ozein 7936 31176 90693 5527 25507 65186 566833 6376871 566833 Per braking Permissible braking work Per hour Hs es at servo motor shaft 0 19 to 2 5 0 12 to 1 2 0 1 to 0 9 0 3 to 3 5 0 2 to 2 0 0 2 to 1 3 0 2 to 0 6 0 2 to 0 6 0 2 to 0 6 Number of braking Brake life cycles times Note 3 Work M 4 15 32 4 18 47 200 100 200 braking ozein 2126 2551 28342 141708 28342 20000 20000 20000 30000 30000 30000 20000 20000 20000 9 CHARACTERISTICS Servo Motor HC UF Series 23B 73B 72B Item 43B 152B Note 1 Type Spring loaded safety brake Note 4 Rated voltage 24V So DC Rated current at 20 A 0 33 0 42 0 8 Excitation coil resistance at 20 C O 78 57 29 Capacity W 7 9 10 19 ON current A 0 2 0 2 OFF current A Static friction torque Nem 8 3 02 1176 Note 2 Release delay time S 0 04 Braking delay time AC off Fig a 0 12 Note 2 s DC off Fig s b c 0 03 J 22 64 400 ozein 3117 6 9069 3
86. J x10 kg m LL 1 5 0 545 0 678 250 287 HA FF33 B G1 110 GR S 30 0 545 0 678 250 287 1 30 0 538 0 670 250 287 HA FF43 B G1 1 10 1 02 1 37 259 295 5 1 30 1 01 1 36 259 295 5 Note 1 Values in parentheses are those for the servo motors with electromagnetic brakes 2 Nominal reduction ratios For actual reduction ratios refer to Section 10 3 1 5 1 02 1 37 259 295 5 HA FF63 B G1 Unit mm 4 912 274 5 311 5 46 5 Earth terminal M3 screw Opposite side Caution plate M6 screw depth 10 22h6 Power supply cable Section AA VCTF 3 1 25 0 5m With end insulated round crimping terminal 1 25 4 Red PhaseU Encoder cable 0 3m White Phase V With connector 172169 9 Black Phase W AMP make Note 2 Reduction Note 1 2 Reduction Gear Inertia Moment Note Weight Ratio Model J x10 kg m kg 1 5 1 34 1 69 13 0 13 9 Servo Motor Model HA FF63 B G1 110 GR S 60 1 34 1 69 13 0 13 9 1 30 1 32 1 67 13 0 13 9 Note 1 Values in parentheses are those for the servo motors with electromagnetic brakes 2 Nominal reduction ratios For actual reduction ratios refer to Section 10 3 10 44 10 SPECIFICATIONS Unit mm 4 With reduction gear for precision application LL LR Caution plate Earth terminal M3
87. Leakage current when a filter is connected to the input side 4 4mA per one FR BIF Iga Leakage current of the servo amplifier Found from Table 6 2 Igm Leakage current of the servo motor Found from Table 6 1 Table 6 1 Servo Motor s Leakage Table 6 2 Servo Amplifier s o Current Example Igm Leakage Current 3 Example Iga Servo Motor Leakage Servo Amplifier Leakage E Output kW Current mA Capacity kW Current mA l mA poe 2 0 1 to 0 6 0 1 0 6 to 1 0 0 1 1 2 to 2 2 0 2 0 7 to 3 5 0 15 3 3 5 0 3 2 3 5 5 58 14 22 38 80 150 30 60 100 Cable size mm Table 6 3 Leakage Circuit Breaker Selection Example Fig 6 1 Leakage Current Example Ig1 1g2 for CV Cable Run in Metal Conduit Servo Amplifier Rated Sensitivity Current of Leakage Circuit Breaker MR J2 10A1 to MR J2 40A1 15 mA 6 OPTIONS AND AUXILIARY EQUIPMENT 2 Selection example Indicated below is an example of selecting a leakage current breaker under the following condi tions 2mm x 5m 2mm x 5m R NV oN ZN Servo amplifier 22 7 MR J2 60A 101 iga ig2 igm Use a leakage current breaker generally available Find the terms of Equation 6 2 from the diagram 101 20 5 Toog 01 102 20 0 1 mA Eo 1000 Ign 0 not used Iga 0 1 mA Igm 0 1 mA Insert these values in
88. MF23B UE 140 5 58 1 3 0 136 HC MF43B UE 165 5 81 1 3 0 191 Unit mm T V plate Motor plate Opposite side RW Bottom NS Motor plate A DN fg 3 With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Brake lead Black Phase W Green yellow Earth AMP make With end insulated round crimping terminal 1 25 4 BC07354A B1 B2 Barking Force Inertia Moment 4 2 J X10 kg m HC METOS UE Unit mm 185 5 40 T V plate Motor plate Caution plate Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Encoder cable 0 3m Red Phase U With connector 1 172169 9 Brake lead AMP make 2 0 3 0 3m White Phase V BC07 A With end insulated round Black Phase W 07606 crimping terminal 1 25 4 Green yellow Earth B1 B2 10 40 10 SPECIFICATIONS 3 HA FF series 1 Standard HA FF053 HA FF13 Caution plate HA FF23 to HA FF63 Caution plate 047 Earth terminal screw Encoder cable 0 3m With connector 172169 9 AMP make Inertia Moment J X 10 kg m Unit mm LL 30 Earth terminal screw 6 2 5 Opposite side Motor plate Power supply cable 3 1 25 0 5m With end insulated round crimping terminal 1 25 4 Red PhaseU Encoder cable 0 3m White Phase V With conne
89. MR J2 40A 1 MR J2 60A MR J2 70A MR J2 100A MR J2 200A MR J2 350A Inverse efficiency qn Efficiency including some efficiencies of the servo motor and servo amplifier when rated regenerative torque is generated at rated speed Since the efficiency varies with the speed and generated torque allow for about 10 Capacitor charging Ec Energy charged into the electrolytic capacitor in the servo amplifier Subtract the capacitor charging from the result of multiplying the sum total of regenerative ener gies by the inverse efficiency to calculate the energy consumed by the regenerative brake option Er J n Es Ec Calculate the power consumption of the regenerative brake option on the basis of single cycle operation period tf s to select the necessary regenerative brake option Pia W S EBD rte e Regens 6 1 6 OPTIONS AND AUXILIARY EQUIPMENT 3 Connection of the regenerative brake option Parameter No 0 When using the regenerative brake option always remove wiring from across P D and install the regenerative brake option across P C Set parameter No 0 according to the option to be used The regenerative brake option will generate heat of about 100 C Fully examine heat dissipation installation position used cables etc before installing the option For wiring use fire retarding cables and keep them clear of the regenerative brake option body Al
90. NUT Power supply connector N Brake connector Encoder connector CE05 2A14S 2PD B D17 MS3102E10SL 4P U MS3102A20 29 Note 1 For the pin outs of the power supply and encoder connectors refer to 3 Section 3 2 3 Force 2 For horizontal installation it is recommended to face the power W J X 10kg m supply and encoder connectors down Nm Braking HA FF053CB UE HA FF13CB UE Unit mm 172 47 gt ja Caution plate i 1 2 UJ s 3 947 MORI Lt Bottom 301 z 4i 732 Top Bottom F T V jae A Top Motrpate C P Hi Wir 4 sss j s 4 94 5 67 i 20 lt N 101 44 Power supply connector Brake connector d Encoder connector CE05 2A148 2PD B D1T7 MS3102A20 29P MS3102E10SL 4P Note 1 For the pin outs of the power supply and encoder connectors refer to 3 Section 3 2 3 A Braking 2 For horizontal installation it is recommended to face the power Output Inertia Moment E supply and encoder connectors down W J X10 kg m N
91. P5 i P5 18 LG x H 18 8 MR H1 MR 7 H1 MRR 2 MRR 17 H2 BAT 9 3 LG LG SD Ig SD Plate 6 10 6 OPTIONS AND AUXILIARY EQUIPMENT b For HC SF HC RF When fabricating an encoder cable fabricate it as shown below MR JHSCBL2M L MR JHSCBL10M L MR JHSCBL10M H MR JHSCBL5M L to to MR JHSCBL2M H MR JHSCBL50M L MR JHSCBL50M H MR JHSCBL5M H Servo amplifier side Encoder side Servo amplifier side Encoder side Servo amplifier side Encoder side P5 ho H s is Ps ho t yi ils LG fi H EN LG 11 it T P5 20 H P5 20 m LG 12 H HR LG j2 H i MR 7 HC P5 18 eli i MRR 17 HD LG 2 i P5 18 i I LG 2 PO 9 Ec EF HC MR m HC LG J HD MRR 17 H HD SD Plate 77777 tN ic be HF BAT 9 m HF HG LG HG N SD Plate N AWG24 used AWG22 used AWG24 used For less than 10m For 10 to 50m For 10 to 50m In addition to the above the customer may also fabricate the cable of the following length For use of AWG28 5m or less Servo amplifier side Encoder side eis 6 11 6 OPTIONS AND AUXILIARY EQUIPMENT 2 Junction terminal block cable
92. Ready Indicates that the servo was switched on after completion of initialization and the servo amplifier is ready to operate External I O signal display a 24 Indicates the ON OFF states of the external I O signals Ni A ae A The upper segments correspond to 17 15 16 the input signals and the lower segments to the output signals Input i Lit ON L Lh Extinguished OFF Output signals ZN ZN a p oe ome h The I O signals can 18 19 be changed using NOTICE parameters No 43 to 49 Output signal forced output The digital output signal can be forced on off For more information refer to 2 in this section Test operation mode Jog feed The servo motor can be jogged without pulse train input During jog feed the servo amplifier acts as speed control servo The status display values of the droop pulses cumulative command pulses and command pulse frequency do not change For details refer to 3 in this section Positioning operation The set up software MRZJW3 SETUP31 is re quired for positioning operation This operation NOTICE cannot be performed from the operation section of the servo amplifier The servo motor can be positioned without pulse train input Motor less operation Without connection of the servo motor the servo amplifie
93. Section 3 2 2 Overall change Section 3 2 3 Overall change Section 3 2 4 Additions Section 3 3 Corrections to errors in diagram 2 Section 3 5 Addition of sentence 2 Section 4 1 Changes to installation clearances 7 Section 4 2 Changes to graph 7 Chapter 5 Changes to sentence in Note 5 1 Section 6 1 1 Changes to table 5 1 Section 6 1 1 Addition of MR RB30 and 50 diagrams Section 6 1 2 Connector outline drawings are moved to Section 10 5 3 2 Section 6 1 2 Addition of UL20276AWG227 pair BLACK b 1 2 Section 6 1 2 Addition of connection diagram for use of AWG28 3 2 Section 6 1 2 Addition of bus cable Section 6 1 4 Addition of maintenance junction card Section 6 2 5 Change to Matsushita Electric s varistor model number Section 10 5 1 Entry of terminal signal arrangement Section 10 5 4 Entry of cable side plug outline drawings REVISIONS Print Data The manual number is given on the bottom left of the back cover Manual Number Revision Oct 1997 IB NA 67286 C Instructions added for compliance with the UL C UL Standard Addition of single phase 230VAC input power supply Section 2 2 2 2 to 4 Section 2 3 5 4 Section 3 1 2 4 2 Section 3 1 4 7 Section 3 2 3 4 Section 3 3 Section 3 5 2 Section 3 7 3 Section 6 1 2 Section 6 1 2 Section 6 2 1 Section 6 2 2 Section 9 2 Section 9 3 Section 9 4 Section 10 2 3
94. Short Open Internal speed limit 1 parameter No 8 Open Short Internal speed limit 2 parameter No 9 Speed selection 2 Note 1 Refer to Section 3 1 4 2 P Position control mode S Speed control mode T Torque control mode Short Short Internal speed limit 3 parameter No 10 Position speed speed torque torque position control change mode As CN1B 7 acts as a control change signal the speed selected when the speed or torque control mode is selected is as follows When speed control mode is selected Speed Command Analog speed command VC Internal speed command 1 parameter No 8 When torque control mode is selected Speed Limit Analog speed limit VLA Internal speed limit 1 parameter No 8 3 11 DI 1 3 WIRING Connec Signal tor Pin No Functions Applications 1 0 Division Note 1 Proportion control CN1B 8 Connect PC SG to switch the speed amplifier from the proportional integral type to the proportional type If the servo motor at a stop is rotated even one pulse due to any external factor it generates torque to compensate for a position shift When the servo motor shaft is to be locked mechanically after positioning completion stop switching on the proportion control signal PC upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift When the shaft is to
95. V phase Black W phase 3 38 3 WIRING 3 HA FFC UE series Encoder connector Key MS3102A20 29P Power supply connector Brake connector CE05 2A14S 2PD B MS3102E10SL 4P DO Q A Connector For power supply For encorder For brake Servo Motor HA FF053C B UE to CE05 2A14S 2PD B MS3102A20 29 MS3102E10SL 4P HA FF63C B UE Encoder connector signal arrangement MS3102A20 29P MS3102A10SL 4P Key jeu c o Tn o gt 4 HC UF 3000r min series Bottom Top drei Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Red U phase White V phase Black W phase Green yellow Earth Brake cable Encorder cable 0 3m VCTF 2 0 5 0 5m With connector With end insulated round 172169 9 AMP make crimping terminal 1 25 4 AC Power supply connector signal arrangement CE05 2A14S 2PD B Brake connector signal arrangement Signal Note B1 Note B2 Note 24VDC without polarity Encorder connector signal arrangement MR MRR MD MDR P5 LG 3 WIRING 5 HC SF HC RF HC UF 2000r min series Motor plate Opposite side Servo Motor Side Connectors Servo Motor Electromagnetic For r l or power supply For encoder Brake Connector HC SF
96. W WK oz in HA FF13CB UE 100 10 92 10 SPECIFICATIONS HA FF23CB UE HA FF33CB UE Unit in te L we 1 18 2 99 1 81 0 55 0 12 0 98 4 90 22 e 0 63011 BE Q T F ki e 4 ai Oil seal Caution plate 4 15307B English S 1 61 1 26 iud 51 10 e TUV plate Motor plate _ 10 79 Ws ig 1 52 s KL J Encoder connector a Brake connector MS3102A20 29P OWE TUPPY CONECO MS3102E10SL 4P 0 10 CE05 2A14S 2PD B D17 L Ig g S 3 AA M4 threads depth 0 59 Section AA Note 1 For the pin outs of the power supply and encoder connectors Variable Dimensions refer to 3 Section 3 2 3 2 For horizontal installation it is recommended to face the power supply and encoder connectors down Braking Force L KL oz in Inertia Moment WK ozin HA FF23CB UE HA FF33CB UE 2 64 3 46 HA FF43CB UE HA FF63CB UE
97. With end insulated round crimping terminal 0 05 4 A Red Phase U Encoder cable 11 8in White Phase V With connector 172169 9 Black Phase W AMP make Note 2 Reduction Reduction Gear Inertia Moment Note 1 Weight re zin Ratio Model WK foe Ib 1 5 7 326 9 240 28 7 30 6 Servo Motor Model HA FF63 B G1 1 10 GR S 60 7 326 9 240 28 7 30 6 1 30 7 217 9 131 28 7 80 6 Note 1 Values in parentheses are those for the servo motors with electromagnetic brakes 2 Nominal reduction ratios For actual reduction ratios refer to Section 10 3 10 86 10 SPECIFICATIONS 4 With reduction gear for precision application LL le Caution plate Earth terminal M3 screw Opposite side 200W or more Earth terminal M3 screw Opposite side 100W less Bottom oLK 21 85 54 o Bottom m Motor plate Power supply cable VCTF 3 0 05 19 7in With end insulated round crimping terminal 0 05 4 Encoder cable 11 8in Red Phase U With connector 172169 9 White Phase V AMP make Black Phase W Note E Servo Motor Reduction Reduction Inertia Note Variable Dimensions in Walen Model Ratio Gear Model Moment Ib WK oz in 1 5 BM2 05B 0 60 5 0 70 5 7 1 10 BM2 10B 0 59 5 1 HA FF053 ABMES 0 68 x
98. are important to personnel safety What must not be done and what must be done are indicated by the following diagrammatic symbols S Indicates what must not be done For example No Fire is indicated by R e Indicates what must be done For example grounding is indicated by After reading this installation guide always keep it accessible to the operator In this Installation guide instructions at a lower level than the above instructions for other functions and so on are classified into NOTICE INFORMATION and MEMORANDUM NOTICE Indicates that incorrect handling may cause the servo amplifier to be faulty and may not lead to physical damage INFOR Indicates that parameter setting change etc will provide another function or there MATION are other usages MEMO RANDUM Indicates information needed for use of this equipment SAFETY INSTRCUTIONS 1 To prevent electric shock note the following N WARNING Before wiring or inspection switch power off and wait for more than 10 minutes Then confirm the voltage is safe with voltage tester Otherwise you may get an electric shock Connect the servo amplifier and servo motor to ground Any person who is involved in wiring and inspection should be fully competent to do the work Do not attempt to wire the servo amplifier and servo motor until they have been installed Otherwise you may get an electric shock Operate the switches with dry hand to p
99. be locked for a long time switch on the proportion control signal and torque control signal TL at the same time to make the torque less than the rated by the analog torque limit DI 1 Emergency stop Disconnect EMG SG to bring the servo motor to an emergency stop state in which the servo is switched off and the dynamic brake is operated Connect EMG SG in the emergency stop state to reset that state Connect CR SG to clear the position control counter on the leading edge of the signal The pulse width should be 10ms or more Control change Note 1 Refer to Section 3 1 4 Position speed control change mode Used to select the control mode in the position speed control change mode Across LOP SG Control Mode Position Speed Speed torque control change mode Used to select the control mode in the speed torque control change mode Across LOP SG Control Mode Open Speed Short Torque Torque position control mode Used to select the control mode in the torque position control change mode Across LOP SG Control Mode Open Torque Short Position 2 P Position control mode S Speed control mode T Torque control mode 3 12 3 WIRING Signal Connec tor Pin No Functions Applications y o Division Note 1 Analog torque limit CN1B 12 To use this signal in the speed control NOTICE m
100. come off during operation leading to injury When coupling the shaft end of the servo motor do not subject the A CAUTION shaft end to impact such as hammering The encoder may become faulty Cover the shaft of the servo motor to make its rotary part com pletely inaccessible during operation Do not subject the servo motor shaft to more than the permissible load Otherwise the shaft may break leading to injury 1 Environmental conditions Servo motor Environment Conditions 0 to 40 non freezing 32 to 104 non freezing Ambient humidity 80 RH or less non condensing 15 to 70 non freezing 5 to 158 non freezing Ambient temperature Storage temperature Storage humidity 90 RH or less non condensing x Y Ambient Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt Altitude Max 1000m 3280ft above sea level MC MF series Z HA FF series XY 19 6 HU UF13 to 73 Vibration HC SF81 HC SF52 to 152 HC SF53 to 153 HC RF series HC UF72 152 HC SF121 201 HC SF202 352 HC SF203 353 HC UF202 HC SF301 MC MF series HA FF series HU UF13 to 73 HC SF81 HC SF52 to 152 HC SF53 to 153 ft s2 HC RF series HC UF72 152 HC SF121 201 HC SF202 352 X 64 HC SF203 353 Y 161 HC UF202 HC SF301 X 38 Y 96 X 9 8 Y 24 5 Vibration Graph of vibration servo amplitude vs speed 4 INSTALLATIO
101. correctly and securely Otherwise the servo motor may misoperate AN Do not install a power capacitor surge absorber or radio noise filter FR BIF option be tween the servo motor and servo amplifier AN Connect the output terminals U V W correctly Otherwise the servo motor will operate improperly AN Do not connect AC power directly to the servo motor Otherwise a fault may occur A The surge absorbing diode installed on the DC output signal relay must be wired in the specified direc tion Otherwise the emergency stop and other protective circuits may not operate Servo Servo Amplifier Amplifier COM COM 24VDC 24VDC Control Control output output signal signal 3 Test run adjustment N CAUTION Before operation check the parameter settings Improper settings may cause some ma chines to perform unexpected operation AN The parameter settings must not be changed excessively Operation will be instable 4 Usage N CAUTION Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately Any person who is involved in disassembly and repair should be fully competent to do the work Before resetting an alarm make sure that the run signal 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 electr
102. delay 11 29 time t ON duration of the actuator Lo where Vi V2 As shown in the chart mm min ta As shown in the chart s Li As shown in the chart mm Lp As shown in the chart mm 2 Set the end OFF position of the actuator signal at the middle of two ON positions Lows of the zero pulse signal If itis set near either ON position of the zero pulse signal the positioning unit is liable to misdetect the zero pulse signal In this case a fault will occur e g the home position will shift by one revolution of the servo motor The zero pulse output position can be confirmed by OP encoder Z phase pulse on the external I O signal display 3 Set the creep speed at which the machine is not shocked at a stop The machine will stop suddenly as the clear CR signal is given to the servo amplifier on detection of the zero pulse signal 11 10 11 SELECTION 11 9 Selection example Machine specifications Speed of moving part during fast feed Vo 30000mm min Travel per pulse Ag 0 005mm Travel 400mm E enn Positioning time to within 1s Servo B Number of feeds 40 times min motor Operation cycle 1 5 Gear ratio 5 8 Gear ratio n 8 5 Servo Moving part weight W 60kg amplifier Drive system efficiency n 0 8 ulse train MES Dis Friction coefficient u
103. does not go into a servo off status However if operation is continued in the warning status an alarm may occur or proper operation not performed Eliminate the cause of the warning according to this section Use the optional set up software to refer to the cause of warning Name Definition Cause Action Open battery cable warning Absolute position detection System battery voltage is low Battery cable is open Repair cable or change battery Battery voltage dropped to 2 8V or less Change battery Zero setting error 1 For incremental return to origin point could not be performed For absolute position detection system origin point setting could not be performed Command pulses were input after droop pulses had been cleared 2 Droop pulses remaining are greater than in position range setting Make provisions so that command pulses are not input after droop pulses are cleared 3 Creep speed is high Reduce creep speed Battery warning Absolute position detection System battery voltage is low Battery voltage dropped to 3 2V or less Change battery Excessive regen erative load warn ing There is a possibility that rege nerative power may exceed permissible regenerative power of built in regenerative brake resistor or regenerative brake option Regenerative power increased to 8596 or more of permissible rege nerative power of buil
104. fBottom P xem _ Top 1 N pm 9 Oil seal je 8304578 Motor flange direction Brake U Encoder connector 38 MS3102A20 29P 4 Power supply 4 013 5 mounting hole connector Earth gt Use hexagon socket CE05 2A22 23P head cap screw Power supply connector layout CE05 2A22 23P 2695981 10 58 10 SPECIFICATIONS Output Braking Force Inertia Moment kW J X10 kg m HC UFISEB Unt mm 0176 153 5 iis 55 Moter plate 13 3 Opposite side 2 M6 screw 9114 3 o5 Oil seal 30457B Motor flange direction Brake Encoder connector MS3102A20 29P Power supply connector CE05 2A22 23P Earth 4 013 5 mounting hole Use hexagon socket head cap screw Power supply connector layout CE05 2A22 23P 2695982A Variable Braking Force Inertia Moment Model Dimensions 4 2 J X10 9 L KL HC UF202B 46 8 Unit mm L 65 0220 Moter plate Opposite side Bottom _ Uk CERCA v Mp ae ee UL Top I 1 4 013 5 mounting hole Use hexagon socket MS3102A20 29P head cap screw Motor flange direction DA Brake Brake connector layout MS3102A10SL 4P Power supply connector layout CE05 2A24 10P BC10647A 10 59 10 SPECIFICATIONS Output Braking Force Inertia Moment kW J X10 kg m Unit mm Motor plate T V
105. fill amount Reduction gear frame No Horizontal type Fill amount Vertical type 5 HC RF series Reduction Gear Series For Precision Applications HC RF Mounting method Flange mounting Mounting direction In any directions Lubrication Grease lubrication Already packed Recommended grease LDR101BJ of American Oil Center Research make Output shaft rotating direction Same direction as the servo motor shaft With electromagnetic brake Available Backlash Within 3 minutes at reduction gear output shaft Permissible load inertia moment ratio when converting into the servo motor shaft 5 times or less Permissible speed at servo motor shaft 10 13 4000 r min 10 SPECIFICATIONS 10 4 Servo motors with special shafts The standard shaft of the servo motor is straight without a keyway Shafts with keyway and D cut are also available These shafts are not appropriate for applications where the servo motor is started and stopped frequently Use a friction coupling or the like with such keys since we cannot guarantee such trouble as broken shafts due to loose keys Servo Motor Model Shaft Shape Keyway D cut HC MF083 13 HC MF23 to 73 HA FF053 13 HA FF23 to 63 Note 1 With a key 2 Standard with a key For shape refer to Section 10 5 2 Machining
106. is secured against hazard if restarted 6 Maintenance inspection and parts replacement N CAUTION A With age the electrolytic capacitor 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 Disposal N CAUTION AN Dispose of the product as general industrial waste 8 General instruction To illustrate details the equipment in the diagrams of this Installation guide 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 Installation guide 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 fundamen tal safety requirements and carry the CE marks CE marking CE marking applies to machines and equipment into which servo amplifiers have been installed 1 EMC directive The EMC directive applies to a machine equipment
107. kg 2 JL1 BR 52 kg cm Ball screw J ESPTEI i ESI 0 24 k 2 L2 32 mem kg cm p 7 8 x 10 kg cm Gear servo motor shaft TepeLl 32 Gear load shaft 4 JL3 eD 0 03 kg cm 4 E IA c 2 ES S e cm2 32 0 8 kg cm Full load inertia moment converted into equivalent value on servo motor shaft JL Jui JL2 JL3 1 9 kg cm 7 Temporary selection of servo motor Selection conditions 1 Load torque lt servo motor s rated torque 2 Full load inertia moment lt 30 x servo motor inertia moment From the above the HC MF23 200W is temporarily selected 11 12 11 SELECTION 8 Acceleration and deceleration torques Torque required for servo motor during acceleration JL Jm No 9 55 x 10 Tpsa Torque required for servo motor during deceleration TMa Tu 1 7 N m JL Jm No 1 2 MIT eer x dO Tu MOM The torque required for the servo motor during deceleration must be lower than the servo motor s maximum torque 9 Continuous effective load torque The continuous effective load torque must be lower than the servo motor s rated torque 10 Torque pattern Trms TMa Tpsa Ti tc Tid 0 41 N m 1 7 Nem 023 4 Torque Time s d 0 15 11 Selection results The HC MF23 servo motor and MR J2 20A servo amplifier are s
108. lines and the signal cables are laid side by side or bundled together magnetic induction noise and static induction noise will be transmitted through the signal cables and malfunction may occur The following techniques are required 1 Provide maximum clearance between easily affected devices and the servo amplifier 2 Provide maximum clearance between easily affected signal cables and the I O cables of the servo amplifier 3 Avoid laying the power lines I O cables of the servo amplifier and signal cables side by side or bundling them together 4 Use shielded wires for signal and power cables or put the cables in separate metal conduits When the power supply of peripheral devices is connected to the power supply of the servo amplifier system noises produced by the servo amplifier may be transmitted back through the power supply cable and the devices may malfunction The following techniques are required 1 Insert the radio noise filter FR BIF on the power cables Input line of the servo amplifier 2 Insert the line noise filter FR BSF01 on the power cables of the servo amplifier When the cables of peripheral devices are connected to the servo amplifier to make a closed loop circuit leakage current may flow to malfunction the peripheral devices If so malfunction may be prevented by disconnecting the grounding cable of the peripheral device 6 OPTIONS AND AUXILIARY EQUIPMENT 1 Data line filter N
109. m HA FF13CB UE 10 50 10 SPECIFICATIONS HA FF23CB UE HA FF83CB UE Unit mm hi L bs 30 READE 25 16 4 Bott LA ottom i JA LA i Oil seal gees 4 5153078 nglis 41 i 32 Top Bottom 128 T Motor plate L 1 TUV plate 1120 OY 2 38 5 K N Encoder connector Brake connector MS3102A20 29P Power supply connector MS3102E10SL 4P 5 CE05 2A14S 2PD B D17 lt Note 1 For the pin outs of the power supply and encoder connectors refer to 3 Section 3 2 3 2 For horizontal installation it is recommended to face the power supply and encoder connectors down 2 M4 x 0 7 threads depth 15 a Q he NEIN Section AA Variable Dimensions Braking Force Nm Inertia Moment J X 10 kg m HA FF23CB UE HA FF33CB UE HA FF43CB UE HA FF63CB UE
110. option is open or disconnected 1 Change lead 2 Connect correctly Regenerative transistor faulty Change servo amplifier Wire breakage of built in regenerative brake resistor or regenerative brake option 1 For wire breakage of built in regenerative brake resistor change servo amplifier For wire breakage of regenerative brake option change regenerative brake option Capacity of built in regenerative brake resistor or regenerative brake option is insufficient Add regenerative brake option or increase capacity 8 TROUBLESHOOTING Alarm Code CN1B 19 pin CN1A 18 pin CN1A 19 pin Name Definition Cause Action 1 0 1 Command pulse alarm Input command pulses are too high Command pulse frequency is too high Reduce the command pulse frequency to proper value Noise entered command pulses Take measures against noise Command unit faulty Change the command unit Parameter error Parameter setting is wrong Servo amplifier fault caused the parameter setting to be rewritten Change the servo amplifier 2 Regenerative brake option not used with servo amplifier was selected in parameter No 0 Set parameter No 0 correctly Servo motor overheat Servo motor temperature rise actuated the thermal protector Ambient temperature of servo motor is over 40 C Review envir
111. pin 8 46 DI5 Input signal selection 5 CN1B pin 7 0770 0000h to Allows any input signal to be assigned to CN1B pin 7 0999h The assignable signals and setting method are the same as in input signal selection 2 parameter No 43 fo Position control mode Input signals of Speed control CN1B pin 7 mode selected Torque control mode This parameter is unavailable MEMORANDUM when parameter No 42 is set to assign the control change signal LOP to CN1 B pin 7 2 OPERATION Name and Function Initial Value Setting Range Control Mode Expansion parameters Input signal selection 6 CN1B pin 8 Allows any input signal to be assigned to CN1B pin 8 The assignable signals and setting method are the same as in input signal selection 2 parameter No 43 0 Position Control made Input signals of Speed control CN1B pin 8 mode selected Torque control mode This parameter is unavailable when parameter No 42 is set to MEMORANDUM assign the control change signal LOP to CN1B pin 8 When Use in absolute position detection system is selected with parameter No 1 the CN1B 8 pin comes into the ABS transfer mode ABSM 0883 0000h to 0999h 5 Input signal selection 7 CN1B pin 9 Allows any input signal to be assigned to CN1B pin 9 The assignabl
112. plate Motor plate Opposite side Oil seal SC10207 Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Red Phase U Encoder cable 0 3m White Phase V EIEE EN Er e i Black Phase W With tor 1 172169 9 AMP make lor Brake cable Green yellow Earth Tough rubber sheath cable 2 0 75 0 3m BC11767A With end insulated round crimping terminal 1 25 4 Variable I I Braking Force Inertia Moment Model Dimensions 2 roi J X10 kg m L KL HC UF23B 111 43 8 1 3 0 323 HC UF43B 126 58 8 1 3 0 477 Unit mm Motor plate Motor plate Opposite side T V plate Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Brake cable Black Phase W Tough rubber sheath cable Green yellow Earth 2 0 75 0 3m With end insulated round crimping terminal 1 25 4 Encoder cable 0 3m With connector 1 172169 9 AMP make BC11515A 10 60 10 SPECIFICATIONS 10 5 3 Servo motors in inches 1 HC MF series 1 Standard without electromagnetic brake without reduction gear Variable Model Dimensions in Inertia Moment WK oz in L KL HC MF053 3 21 1 16 0 10 HC MF13 3 80 0 18 0 16 Unit in 0 984 11 654 2 00 177 Moter plate Opposite side Power supply lead 4 AWG19 11 8in Wi
113. round crimping terminal 0 05 4 Red PhaseU White Phase V Black Phase W Inertia Moment 90 59 Section AA WK oz in d Unit in 3 54 Note 1 Variable Dimensions LL Note 1 Weight 1 5 HA FF053 B G1 GR S 10 0 369 0 465 7 20 8 56 0 369 0 465 7 20 8 56 7 20 8 56 HA FF13 B G1 0 547 0 629 0 547 0 629 0 519 0 601 0 342 0 437 7 87 9 23 7 87 9 23 7 87 9 23 Note 1 Values in parentheses are those for the servo motors with electromagnetic brakes 2 Nominal reduction ratios For actual reduction ratios refer to Section 10 3 HA FF23 B G1 8 46 Earth terminal M3 screw Opposite side Caution plate 91 85 95 12 0 2 Power supply cable VCTF 3 0 05 19 7in Red PhaseU White Phase V Black Phase W Encoder cable 11 8in With connector 172169 9 AMP make Servo Motor Model With end insulated round crimping terminal 0 05 4 Section AA Ratio Note 2 Reduction Reduction Gear Model M6 screw depth 0 39 Unit in 4 90 39 Inertia Moment WK oz in Note 1 Weight Ib HA FF23 1 5 B G1 Note 1 Values in parentheses are those for the servo motors with electro 1 10 GR S 20 magnetic brakes 2 Nominal reduction ratios For actual reduction ratios refer to Section 10 3
114. signal Positioning system Not used Incremental Auto tuning Response level Machine Used or not used Low Ordinary Used Electronic gear CMX CDV 2 12 2 1 2 OPERATION Servo on Command pulse train input Stop When the servo on signal SON is switched on the servo ampli fier is ready to operate and the servo motor shaft is locked Servo lock state If the shaft is not servo locked SON is not on Check the external sequence on the diagnostic display Checking procedure Power on Y e L Press MODE once Y I Switch SON on This display appears when SON switches on When a pulse train is input from the positioning unit the servo motor Forward starts rotating First run the servo acs motor at low speed and check the ro j tation direction etc If the servo mo P tor does not run as expected re rotaen check the input signals cw On the status display monitor check the servo motor speed com mand pulse frequency load ratios etc When machine operation check is over confirm automatic opera tion with the positioning unit program This servo amplifier has the real time auto tuning function under model adaptive control Therefore starting servo operation auto matically makes gain adjustment Using parameter No 2 response level setting can b
115. the PI Bown button When changing the parameter No 0 setting change its set value then switch power off once and switch it on again to make the new value valid 2 28 2 OPERATION 2 5 digit parameter The following example shows the operation procedure performed to change the electronic gear denominator parameter No 4 into 12345 Call the display screen shown after power on Xe e Press MODE three times Select parameter No 4 with UP DOWN e Press SET once Fifth digit setting e Lower 4 digits setting Press MODE once Press SET once m nnn E The screen flickers AAI 7 Change the set value e with UP DOWN vuv vuv vuv vun TI E z w m s 0 wn m AIA The set value is entered q Press SET once gens Press UP or DOWN ku P To the next parameter 2 OPERATION 2 Expansion parameters To use the expansion parameters change the setting of parameter No 19 parameter write disable After setting parameter No 19 switch power off once then switch it on again to make the parameter valid The table below shows the parameters referenced and writ
116. value Start not allowed because of torque shortage due to power supply voltage drop 1 Review the power supply capacity 2 Use servo motor that provides larger output 4 Position control gain 1 parameter No 6 value is small Increase set value and adjust to ensure proper operation 5 Servo motor shaft was rotated by external force When torque is limited increase the limit value Reduce load Use servo motor that pro vides larger output Machine struck something Review opera tion pattern Install limit switches Encoder faulty Change the servo motor Wrong connection of servo motor Servo amplifier s output terminals U V W do not match servo mo tor s input terminals U V W Connect correctly RS 232C alarm Communication fault occurred between servo amplifier and personal com puter 1 Communication connector is disconnected 2 Communication cable faulty Wire breakage or short Connect correctly Repair or change cable 3 Personal computer faulty Change personal computer Watchdog CPU parts faulty Fault of parts in servo amplifier Checking method Alarm 8888 occurs if power is switched on after CN1A CN1B and CN3 connectors are disconnected 8 12 Change servo amplifier 8 TROUBLESHOOTING 8 2 3 Warnings If a warning occurs the servo amplifier
117. value 0010 Pulse train positive sign Set value 0011 Negative logic A phase pulse train B phase pulse train Set value 0012 Forward rotation pulse train Reverse rotation pulse train Set value 0000 Pulse train positive sign Positive logic Set value 0001 A phase pulse train B phase pulse train Set value 0002 2 OPERATION Name and Function Initial Value Setting Range Control Mode Expansion parameters Function selection 4 0 Selection of servo motor stop pattern at LSP LSN signal off 0 Sudden stop 1 Slow stop In the position control mode the servo motor is decelerated to a stop according to parameter No 7 setting In the speed control mode the servo motor is decelerated to a stop according to parameter No 12 setting VC VLA TC TLA voltage averaging Used to set the filtering time when the analog speed command VC voltage or analog speed limit VLA Analog command TC or analog torque limit TLA is imported Set 0 to vary the Speed to voltage fluctuation in real time Increase the set value to vary the speed Slower to voltage fluctuation Filtering Time ms 0 1 77 3 55 Machine resonance suppression filter Used to set the frequency that matches the resonance frequency of the mechanical sys tem Refer to Section 2 4 2 Set value Notch Fr
118. which incorporates the servo not to the servo alone Hence the EMC filter must be used to make this machine equipment which incor porates the servo comply with the EMC Directive For specific methods to comply with the EMC Directive refer to the EMC Installation Guidelines IB NA 67310 This servo has been approved by TUV third party evaluation organization which confirmed that it can comply with the EMC Directive in the methods given in the EMC Installation Guide lines 2 Low voltage directive The low voltage directive applies also to the servo alone Therefore our servo is designed to comply with the Low Voltate Directive This servo has been approved by TUV third party evalution organization which confirmed that it complies with the Low Voltage Directive 3 Machinery directive Since the servo amplifiers are not machines they need not comply with this derective 2 PRECAUTIONS FOR COMPLIANCE 1 Servo amplifiers and servo motors used Use the following models of servo amplifiers and servo motors Servo amplifier series MR J2 10A to MR J2 350A Servo motor series HC KF LT UE HC MF O UE HC SF HC RF HC UF Control box 2 Structure Reinforced insulating type 24VDC Reinforced pee ate No fuse Magnetic breaker contactor Servo NFB MC lamplifier 3 Environment Operate the servo amplif
119. with the ambient temperature Table 3 8 SP1 and Speed Command Value Across SP1 SG Speed Command Value Open Analog speed command VC Short Internal speed command 1 parameter No 8 d Speed reached SA As in 2 2 in this section 4 Torque limit in torque control mode As in 2 3 in this section 3 28 3 WIRING 5 Speed torque control change mode Set 3 in parameter No 0 to switch to the speed torque control change mode 1 Control change LOP Use control change LOP to switch between the speed control mode and the torque control mode from an external contact Relationships between LOP SG status and control modes are indicated in Table 3 9 Table 3 9 Control Selection Across LOP SG Servo Control Mode Open Speed control mode Short Torque control mode The control mode may be changed at any time A change timing chart is shown in Fig 3 15 Speed control mode Torque control mode Speed control mode Servo motor speed i i Note 10V 1Load torque Analog torque command TC 0 Forward rotation in driving mode ON Control change LOP ETE EE ERE Note When the start signal ST1 ST2 is switched off as soon as the mode is changed to speed control the servo motor comes to a stop according to the deceleration time constant Fig 3 15 S T Change Timing Chart 2 Speed setting in speed control mode As in 1 a 2 i
120. 0 specifi In position range setting 0 10000 pulse cations Error excessive 80 kpulse Speed control range Analog speed command 1 1000 internal speed command 1 5000 Speed Analog speed command input DC0 10V Ries 0 03 or less load fluctuation 0 to 100 cations SPeed fluctuation ratio 0 02 or less power fluctuation 10 3 or less Torqu Specii Analog torque command input DCO to 8V cations Structure A Open IP00 Environmental conditions Refer to 1 in Section 4 1 Weight kg 0 7 0 7 1 1 1 1 WA 1 7 2 0 2 0 0 7 0 7 1 1 Ib 1 5 1 5 2 4 2 4 3 75 3 75 4 4 4 4 1 5 1 5 2 4 Note The single phase 230VAC power supply applies to a combination with the HC MF HA FF series servo motor 2 Servo motors Servo Motor HC MF Series HA FF Series Ultra low inertia small capacity Low inertia middle capacity Item 053 13 23 43 73 053 13 23 33 43 63 Applicable servo amplifier MR J2 10A 1 20A 1 40A 1 70A 10A 1 20A 1 40A 1 Note 1 Rated output kW 0 05 0 1 0 2 0 4 0 75 0 05 0 1 02 03 04 0 6 Continuous Rated torque N m 0 16 0 32 0 64 1 3 2 4 0 16 0 32 0 64 0 95 1 3 1 9 running duty 02 22 7 45 3 90 7 184 340 22 7 45 3 90 7 135 269 Rated speed Note 1 r min 3000 3000 Maximum speed r min 4500 4000 Permissible instantaneous speed r min 5175 4600 N m 0 95 1 9 3 8 19 2 9 oz in 135 269 538 269 411 Power rate at c
121. 0 3m With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Encoder cable 0 3m Black Phase W BC12031 With connctor 1 172169 9 Green yellow Earth BC12034 AMP make Variable Model Dimensions L KL HC MF23 99 5 49 1 0 088 HC MF43 124 5 72 1 0 143 Inertia Moment J X10 kg m Unit mm 060 Motor plate Opposite side With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Encoder cable 0 3m Green yellow Earth With connector 1 172169 9 AMP make BC12032 BC12035 10 19 10 SPECIFICATIONS Inertia Moment Model 4 2 J X10 kg m HC MF73 0 6 Unit mm Motor plate Opposite side Caution plate Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W BC12033 Green yellow Earth AMP make 2 With electromagnetic brake Variable Model Dimensions L KL HC MF053B 109 5 29 5 0 32 0 022 HC MF13B 124 5 44 5 0 32 0 032 Barking Force Inertia Moment Nem J X10 kg m Unit mm 042 Motor plate Opposite side Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Brake lead Encoder cable 0 3m 2 0 3203m Green y
122. 0 984 12 362 Motor plate TUV plate 4 40 228 Motor plate Opposite side ct Bottom Oil seal SC10207 Power supply lead 4 AWG19 11 8in Ld With end insulated round crimping terminal 1 25 4 Red Phase U Encoder cable 11 8in White Phase V ETEN a Black Phase W With connector 1 172169 9 AMP make Brake cable Green yellow Earth Tough rubber sheath cable 2 0 75 2 11 8in With end insulated round crimping terminal 0 05 4 BC11767A Variable JBraking Force Inertia Moment Model Dimensions in 2 2 oz in WK oz in L KL HC UF23B 4 291 1 724 184 1 766 HC UF43B 4 882 2 315 184 2 444 Unit in Motor plate Motor plate Opposite side TUV plate ee seal 5 15307 Power supply lead 4 AWG19 11 8in With connector 1 172169 9 With ene insulated round crimping terminal 1 25 4 AMP make Brake cable White Phase V Black Phase W Tough rubber sheath cable Green yellow Earth 2 0 75 11 8in With end insulated round BC11515A crimping terminal 0 05 4 10 102 10 SPECIFICATIONS 10 5 4 Cable side plugs 1 Servo amplifier connector Signal connector Sumitomo make Model Unit mm Model Unit mm Connector 10120 3000VE Unit in Connector 10120 6000EL Unit in Shell kit 10320 52F0 008 Shell kit 10320 3210 000 NOTICE This connecto
123. 000 4000 Speed r min Speed r min HA FF23 HA FF33 HA FF43 HA FF63 2 0 3 4 0 6 0 I v n za 3 y e 1 5 Short duration Short duration Y Z 3 0 pL Short duration Z Short duration operation region 2 operation region Sae operation region operation region 3 5 2 m 40 E X 1 0 NI 2 0 Si Note Note Note 1 Continuous operation region Continuous operation region Continuous operation region Continuous operation region 1000 2000 3000 4000 Speed r min 1000 2000 3000 4000 Speed r min 1000 2000 3000 4000 Speed r min 1000 2000 3000 4000 Speed r min Note The broken line indicates the torque characteristic of the servo motor used with the single phase 100V power supply series servo amplifier 10 SPECIFICATIONS 3 HC SF series HC SF81 300 8 20 Short duration operation region 10 0 500 1000 1500 Speed r min HC SF301 100 75 Short duration operation region 50 500 1000 Speed r min HC SF52 9 Z B Short duration e 6 operation region 3 1000 2000 3000 Speed r min HC SF202 30 Z S Short duration operation region 20 10 Continuous operation region 1000 2000 Speed r min HC SF121 40 To
124. 0190 13 5 18UNEF 2B 106 245 105 0190 11 2 180 2 106A328 17S D1 Contact Size 16 8 or less 8 or less 10 or lessi 13 or less 10 105 10 SPECIFICATIONS Wo L or less more L or less W or more 2 Flexible conduit connectors Daiwa Dengyo make MSA Model MAA Model A L V Unit mm Unit in 531068145 25 7 200 42 88 1 69 34 200 53106820 295 114 18UNEF 55 57 2 19 13 1 180 53106822 235 13 1 8UNEF 55 57 2 19 13 1 180 S3106B24 10S 13 2 8UNEF 58 72 2 31 17he 18U NEF Model 3106B32 17S 2 18UNS A 61 92 2 44 13 4 18UNS Unit mm Unit in V MS31 06 145 25 7h 20UNEE 34 20UNEF MS31 06820 295 11 1 8UNEF 13 6 18UNEF MS31 06B22 23S 135 18UNEF 13 16 18UNEF MS31 06 24 105 1 17 16 18UNEF MS31 06B32 17S 2 18UNS Unit mm Unit in MSA10 10 MAA10 10 9 16 24UNEF 2B MSA10 14 MAA10 14 3 4 20UNEF 2B MSA12 14 MAA12 14 3 4 20UNEF 2B MSA16 20 MAA16 20 11 8 180 2 MSA16 22 16 22 11 4 18UNEF 2B MSA16 24 MAA16 24 13 5
125. 0A or more 1 INTRODUCTION Name Application Battery holder Contains the battery for absolute position data backup Battery connector CON1 Used to connect the battery for absolute position data backup Refer To Chapter 5 5 Chapter 5 5 Section 6 2 8 Display The four digit seven segment LED shows the servo status and alarm number Section 2 3 Operation section Used to perform status display diagnostic alarm and parameter setting operations OMNCM MEO MODE UP DOWN SET L Used to set parameter data Used to change the display or data in each mode Used to change the mode Section 2 3 I O signal connector CN1A Used to connect digital I O signals Section 3 1 2 I O signal connector CN1B Used to connect digital I O signals Section 3 1 2 Communication connector CN3 Used to connect a personal computer or output analog monitor Section 3 1 2 Section 6 1 5 Name plate Section 1 1 Charge lamp Lit to indicate that the main circuit is charged While this lamp is lit do not reconnect the cables Encoder connector CN2 Connector for connection of the servo motor encoder Section 3 1 2 Control circuit terminal block TE2 Used to connect the control circuit power supply and regenerative brake option Control circuit terminal Section 3 1 1
126. 10 85 35 85 1 9 HC MF43BG2 12 40 1 20 HC MF43BG2 12 40 1 29 Unit mm For reverse rotation command Rotation direction snoan QQ For forward rotation command Motor plate Opposite side Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Encoder cable 0 3m Black Phase W BC12079 With connector 1 172169 9 Green yellow Earth BC12099 AMP make 10 31 10 SPECIFICATIONS Reduction Gear Reduction Inertia Moment Model Ratio J X10 kg m Model HC MF73G2 05 08 1 5 0 973 HC MF73G2 BK4 09B 08MEKA 1 9 0 980 HC MF73G2 BK5 20B 08MEKA 1 20 1 016 HC MF73G2 BK5 29B 08MEKA 1 29 0 910 Variable Dimensions Model LG LH LK L LR HC MF73G2 10 85 35 85 HC MF73G2 12 40 HC MF73G2 15 43 HC MF73G2 15 43 Unit mm For reverse rotation command Rotation direction EPS For forward rotation command Motor plate Opposite side Caution plate P threads Power supply lead 4 AWG19 0 3m dept With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Encoder cable 0 3m Black Phase W With connector 1 172169 9 Green yellow Earth AMP make BC12080 10 32 10 SPECIFIC
127. 10SL 4P MS3106A10SL 4S D190 Nippon Flex RCC 302RL MS10F VF 02 Daiwa Dengyo MAA 10 10 FCV10 Angle 3 46 3 WIRING 3 HA SF HC RF HC UF 2000r min series 1 Non waterproof UL C UL Standard compliant a When using cable type cables For power supply connection Cable Cable CDPlug Clamp Cable CDPlug Clamp Cable li Servo Motor Plug Daiichi Denshi Kogyo Cable clamp Side Connector Type Model Daiichi Denshi Kogyo Servo Motor HC SF52 B to 152 B Straight MS3106B22 23S HC RF103 B to 203 B CE05 2A22 23PD B MS3057 12A HC UF72 B 152 B Angle MS3108B22 23S HC SF202 B to 502 B Straight MS3106B24 10S HC RF353 B to 503 B CE05 2A24 10PD B MS3057 16A HC UF202 B to 502 B Angle MS3108B24 10S Straight MS3106B32 17S HC SF702 B CE05 2A32 17PD B MS3057 20A Angle MS3108B32 17S For encoder connection Cable Cable Plug Clamp Cable Plug Clamp Cable li LU Servo Motor Plug Daiichi Denshi Kogyo Cable Clamp Side Connector Daiichi Denshi Kogyo Servo Motor Type Model HC SF52 B to 702 B HC RF103 B to 503 B MS3102A20 29P MS3057 12A HC UFT2 B to 502 8 Angle MS3108B20 29S Straight MS3106B20 29S
128. 115 Grease Grease 4135 Note Oil Note Oil Note Oil Note Cil Grease Grease 4165 Note Oil Note Oil Note Oil Note Oil Grease Grease 4175 Cil Cil Cil Oil Note Grease lubricated type is also available The reduction gear frame numbers are as follows Reduction Ratio 1 29 Servo Motor 10 12 10 SPECIFICATIONS 2 Recommended lubricants a Grease Changing intervals 20000 hours or 4 to 5 years b Lubricating oil Ambient Temperature c COSMO OIL Nisseki Mitsubishi Oil IDEMITSU KOSAN CO LTD GENERAL OIL Showa Shell Sekiyu ESSO OIL Mobil OIL Japan Energy SE 68 BONNOC SP 68 DIAMOND GEAR LUBE SP 68 DAPHNE CE 68S DAPHNE SUPER GEAR OIL 68 Omala Oils 68 SPARTAN EP 68 Mobilgear 626 ISO VG68 JOMO Reductus 68 30 to 50 COSMO GEAR SE 100 150 COSMO GEAR SE 200 320 460 BONNOC SP 100 150 DIAMOND GEAR LUBE BONNOC SP 200 to 460 DIAMOND GEAR LUBE SP 220 to 460 DAPHNE CE 10085 1508 DAPHNE SUPER GEAR OIL 100 150 DAPHNE CE 2208 to 460S GENERAL SP GEAROL 100 150 GENERAL SP GEAROL 200 to 260 Omala Oils 100 150 Omala Oils 200 to 460 SPARTAN EP150 SPARTAN EP 220 to 460 Mobilgear 629 ISO VG150 Mobilgear 630 to 634 ISO VG 220 to 460 JOMO Reductus 100 150 JOMO Reductus 200 to 460 Lubricating oil
129. 116 4 57 128 5 04 2 3 0 09 200 7 87 Regenerative RegeneratiVe Resistance Weight Power Brake Option W 9 kg lb MR RB50 500 13 5 6 123 6 OPTIONS AND AUXILIARY EQUIPMENT 6 1 2 Cable connectors 1 Cable selection Use the encoder cable 1 or 2 or 3 or 4 after confirming the required wiring length To fabricate the encoder cable use the encoder connector set 5 or 6 and refer to 2 in this section The control signals may either be exported directly using the control signal connector 7 or to the junction terminal block 12 via the junction terminal block cable 8 Use the options accord ing to the connection method When using the personal computer during operation use the maintenance junction card 9 and also use the communication cable 10 or 11 For the outline drawing of each connector refer to Section 10 5 4 Servo amplifier 7 Operation Oe a tt panel 2 AM ME i rn a gt IL l P T l 5 Positioning pe unit 1 Personal GOS 9 computer 3 1 2 B 7 8 m HC MF HA FF eee Sat ae servo motor e Nx 8 5 12 BID 3 3 4 im T gt HC SF HC RF servo motor N a Product Model Description For Standard MR
130. 16 Restart after instantaneous power failure If the input power supply voltage had reduced to cause an alarm but has returned to normal the servo motor can be restarted by merely switching on the start signal Parameter No 20 Command pulse selection Command pulse train form can be selected from among four different types Parameter No 21 Input signal selection Forward rotation start reverse rotation start servo on and other input signals can be assigned to any pins Parameters No 43 to 48 Torque limit Servo motor generated torque can be limited to any value Section 3 1 3 1 D Parameter No 28 Speed limit Servo motor speed can be limited to any value Section 3 1 3 3 Parameter No 8 10 Status display Servo status is shown on the 4 digit 7 segment LED display Section 2 3 2 External I O display ON OFF statuses of external I O signals are shown on the display Section 2 3 3 1 Output signal forced output Output signal can be forced on off independently of the servo status Use this function for output signal wiring check etc Section 2 3 3 2 Automatic VC offset Voltage is automatically offset to stop the servo motor if it does not come to a stop at the analog speed command VC or analog speed limit VLA of OV Section 2 3 3 Test operation mode Servo motor can be run from the operation section of the servo amplifier without the st
131. 18UNEF 2B MSA22 20 MAA22 20 11 5 18UNEF 2B MSA22 22 MAA22 22 11 4 18UNEF 2B MSA22 24 MAA22 24 13 5 18UNEF 2B MSA28 22 MAA28 22 11 4 18UNEF 2B MSA28 24 MAA28 24 13 8 180 2 10 106 13 4 18UNS 10 SPECIFICATIONS EXFXG Threads C Model FINS S Threads C Jam Nut Lock Nut E flats F G Width across Width across Number of corners Corners E Width across flats F G Width across Number of Corners corners Unit mm Unit in RCC 102RL MS10F RCC 102RL MS14F 9 16 24UNEF 2B 3 4 20UNEF 2B 24 0 94 26 4 1 04 24 0 94 26 4 1 04 RCC 103RL MS14F 3 4 20UNEF 2B RCC 104RL MS14F 3 4 20UNEF 2B RCC 104RL MS20F 1 1 s 18UNEF 2B RCC 104RL MS22F 1 1 4 18UNEF 2B RCC 104RL MS24F 1 3 s 18UNEF 2B RCC 106RL MS20F RCC 106RL MS22F 1 1 s 18UNEF 2B 1 1 4 18UNEF 2B RCC 106RL MS24F 1 3 5 18UNEF 2B RCC 106RL MS32F 1 7 s 16UN 2B RCC 108RL MS22F 1 1 4 18UNEF 2B RCC 108RL MS24F 1 3 s 1 8UNEF 2B RCC 108RL MS32F 1 7 s 16UN 2B 10 107 10 SPECIFICATIONS N i AS Threads C Unit mm Unit in Jam Nut Lock Nut Model Threads C E F G E F G Width a
132. 2 OPERATION 2 3 4 Alarm mode The current alarm past alarm history and parameter error are displayed The lower 2 digits on the display indicate the alarm number that has occurred or the param eter number in error Display examples are shown below Display Description Indicates no occurrence of an alarm Current alarm Indicates the occurrence of alarm 33 overvoltage Flickers at occurrence of the alarm Indicates that the last alarm is alarm 50 overload 1 Indicates that the second alarm in the past is alarm 33 overvoltage Indicates that the third alarm in the past is alarm 10 undervoltage Alarm history Indicates that the fourth alarm in the past is alarm 31 overspeed Indicates that there is no fifth alarm in the past Indicates that there is no sixth alarm in the past Indicates no occurrence of alarm 37 parameter error Parameter error Indicates that the data of parameter No 1 is faulty Functions at occurrence of an alarm 1 Any mode screen displays the current alarm 2 The other screen is visible during occurrence of an alarm At this time the decimal point in the fourth digit flickers 3 To clear any alarm switch power off then on or press the amp button on the current alarm screen Note that this should be done after removing the cause of the alarm 4 Use parameter
133. 2 Reduction gear Note Reduction Gear Without For general industrial machine flange type For general industrial machine leg type For precision application Note Not provided for 1000r min and 3000r min series 3 Electromagnetic brake Electromagnetic Brake Without With 4 Rated speed Speed r min 1000 2000 3000 5 Rated output Symbol Rated Output W 1000 r min 2000 r min 3000 r min 5 500 8 850 10 1000 12 1200 O 15 1500 20 2000 30 3000 35 3500 1 INTRODUCTION d HC RF series low inertia middle capacity HC RF 3 Appearance Series name a 1 Shaft type Shaft Shape Standard Straight shaft With keyway Note Without key 2 Reduction gear Reduction Gear Without For precision application 3 Electromagnetic brake Electromagnetic Brake Without With 4 Rated speed 3000 r min 5 Rated output Rated Output W 1000 1500 2000 e HC UF series pancake type small capacity HC UF 3 Appearance Series name 1 Shaft type Shaft Shape HU UF Standard Straight shaft With keyway D cut shaft 13 13 to 43 72 to 202 Note Without key 2 Elect
134. 2 2 A single phase 230V power supply may be used with the servo amplifier of MR J2 70A or less Connect the power supply to L1 and L2 terminals and leave L3 open When inputting a negative voltage use the external power supply 2 7 2 OPERATION 2 1 3 Torque control mode For single phase 100V power supply Make up a sequence which CAUTION switches off the MC at alarm Power supply Single phase 100VAC Make up a sequence which CAUTION switches off the MC at alarm occurrence or emergency stop occurrence or emergency stop Servo amplifier NFB Servo amplifier NFB MC rr z UOS U Red Power supply O Oo O OO V White 3 phase 200 230VAC oTo VOA SEEN or a wo Note 12 1 phase 230VAC O m AE Green 9 1 24VDC Bi O 121 aa 1 Z P Note 11 2 1 B2 Note 4 pee S 5T a Regenerative EMG brake option D P To be shut off when servo on L 10m 32ft or less Speed selection 1 Ready Note 3 7 External emergency stop Servo on Reset Speed selection 2 Forward rotation selection Reverse rotation selection signal switches off or alarm signal is given Encoder cable Option Personal computer n Communication cable Windows 9 12 99 Option d IC 15m 49ft or less Do not connec
135. 20 25 484 0 059 60min max Reduction Reduction Ratio Inertia Moment Gear Model Actual Reduction Ratio J X 10 kg m Backlash Unit mm For reverse rotation command Rotation direction For forward rotation command Motor plate Motor plate Opposite side jn om supply lead 4 AWG19 0 3m M4 threads With end insulated round crimping terminal 1 25 4 depth 8 Red Phase U White Phase V BC12066 Black Phase W BC1 2086 Encoder cable 0 3m With connector 1 172169 9 AMP make Green yellow Earth Variable Model Dimensions L KL HC MF13G1 141 89 K6505 1 5 9 44 0 067 60min max HC MF13G1 159 K6512 1 12 49 576 0 089 60min max HC MF13G1 159 K6520 1 20 25 484 0 071 60min max Reduction Reduction Ratio Inertia Moment Gear Model Actual Reduction Ratio J X 10 kg m Backlash Unit mm For reverse rotation command EPUM Rotation direction For forward rotation command 4 07 a Motor plate Opposite side Motor plate FN Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 M4 threads Encoder cable 0 3m Red Phase U depth 8 Ci With connector 1 172169 9 SE Hen AMP make lack Phase Green yellow Earth BC12067 BC12087 10 22 10 SPECIFICATIONS Model Variable Dimensions Reduction Gear Model
136. 4 Nippon Flex RCC 106RL MS24F VF 06 RCC 108RL MS24F VF 08 MSA 16 24 FCV16 Daiwa Dengyo MSA 22 24 FCV22 MSA 28 24 FCV28 RCC 304RL MS24F VF 04 Nippon Flex RCC 306RL MS24F VF 06 RCC 308RL MS24F VF 08 MAA 16 24 FCV16 Daiwa Dengyo MAA 22 24 FCV22 MAA 28 24 FCV28 RCC 106RL MS32F VF 06 RCC 108RL MS32F VF 08 RCC 306RL MS32F VF 06 RCC 308RL MS32F VF 08 Straight HC SF202 B to 502 B HC RF353 B to 503 B CE05 2A24 10PD B MS3106A24 105 D190 HC UF202 B to 5028 Straight Nippon Flex CE05 2A32 17PD B MS3106A32 17S D190 Angle Daiwa Dengyo 3 WIRING For encoder connection Conduit Plug Conduit Connector Conduit wA G WT WV Conduit Connector UPlug Servo Motor CDPlug Conduit Connector Conduit Side Connector Daiichi Denshi Kogyo Type Maker Size Model Model 1 2 RCC 104RL MS20F VF 04 RCC 106RL MS20F VF 06 MSA 16 20 FCV16 MSA 22 20 FCV22 RCC 304RL MS20F VF 04 RCC 306RL MS20F VF 06 MAA 16 20 FCV16 MAA 22 20 FCV22 Servo Motor Nippon Flex Straight HC SF52 B to 702 B Daiwa Dengyo HC RF103 B to 503 B MS3102A20 29P MS3106A20 29S D190 HC UF72 B to 502 B Nippon Flex Daiwa Dengyo For brake connection
137. 4 mounting hole B ixl Terminal layout Terminal cover open L1 L2 L3 Note Servo Amplifier Variable Dimensions Weight Model A kg Ib MR J2 10A 1 50 0 7 MR J2 20A 1 1 54 MR J2 40A 1 70 1 1 MR J2 60A 2 43 Note This data applies to the three phase 200V and single phase 230V power supply models For the single phase 100V power supply models refer to Section 3 1 1 TE1 For three phase 200V and single phase 230V For single phase 100V L1 L2 L3 L1 L2 U V W U I V W Terminal screw M4 x 0 7 Terminal screw M4 x 0 7 Tightening torque 1 24 N m 175 6 oz in Tightening torque 1 24 N m 175 6 oz in TE2 FRONT MSTB2 5 5 ST 5 08 Phoenix Contact make Front D c P ta Tightening torque 0 5 to 0 6 N m 70 8 to 85 0 oz in PE terminals Terminal screw M4 x 0 7 Tightening torque 1 24 N m 175 6 oz in 10 16 10 SPECIFICATIONS 2 MR J2 70A MR J2 100A 26 90 24 mounting hole 0 87 1 65 Servo Amplifier Model kg Ib MR J2 70A 17 MR J2 100A 3 75 TE1 Et e is Terminal screw M4 x 0 7 Tightening torque 1 24 N m 175 6 oz in TE2 Front D c P taft N Tightening torque 0 5 to 0 6 N m 70 8 to 85 0 oz in
138. 40 Note 1 Rated speed r min 2000 3000 Maximum speed r min 3000 4500 Permissible instantaneous speed r min 3450 5175 N 10 7 21 6 28 5 0 95 1 9 3 8 7 2 Mazimumitorgue 1516 3061 4039 135 269 538 1020 Power rate at continuous rated torque KW s 12 3 232 23 9 155 19 2 47 7 9 66 Note 7 J X10 kg cm 10 4 22 1 38 2 0 066 0 241 0 365 5 90 Inertia moment Wk2 2 56 9 120 8 2089 0 4 1 3 20 323 15 imes or less 53 124 68 Note5 Note5 410 41 Note 4 MR RB032 30W 79 1280 62 Regenerative MR RB12 100W 87 4106 206 brake duty MR RB32 300W 791 ltimesimin MR RB30 300W 372 208 MR RB50 500W 620 338 Note 3 Power supply capacity kVA 1 3 2 5 3 5 0 3 0 5 0 9 1 3 Rated current A 5 4 9 7 14 0 76 1 5 2 8 4 3 Maximum current A 16 2 29 1 42 2 5 4 95 9 24 12 9 Speed position detector Encoder resolution 16384 pulsesirev Encoder resolution 8192 pulses rev Accessories Encoder oil seal Encoder oil seal Totally enclosed self cooled Totally enclosed self cooled Structure protection type IP65 Note9 protection type IP65 Note9 Note 2 Environmental conditions Refer to 1 Section 4 2 Refer to 1 Section 4 2 Note 7 Weight Kg 11 0 16 0 08 15 17 5 0 Ib 17 6 24 3 35 3 1 8 3 3 3 7 11 0 Note 1 When the power supply voltage drops we cannot guarantee the output and rated speed 2 When the equipmen
139. 4mA Grounding is always required Red White Blue Green Servo amplifier About 300 11 81 Radio noise filter FR BIF 6 24 6 OPTIONS AND AUXILIARY EQUIPMENT 6 2 7 Leakage current breaker 1 Selection method High frequency chopper currents controlled by pulse width modulation flow in the AC servo cir cuits 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 ampli fier 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 11 8 in to minimize leakage currents Rated sensitivity currentz 10 lg1 lgn lga K lg2 lgm mA 6 2 K Constant considering the harmonic contents Cable Leakage current breaker Mitsubishi mios bas ype products SA Servo Cable yA SM Models provided with NV SF amplifier harmonic and surge reduction techniques NV CF 191 Ign Iga 92 igm 101 Leakage current on the electric channel from the leakage current breaker to the input terminals of the servo amplifier Found from Fig 6 1 192 Leakage current on the electric channel from the output terminals of the servo amplifier to the servo motor Found from Fig 6 1 Ign
140. 5 4 Power supply cable VCTF 3 0 05 19 7in With end insulated round crimping terminal 0 05 4 Red PhaseU White Phase V Black Phase W Encoder cable 11 8in With connector 172169 9 AMP make Inertia Variable Moment Dimensions WK oz in LL 0 437 5 53 0 615 6 20 HA FF23B to HA FF63B Unit in 4 oLZ Caution plate 21 85 Encoder cable 11 8in With connector 172169 9 AMP make Brake cable 2 0 02 19 7in P screw With end insulated round depth R Power supply cable crimping terminal 0 05 4 VCTF 3 0 05 19 7in With end insulated round crimping terminal 0 05 4 Red Phase U Section AA White Phase V Black Phase W Inertia Variable Dimensions in Moment Model WK oz in LJ IL LR IZ H Q Servo Motor HA FF23B 2 64 3 46 HA FF43B 7 24 HA FF63B 8 47 10 84 10 SPECIFICATIONS 3 With reduction gear for general industrial machine HA FF053 B G1 FF13 B G1 LL Caution plate Earth terminal M3 screw Opposite side 91 85 Bottom Motor plate Power supply cable VCTF 3 0 05 19 7in Encoder cable 11 8in With connector 172169 9 AMP make Note 2 Reduction Ratio Servo Motor Model Reduction Gear Model With end insulated
141. 6 Continuous operation region 1000 2000 3000 Speed r min HC RF153 15 2 3 Short duration 5 operation region Continuous operation region 1000 2000 3000 4000 Speed r min 10 8 HC SF153 15 E 2 9 Short duration s operation region 10 Continuous operation region 1000 2000 3000 Speed r min HC RF203 18 Short duration operation region 12 6 Continuous operation region 1000 2000 3000 4000 Speed r min 10 SPECIFICATIONS 5 HC UF series HC UF72 HC UF152 HC UF202 12 24 30 z B z z z z Short duration Short duration Short duration operation region 5 operation region operation region o o o E 8 16 20 4 8 10 0 0 1000 2000 3000 1000 2000 3000 1000 2000 3000 Speed r min Speed r min Speed r min HC UF13 HC UF23 HC UF43 1 0 2 0 4 0 Z Z 5 E 0 75 w Auraton 1 5 Short duration 3 0 Short duration 5 peration region 5 operation region S operation region F F 0 5 1 0 2 0 0 25 0 5 0 0 1000 2000 3000 4000 4500 1000 2000 3000 4000 4500 1000 2000 3000 4000 4500 Speed r min Speed r min Speed r min HC UF73 8 2 6 Short d
142. 81 B HC SF52 B to 152 B HC SF53 B to 153 B CE05 2A22 The connector for 23PD B MS3102A20 Power is shared HC SF121 B to 301 B pon 29P HC SF202 B 352 B ae HC SF203 B 353 B C CE05 2A22 MS3102A20 connector for HC RF103 B to 203 5p 29P power is shared CE05 2A22 The connector for 15418 23PD B MS3102A20 power is shared CE05 2A24 29P Brake connector V Power supply connector HC UF202 8 10PD B MS3102A10SL 4P Power supply connector signal arrangement MS3102A10SL 4P connector CE05 2A22 23PD B CE05 2A24 10PD B Key Note B1 Note B2 Note 24VDC without polarity Encoder connector signal arrangement Electromagnetic brake connector signal pin outs MS3102A20 29P MS3102A10SL 4P Key Pin Pin Signal i Signal A K Note B1 B L Note B2 M Note 24VDC without D N SHD AO OB polarity E P F R LG G S P5 H T 3 40 3 WIRING 3 2 4 Connectors used for servo motor wiring The connector make ups classified by the operating environment are given below Use the models of the manufactures given or equivalent 1 HC MF UE HA FF HC UF3000r min series Use round crimping terminals 1 25 4 for connection of the power supply and electromagnetic brake The encoder connector used should be the connector indicated in th
143. 9 Ready ZSP CN 1 B 19 Zero speed VLC CN 1 B 6 Speed reached ALM CN 1 B 18 Trouble OP CN 1 A 14 Encoder Z phase pulse 2 OPERATION 2 Output signal forced output The output signal can be forced on off independently of the servo status This function is used for output signal wiring check etc This operation must be performed in the servo off state SON signal off Operation Call the display screen shown after power on L Ww Press MODE once oed emm Lt J b Press UP twice e Press SET for more than 2 seconds v e Switch on off the signal below the lit segment e o o oo o 0 the ON OFF of the output signal The correspondences Z MED E nn 4 between segments and signals are as in the output signals of the external I O signal display CNIB CNIB Lit ON extinguished OFF 14 18 4 6 19 18 19 e Press MODE once a eee segment above CN1A pin 18 is lit SAA LVN amp O Nar NA e Press UP twice 5 eee ee ON1A pin 18 is switched on CN1A pin 18 SG conduct Z 7 AA ZN L1 pa C e Press DOWN once E
144. ABSOLUTE POSITION DETECTION SYSTEM CHAPTER 5 OPTIONS AND AUXILIARY EQUIPMENT CHAPTER 6 INSPECTION CHAPTER 7 TROUBLESHOOTING CHAPTER 8 CHARACTERISTICS CHAPTER 9 SPECIFICATIONS CHAPTER 10 SELECTION CHAPTER 11 1 INTRODUCTION 1 1 Inspection at delivery After unpacking check the name plate to make ceived are as ordered by the customer 1 1 1 Packing list 1 Servo amplifier Item sure that the servo amplifier and servo motor re 2 Servo motor Item Servo amplifier Servo motor Note Control circuit connector Specifications and installation guide Note Not supplied to the servo amplifier of MR J2 200A or more 1 1 2 Model definition 1 Servo amplifier 1 Name plate Safety Instructions for Use of AC Servo MITSUBISHI AC SERVO MODEL MR J2 60A POWER 600W INPUT 3 2A SPH 1PH 200 230V 50Hz 3PH 1PH200 230V 60Hz 5 5A 1PH230V 50 60Hz OUTPUT 170V 0 360Hz 3 6A Lr Model lt q4 amp AApplicable power supply Capacity amp Rated output current Current status serial number SERIAL TC3XXAAAAG52 27 MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN 2 Model MR J2 L A Series Power Supply Three phase AC200 230V Note 2 Single phase AC230V Single phase AC100V Note 1 Not of MR J2 60A or more 2 Not of
145. ATIONS b With electromagnetic brake Variable Braking Force Reduction Reduction Inertia Moment N m Gear Model Ratio J X10 kg m Dimensions Backlash L KL 158 78 0 32 BK1 05B A5MEKA 1 5 0 070 3 min max 174 94 0 32 BK1 09B A5MEKA 1 9 0 063 3 min max 174 94 0 32 BK1 20B ABMEKA 1 20 0 072 3 min max 174 94 0 32 BK1 29B ASMEKA 1 20 0 060 3 min max Unit mm For reverse rotation command Rotation direction For forward rotation command sL Motor plate Motor plate Opposite side Bottom Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Brake lead 2 0 3 0 3m Green yellow Earth BC12081 Encoder cable 0 3m With end insulated round BC1 2100 With connector 172169 9 crimping terminal 1 25 4 AMP make Blue B1 B2 10 33 10 SPECIFICATIONS Braking Force N m Model Reduction Gear Model Reduction Ratio Inertia Moment J X10 kg m Backlash HC MF13BG2 0 32 BK1 05B 01MEKA 1 5 0 080 3 min max HC MF13BG2 0 32 BK1 09B 01MEKA 1 9 0 074 3 min max HC MF13BG2 0 32 BK2 20B 01MEKA 1 20 0 124 3 min max HC MF13BG2 0 32 BK2 29B 01MEKA 1 29 0 098 3 min max Variable Dimensions Model LG 8 8 10 10 LH 60 60
146. Actual Reduction ratio Inertia Moment J X10 kg m7 Backlash HC MF43BG1 1 3 K10020 1 20 253 5000 0 700 60min max HC MF73BG1 2 4 K10005 1 5 1 5 1 145 60min max HC MF73BG1 2 4 K10012 1 12 525 6048 1 811 60min max HC MF73BG1 Model 2 4 K12020 1 20 625 12544 Variable Dimensions 1 875 60min max LC LF LGLMLNLP Reduction Ratio HC MF43BG1 132 73 1013 16 86 1 20 HC MF73BG1 132 73 1013 1686 1 5 HC MF73BG1 132 73 10113 1686 1 12 HC MF73BG1 AMP make Encoder cable 0 3m Motor plate Opposite side 162 90 Power supply lead 4 AWG19 0 3m 1543 Rotation direction Brake lead 2 0 3 0 3m With end insulated round crimping terminal 1 25 4 1 20 Unit mm For reverse rotation command 4 012 With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V 10 27 Black Phase W Green yellow Earth For forward rotation Command P threads depth R BC12075 10 SPECIFICATIONS 4 With reduction gear for precision application a Without electromagnetic brake Variable Model Dimensions L KL HC MF053G2 130 78 BK1 05B A5MEKA 1 5 0 067 3 min HC MF053G2 146 94 BK1 09B AS5MEKA 1 9 0 060 3 min HC M
147. Brake cable VCTF 2 0 5 0 5m With end insulated round crimping terminal 1 25 4 P screw depth R Power supply cable 3 1 25 0 5m With end insulated round crimping terminal 1 25 4 Red PhaseU Section AA White Phase V Black Phase W Inertia Variable Dimensions Moment J X 10 kg m 0 48 0 63 1 33 1 55 10 42 10 SPECIFICATIONS 3 With reduction gear for general industrial machine Caution plate 947 HA FF053 B G1 HA FF13 B G1 LL Earth terminal M3 screw Opposite side Bottom _ _ Motor plate 3 Unit mm AMP make Servo Motor Model Note 2 Reduction Ratio Black Phase W Reduction Gear Model e Power supply cable 5e VCTF 3 1 25 0 5m With end insulated round crimping terminal 1 25 4 Encoder cable 0 3m Red Phase U g15h6 With connector 172169 9 White Phase V Section AA Note 1 Inertia Moment J X 10 2 Note 1 Variable Dimensions LL Note 1 Weight 1 5 HA FF053 B G1 GR S 10 183 217 5 0 068 0 084 0 068 0 084 0 063 0 080 183 217 5 183 217 5 HA FF13 B G1 0 10 0 115 0 10 0 115 0 095 0 11 200 234 5 200 234 5 200 234 5 Note 1 Values in parentheses are those for the
148. C UL Standard CONTENTS CHAPTER 1 INTRODUCTION mmama nanunua u u u u u sans 1 1 1 17 ded Inspectlon at delivery rr Rer eR EE ea oer oe Ae 1 2 1 1 1 Packing c EE 1 2 Pie Model deflnitigri AAA ee e pta eu eg ete Rl sec Oe pena odes 1 2 1 1 3 Combination with servo motor u 1 7 1 2 Parts identification and applications U a 1 8 1 2 1 Servo amplifler nece toc p ie Late e Ec de died eu Lee lei 1 8 1 2 2 SOFVOTOLOT UA i aaa uyaq at ated det Peed ORI ENTER a DA Q qas o ERE RR MES 1 13 153 Function DSLR u riter eddie diee ed dandi re ERE us 1 14 124 BASIC ConfIg ratiOn mue tente A IRE Ene SE Erde 1 15 1 41 MR J2 100A or less 1e tee eet E Hp tu RT abeo Le Ld ka aan eee 1 15 14 2 MR J2 200A AM deter tectae nete rn sere a 1 17 CHAPTER 2 OPERATION ik maai iae e aa a p aaa Bait kawa 2 1 2 54 2 1 Standard connection examples a enne nnne nnne nnn enne 2 2 2 1 1 Posrtion control mode orrae N curet de stesse teens ees 2 2 2 1 2 Speed control mode sirieni 2 6 2 1 3 Torque control mode ZU UU nennen 2 8 2 2 Operation a n eec ata haa Malad eee UL D dd yxp tines 2 10 2 2 1 Pre operation checks Uu yu AE
149. CA 08RL MSI4F 8to12 ACA 12RL MS14F 5108 3 YS014 5 to 8 8 3 to 11 3 YS014 9 to 11 5108 3 YL014 5 to 8 8 8 to 11 3 5014 9 to 11 Straight Nippon Flex Angle CE05 2A14S 2PD B CE05 6A14S 2SD B Straight Daiwa Dengyo Angle For encoder connection Cable Plug clamp Cable Back shell Cable lt 9 A Jo Plug 3 Back shell Cable clamp Back shell Cable clamp Servo Motor Plug Daiichi Denshi Kogyo Daiichi Denshi Kogyo Servo Motor Side Connector Daiichi Denshi Kogyo Type Model Cable OD Model Straight CE02 20BS S MS3102A20 29P MS3106A20 29S D190 6 8 to 10 CE3057 12A 3 Angle CE 20BA S 3 44 3 WIRING For brake connection Cable Connector Cable CDPlug Cable Connector Servo Motor Plug 2 Connector Side Connector Daiichi Denshi Kogyo Type Maker Cable OD Model 4to8 ACS 08RL MS10F Straight ae 8to 12 ACS 12RL MS10F Daiwa Dengyo 5to8 3 YSO 10 5 to 8 4to8 ACA 08RL MS10F 8to 12 ACA 12RL MS10F Daiwa Dengyo 5to 8 3 YLO10 5 to 8 Servo Motor MS3102A10SL 4P MS3106A10SL 4S D190 Nippon Flex b When using flexible conduits For power supply connection Conduit Plug Conduit Connector Conduit L Servo Motor Plug Conduit Con
150. CAUTION Transport the products correctly acordng to their weights Stacking in excess of the specified number of products is not allowed Do not carry the motor by the cables shaft or encoder Do not hold the front cover to transport the controller The controller may drop Install the servo amplifier in a load bearing place in accordance with the Installation guide Do not climb or stand on servo equipment Do not put heavy objects on equipment The controller and servo motor must be installed in the specified direction Leave specified clearances between the servo amplifier and control enclosure walls or other equipment Do not install or operate the servo amplifier and servo motor which has been damaged or has any parts missing Provide adequate protection to prevent screws and other conductive matter oil and other combustible matter from entering the servo amplifier Do not drop or strike servo amplifier or servo motor Isolate from all impact loads N CAUTION Use the servo amplifier and servo motor under the following environmental conditions Conditions Environmen Servo Amplifier Servo Motor 0 to 55 non freezing 0 to 40 non freezing Ambient temperature 32 to 131 non freezing 32 to 104 non freezing Ambient humidity 90 RH or less non condensing 80 RH or less non condensing Storage 20 to 65 non freezing 15 to 70 non freezing temperature
151. Conforms to RS 232C Baudrate 19200bps 9600bps Monitor Batch display high speed display graph display Alarm display alarm history data display at alarm occurrence Minimum resolution changes according to the processing speed of the personal computer External I O signal display no rotation reason display cumulative power on time display software Diagnostic number display tuning data display ABS data display automatic VC offset display Parameters Data setting list display change list display detailed information display Jog mode positioning mode motor less operation output signal forced est operation output program operation in simple language File operation Data read save print Others Automatic operation help display Note On some personal computers this software may not run properly 2 System configuration 1 Components To use this software the following components are required in addition to the servo amplifier and servo motor Model Description Personalcomputer Which contains a 80386 or higher CPU and on which Windows 3 1 95 runs p 80486 or higher recommended Memory 8MB or more hard disk free space 1MB or more serial port used OS Windows 3 1 Display 640 x 400 or more color or 16 scale monochrome display which can be used with Windows 3 1 95 Keyboard Which can be connected to the personal computer Mouse Which can be used with Wind
152. D will switch on in further about 20ms making the servo amplifier ready to operate Refer to paragraph 2 in this section 4 When the reset signal RES is switched on the base circuit is shut off and the servo motor shaft coasts 5 For the structure of the external circuit refer to Section 2 1 2 Connection example Wire the power supply and main circuits as shown below A no fuse breaker NFB must be used with the input cables of the power supply Immediately after the occurrence of alarm is detected and the power supply is cut out the servo ON signal must be turned off For single phase 100V Single phase AC 100 120V External RA emergency stop OFF bs A O O O O MC w SK NFB MC Note Jee RC O L1 Servo amplifier or sTo gt Oo L2 MR J2 HA sms 111 L21 EMG S SON SG VDD COM Note When using a power supply of 230VAC single Trouble t ALM phase connect it to L1 and L2 terminals but do not connect anything to L3 terminal 3 57 3 WIRING 3 Timing chart SON accepted 1 ON 3 phase power supply off 3 3 Base circuit ON OFF 10ms 10ms 60ms Servo on ON SON OFF Reset ON i I RES OFF 10
153. Dimension Diagram With key Servo Motor Model Shaft Shape HC SF53 to 353 HC SF53 to 352 HC SF81 to 301 HC RF103 to 203 HC UF72 to 202 HC UF13 HC UF23 to 73 Variable Dimension List Servo Motor Section A A Model Variable Dimensions Unit mm Unit in QK Y HC MF23K 43K 0 79 20 M4 Depth 15 0 59 HC MF73K 0 98 25 M5 Depth 20 0 79 HC UF23K 43K 0 79 20 M4 Depth 15 0 59 HC UF73K 10 14 0 98 25 M5 Depth 20 0 79 10 SPECIFICATIONS Unit mm Unit in Servo Motor Variable Dimensions Model HC SF81K HC SF52K to 152K HC SF53K to 153K HC SF121K to 301K HC SF202K to 352K Depth 20 0 787 HC SF203K 353K HC RF103K to 203K 4 Section HC UF72K HC UF152K HC UF202K to 502K Unit mm Unit in Servo Motor Variable Dimensions Model R QK 25 20 5 HC MF 053D 13D 0 98 0 81 30 25 5 HA FFO053D 13D 1 178 1 00 HC UF13D 10 15 10 SPECIFICATIONS 10 5 Outline dimension drawings 10 5 1 Servo amplifiers 1 MR J2 10A to MR J2 60A m MR J2 10A1 to MR J2 40A1 uu A 70 2 76 135 5 32 Unit in 6 0 2
154. E 2 10 2 2 2 a ela hu ee eed 2 11 2 3 Display and operation a gees e nennen nen 2 18 2 3 1 Display flowchart te eed ee tee devel ip ees delta 2 18 29 2 Status display yuyu u u m a au a au teen edhe leads Wet 2 19 2 3 3 Diagnostic mod u l cede dee taped e te e d ee ena dee d ne 2 20 2 34 Alarm MODS ies ve vets etre ei ee PR DG epe 2 27 2 3 5 Parameter mode 2 lite eden elie Leere dee ceed ba LER Lee aUe de dere ue 2 28 PAROU SUNE T S M 2 50 24 1 AUTO TUNING eerie teer uz ee te ee eene t eoe edu de ee bee ae 2 50 2 4 2 Manual gain adjustment u nennen nnne nnns 2 50 2 4 8 Slight vibration suppression control sss nnn 2 54 GHAPTER 3 WIRING u usasqa 3 1 3 62 3d Servo xamplifiGr uto cederet eee e t AWA 3 3 3 1 1 Terminal blocks Hee el ene aa 3 3 3 1 2 Signal Connectors uie dede stc ee E Ep Re ca eene tide ue A e be toned 3 6 3 1 3 Detailed information on I O signals enn 3 18 321 4 Interfaces i ott eto tU Ue pe ee metes hates 3 32 3 2 Connection of servo amplifier and servo motor ssssssssseeeeeeneeneens 3 36 3 2 1 Connection instructions 0 2 2 0
155. ECIFICATIONS HA FF23C UE HA FF33C UE M4 threads depth 0 59 te L cdd i 1 81 0 55 0 12 0 98 4 E lt 3 Bottom 9 a D L n Caution plate 4 English Bottom gt dE S15307B I a YA 1 61 pares B TUV plate TOp l 1 26 op ottom Motor plate lt 0 79 VE KL nd MS3102A20 29P Power supply connector 5 Le E CE05 2A14S 2PD B D17 p 18 Section AA Note 1 For the pin outs of the power supply and encoder connectors refer to 3 Section 3 2 3 2 For horizontal installation it is recommended to face the power supply and encoder connectors down I Variable Dimensions L KL Unit in Inertia Moment WK oz in 1 91 2 73 Unit in 4 90 35 CE05 2A14S 2PD B D17 Note 1 For the pin outs of the power supply and encoder connectors refer to 3 Section 3 2 3 2 For ho
156. EF 2B 917 8 90 70 O r or more gt 7 85 0 31 or more 31 6 1 24 Effective thread length Spanner fitting 035 01 38 48 3 1 90 7 5 0 30 13 16 18UNEF 2A 10 108 10 SPECIFICATIONS 4 Cable clamps Daiichi Denshi Kogyo make Effective thread length 10 3 0 41 1 6 0 06 A Bushing ID D Cable clamp ID B Unit mm F Movable range Unit in Shell Size V Bushing MS3057 6A 148 34 20UNEF AN3420 6 MS3057 12A 20 22 1 13 16 18UNEF 3420 12 9 3420 12 MS3057 16A 24 28 17he 18UNEF 3420 16 6 3420 16 MS3057 16A 134 18UNS 3420 20 Unit mm Unit in Model Shell Size Bushing Range CE3057 12A 1 CE3420 12 1 212 5 to 216 CE3057 12A 2 13 16 18UNEF 2B CE3420 12 2 99 5 to 213 CE3057 12A 3 420 12 3 96 8 to 910 CE3057 16A 1 CE3420 16 1 915 to 219 1 17 16 18UNEF 2B CE3057 16A 2 CE3420 16 2 913 to 215 5 CE3057 20A 2 13 4 18UNS 2B 420 20 1 222 to 923 8 Daiwa Dengyo make Unit mm Unit in Acceptable OD 95 to 8 3 00 20 to 0 33 95 to 8 3 20 20 to 0 33 98 3 to 11 3 00 33 to 0 45 YSO10 5 to 8 YLO10 5 to 8 9 e 24UNEF 2B YSO14 5 to 8 YLO14 5 to 8 3 4 20UNEF 2B YSO14 9 to 11 YLO14 9 to
157. Equation 6 2 lg 10 0 1 40 0 1 3 0 1 0 1 gt 8 0 mA According to the result of calculation use a leakage current breaker having the rated sensi tivity current Ig of 8 0 mA or more A leakage current breaker having 10 of 15 mA is used with the NV CA CS SS series 6 2 8 Battery MR BAT AG6BAT Use the battery to build an absolute position detection system 6 26 6 OPTIONS AND AUXILIARY EQUIPMENT 6 2 9 Setting potentiometers for analog inputs The following variable resistors are available for use with analog inputs such as analog speed and torque commands Model WA2WYA2SEBK2KOQ Wire wound variable resistor 2W2KQ B characteristicShaft rotary angle Note Manufacturer Japan Resistor standard WA2W usableConnection diagram Connection diagram Outline dimension drawing Unit mm Unit in 20 0 79 25 0 98 30 1 18 02 8 0 11 Panel hole machining diagram Unit mm Unit in 03 6 0 14 hole lt e ST 010 0 37 hole Single revolution type Resistance Dielectric Strength Insulation Mechanical Tolerance for 1 minute Resistance Rotary Angie Rotary Torque Resistance 10 to 100g cm 2kQ 10 700V A C 100MQ or more 300 5 or less Model Helical pot RRS10 M 2KQ Connection diagram Japan Resistor make 1 3 Outline dimension drawing Unit mm Unit in CW 2 Panel hole machining diagram Unit mm Unit in Panel thi
158. F053G2 146 94 BK1 20B A5MEKA 1 20 0 069 3 min HC MF053G2 146 94 BK1 29B A5MEKA 1 29 0 057 3 min Reduction Reduction Inertia Moment Gear Model Ratio J X1 0 kg m Backlash Unit mm For reverse rotation command Rotation direction For forward rotation command Motor plate Opposite side Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V e Black Phase W BC12076 Encoder cable 0 3m Green yellow Earth BC1 2096 With connector 172169 9 AMP make 10 28 10 SPECIFICATIONS Reduction Gear Reduction Inertia Moment Model Ratio J X10 kg m Model Backlash HC MF13BG2 BK1 05B 01MEKA 1 5 0 078 3 min max HC MF13BG2 BK1 09B 01MEKA 1 9 0 072 3 min max HC MF13BG2 BK1 20B 01MEKA 1 20 0 122 3 min max HC MF13BG2 BK1 29B 01MEKA 1 29 0 096 3 min max Variable Dimensions Reduction Ratio Model LG LH LK L LR HC MF13BG2 8 60 23 55 1 5 HC MF13BG2 8 60 23 55 1 9 HC MF13BG2 10 74 33 75 1 20 HC MF13BG2 10 74 38 75 1 29 Unit mm For reverse rotation command Rotation direction For forward rotation command 042 Motor plate Opposite side Power supply lead 4 AWG19 0 3m With end insulated round crimping termina
159. G 3 2 Connection of servo amplifier and servo motor 3 2 1 Connection instructions A WARNING odds connections of the power supply terminals to prevent an elec 1 Connect the wires to the correct phase terminals U V W of the servo amplifier and servo motor Otherwise the servo motor will operate CAUTION improperly 2 Do not connect AC power supply directly to the servo motor Other wise a fault may occur 1 Wind an insulation tape around the connection several times For the EN Standard compliant model connect via a fixed terminal block Servo motor side 2 For grounding connect the earth cable of the servo motor to the protective earth PE terminal of the servo amplifier and connect the ground cable of the servo amplifier to the earth via the pro tective earth of the control box Do not connect them directly to the protective earth of the con trol panel 3 Do not share the 24VDC power supply between the interface and electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake 3 36 3 WIRING 3 2 2 Connection diagram The following table lists wiring methods according to the servo motor types Use the connection diagram which conforms to the servo motor used For cables re quired for wiring refer to Section 6 2 1 For encoder cable connection refer to Section 6 1 2 For the connectors of the servo motor refer to Chapter 3 of the servo motor in
160. Gear Model Reduction Ratio Inertia Moment WK oz in Backlash HC MF13BG2 45 BK1 05B 01MEKA 1 5 0 44 3 min HC MF13BG2 45 BK1 09B 01MEKA 1 9 0 40 3 min HC MF13BG2 45 BK2 20B 01MEKA 1 20 0 68 3 min HC MF13BG2 45 BK2 29B 01MEKA 1 29 0 53 3 min Model Variable Dimensions in LF LG LH LK L LR KL HC MF13BG2 HC MF13BG2 HC MF13BG2 HC MF13BG2 Motor plate Brake lead 203 1i8n 2 0 3 11 8in With end insulated round crimping terminal 1 25 4 es Encoder cable 11 8in ith connector 1 1 9 9 AMP make Motor plate Opposite side Unit in For reverse rotation command For forward rotation command Rotation direction LR Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth BC12082 BC12101 10 76 10 SPECIFICATIONS Braking Force Reduction Gear Reduction Inertia Moment oz in Model Ratio WK oz in Model HC MF23BG2 184 BK1 05B 02MEKA 1 5 1 31 HC MF23BG2 184 BK2 09B 02MEKA 1 9 1 40 HC MF23BG2 184 BK3 20B 02MEKA 1 20 2 21 HC MF23BG2 184 BK3 29B 02MEKA 1 29 1 77 Variable Dimensions in Reduction Ratio Model LF LG LH LK L L
161. ING CHAPTER 8 CHARACTERISTICS CHAPTER 9 SPECIFICATIONS CHAPTER 10 SELECTION CHAPTER 11 10 1 10 SPECIFICATIONS 10 1 Standard specifications 1 Servo amplifiers Servo Amplifier MR J2 10A 20A 40A 60A 70A 100A 200A 350A 10A1 20A1 40A1 Three phase 200 to 230VAC 50 60Hz Voltage frequency or single phase 230VAC 50 60Hz Note Three phase 200 to 230VAC 50 60Hz Single phase 100 to 120VAC 50 60Hz Three phase 200 to 230VAC 170 to 253VAC Single phase 230VAC 207 to 253VAC Item Power supply Permissible voltage fluctuation Three phase 170 to 253VAC Single phase 85 to 127VAC Permissible frequency fluctuation 5 System Sine wave PWM control current control system Dynamic brake Built in Overcurrent shut off regenerative overvoltage shut off overload shut off electronic thermal relay servo motor overheat protection encoder Protective functions fault protection regenerative fault protection undervoltage instantaneous power failure protection overspeed protection excessive error protection Speed frequency response 250Hz or more Torque limit input 0 to 10VDC max current except torque control mode Position Max input pulse frequency 400kpps for differential receiver 200kpps for open collector control Command pulse multiplying factor Electronic gear A B A B 1 to 32767 1 50 lt A B lt 5
162. JCCBLO M L Servo amplifier side connector 3M or equivalent motor encoder side connector AMP CN2 1 encoder cable for Cable length in 10120 3000VE Connector 1 172161 9 Connector HC ME HA FF 2 5 10 20 10320 52F0 008 Shell kit HC UF 3000r min Long flexing life MR JCCBLD 2 encoder cable for Cable length in M HC MF HA FF 2 5 10 20 30 HC UF 3000r min 40 50 m Standard MR JHSCBLLIM L Servo amplifier side connector 3M or equivalent Servo motor encoder side connector 3 encoder cable for Cable length in 10120 3000VE Connector Japan Aviation Electronics HC SF HC RF 2 5 10 20 30 10320 52F0 008 Shell kit MS3106B20 29S Straight plug HC UF 2000r min 40 50 m M9 9057 12A Cable claitip Long flexing life MR JHSCBLO M H 4 encoder cable for Cable length in HC SF HC RF 2 5 10 20 30 HC UF 2000r min 40 50 m 6 OPTIONS AND AUXILIARY EQUIPMENT Product Model Description For Encoder Servo amplifier side connector 3M or equivalent Servo motor encoder side connector AMP CN2 connector set for 0120 3000VE Connector 1 172161 9 Housing 5 M y MR J2CNM 10320 52F0 008 Shell kit 170359 1 Connector pin MTI 0002 Clamp gm Encoder Servo amplifier side connector or equivalent Servo motor encoder side connector Japan Aviation Electronics
163. L1 09B 06MES 1 418 1 768 70 10 1 20 L2 20B 06MES 2 603 2 953 94 1 29 wl i gi gii gii gi Wl Dl w i Dl w L2 29B 06MES 2 235 2 585 10 46 94 10 SPECIFICATIONS HA FF63 B G2 1 45 Unit mm 371 407 5 140 Caution plate Power supply cable 3 1 25 0 5m With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Encoder cable 0 3m With connector 172169 9 AMP make Note Reduction Reduction Inertia Note Gear Model Ratio Moment Weight kg J X 10 kg m 3 13 BL3 45B 06MES 1 45 8 475 Note Values in parentheses are those for the servo motors with electromagnetic brakes 10 47 10 SPECIFICATIONS 4 HA FFC UE series 1 Standard without electromagnetic brake without reduction gear HA FF053C UE Unit mm 120 ple 30 54 46 12 2 5 25 h 45 4 04 5 8h6 50h7 s g Bottom OoTY L 1 2 E j z A 4 Caution plate English pj Oil seal Bottom GM10204B 41 32 Top Bottom TUV plate Top Motor plate T 142 49 5 Power supply connector Encoder connector CE05 2A14S 2PD B D17 MS3102A20 29P
164. MITSUBISHI General Purpose AC Servo 2 Series General Purpose Interface 2 JA Specifications and Installation Guide MITSUBISHI ELECTRIC Thank you for choosing this Mitsubishi AC servo This Installation guide gives handling information and precautions for using the servo amplifier and servo motor Incorrect handling may cause an unexpected fault Before using the servo amplifier and servo motor please read this Installation guide carefully to use the equipment to its optimum Please forward this Installation guide to the end user Safety Instructions Do not attempt to install operate maintain or inspect the servo amplifier and servo motor until you have read through this Installation guide and appended documents carefully and can use the equipment correctly Do not use the servo amplifier and servo motor until you have a full knowledge of the equipment safety information and instructions In this Installation guide the safety instruction levels are classified into WARNING and CAU TION Indicates that incorrect handling may cause hazardous conditions result N WARNING ing in death or severe injury Indicates that incorrect handling may cause hazardous conditions result A CAUTION ing 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
165. MR J2 100A or more General purpose Interface Rated output es Rated uis output W 10 100 200 400 600 Rated output W supplied to the servo amplifier supplied to the servo amplifier MR J2 100A or less MR J2 200A 350A Name plate Name plate 1 INTRODUCTION 2 Servo Motors 1 Name plate 4M MITSUBISHI 4 MITSUBISHI AC SERVO MOTOR HC MF13 le SERIAL Le MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN Or AC SERVO MOTOR HC RF153 K ou INPUT 3AC 145V 8 2A OUTPUT 1 5Kw IEC34 1 1994 lt SPEED 3000r min n SER No 001 DATE ean MITSUBISHI ELECTRIC CORPORATION MADE IN JAPAN 2 Model a HC MF series ultra low inertia small capacity HC MF 3 Series name Compliance with Standard Specifications Standard model Japan EN UL C UL Standard Model Serial number Date of manufacture r Model Input power Rated output Rated speed Serial number 3 Reduction gear Reduction Gear Without For general industrial machine For precision application 2 Shaft type Shaft Shape HC MF Standard 053 to 73 Straight shaft Note With keyway 23 to 73 D cut shaft 53 13 Note With key
166. Maintenance junction card MR J2CN3TM Communication cable MR J2HBUS O Analog monitor output 2 O O O O O VDD COM DI MBA ENGO SG PE Not used in MR J2 A Analog monitor output 1 2 Connection diagram TE1 5 o Jig CN3A CN3B CN3C O 1 1 1 1 A6 3 3 3 Mo2 4 4 4 5 5 5 6 6 6 7 7 7 8 8 8 9 9 9 5 10 10 10 10 O VDD 11 11 12 12 12 La O 13 13 13 Hg 14 14 14 5 O 18 16 18 L Not used MR J2 A 17 17 17 MBR 18 18 18 19 19 19 Be O EMGO 20 20 20 sa Shell Sheli Shell M 3 Outline drawing Unit mm Unit in 2 05 3 0 21 mounting hole 75 2 95 41 5 1 63 100 3 94 Weight 110g 0 24 Ib 6 15 6 OPTIONS AND AUXILIARY EQUIPMENT 6 1 5 Set up software will be released soon Some functions of the setup software may not be used depending on versions NOTICE For details contact us The setup software MRZJW3 SETUP31E or later uses the communication function of the servo amplifier to perform parameter setting changes graph display test operation etc on a personal computer 1 Specifications Item Description Communication signal
167. Model VCTF Reduction Ratio Motor plate Power supply cable 3 1 25 0 5m With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Encoder cable 0 3m With connector 172169 9 AMP make Reduction Gear Model Note Inertia Moment J X 10 kg m Note Variable Dimensions LBh7 LD LF LG LK LL LR Unit mm 4 912 Note Weight kg HA FF13 B G2 1 45 L1 45B 01MES 0 293 0 298 70 10 85 6 6 3 HA FF23 B G2 1 20 L1 20B 02MES 0 730 0 885 70 10 85 6 8 7 4 1 29 L1 29B 02MES 0 633 0 765 70 10 85 6 8 7 4 1 45 L2 45B 02MES 0 763 0 895 94 12 12 3 12 9 HA FF33 B G2 1 20 L1 20B 03MES 0 880 1 013 70 10 7 1 7 7 1 29 L2 29B 03MES 1 535 1 668 94 12 12 6 13 2 1 45 L2 45B 03MES 0 913 1 045 94 12 12 6 HA FF43 B G2 1 9 L1 09B 04MES 1 193 1 543 70 10 1 20 L2 20B 04MES 2 378 2 623 94 12 1 29 L2 29B 04MES 2 01 2 36 94 12 1 45 L2 45B 04MES 1 388 1 738 94 12 HA FF63 B G2 Note Values in parentheses are those for the servo motors with electromagnetic brakes 1 5 L1 05B 06MES 1 283 1 858 70 10 1 9
168. N E 200 T 2 amp gol 60 2 o 50 2 40r G c 20L 5 gt 500 1000 1500 2000 2500 3000 3500 Speed r min 2 Transportation Do not hold the encoder or shaft to carry the servo motor 3 Load mounting precautions Prevention of impact on shaft 1 When mounting a pulley to the servo motor shaft provided with a keyway use the screw hole in the shaft end To fit the pulley first insert a double end stud into the screw hole of the shaft put a washer against the end face of the coupling and insert and tighten a nut to force the pulley in 2 For the servo motor shaft with a keyway use the screw hole in the shaft end For the shaft without a keyway use a friction coupling or the like 3 When removing the pulley use a pulley remover to protect the shaft from impact 4 To ensure safety fit a protective cover or the like on the rotary area such as the pulley mounted to the shaft 5 When a threaded shaft end part is needed to mount a pulley on the shaft please contact us 6 During assembling the shaft end must not be hammered 7 The orientation of the encoder on the servo motor cannot be changed 8 For installation of the servo motor use spring washers etc and fully tighten the bolts so that they do not become loose due to vibration Permissible load for the shaft 1 Use a flexible coupling and make sure that the misalignment of the shaft is less than the permi
169. No 16 to clear the alarm history 2 OPERATION 2 3 5 Parameter mode The servo amplifier is factory set in the position control mode Change the parameter settings when 1 The control mode is changed 2 The regenerative brake option is used 3 The number of pulses per servo motor revolution is changed When the number of pulses per servo motor revolution has been set to the position com mand unit set the number of pulses in the parameter of the position command unit unless the maximum number of pulses is restricted or 4 The machine mounted with the servo motor hunts or operational performance is further im proved 1 Operation example 1 4 digit parameter The following example shows the operation procedure performed after power on to place the servo in the speed control mode e Press MODE three times eThe parameter number is displayed Press e or to change the number UP DOWN 9 uL amm A Press SET twice EMI uuu wam p mmm eeeeeeeThe set value of the specified parameter number flickers e Press UP once Aan vuv s E LI E SAAR sss o nnn nnsnnnnn ee eooo During flickering the set value can be changed e e Use UP Of DOWN 2 Speed control mode e Press SET to enter Iru u To shift to the next parameter press
170. PMENT 2 Standard encoder cable The specifications and connection of each cable are indicated below A fabricated cable should be as specified in the following table or equivalent and connected correctly Core Size _ Insulation Sheath OD 2 X Pair Recommended Cable Model Cable Type nacre UL20276 Standard encoder cable 08 x inati AWG28 7pair BLACK Communication cable UL20276 0 08 x 10 Bus cable AWG28 10pair BLACK 0 9 to 1 27 UL20276 0 2x7 Standard encoder cable AWG24 7pair BLACK UL20276 0 3x7 Standard encoder cable AWG22 7pair BLACK Note d is as shown below d Sectional view of cor Conductor Insulation sheath Characteristics of One Core Recommended Cable Model Structure pcs mm Conductor resistance O km Cable Type 40 0 08 105 max Note Flexing long life A14B2343 encoder cable Note Junkosha make purchased from Toa Electric For the control signal connector connect the external conductor of the shielded cable to the ground plate securely as shown below a Termination of external conductor Core Sheath External conductor Pull back the external conductor to cover the sheath External conductor Sheath Strip the sheath b Fitting of the ground plate Cable 6 OPTIONS AND AUXILIARY EQUIPMENT 1 Encoder cable connection diagrams If you have fabricated the encoder cable connect it correctly
171. PP Reverse rotation pulse train across NG NP The command pulse train form can be changed using parameter No 21 3 13 3 WIRING 2 Output signals Control Connec Mode Signal Symbol tor Functions Applications Division Note 2 Pin No Note 1 PlsiT Trouble ALM CN1B ALM SG are disconnected when power is switched off or the DO 1 18 protective circuit is activated to shut off the base circuit Without alarm ALM SG are connected within 1 second after OlOlo power on Connect the regenerative brake option or the like with a temperature detector to make up a protective circuit Ready RD 1 RD SG are connected when the servo is switched on and DO 1 Ololo 19 the servo amplifier is ready to operate In position INP CN1A INP SG are connected when the number of droop pulses is DO 1 18 in the preset in position range The in position range can be changed using parameter No 5 When the in position range is increased INP SG may be kept connected during low speed rotation Speed reached SA CN1A SA SG are connected when the servo motor speed has DO 1 18 nearly reached the preset speed When the preset speed is 50 or less SA SG are kept connected Limiting speed VLC CN1B VLC SG are connected when speed reaches the value set DO 1 6 to any of the internal speed limits 1 to 3 parameters No
172. Precision Applications Reduction Gear Series HC MF G1 HC MF G2 Mounting Method Flange mounting Mounting direction In any directions Grease lubrication Already packed Grease lubrication Already packed NEM 50 100W 200 to 750W Lubrication Recommended LDR101BV hance Mobilplex 46 Mobiltac 81 American Oil Center Research 9 Mobil Oil Mobil Oil Output shaft rotating direction Same as the servo motor output shaft direction With electromagnetic brake Available Backlash 60 minutes or less at reduction gear output shaft 3 minutes or less at reduction gear output shaft Permissible load inertia moment ratio ran 25 times or less 25 times or less when converting into the servo motor shaft Permissible speed at servo motor shaft 4500 r min The actual reduction ratios of the servo motors with reduction gears designed for general industrial machines are as listed below Servo Motor HC MF053 B G1 HC MF13 B G1 HC MF23 B G1 HC MF43 B G1 HC MF73 B G1 Reduction Ratio 1 5 9 44 19 96 1 5 1 12 49 576 25 288 525 6048 1 20 25 484 253 5000 625 12544 10 10 10 SPECIFICATIONS 3 HA FF series Reduction Gear For General Industrial Machines For Precision Applications HA FF G1 HA FF G2 Mounting Method Flange mounting Mounting direction In any directions Grease lubr
173. R KL HC MF23BG2 1 5 HC MF23BG2 1 9 HC MF23BG2 1 20 HC MF23BG2 1 29 Unit in For reverse rotation command Rotation direction For forward rotation command Motor plate Opposite side Motor plate Bottom Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Brake load Black Phase W 2 0 3 11 8in Green yellow Earth With end insulated round BC12083 crimping terminal 1 25 4 BC1 2102 Encoder cable 11 8in With connector 1 172169 9 AMP make 10 77 10 SPECIFICATIONS Braking Force Reduction Gear Reduction Inertia Moment oz in Model Ratio WK oz in Model HC MF43BG2 184 BK2 05B 04MEKA 1 5 1 88 HC MF43BG2 184 BK3 09B 04MEKA 1 9 2 03 HC MF43BG2 184 BK4 20B 04MEKA 1 20 2 59 HC MF43BG2 184 BK4 29B 04MEKA 1 29 2 11 Variable Dimensions in Model in L LR KL HC MF43BG2 HC MF43BG2 HC MF43BG2 HC MF43BG2 Unit in For reverse rotation command Rotation direction N For forward rotation command LK Motor plate Opposite side Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Encoder cable 11 8in Brake lead M E
174. Section 10 3 Section 10 4 Section 10 5 2 Deletion of reset on stop operation Correction made to LSP LSN signal stop pattern selection in parameter No 22 Correction made to description of encoder Z phase pulse functions and applications Addition of source input interface Addition of electromagnetic brake connector Change in P15R connection Addition of VDD COM connection Deletion of reset signal ON OFF Change in connection diagram Change in connector type Change in UVW cable size Deletion of text Change in Note 1 Addition of electromagnetic brake characteristics of HC SF HC RF Change in dynamic brake s brakable load inertia moment ratio Correction made to HC SF graph Addition of reduction gears for use with HC SF HC RF Change in shaft end machining diagram for HC SF HC RF Addition of HC SF HC RF servo motors with electromagnetic brakes Nov 1998 IB NA 67286 D Changes made to the instructions for compliance with the UL C UL Standard Section 1 1 2 Section 1 1 2 Section 1 1 3 Section 3 1 3 1 4 1 Section 3 1 3 3 1 a Section 3 2 2 Section 3 2 3 3 Section 3 2 3 5 Ex Section 3 2 4 Section 3 2 4 Section 6 2 2 Section 9 1 2 Section 9 2 Section 9 3 Section 10 5 2 5 Section 10 5 2 7 Deletion of model explanation Addition of model makeup Addition of combinations with servo motors Addition of pulse train input Reconsideration of rotation direction for
175. Servo Motor Side Connector Cable Connector CDPlug CDPlug Daiichi Denshi Kogyo Cable EL Cable connector Type Maker Cable OD Model MS3102A10SL 4P a When using flexible conduits For power supply connection CDPlug Conduit Conduit Connector Servo Motor Servo Motor Side Connector Plug Daiichi Denshi Kogyo MS3106A10SL 4S D190 Plug Straight Nippon Flex 4to 8 ACS 08RL MS10F 81012 ACS 12RL MS10F Daiwa Dengyo 5 to 8 3 YS010 5 to 8 Nippon Flex 4to8 ACA 08RL MS10F 8 to 12 ACA 12RL MS10F Conduit Connector Daiwa Dengyo 5 to 8 3 Conduit VT 2 YL010 5 to 8 Conduit Maker Size Model Model ID CE05 2A14S 2PD B MS3106A14S 28 D190 Straight Nippon Flex 1 4 RCC 102RL MS14F VF 02 8 3 3 8 RCC 103RL MS14F VF 03 1 2 RCC 104RL MS14F VF 04 Daiwa Dengyo 10 MSA 10 14 FCV10 12 MSA 12 14 FCV12 Nippon Flex RCC 302RL MS14F VF 02 RCC 303RL MS14F VF 03 RCC 304RL MS14F VF 04 Daiwa Dengyo 3 42 MAA 10 14 FCV10 MAA 12 14 FCV12 3 WIRING For encoder connection Conduit Plug Conduit Connector Conduit mnm
176. Set 5 in parameter No 0 to switch to the torque position control change mode This func tion is not available for the absolute position detection system 1 Control change LOP Use control change LOP to switch between the torque control mode and the position con trol mode from an external contact Relationships between LOP SG status and control modes are indicated in Table 3 11 Table 3 11 Control Selection Across LOP SG Servo Control Mode Open Torque control mode Short Position control mode The control mode may be changed in the zero speed status Before changing control to the other mode make sure that the zero speed signal ZSP is on To ensure safety droop pulses are reset when the mode is changed after the servo motor has stopped If the signal has been switched on off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less the control mode cannot be changed A change timing chart is shown in Fig 3 17 Position control mode Torque control mode Position control mode Zero speed Servo motor speed level Analog torque 10y command TLA oV ON Z ZSP ero speed ZSP OFF ON Control change LOP OFF 9 4 1 1 1 1 1 1 1 1 I iN Fig 3 17 T P Change Timing Chart 2 Speed limit in torque control mode As in 4 5 in this section 3 Torque control in torque control mode As in 1 3 in
177. Set up software will be released soon 6 16 6 2 Auxiliary equipment ceci e Dena e Lana a ERU Dd Lee Do duni 6 17 62221 ECT o T UE 6 17 6 2 2 No fuse breakers fuses magnetic contactors 6 17 6 2 3 Power factor improving reactors T 6 18 6 2 4 EYE 6 18 6 2 5 Surge absOrbOrs cese nu erai uqa a iwa 6 19 6 2 6 Noise reduction techniqu es uu 6 20 6 2 7 Leakage current breaker wwwasawwn wanami maanawu u u nennen nee 6 25 6 2 8 Battery MR BAT A6BAT sss nene ener snnt 6 26 6 2 9 Setting potentiometers for analog inputs 6 27 CHAPTER INSPEGCTION 5 aa eria iesu nrc Cra aD akiua 7 1 7 3 CHAPTER 8 TROUBLESHOOTING maamuma nawa namana maaana aana aana kau u u u 8 1 8 13 8 1 Troubleshooting at n aa aueia waynu nnn nnne nnne enn nenas 8 2 98 1 1 Position control mode u 1 nere e eee cepe feed ete Lk 8 2 8 1 2 Speed control mode U a a nnne nenas 8 4 8 1 3 Torque control ModE cereias a 8 5 8 2 Alarms and War iflgS u uu L L
178. TL Load torque converted into equivalent value on servo motor shaft TB Brake static friction torque Note mm mm min s s s kg cm kg cm r min N m N m Note 12 and TB are the values noted in Table 9 2 Characteristics JL is the machine s inertia mo ment at the servo motor shaft 9 CHARACTERISTICS 9 4 Dynamic brake characteristics When an alarm emergency stop or power failure occurs the dynamic brake is operated to bring the servo motor to a sudden stop Fig 9 5 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated Use Equation 9 3 to calculate an approximate coasting distance to a stop The dynamic brake time constant t varies with the servo motor and machine operation speeds as indicated in Table 9 3 and as shown in Fig 9 6 to Fig 9 12 ON OFF Emergency stop EMG 5e d JL Lmax 60 1 n Machine speed Time constant t Time Fig 9 4 Dynamic Brake Operation Diagram JL Lmax Maximum coasting distance Vo Machine rapid feedrate JM Servo motor inertial moment JL Load inertia moment converted into equivalent value on servo motor shaft Brake time constant Fig 9 6 to 9 12 Table 9 3 te Delay time of control section Fig 9 5 There is internal relay delay time of about 30ms 0 02 0 018 0 016 0 014 0 012 0 01 0 008 0 006 0 004 0 002 0 Time constant t s
179. TUN Conduit Connector E DPlug 2 Servo Motor Daiichi Denshi Kogyo Conduit Connector Conduit Side Connector Maker Model Model ID RCC 104RL MS22F 04 14 0 Nippon Flex RCC 106RL MS22F 06 19 0 RCC 108RL MS22F 08 24 4 Straight MSA 16 22 FCV16 15 8 Daiwa Dengyo MSA 22 22 FCV22 20 8 HC SF52 B to 152 B MSA 28 22 FCV28 26 4 RCC 304RL MS22F VF 04 14 0 Nippon Flex RCC 306RL MS22F VF 06 19 0 RCC 308RL MS22F VF 08 24 4 MAA 16 22 FCV16 15 8 Daiwa Dengyo MAA 22 22 MAA 28 22 FCV28 RCC 104RL MS24F VF 04 Nippon Flex RCC 106RL MS24F VF 06 RCC 108RL MS24F VF 08 MSA 16 24 FCV16 Daiwa Dengyo MSA 22 24 FCV22 MSA 28 24 FCV28 RCC 304RL MS24F VF 04 Nippon Flex RCC 306RL MS24F VF 06 RCC 308RL MS24F VF 08 MAA 16 24 FCV16 Daiwa Dengyo MAA 22 24 FCV22 MAA 28 24 FCV28 RCC 106RL MS32F VF 06 RCC 108RL MS32F VF 08 RCC 306RL MS32F VF 06 RCC 308RL MS32F VF 08 HC RF103 B to 203 B CE05 2422 23PD B CEQ5 6A22 235D 8 HC UF72 B 1528 Straight HC SF202 B to 502 B HC RF353 B to 503 8 CE05 2424 10PD B 05 6 24 1080 HC UF202 B to 502 B Straight Nippon Flex CE05 2A32 17PD B CE05 6A32 17SD B Angle Daiwa Dengyo 3 WIRING For encoder connection
180. When the main circuit power supply is off in a motor stop status the main circuit off warning A E9 occurs and the ALM signal does not turn off 3 62 CHAPTER 4 INSTALLATION This chapter deals with the installation method and environmental conditions Follow the instructions in this chapter when installing the equipment 4 1 Servo amplifier 4 2 Servo motor INTRODUCTION CHAPTER 1 OPERATION CHAPTER 2 WIRING CHAPTER 3 INSTALLATION CHAPTER 4 ABSOLUTE POSITION DETECTION SYSTEM 5 OPTIONS AND AUXILIARY EQUIPMENT CHAPTER 6 INSPECTION CHAPTER 7 TROUBLESHOOTING CHAPTER 8 CHARACTERISTICS CHAPTER 9 SPECIFICATIONS CHAPTER 10 SELECTION CHAPTER 11 4 INSTALLATION Stacking in excess of the limited number of products is not allowed 2 Install the equipment to incombustibles Installing them directly or close CAUTION 8 9 to combustibles will led to a fire Install the equipment in a load bearing place in accordance with this Installation Guide Do not get on or put heavy load on the equipment to prevent injury Use the equipment within the specified environmental condition range Provide an adequate protection to prevent screws metallic detritus and other conductive matter or oil and other combustible matter from enter ing the servo amplifier Do not block the intake exhaust ports of the servo amplifier Otherwis
181. a fault Also provide a breathing hole in the gear box to hold the internal pressure low The HC MF series servo motor is not equipped with a V ring or an oil seal and cannot be used with the gear box as described above Oil should be shut off on the gear box side Some HA FF series servo motors are equipped with an oil seal Please contact Mitsubishi Servo Motor Height above Oil Level h mm in 053 13 8 0 32 HA FF 23 33 43 63 81 Height above oil level h 121 to 301 52 to 152 202 352 53 to 153 203 353 103 203 72 152 202 to 502 13 23 43 73 Gear Servo motor e When installing the servo motor horizontally face the power cable and encoder cable down ward When installing the servo motor vertically or obliquely provide a trap for the cable Cable trap 4 Do not use the servo motor with its cable soaked in oil or water Figure on the right Incorrect Capillary phenomenon Gear 5 When the servo motor is to be installed with the shaft end at top provide measures to pre unge L Lubricating oil vent oil from entering the servo motor from the kr unu gear box etc Servo motor 4 8 4 INSTALLATION 6 Installation orientation The servo motor may be installed in any orientation When the servo motor with electromag netic brake is installed with the shaft end at top the brake plate may generate sliding sou
182. achine a Without electromagnetic brake Model Variable Dimensions in L KL Reduction Gear Model Reduction Ratio Actual Reduction Ratio Inertia Moment WK oz in Backlash HC MF053G1 4 96 2 91 K6505 1 5 9 44 0 30 60min max HC MF053G1 5 669 3 62 K6512 1 12 49 576 0 42 60min max HC MF053G1 Model 5 669 3 62 Encoder cable 11 8in Motor plate Opposite side K6520 in WA supply lead 4 AWG19 11 8in 1 20 25 484 0 32 Rotation direction 02 362 With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth With connector 1 172169 9 AMP make Variable Dimensions in L KL Reduction Gear Model Reduction Ratio Actual Reduction Ratio Inertia Moment WK oz in 60min max Unit in For reverse rotation command N For forward rotation command M4 threads depth 0 315 BC12066 BC12086 Backlash HC MF13G1 5 551 3 5 K6505 1 5 9 44 0 36 60min max HC MF13G1 6 26 4 21 K6512 1 12 49 576 0 48 60min max HC MF13G1 Encoder cable 11 8in With connector 1 172169 9 AMP make 6 26 4 21 Motor plate Opposite side K6520 Power supply lead 4 AWG19 11 8in 1 20 25 484 With end insulated rou
183. ain 2 rad s Speed integral compensation ms Speed differential compensation For manufacturer setting Input signal automatic ON selection Input signal selection 1 Input signal selection 2 CN1B pin 5 Input signal selection 3 CN1B pin 14 Input signal selection 4 CN1A pin 8 Input signal selection 6 CN1B pin 8 Input signal selection 7 CN1B pin 9 Input signal selection 5 CN1B pin 7 1 Output signal selection Note 1 0 Rated servo motor speed 2 Depends on the servo amplifier 2 32 D J D D s o o oo o o o o o A a 2 OPERATION 4 Detailed explanation of the parameters To make the parameter marked valid set the parameter and switch power off once then switch it on again The symbols in the Control Mode field represent parameters used in the corresponding modes P Position control mode S Speed control mode T Torque control mode Initial Setting Control Value Range Mode Name and Function Control mode regenerative brake option selection 0000 0000h P SeT Used to select the control mode and regenerative brake option 0 a 0 0 Select the control mode 0 Position 1 Position and speed 2 Speed 3 Speed and torque 4 Torque 5 Torque and position Basic par
184. al input For open collector pulse train input 3 O EU For differential line driver pulse train input Isolated gt P15R permissible 30mA 15V 10 Analog input O CN3 10V max current E Analog monitor output oro Open collector sD output 35mA or less La oja 225 gar 1 Lee Differential line bd Fog driver output E LR ee 35mA or less Servo motor encoder Servo motor ya hd O Earth 3 55 3 WIRING 3 4 Grounding 1 Ground the servo amplifier and servo motor securely 2 To prevent an electric shock always connect the protective earth PE terminal marked of the servo amplifier with the protective earth PE of the control box N WARNING The servo amplifier switches the power transistor on off to supply power to the servo motor De pending on the wiring and ground cablerouting the servo amplifier may be affected by the switch ing noise due to di dt and dv dt of the transistor In order to prevent such trouble from occurring ensure to connect an earth referring to the drawing shown below To conform to the EMC Directive refer to the EMC INSTALLATION GUIDELINES IB NA 67310 Control box Servo motor Note Three phase 200 to 230VAC or Single phase 2 230VAC Positioning unit etc Always connect it to PE terminal of servo amplifier Do not connect it directly to protectiv
185. 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 Their contacts will wear due to switching currents and contact faults occur Depending on the capacity of the power supply the service life terminates when the number of power inputs reaches 100 000 times The cooling fan bearings reach the end of their life in 10 000 to 30 000 hours Normally therefore the fan must be changed in a few years of continuous operation as a guideline It must also be changed if unusual noise or vibration is found during inspection When the servo motor is run at rated speed under rated load change the bearings in 20 000 to 30 000 hours as a guideline This differs on the operating conditions The bearings must also be changed if unusual noise or vibration is found during inspection Must be changed in 5 000 hours of operation at rated speed as a guideline This differs on the operating conditions These parts must also be changed if oil leakage etc is found during inspection CHAPTER 8 TROUBLESHOOTING This chapter gives troubleshooting at start up and corrective actions for alarms and warnings When any fault has occurred refer to this chapter and take the corresponding action 8 1 Troubleshooting at start up 8 1 1 Position control mode 8 1 2 Speed control mode 8 1 3 Torque control mode 8 2 Alarms and warnings 8 2 1 Alarm and w
186. ameters Select the regenerative brake option Not used Reserved do not set MR RB032 MR RB12 MR RB32 MR RB30 MR RB50 Wrong setting may cause the NOTICE regenerative brake option to burn If the regenerative brake option selected is not for use with the servo amplifier parameter error A 37 occurs MEMORANDUM Function selection 1 Used to select the input signal filter CN1B pin 19 s output signal and absolute position detection system 0 7 Input signal filter 0 None 1 1 77ms 2 3 55 CN1B pin 19 s function selection 0 Zero speed detection signal 1 Electromagnetic brake interlock signal Positioning system 0 Used in incremental positioning system 1 Used in absolute position detection system 2 OPERATION Name and Function Initial Value Setting Range Control Mode Basic parameters Auto tuning Used to set the response level etc for execution of auto tuning 0 Auto tuning response level setting Set Value Response Level Low response to Middle response to High response 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 Select the machine For example used to improve the position settlin
187. ameters No 6 35 to 38 While confirming the operating status adjust the following parameters Parameter No 6 Parameter No Parameter No Parameter No Parameter No Adjustment 5 Operation The optimum value is achieved just before vibration begins to increase Increase the setting to reduce the settling time Note that overshoot is more liable to occur Increase the setting to improve servo response Note that vibration is more liable to occur Decrease the setting to keep the speed constant to load disturbance and increase holding force at a stop servo rigidity Note that overshoot Description Adjust the gains of all axes in any of Adjustment 1 to 4 procedures The gains of each axis are adjusted The gains of each axis are adjusted Set 10 or 12 in parameter No 2 interpolation axis control The values of parameters No 34 35 37 38 will change in subsequent operation no Auto tuning is made invalid to enable manual setting of parameters No 6 35 to 38 Set the following parameter of each axis to the minimum value of all interpolation controlled axes Parameter No 6 The gains for operation of all axes are set to the same value 2 OPERATION 2 4 3 Slight vibration suppression control The slight vibration suppression control mode is used to reduce servo sp
188. amplifier and the internal surface of the control box and install a fan to prevent the internal temperature of the control box from exceeding the environmental conditions Control box 10mm 100mm 0 4 in 4 0 in or more or 30mm 2 30mm 1 2 in 1 2 ph 4 INSTALLATION 3 Others When using heat generating equipment such as the regenerative brake 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 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 fan installed on the ceiling 3 When positioning the control panel in a place where there is much harmful gas or dust perform an air purge force feed clean air from the outside of the control panel to increase the inside air pressure more than the outside air pressure to prevent harmful gas or dust from entering the control panel 4 INSTALLATION 4 2 Servo motor Do not hold the cable shaft or encoder to carry the servo motor Otherwise a fault or injury may occur Securely fix the servo motor to the machine If fixed insecurely the servo motor will
189. arm code is output at occurrence of the corresponding alarm In the normal status the signals available before alarm code setting CN1B 19 ZSP CN1A 18 INP or SA CN1A 19 RD are output Note Alarm Code Display CN1B CN1A CN1A 19 pin 18 pin 19 pin 10 11 12 13 15 16 17 18 20 24 25 30 31 32 33 35 37 46 50 51 52 Undervoltage Board error1 Memory error1 Clock error Memory error2 Encoder error1 Board error2 Board error3 Encoder error2 Ground fault Absolute positiom erase Regenerative error Overspeed Overcurrent Overvoltage Command pulse frequency alarm Parameter error Servo motor overheat Overload1 Overload2 Error excessive RS 232C error Watchdog Open battery cable warning Zero setting error Battery warning Excessive regenerative load warning Overload warning Absolute position counter warning ABS time out warning Servo emergency stop Main circuit off warning ABS servo on warning A A A A A A A A A A A A A A A A A A A A A A S ooo Sl OD CO O O
190. arm occurs Remove cause Ormore of trouble PPAR ON Power off 5 supply OFF Base circuit ON 1 r OFF ae E v i i brake ae Brake operation Servo on ON y f SON OFF Ready ON RD OFF beil ji Precautions for alarm occurrence 1 Overcurrent overload 1 or overload 2 If operation is repeated by switching control circuit power off then on to reset the overcurrent A 32 overload 1 A 50 or overload 2 A 51 alarm after its occurrence without removing its cause the servo amplifier and servo motor may become faulty due to temperature rise Securely remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation 2 Regenerative alarm If operation is repeated by switching control circuit power off then on to reset the regenera tive A 30 alarm after its occurrence the external regenerative brake resistor will generate heat resulting in an accident Instantaneous power failure Undervoltage A 10 occurs if power is restored after a 100ms or loger power failure of the control power supply or after a drop of the bus voltage to or below 200VDC If the power failure persists further the control power switches off When the power failure is reset in this state the alarm is reset and the servo motor will start suddenly if the servo on signal SON is on To prevent hazard make up a sequence which will switch off the servo on signal SON if an alarm occurs 4 Posit
191. arning list 8 2 2 Alarms 8 2 3 Warnings INTRODUCTION CHAPTER 1 OPERATION CHAPTER 2 WIRING CHAPTER 3 INSTALLATION CHAPTER 4 ABSOLUTE POSITION DETECTION SYSTEM CHAPTER 5 OPTIONS AND AUXILIARY EQUIPMENT CHAPTER 6 INSPECTION CHAPTER 7 TROUBLESHOOTING CHAPTER 8 CHARACTERISTICS CHAPTER 9 SPECIFICATIONS CHAPTER 10 SELECTION CHAPTER 11 8 TROUBLESHOOTING 8 1 Troubleshooting at start up Excessive adjustment or change of parameter setting must not be made as it will CAUTION make operation instable The following faults may occur at start up If any of such faults occurs take the corresponding action 8 1 1 Position control mode 1 Troubleshooting Start Up Sequence Fault Investigation Possible Cause Refer To Power on LED is lit Not improved if connectors 1 Power supply voltage fault LED flickers CN1A CN1B and CN2 are 2 Servo amplifier is faulty disconnected Improved when connectors Power supply of CN1 cabling CN1A and CN1B are is shorted disconnected Improved when connector 1 Power supply of encoder CN2 is disconnected cabling is shorted 2 Encoder is faulty Improved when connector Power supply is shorted CN3 is disconnected Alarm occurs Refer to Section 8 2 and remove cause Section 8 2 Switch on servo on Alarm occurs Refer to Section 8 2 and remove cause Section 8 2 signal Servo motor shaft is 1 Check the display to se
192. art signal entered Section 2 3 3 3 Regenerative brake option Used when the built in regenerative brake resistor of the servo amplifier does not have sufficient regenerative cap ability for the regenerative power generated Section 6 1 1 Servo configuration software Using a personal computer parameter setting test ope ration status display etc can be performed Section 6 1 5 Alarm code output If an alarm has occurred the corresponding alarm number is output in 3 bit code Note P Position control mode S Speed control mode T Torque control mode P S Position speed control change mode S T Speed torque control change mode T P Torque position control change mode 1 14 Section 8 2 1 1 INTRODUCTION 1 4 Basic configuration To prevent an electric shock always connect the protective N WARNING earth PE terminal terminal marked of the servo amplifier to the protective earth PE of the control box 1 4 1 MR J2 100A or less 1 Three phase 200V or single phase 230V power supply models Note 2 Options and Auxiliary Equipment Power supply 3 phase AC200 No fuse breaker Section 6 2 2 230V or Magnetic contactor Section 6 2 2 1 phase Set up software Section 6 1 5 WANAWA Regenerative brake option Section 6 1 1 No fuse breaker Cables Section 6 2 1 NFB or fuse Servo amplifier Power factor improving reactors Section 6 2 3
193. at start etc Power switched on within 5 seconds after it had switched off Review the power supply 5 Faulty parts in the servo amplifier Checking method Alarm A 10 occurs if power is switched on after CN1A CN1B and CN3 connectors are disconnected Change the servo amplifier Board error 1 Printed board faulty Memory error 1 RAM ROM memory fault Clock error Printed board fault Faulty parts in the servo amplifier Checking method Alarm any of A 11 to 15 occurs if power is switched on after CN1A CN1B and CN3 connectors are disconnected Memory error 2 EEPROM fault Change the servo amplifier Encoder error 1 Communication error occurred between encoder and servo amplifier 1 Encode connector disconnected Connect correctly 2 Encoder fault Change the servo motor 3 Encoder cable faulty Wire breakage or short Repair or change cable 4 Combination of servo amplifier and servo motor is not proper Use correct combination 8 TROUBLESHOOTING Alarm Code CN1B 19 pin CN1A 18 pin CN1A 19 pin Name Definition Cause Action 0 0 0 Board error 2 CPU parts fault Board error 3 Faulty parts in the servo amplifier r Checking method Alarm A 17 or A 18 occurs if power is switched on after CN1A CN1B and CN3 connectors have been disc
194. at the speed of 3000r min at not more than 200kpps the electronic gear setting must be changed This electronic gear is found by Equation 11 5 CMX 3000 1 8192 CDV is 60 200 x 10 Electronic gear _ 256 125 Therefore the parameters are set to CMX 256 and CDV 125 11 4 11 SELECTION 11 4 Stopping characteristics 1 Droop pulses e When a pulse train command is used to run the servo motor there is a relationship between the command pulse frequency and servo motor speed as shown in the figure The difference between the command pulses and feedback pulses during acceleration are called droop pulses which are accumulated in the servo amplifier s deviation counter Equation 11 7 defines a relationship between the command pulse frequency f and position control gain 1 Kp Supposing that the value of position control gain 1 is 70 rad s the droop pulses during operation will be as follows at the command pulse frequency of 200 kpps according to Equation 11 7 3 200 x 10 gx gt 2858 pulse 70 pulse gt o c 2 o 4 o o 3 Command Droop pulses o o 5 ERE ET s 8 o vi i E S E 9 E i Servo motor o speed o S f i I Y r min pps 9 X Time 0 04s Settling time Tpsa Tpsd ts ial ts 3 X7g 0 04 2 Settling time ts during linear acceleration deceleration Since droop pulses still exist when there are no command pulses settling time ts is r
195. ata Step 4 ABS processing complete Outputs 2 bits of ABS data 5 Battery installation procedure The internal circuits of the servo amplifier may be damaged by static electricity Always take the following precautions 1 Ground human body and work bench 2 Do not touch the conductive areas such as connector pins and electrical parts directly by hand NOTICE 1 Open the operation window When the model used is the MR J2 200A or more also remove the front cover 2 Install the battery in the battery holder Battery 3 Insert the battery connector into CON1 until it clicks lt Battery Battery holder Battery Battery holder For MR J2 200A or more For MR J2 200A or more P ter No 1 6 Parameter setting 1 absolute position detection system valid in parameter No 1 to make the 1 Positioning system 0 Incremental 1 Absolute position detection system 5 ABSOLUTE POSITION DETECTION SYSTEM 7 Connection example This diagram shows connection between the MELSEC A1SD75 AD75 and servo amplifier MR J2 A A1S62P General purpose programmable controller 600mA EG E INPUT Power supply AC100 200 A1SX40 Dw ABS data bit 0 ABS data bit 1 zero speed Readying to send data limiting torque 4 19 Nae Nae
196. ath has been stripped 222 the cable be used as it is Cable size 0 2 to 2 5mm K 5 Approx 10mm 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 con tact fault Cable size 0 2 to 2 5mm Alternatively a bar terminal may be used to put the wires together Phoenix Contact make Bar terminal for 1 cable Bar terminal for 2 cables Bar terminal ferrule with insulation sleeve Twin ferrule with insulation sleeve Cable Size Bar Terminal Type Crimping AWG For 1 cable For 2 cables Tool Al0 25 6YE Al0 25 8YE Al0 5 6WH Al0 5 8WH Al0 75 6GY Al TWIN2 X0 75 8GY Al0 75 8GY AFTWIN2 X0 75 10GY Al1 6RD TWIN2 X 1 8RD Al1 8RD TWIN2 X 1 10RD Al1 5 6BK TWIN2 X 1 5 8BK N2X1 5 12BK N2X2 5 10BU X 2 5 13BU 3 WIRING 2 Connection Insert the core of the cable into the opening and tighten the screw with a flat blade screwdriver so that the cable does not come off Tightening torque 0 5 to 0 6N m Before inserting the cable into the opening make sure that the screw of the terminal is fully loose When using a cable of 1 5mm2 or less two cables may be inserted into one opening Flat blade screwdriver C Tip thickness 0 4 to 0 6mm Overall width 2 5 to 3 5mm To loosen To tigh
197. ault The sum of currents that flow in the external relays should be 80mA max If it exceeds 80mA supply interface power from ex ternal When starting operation always connect the external emer gency stop signal EMG with SG Normally closed contacts The pins with the same signal name are connected in the servo amplifier The trouble ALM signal is on when there is no alarm i e in the normal state When this signal is switched off at occurrence of an alarm the output of the controller should be stopped by the sequence MEMORANDUM program When connecting the personal computer together with monitor outputs 1 2 use the maintenance junction card MR J2CN3TM Refer to Section 6 1 4 The connection method changes with the servo motor series Refer to Section 3 2 2 A single phase 230V power supply may be used with the servo amplifier of MR J2 70A or less Connect the power supply to L1 and L2 terminals and leave L3 open 2 9 2 OPERATION 2 2 Operation 2 2 1 Pre operation checks Before starting operation check the following 1 Wiring Servo amplifier 1 A correct power supply is connected to the power input terminals three phase 200V L1 L2 L3 single phase 230V L1 L2 single phase 100V L1 L2 of the servo amplifier 2 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 3 The servo m
198. c VC offset function before shipment at the VC LG voltage of OV Analog speed limit offset Used to set the offset voltage of the analog speed limit VLA When automatic VC offset is used the auto matically offset value is set to this parameter See section 2 3 3 The initial value is the value provided by the automatic VC offset function before shipment at the VLA LG voltage of OV Depends on servo amplifier 999 to 999 Analog torque command offset Used to set the offset voltage of the analog torque command TC Analog torque limit offset Used to set the offset voltage of the analog torque limit TLA Analog monitor 1 offset Used to set the offset voltage of the analog monitor 1 output MO1 999 to 999 999 to 999 Analog monitor 2 offset Used to set the offset voltage of the analog monitor 2 output MO2 999 to 999 Electromagnetic brake sequence output Used to set the delay time between when the electro magnetic brake interlock signal MBR switches off and when the base circuit is shut off 0 to 1000 Ratio of load inertia moment to servo motor inertia moment Used to set the ratio of the load inertia moment to the servo motor inertia moment Note that when auto tuning is selected the result of auto tuning is auto matically set 0 1 times 0 to 1000 Position loop gain 2 Used to set the gain of the position loop Set this parameter to increase position re
199. ching Section 3 1 4 1 Partial change in drawing of digital interface D1 1 Section 3 1 4 2 Partial change in figure Section 3 1 4 3 Partial change in figure Section 3 2 4 1 Change of servo motor side connector to 1 172169 9 Section 3 3 Partial deletion of figure Section 3 6 Partial change in figure of timing chart at the time of occurrence of alarm Section 3 7 Addition of point Partial change in connection diagram Change in text Partial change in figure Partial change in figure Partial change in figure Deletion of shaft allowable load table kgf Change of signals listed in relay terminal block side table of detector cable connection diagram to those abbreviated Section 6 1 3 Addition of point Section 6 2 6 2 Change in diode mounting drawing Section 8 1 1 2 Partial change in figure Addition of some text Section 8 2 2 Addition of A 25 Trouble Cause Remedy Section 9 3 1 Deletion of Table 9 2 kgf cm Section 10 1 2 Deletion of Table kgf cm Section 10 5 2 Change in all HC MF series Section 10 5 2 Change in HC MF UE series Section 10 5 2 Change in HC UF3000 rpm series Section 10 5 3 Change of servo motor detector plug
200. ckness 2 to 6 0 08 to 0 24 23 0 91 hole Multi revolution type 09 5 0 37 hole 02 2 0 09 hole Resistance Dielectric Strength Insulation Mechanical Tolerance for 1 minute Resistance Rotary Angle Rotary Torque Resistance 1000MQ 10 O o 2kQ 10 700V A C OF mote 3600 2 e 100g cm or less CHAPTER 7 INSPECTION This chapter describes inspection items INTRODUCTION CHAPTER 1 CHAPTER 2 OPERATION WIRING CHAPTER 3 CHAPTER 4 INSTALLATION ABSOLUTE POSITION DETECTION SYSTEM CHAPTER 5 OPTIONS AND AUXILIARY EQUIPMENT CHAPTER 6 INSPECTION CHAPTER 7 TROUBLESHOOTING CHAPTER 8 CHARACTERISTICS CHAPTER 9 SPECIFICATIONS CHAPTER 10 SELECTION CHAPTER 11 7 INSPECTION 1 Before starting maintenance and or inspection make sure that the charge lamp is off more than 10 minutes after power off Then confirm that the voltage is safe in the tester or the like Otherwise you may get N WARNING an electric shock 2 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 NOTICE resistance or it may become faulty Do not disassemble and or repair the equipment on customer side 1 Inspection It is recomm
201. cross Width across Number of Width across Width across Number of flats corners corners flats corners corners 24 26 4 20 22 0 6 RCC 302RL MS10F 16 24UNEF 2B 9 0 94 1 00 9 079 087 24 264 23 253 0 94 1 04 0 91 1 0 27 297 23 253 1 06 1 17 0 91 1 0 30 33 0 23 253 1 18 1 30 0 91 1 0 33 0 32 35 2 1 18 1 30 1 26 1 39 33 0 36 39 6 1 18 1 30 1 42 1 56 33 0 40 42 5 1 30 1 58 1 67 40 7 32 35 2 1 60 1 26 1 39 40 7 36 39 6 1 60 1 42 1 56 40 7 40 42 5 1 60 1 58 1 67 40 7 54 567 1 60 2 13 2 23 47 3 36 39 6 1 86 1 42 1 56 47 3 40 42 5 1 86 1 58 1 67 47 3 54 567 1 86 2 13 2 23 RCC 302RL MS1 3 4 20UNEF 2B RCC 303RL MS1 34 20UNEF 2B RCC 304RL MS1 3 4 20UNEF 2B RCC 304RL 1 1 8 18UNEF 2B RCC 304RL 1 14 18UNEF 2B RCC 304RL 1 3 8 180 2 RCC 306RL 1 1 s 18UNEF 2B RCC 306RL 1 14 18UNEF 2B RCC 306RL 1 3 5 18UNEF 2B RCC 306RL 1 7 s 16UN 2B RCC 308RL 1 14 18UNEF 2B RCC 308RL 1 3 5 18UNEF 2B RCC 308RL 1 7 5 16UN 2B 3 Back shell Daiichi Denshi Kogyo make CE02 20BS S CE 20BA S 35 1 38 13 16 18UNEF 2A 50 5 1 99 or less 39 6 1 56 or less CL 11 8 18UNEF 2B BEEN 11 8 18UN
202. ctor 172169 9 Black Phase W AMP make Inertia Variable Moment Dimensions 10 2 LL Servo Motor Model HA FF053 0 063 106 HA FF13 0 10 123 Unit mm ottom Motor plate Power supply cable VCTF 3 1 25 0 5m With end insulated round crimping terminal 25 4 Red PhaseU 2518 White Phase V Black Phase W Section AA P screw depth R Variable Dimensions LL LR LZ H Q 0 35 30 5 5 25 0 5 30 10 41 10 SPECIFICATIONS 2 With electromagnetic brake HA FF053B HA FF13B Unit mm 4 94 5 LL 30 Earth terminal M3 screw Opposite side Brake cable VCTF 2 0 5 0 5m With end insulated round crimping terminal 1 25 4 Power supply cable 3 1 25 0 5m With end insulated round crimping terminal 1 25 4 Red PhaseU White Phase V Black Phase W M Encoder cable 0 3m With connector 172169 9 AMP make Inertia Variable Moment Dimensions J X10 kg m LL 140 5 157 5 HA FF23B to HA FF63B Unit mm 4 9LZ LL LR Caution plate a Vm as ya Encoder cable 0 3m With connector 172169 9 AMP make
203. d Limiting speed VLC VLC SG are connected when the servo motor speed reaches the limit speed set to any of the internal speed limits 1 to 3 or analog speed limit 3 26 3 WIRING 4 Position speed control change mode Set 1 in parameter No 0 to switch to the position speed control change mode This func tion is not available in the absolute position detection system 1 Control change LOP Use control change LOP to switch between the position control mode and the speed con trol mode from an external contact Relationships between LOP SG status and control modes are indicated in Table 3 7 Table 3 7 Control Selection Across LOP SG Servo Control Mode Open Position control mode Short Speed control mode The control mode may be changed in the zero speed status Before changing control to the other mode make sure that the zero speed signal ZSP is on To ensure safety change control after the servo motor has stopped When position control is changed to speed con trol droop pulses are reset If the signal has been switched on off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less the control mode cannot be changed A change timing chart is shown in Fig 3 13 Servo motor speed Zero speed ZSP ON Control change LOP Position control mode Speed control mode Position control mode e Zero speed 1 1 1 level 1
204. d from across D P CN1A CN1B CN2 and CN3 have the same shape Wrong con NOTICE nection of the connectors will lead to a fault The sum of currents that flow in the external relays should be 80mA max If it exceeds 80mA supply interface power from ex ternal When starting operation always connect the external emergency stop signal EMG and forward reverse rotation stroke end signal LSN LSP with SG Normally closed contacts The pins with the same signal name are connected in the servo amplifier The trouble ALM signal is on when there is no alarm i e in the normal state When this signal is switched off at occurrence of an alarm the output of the controller should be stopped by the sequence pro gram When connecting the personal computer together with monitor MEMORANDUM outputs 1 2 use the maintenance junction card MR J2CN3TM Refer to Section 6 1 4 This length applies to the command pulse train input in the opencollector system It is 10m 32 ft or less in the differential line driver system The connection method changes with the servo motor series Refer to Section 3 2 2 A single phase 230V power supply may be used with the servo amplifier of MR J2 70A or less Connect the power supply to L1 and L2 terminals and leave L3 open When using the relay terminal block MR TB20 connect it to CN1A 10 2 3 2 OPERATION 2 Connection with the AD75P 415075
205. d if cable disconnection or cable breakage occurs within the specified time data holding time during battery replacement General purpose programmable controller Servo amplifier CPU Positioning unit Pulse train command Zeroing data Current position I E i Speed control Position 1 Position control unit Backup at L power off LS 1X Current _ J y Input Speed Detection of pasion detection postion inin rea 1 Output Battery MR BAT 1 Servo motor beers ac DARSE SPS p 1P rev Cumulative revolution counter Super High speed serial E Within one revolution counter A B Z phase signals Encoder 5 ABSOLUTE POSITION DETECTION SYSTEM 2 Communication sequence Programmable controller Servo amplifier DI DO is used to transfer ABS Step 1 Requests ABS transfer Changes DI DO function for data between servo amplifier and PT mode ABS transfer I O signal programmable controller 1 Reads ABS data from encoder Step 2 Receives ready to send m creates current position data and outputs ready to send 4 M 2 bit data is sent 19 times Step 3 Outputs ABS data Receives ABS data M ois request signal request signal 1 These steps are repeated 19 times to make up data Receives 2 bits of ABS d
206. d pulse frequency The servo motor is run at a speed where the command pulses and feedback pulses are equivalent Therefore the command pulse frequency and feedback pulse frequency are equivalent The relation including the parameter settings CMX CDV is as indicated below refer to the following diagram CMX No 11 4 fo Command pulse frequency pps Electronic Open collector system gear CMX Electronic gear Command pulse multiplication CMX CDV numerator CDV Electronic gear Command pulse multiplication denominator Feedback pulse No Servo motor speed r min frequency Servo motor Pt Number of feedback pulses pulses rev Pt 2 8192 for HC MF According to Equation 11 4 the following equations may be used to obtain the electronic gear and command pulse frequency to rotate the servo motor at No Electronic gear CMX No 1 CDV Pe a gt 11 5 Command pulse frequency No CDV fo Pte 11 6 Setting example Obtain the command pulse frequency required to run the HC MF at 3000r min When the electronic gear ratio 1 initial parameter value is used the following result is found according to Equation 11 6 No CDV fo 81921 60 CMX Command pulse frequency 3000 60 81921 te 1 409600 pps However as the maximum input command pulse frequency in the open collector system is 200kpps 409600pps cannot be entered To run the servo motor
207. de S Speed control mode T Torque control mode P S Position speed control change mode S T Speed torque control change mode T P Torque posi tion control change mode Set parameter No 45 to use CR Set parameter No 47 to use PC Set parameter No 48 to use TL Set parameter No 49 to use WNG and BWNG Set parameters No 43 to 48 to change signals Set parameter No 49 to output the alarm code Refer to Chapter 8 The signal of CN1A 18 is always output b Symbols signal names Signal Name Signal Name Servo on Emergency stop Forward rotation stroke end Control change Reverse rotation stroke end Limiting torque Clear Limiting speed Speed selection 1 Ready Speed selection 2 Zero speed Proportion control In position Forward rotation start Speed reached Reverse rotation start Trouble Forward rotation selection Reverse rotation selection Torque limit Reset Warning Encoder Z phase pulse open collector Battery warning 2 22 2 OPERATION 3 Default signal indications a Position control mode TL CN 1 B 9 Torque limit r PC CN 1 B 8 Proportional control r CR CN 1 A 8 Clear r RES CN 1 B 14 Reset r SON CN 1 B 5 Servo on LSN CN 1 B 17 Reverse rotation stroke end EMG CN1B 15 Emergency stop LSP CN 1 B 16 N Forward rotation stroke end 1 Lit ON Extingu
208. ded multi core cable and connect the shield with FG securely The optional communication cable is 3m 10 ft long When the cable is fabricated its maximum length is 15m 49 ft in offices of good environment with minimal noise Connection diagram MR CPC98CBL3M MR CPCATCBL3M Personal computer side Servo amplifier side Personal computer side Servo amplifier side r2 Plate FG p Plate FG SD 2 aa 2 RXD TXD 3 a 2 RXD e 1 GND EF E 1 GND RD 3 12 TXD RXD 2 ES 12 TXD SG 7 3 11 GND GND 5 11 GND RS 4 RTS 7 CS 5 CTS 8 gt DSR 6 DTR 4 Fr D SUB25 pins Half pitch 20 pins D SUBS pins Half pitch 20 pins Note Note The PC98 Notes having the connector of half pitch 14 pins are also available Confirm the shape of the RS 232C connector of the personal computer used 6 13 6 OPTIONS AND AUXILIARY EQUIPMENT 6 1 3 Junction terminal block When using the relay terminal SG of CN1A 20 and CN1B 20 cannot be used Use SG of CN1A 4 and CN1B 4 1 How to use the junction terminal block Always use the junction terminal block MR TB20 with the junction terminal block cable MR J2TBLO5M as a set A connection example is shown below Servo amplifier Junction terminal block Cable clamp MR TB20 AERSBAN ESET CN1A or CN1B Junction t
209. e Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25 4 Encoder cable 11 8in Red Phase U With connector 1 172169 9 White Phase V BC12069 AMP make Black Phase W BC1 2089 Green yellow Earth 10 65 10 SPECIFICATIONS Reduction Gear Reduction Radio Inertia Moment Model WK oziin Normal Reduction ratio Actual Reduction ratio HC MF43G1 K10020 1 20 253 5000 3 57 60min max HC MF73G1 K10005 1 5 1 5 5 58 60min max Model Backlash HC MF73G1 K10012 1 12 525 6048 9 22 60min max HC MF73G1 K12020 1 20 625 12544 9 57 60min max Variable Dimensions in Model in LGLMLN L HC MF43G1 0 39 0 51210 63 3 39 7 933 HC MF73G1 0 39 0 512 0 63 3 39 8 15 HC MF73G1 0 39 0 51210 63 3 39 9 016 HC MF73G1 0 590512 0787 4 09 9 528 Unit in For reverse rotation command Rotation direction 4 QLZ For forward rotation command OLD Motor plate Opposite side Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25 4 P threads Encoder cable 11 8in With connector 1 172169 9 Red Phase U depth R AMP make White Phase V Black Phase W Green yellow Earth BC12070 10 66 10 SPECIFICATIONS b With electromagnetic brake Variable Braking Force Reduction Reduction
210. e a fault may occur Do not subject the servo amplifier and servo motor to drop impact or shock loads as they are precision equipment Do not install or operate a faulty servo amplifier or servo motor 10 When the product has been stored for an extended period of time 4 1 Servo amplifier consult Mitsubishi 1 The equipment must be installed in the specified direction Otherwise a CAUTION fault may occur 2 Leave specified clearances between the servo amplifier and control box inside walls or other equipment 1 Environmental conditions Environment Conditions Ambient temperature 0 to 55 non freezing 32 to 131 F non freezing Ambient humidity 90 RH or less non condensing storage temperature 20 to 65 C non freezing 4 to 149 F non freezing storage humidity 90 RH or less non condensing Ambient Altitud Indoors no direct sunlight Free from corrosive gas flammable gas oil mist dust and dirt Max 1000m 3280 ft above sea level Vibration 5 9 m s or less 19 4 ft s or less 4 INSTALLATION 2 Installation direction and clearances 1 Installation of one servo amplifier Control box Control box Wiring clearance a ae I iJ 40mm 1 6 in z 2 Installation of two or more servo amplifiers Leave a large clearance between the top of the servo
211. e 1 Servo on signal is not 1 Section 2 3 3 not servo locked if the servo amplifier is input Wiring mistake is free ready to operate 2 24VDC power is not Check the external I O supplied to COM signal indication to see if the servo on SON signal is ON Enter input Servo motor does not Check cumulative 1 Wiring mistake command rotate command pulses a For open collector Test operation pulse train input 24VDC power is not supplied to OPC b LSP LSN SG are not connected 2 No pulse is input Gain adjustment Rotational ripples Make gain adjustment Gain adjustment fault Section 2 4 speed fluctuations the following procedure are large at low 1 Increase the auto speed tuning response level 2 Repeat acceleration and deceleration several times to complete auto tuning Large load inertia Make gain adjustment in Gain adjustment fault Section 2 4 the following procedure moment causes the If the servo motor may servo motor to be run with safety oscillate side to side repeat acceleration and deceleration several times to complete auto tuning Cyclic operation Position shift occurs Confirm the cumulative Pulse counting error etc 2 in this section command pulses cumulative d feedback pulses and actual ue to noise servo motor position 8 TROUBLESHOOTING 2 How to find the cause of position shift
212. e This graph gives calculated values which are not guaranteed Flexing Lives of Encoder Cables CHAPTER 5 ABSOLUTE POSITION DETECTION SYSTEM This chapter provides how to build an absolute position detection system This servo amplifier will make up an absolute position detection system by merely installing a battery For more information refer to the MR J2 A Absolute Position Detection System Installation Guide IB NA 67309 1 Restrictions on absolute position detection system 2 Specifications 3 Structure 4 Overview of absolute position detection data communication 5 Battery installation procedure 6 Parameter setting 7 Connection example CHAPTER 1 INTRODUCTION OPERATION CHAPTER 2 CHAPTER 3 WIRING INSTALLATION CHAPTER 4 ABSOLUTE POSITION DETECTION SYSTEM feliz i CHAPTER 6 OPTIONS AND AUXILIARY EQUIPMENT INSPECTION CHAPTER 7 TROUBLESHOOTING CHAPTER 8 CHARACTERISTICS CHAPTER 9 SPECIFICATIONS CHAPTER 10 SELECTION CHAPTER 11 5 ABSOLUTE POSITION DETECTION SYSTEM 1 Restrictions on absolute position detection system An absolute position detection system cannot be built under the following conditions 1 Speed control or torque control operation 2 Control change mode position speed position torque 3 Stroke less coordinate system e g rotary shaft infinite positioning 4 Restart after instantaneous power failure is made valid for op
213. e 3 5 RS1 RS2 and Speed Limit Directions Speed Limit Direction Across E RS1 SG RS2 SG Analog speed limit VLA Internal speed polarity polarity commands 1 to 3 Open CCW CW CCW 3 WIRING b Connection diagram Generally connect as shown in Fig 3 11 When a precision speed command is required connect as shown in Fig 3 12 In this case the temperature fluctuation of the command voltage is 0 002 C Note that as the maximum value of the command voltage is approx 6V adjust the maximum value using parameter No 25 Servo amplifier Servo amplifier NEC 15752 or equivalent Japan Resistor RRS10 or equivalent Fig 3 11 Connection Example 1 Fig 3 12 Connection Example 2 c Speed selection 1 SP1 speed selection 2 SP2 and speed command values Use speed selection 1 SP1 and speed selection 2 SP2 to select the speed from among those set to the internal speed commands 1 to 3 and set to the analog speed limit VLA as indicated in Table 3 6 When the internal speed commands 1 to 3 are used to command the speed the speed does not vary with the ambient temperature Table 3 6 SP1 SP2 and Speed Command Values Across SP1 SG Across SP2 SG Speed Command Value Open Open Analog speed limit VLA Short Open Internal speed limit 1 parameter No 8 Open Short Internal speed limit 2 parameter No 9 Short Short Internal speed limit 3 parameter No 10
214. e Mm A k diced NS seal yA e 7 S17308B e Top efti jJ F WoW x 32 Top Bottom 20 if I P Motor plate TUV plate d a KL 3 CE05 2A14S 2PD B D17 Encoder connector AJ MS3102A20 29P Power supply connector oa 5 x 0 8 threads depth 20 Section AA Note 1 For the pin outs of the power supply and encoder connectors i refer to 3 Section 3 2 3 Viri Dimensions Inertia Moment 2 For horizontal installation it is recommended to face the power J X 10 kg m supply and encoder connectors down L KL HA FF43C UE 93 0 98 HA FF63C UE 1 2 10 49 10 SPECIFICATIONS 2 With electromagnetic brake HA FF053CB UE Unit mm 155 we 30 47 12 2 5 Caution plate Opposite side 25 e pw s i Qn Top Bottom 1 D 2 A Ve see seal GM10204B 1 41 132 4 H28 TUV plate op l 355 T bo K eo N 84 N 44
215. e adjusted to provide the optimum tuning according to machine rigidity Reverse Operation is suspended and stopped by 1 Servo on signal off The base circuit is shut off and the servo motor coasts 2 Stroke end signal off The servo motor comes to a sudden stop and is servo locked The servo motor is allowed to run in the opposite direction 3 Alarm occurrence When an alarm occurs the base circuit is shut off and the dynamic brake is op erated to bring the servo motor to a sud den stop 4 Emergency stop signal The base circuit is shut off and the off dynamic brake is operated to bring the servo motor to a sudden stop The display shows A E6 2 13 2 OPERATION 3 Speed control mode Disconnect the servo motor from the machine make sure that it operates properly and reconnect it with the machine Power on Test operation Parameter setting 1 Switch off the servo on signal SON 2 When power NFB is switched on the display shows r motor speed In the test operation mode make sure that the servo motor runs Re fer to 3 in Section 2 3 3 Set the required parameters Refer to Section 2 3 5 The servo amplifier and servo motor need not be set in parameters as they are set automatically Setting example Parameter Set Value Description No 0 0002 Control mode Regen
216. e circuit and make DI 1 5 the servo amplifier ready to operate servo on Disconnect SON SG to shut off the base circuit servo off andcoast the servo motor Set 1 in parameter No 41 to switch this signal on keep terminals connected automatically in the servo amplifier Disconnect RES SG for more than 50ms to reset the alarm During alarm resetting the base circuit is shut off The following alarms cannot be reset Name Name Board error 1 Encoder error 2 Memory error 1 25 Absolute position erase Clock error 90 Regenerative error Memory error 2 37 Parameter error Encoder error 1 50 Overload 1 Board error 2 511O0verload 2 Board error 3 Also the regenerative error A 30 and overload 1 A 50 cannot be reset until the regenerative brake resistor and power transistor are cooled to proper temperatures respectively If the line between RES and SG is short circuited during the operation and no alarm is given the status will come to the base and the servo motor will freely run to a stop Forward rotation The forward and or reverse rotation stroke end signal must stroke end be ON to run the servo motor If the signal is switched off the servo motor will stop suddenly and servo locked By setting 1 in parameter No 22 the servo motor will come to a slow stop when the signal is switched off Relationships between signal status and operation are as follows
217. e converted into equivalent value on servo motor shaft during stop Unbalance torque Load friction torque Load torque on load shaft Continuous effective load torque converted into equivalent value on servo motor shaft Load inertia moment converted into equivalent value on servo motor shaft Load inertia moment on load shaft Servo motor s rotor inertia moment Servo motor speed Servo motor speed during fast feed Load shaft speed during fast feed Moving part speed Moving part speed during fast feed Ball screw lead Number of gear teeth on servo motor shaft Number of gear teeth on load gear Gear ratio 2 Speed reduced when gt 1 Speed increased when n 1 Drive system efficiency Gravitational acceleration 9 8 m s m m m m m m m m m kg cm kg cm kg cm r min r min r min mm min mm min mm 11 2 Input pulse frequency in position Input pulse frequency during fast Position control gain 1 Position control time constant Tp 1 Kp Speed control gain Speed control time constant Tv 1 Kv Feed per feedback pulse in Feed per command pulse in position Feed Number of input command pulses in Settling time in position control mode Positioning time Time at constant speed of servo Stopping time in 1 cycle Positioning accuracy Number of droop pulses Load shaft rotation a
218. e earth of control box O O O Protective earth PE Note When using a power supply of 230VAC single phase connect it to L1 and L2 terminals but do not connect anything to L3 terminal 3 56 3 WIRING 3 5 Power supply circuit 1 When the servo amplifier has become faulty switch power off on the servo amplifier power side Continuous flow of a large current may cause a fire 2 Use the trouble signal to switch power off Otherwise a regenerative brake transistor fault or the like may overheat the regenerative brake resistor causing a fire N CAUTION 1 Power on sequence 1 Always wire the power supply as shown below using magnetic contactors with the main cir cuit power supply three phase 200V L1 L2 L3 single phase 230V L1 L2 single phase 100V L1 L2 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 prop erly 3 The servo amplifier can accept the servo on signal SON about 1 second after the main circuit power supply is switched on Therefore when SON is switched on simultaneously with the three phase power supply the base circuit will switch on in about 1 second and the ready signal R
219. e enabled by the setting of param eter No 19 Those parameters marked o can be operated Basic Parameters Expansion Parameters Set Value Operation No 0 19 No 20 49 0000 Reference initial value Write O Reference Allowed for No 19 only 000A Write Allowed for No 19 only Reference 000B Write Reference 000C Write O 2 30 2 OPERATION 3 Parameter list For any parameter whose symbol is preceded by set the parameter and switch power off once then switch it on again to make that parameter valid The symbols in the Control Mode field represent parameters used in the corresponding modes P Position control mode S Speed control mode T Torque control mode Control Initial Mode Value 2 Control mode regenerative brake option selection P SeT 0000 Function selection 1 P SeT 0002 Auto tuning P S 0102 1 1 U Electronic gear Command pulse multiplying factor numerator Electronic gear Command pulse multiplying factor denominator pulse 36 rad s 3 ms r min r min r min r min r min r min ms Deceleration time constant ms In position range Position loop gain 1 Position command acceleration deceleration time constant Position smoothing oc 2j o mi o Internal speed command 1 Internal speed limit 1 Internal speed command 2 o 2 gt 2 o
220. e signals and setting method are the same as in input signal selection 2 parameter No 43 Position control mode Input signals of Speed control CN1B pin 9 mode selected Torque control mode This parameter is unavailable when parameter No 42 is set to MEMORANDUM assign the control change signal LOP to CN1B pin 9 When Use in absolute position detection system is selected with parameter No 1 the CN1B 9 pin comes into the ABS transfer mode ABSM 2 48 2 OPERATION Initial Setting Control Value Range Mode Name and Function Output signal selection 1 0000 0000h P S T Used to select the connector pins to output the alarm to code warning WNG and battery warning BWNG 0551h 0 Setting of alarm code output Connector Pins CN1B 19 CN1A 18 CN1A 19 ZSP INP or SA RD Alarm code is output at alarm occurrence Expansion parameters Name pin 18 Watchdog Board error 1 Memory error 1 Clock error Memory error 2 Board error 2 Board error 3 Parameter erro RS 232C error Regenerative fault Overvoltage Undervoltage Motor overheat Overload 1 Overload 2 Ground fault Overcurrent Overspeed Command pulse fault Error excessive Encoder error 1 Encoder error 2 Absolute position erasure gt gt gt g
221. eceleration only the acceleration torque needs to be considered 11 6 11 SELECTION 2 25 2 s co E oc o Erg oo o Oc gt r min pps Nofo 0 Command Servo motor speed E Tie Dac D esso RR eun UM 11 11 Term LE ose EUREN CMM NEM LIMEN EI 11 12 Md S ak Dess aiiis eoe E ESO tu RE DA SERE ia 11 13 Note In the regenerative mode the value found by Equation 11 13 is negative 4 Continuous effective load torque If the torque required for the servo motor changes with time the continuous effective load torque should be lower than the rated torque of the servo motor There may be a servo motor torque delay at the start of acceleration or deceleration due to a delay in the control system To simplify the calculation however it is assumed that constant acceleration and deceleration torques are applied during Tpsa and Tpsd The following equation is used to calculate the continuous effective load torque in the following operation pattern Servo motor speedTime r min Servo motor torque 0 TLH 0 m Td Tma Time Tpsa tc Tpsd T4 Tf 1 cycle Poma zs TMa Tpsa T tc TMa Tpsd t2 Note indicates the torque applied during a servo motor stop A large torque may be applied especially during a stop in vertical motion applica
222. ecific 1 pulse vibration at the time of a stop This mode produces an effect especially when the ratio of load inertia moment to servo motor inertia moment is small 2 to 5 times Note that when vibration is attributable to loose ness such as gear backlash or machine resonance use the machine resonance suppression filter in parameter No 22 The slight vibration suppression control mode should be used after real time auto tuning or manual gain adjustment Usage First perform real time auto tuning or manual gain adjustment so that vibration falls within 2 to 3 pulses Set 1 in parameter No 20 to enter the slight vibration suppression mode at the time of a stop Parameter No 20 1 qe Slight vibration suppression control execution 2 54 CHAPTER 3 WIRING This chapter provides information required for wiring of connectors terminals etc Before doing wiring work always read this chapter 3 1 Servo amplifier 3 1 1 Terminal blocks 3 1 2 Signal connectors 3 1 3 Detailed information on I O signals 3 1 4 Interfaces 3 2 Connection of servo amplifier and servo motor 3 2 1 Connection instructions 3 2 2 Connection diagram 3 2 3 I O terminals 3 2 4 Connectors used for servo motor wiring 3 3 Common line 3 4 Grounding 3 5 Power supply circuit 3 6 Alarm occurrence timing chart 3 7 Servo motor with electromagnetic brake CHAPTER 1 INTRODUCTION OPERATION CHAPTER
223. el HC MF73BG2 2 4 05 08 1 5 1 098 HC MF73BG2 2 4 BK4 09B 08MEKA 1 9 1 105 HC MF73BG2 2 4 BK5 20B 08MEKA 1 20 1 141 HC MF73BG2 2 4 BK5 29B 08MEKA 1 29 1 035 Variable Dimensions Reduction Ratio Model LG LH LK L LR HC MF73BG2 10 85 35 2475 85 156 1 5 HC MF73BG2 12 40 283 1 9 HC MF73BG2 15 43 283 1 20 HC MF73BG2 15 43 283 1 29 Unit mm For reverse rotation command Rotation direction N For forward rotation command 082 Motor plate Opposite side Caution plate PE d Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Fitnreads depth R Red Phase U Encoder cable 0 3m Brake lead White Phase V With connector 1 172169 9 2 0 32 0 3m Black Phase W AMP make With end insulated round Green yellow Earth BC12085 crimping terminal 1 25 4 10 37 10 SPECIFICATIONS 2 HC MF UE series 1 Standard Without electromagnetic brake without reduction gear Variable Model Dimensions L KL HC MF053 UE 89 5 37 5 0 019 HC MF13 UE 104 5 52 5 0 03 Inertia Moment J X 10 kg m Unit mm Motor plate 5 Opposite side Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth
224. elected 1 Electronic gear setting Parameter No 3 Command pulse multiplication numerator CMX Parameter No 4 Command pulse multiplication denominator CDV 2 During rapid feed e Servo motor speed No 3000 r min Input pulse train frequency fo 2 100 kpps 3 Acceleration deceleration time constant Tpsa Tpsd 0 05 s 11 13 REVISIONS The manual number is given on the bottom left of the back cover Print Data Manual Number Revision Nov 1996 IB NA 67286 A First edition Mar 1997 IB NA 67286 B Addition of servo amplifiers MR J2 70 to 350A and single phase 100V power supply models Addition of servo motors HC MF73 HC SF series and HC RF series Section 2 1 Addition of notes on servo motor connection Section 2 2 2 Addition of stop by reset signal Section 2 3 2 Correction to display range for position within one revolution 3 1 Section 2 3 3 Addition of default indications 4 Section 2 3 5 Parameter No 0 Addition of MR RB30 MR RB50 Parameter No 11 13 Changes to diagrams Section 2 4 2 Changes to Step 2 in Adjustment 5 2 Section 3 1 2 Corrections to errors in writing of signals in table 4 Section 3 1 2 Signals which can be used by parameter setting are indicated by A 1 4 section 3 1 2 Addition of sentence to Reset 2 4 section 3 1 2 Changes to sentences on encoder A B and Z phase pulses 1 3 Section 3 1 4 Addition of note
225. elf cooled Totally enclosed self cooled protection type IP65 protection type IP65 Structure Note 2 Environmental conditions Refer to 1 Section 4 2 Refer to 1 Section 4 2 90 12 19 22 50 70 90 120 19 0 15 4 Note 7 Weight 10 3 10 SPECIFICATIONS Servo Motor HC SF 3000r min Series HC RF Series Middle inertia middle capacity Low inertia small capacity Item 53 103 153 Note9 203 Note9 353 103 153 203 Applicable servo amplifier Note 1 Rated output kW 1 0 1 5 2 0 3 5 1 0 1 5 2 0 Continuous Rated torque Nem 3 18 4 78 6 37 11 1 3 18 4 78 6 37 running duty oz in 451 677 903 1573 451 677 903 Note 1 Rated speed r min 3000 3000 Maximum speed r min 3000 4500 Permissible instantaneous speed r min 3450 5175 Nem 9 55 14 3 19 1 11 9 15 9 oz in 1353 2026 2707 1686 2253 Power rate at continuous rated torque kW s 7 4 11 4 9 5 120 176 Note 7 X10 kg cm 13 7 20 0 42 5 1 9 2 3 Inertia moment wk oz in2 74 9 109 3 232 4 10 4 12 6 Note 6 Recommended ratio of load inertia moment to servo motor shaft inertia moment MR J2 100A 200A 200A 350A 200A 200A 350A Maximum torque 15 times or less imes or less Servo amplifier built in regenerative brake
226. ellow Earth BC12036 With connector 1 172169 9 3 With end insulated round BC1 2039 AMP make crimping terminal 1 25 4 10 20 10 SPECIFICATIONS Variable Model Dimensions Barking Force Inertia Moment N m J X10 kg m L KL HC MF23B 131 5 49 1 1 3 0 136 HC MF43B 156 5 72 1 1 3 0 191 Unit mm L 30 060 Motor plate Opposite side Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Brake lead Black Phase W 2 0 32 0 3m Green yellow Earth BC12037 With end insulated round BC1 2039 5 crimping terminal 1 25 4 Encoder cable 0 3m With connector 1 172169 9 AMP make Barking Force Inertia Moment J X10 kg m Unit mm 082 Motor plate Opposite side Top Caution plate Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Red Phase U Brake lead l ite With connector 1 69 9 203 om unt Phase make With end insulated round C12038 Green yellow Earth crimping terminal 1 25 4 10 21 10 SPECIFICATIONS 3 With reduction gear for general industrial machine a Without electromagnetic brake Variable Model Dimensions L KL HC MF053G1 126 74 K6505 1 5 9 44 0 055 60min max HC MF053G1 144 92 K6512 1 12 49 576 0 077 60min max HC MF053G1 144 92 K6520 1
227. ended 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 2 Life 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 When using the servo motor in an atmosphere where there is much oil mist or dust clean and inspect the motor every three months For parts replacement please contact your sales representative Part Name Standard Life Smoothing capacitor 10 years Relay The number of power inputs reaches 100 000 times Cooling fan 10 000 to 30 000 hours 2 to 3 years Servo amplifier Absolute position battery Refer to Chapter 5 2 Bearings 20 000 to 30 000 hours Servo motor Encoder 20 000 to 30 000 hours Oil seal V ring 5 000 hours 7 INSPECTION 1 Smoothing capacitor 2 Relays 3 Servo amplifier cooling fan 4 Servo motor bearings 5 Servo motor oil seal V ring Affected by ripple currents etc and deteriorates in characteristic The life of the capacitor greatly depends on
228. ent 5 2 50 2 OPERATION The following parameters are used for manual gain adjustment Note that 000C should be set in parameter No 19 parameter write disable to make the expansion parameters valid Parameter No Name No 2 Auto tuning No 34 Ratio of load inertia moment to servo motor inertia moment No 22 Function selection 4 Machine resonance suppression filter No 6 Position loop gain 1 No 35 Position loop gain 2 No 36 Speed loop gain 1 No 37 Speed loop gain 2 No 38 Speed integral compensation Adjustment 1 Operation Description Set 0101 in parameter No 2 Auto tuning is selected Response is set to low level Set 1 in parameter No 22 Machine resonance frequency 1125Hz Switch servo on and perform operation several Auto tuning is performed times Check to see if vibration reduced Increase the setting of the fourth digit in The optimum value is achieved just before parameter No 22 sequentially and execute step 3 vibration begins to increase To reduce the settling time increase the response level of parameter No 2 sequentially and execute steps 2 to 4 2 OPERATION Adjustment 2 Step Operation Description 1 Set 0101 in parameter No 2 Auto tuning is selected Response is set to low level Set the machine s load inertia moment to servo When this param
229. equency Hz Not used 1125 563 375 282 225 2 42 0000 0000h to 7301h 2 OPERATION Name and Function Initial Value Setting Range Control Mode Expansion parameters Feed forward gain Used to set the feed forward gain in position control By setting 100 for constant speed operation droop pulses will not be generated Note that sudden acceler ation deceleration will increase overshoot As a guid eline acceleration deceleration time to from rated speed is 1s or longer when the set value is 100 When setting this parameter MEMORANDUM always set auto tuning to No parameter No 2 0 0 to 100 P Zero speed Used to set the output range of the zero speed signal ZSP 0 to 10000 Analog speed command maximum speed Used to set the speed at the maximum input voltage 10V of the analog speed command VC When it is set to 0 the speed comes to the rated speed of the servo motor connected 0 1 to 10000 Analog speed limit maximum speed Used to set the speed at the maximum input voltage 10V of the analog speed limit VLA When it is set to 0 the speed comes to the rated speed of the servo motor connected 0 1 to 10000 Analog torque command maximum output Used to set the output torque at the analog torque command voltage TC 8V of 8V on the assumption that the maximum torque is 100 For example se
230. equired until the servo motor stops Set the operation pattern in consideration for the settling time The ts value is obtained according to Equation 11 8 ts 3 Tp When Kp 70 rad s ts 0 04 s Refer to the above diagram Note The settling time ts indicates the time required for the servo motor to stop in the necessary positioning accuracy range This does not always mean that the servo motor has stopped completely Thus especially when the servo motor is used in high duty operation and positioning accuracy has no margin for travel per pulse A the value obtained by Equation 11 8 must be increased ts will vary with the moving part conditions Especially when the load friction torque is large movement may be unstable near the stopping position 11 5 11 SELECTION 11 5 Capacity selection As a first step temporarily select the servo motor capacity by calculating the load conditions Next determine the command pattern calculate required torques according to the following equations and confirm that the servo motor of the initially selected capacity may be used for operation 1 Initial selection of servo motor capacity After calculating the load torque TL and load inertia moment JL select a servo motor which will satisfy the following two relationships Servo motor s rated torque gt TL Servo motor Jm gt JL m m 3 m 5 m permissible load inertia moment High duty more than 100 times min
231. er Electronic gear Pt 8192pulse rev Parameters No 3 4 Encoder As shown above command pulses are multiplied by CMX CDV set in the parameters to be position control pulses Travel per command pulse is expressed by Equation 11 2 Pt CMX CMX Qe CDV AS CMX Electronic gear Command pulse multiplication numerator CDV Electronic gear Command pulse multiplication denominator Using the above relationship travel per command pulse can be set to a value without fraction Setting example Find a parameter value for 020 01 mm in a drive system where ball screw lead PB 10 mm and reduction ratio 1 n 1 The encoder feedback pulses Pt of the HC MF 8192 pulses rev Since As 10 mm rev the following is obtained according to Equation 11 2 CMX i Pt Qo 8192 _ 1024 cpv 270 Ag c 10 125 Relationship between position resolution A and overall accuracy Overall accuracy positioning accuracy of machine is the sum of electrical errors and mechanical errors Normally provisions should be made so that overall errors are not affected by electrical System errors As a guideline Equation 11 3 should be satisfied 1 1 Ag lt i x a 11 3 where A Travel per feedback pulse mm pulse Ae Positioning accuracy mm 11 3 11 SELECTION 11 3 Speed and comman
232. eration 5 Use of alarm code output 2 Specifications Description Battery Encoder resolution Electronic battery backup system 1 piece of lithium battery primary battery nominal 3 6V Type MR BAT or A6BAT Refer to 2 in Section 10 1 Maximum revolution range Home position 32767 rev Note 1 Maximum speed at power failure 500r min Note 2 Battery backup time Note 3 Data holding time during battery replacement Battery storage period Approx 10 000 hours battery life with power off 2 hours at delivery 1 hour in 5 years after delivery 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 3 Period during which data can be held by the super capacitor in the encoder after power off with the battery voltage low or the battery removed or during which data can be held with the encoder cable disconnected Battery replacement should be finished within this period 8 Structure 1 Components Component Description Servo amplifier Servo motor Use standard models Battery MR BAT or A6BAT Encoder cable Use a standard model When fabricating refer to 2 Section 6 1 2 General purpose programmable controller Use I O unit 3 input points 2 output points to transfer absolute position detection data
233. eration the servo motor will be decelerated to a stop according to the parameter No 12 setting and servo locked When the analog speed command VC is OV starting the servo motor will not generate servo lock torque Forward rotation Used to select any of the following servo motor torque selection generation directions Across RS1 SG Across RS2 SG Torque Generation Direction Rotation Direction Open Open No torque Stop Reverse rotation Forward rotation in driving selection Short Open mode reverse rotation in CCW regenerative mode Reverse rotation in driving Open Short mode forward rotation in CW regenerative mode Short Short No torque Note 1 Refer to Section 3 1 4 2 P Position control mode S Speed control mode T Torque control 3 10 3 WIRING Signal Symbol Connec tor Pin No Speed Command 1 0 Division Note 1 Speed selection 1 SP1 CN1A 8 Speed control mode Used to select the command speed for operation Across SP1 SG Functions Applications Open Analog speed command VC Internal speed command 1 Short parameter No 8 Internal speed command 2 Open parameter No 9 Internal speed command 3 Short parameter No 10 Torque control mode Used to select the limit speed for operation Across Across um SP1 SG SP2 SG Speed Limit Open Open Analog speed limit VLA
234. erative brake option Speed Not used r Electromagnetic brake interlock signal Used Auto tuning Response level Machine Used or not used Internal speed command 1 Low Ordinary Used 1000r min Internal speed command 2 1500r min Internal speed command 3 2000r min Acceleration time constant 115 Deceleration time constant 0 55 2 S pattern acceleration deceleration time constant 14 Os not used 2 OPERATION When the servo on signal SON is switched on the servo amplifier Servo on is ready to operate and the servo motor shaft is locked Servo lock state If the shaft is not servo locked SON is not on Check the external sequence on the diagnostic display Checking procedure Power on Press MODE once Switch SON on FEES This display appears 111 when SON switches By selecting speeds analog speed Start command internal speed com mands 1 to 3 with the speed se Rte rotation lection 1 signal SP1 and speed Se lection 2 signal SP2 and switch ing on the start signal ST1 ST2 ore d the servo motor starts rotating rotation First run the servo motor at low cw speed and check the rotation direction etc If the servo motor does not run as expected check the input signals and param eters On the status di
235. erminal block cable MR J2TBLO5M Ground the junction terminal block cable on the junction terminal block side with the standard accessory cable clamp fitting AERSBAN ESET For the use of the cable clamp fitting refer to 3 Section 6 2 6 2 Terminal labels The junction terminal block has three terminal block labels which indicate signal arrangement Out of these labels use the two for MR J2 A These two labels are for use in the position control mode When the parameter settings of I O signals have been changed or the position control mode is switched to the speed or torque control mode refer to 2 in Section 6 1 2 or 2 in Section 3 1 2 and apply the accessory signal seals to the labels 2 For CN1B 1 For CN1A 3 Outline drawing 126 4 96 Unit mm h 117 4 61 2 Unit in f iv HERE ER MITSUBISHI MR TB20 Z T T T T T T T T T st ps S 6 14 6 OPTIONS AND AUXILIARY EQUIPMENT 6 1 4 Maintenance junction card 1 Usage The maintenance junction card MR J2CN3TM is designed for use when a personal computer and analog monitor outputs are used at the same time Servo amplifier Bus cable
236. ervo Section Section Section 2 2 3 2 2 3 2 2 3 Position speed control change mode Using external input signal control can be switched bet ween position control and speed control Section 3 1 3 4 Speed torque control change mode Using external input signal control can be switched bet ween speed control and torque control Section 3 1 3 5 Torque position control change mode Using external input signal control can be switched bet ween torque control and position control Section 3 1 3 6 Absolute position detection system Return to home position is not required at each power on after it has been made once Chapter 5 Slight vibration suppression control Suppresses vibration of 1 pulse produced at a servo motor stop Section 2 4 3 Electronic gear Input pulses can be multiplied by 1 50 to 50 Parameters No 3 4 Real time auto tuning Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies Section 2 4 1 Parameter No 2 Smoothing Speed can be increased smoothly in response to input pulse Parameter No 7 S pattern acceleration deceleration time constant Speed can be increased and decreased smoothly Parameter No 13 Analog monitor output Servo status is output in terms of voltage in real time Parameter No 17 Alarm history clear Alarm history is cleared Parameter No
237. et in parameters No 8 to 10 internal speed com mands 1 to 3 or at the speed set in the applied voltage of the analog speed command VC A relationship between the analog speed command VC applied voltage and the servo motor speed is shown in Fig 3 4 The rotation directions determined by the forward rotation start signal ST1 and reverse rotation start signal ST2 are indicated in Table 3 2 Rated speed r min CCW direction YE rama S Fig 3 4 VC Applied Voltage vs Speed ST1 ON Reverse y 0 10 CW direction VC applied voltage V Rated speed Table 3 2 ST1 ST2 and Rotation Directions Rotation Direction Across ST2 SG Across ST1 SG polarity Analog speed command VC polarity Internal speed commands 1 to 3 Stop Open Servo lock Open Stop Servo lock Stop Servo lock Stop Servo lock Short Open CCW Stop Open Short CW No servo lock CW CCW CCW CW Stop Short Servo lock Short Stop Servo lock Stop Servo lock Stop Servo lock b Connection diagram Generally connect as shown in Fig 3 5 When a precision speed command is required connect as shown in Fig 3 6 In this case the temperature fluctuation of the command voltage is 0 002 C Note that as the maximum value of the command voltage is approx 6V adjust the maximum value with parameter No 25 Servo amplifier
238. eter value is set the following motor inertia moment in parameter No 34 parameter values are set automatically Each value When it is unclear set an approximate value provides an ideal hunting less gain for parameter No 34 if machine resonance does not occur 2 Parameter No 6 Parameter No 35 Parameter No 36 Parameter No 37 Parameter No 38 Auto tuning is made invalid to enable manual Set 02 in parameter No 2 3 P setting of parameters No 6 35 to 38 In parameter No 37 set a value about 100 The optimum value is achieved just before 4 smaller than the value set automatically in step 3 vibration begins to increase 5 Execute steps 2 to 4 of Adjustment 1 When machine response does not occur Set a value which is about 50 to 100 smaller than more confirm the operating status and at the the set value at which gear noise and or vibration 6 same time gradually increase the setting of begins to be generated by machine resonance parameter No 37 reduced in step 4 To reduce the settling time increase the 7 response level of parameter No 2 sequentially and execute steps 1 to 6 Adjustment 3 Operation Description Set 0101 in parameter No 2 Auto tuning is selected Response is set to low level Set the machine s load inertia moment to servo motor inertia moment in parameter No 34 When it is unclear set an approximate value When this parameter value is set the following
239. eturns midway the encoder is faulty Change the servo motor Overload 2 Machine collision or the like caused max output current to flow successively for Several seconds Servo motor locked 1s or more 8 11 1 Machine struck something Review operation pattern Install limit switches Wrong connection of servo motor Servo amplifier s output terminals U V W do not match servo motor s input terminals U V W Connect correctly 3 Servo system is instable and hunting 1 Repeat acceleration deceleration to execute auto tuning 2 Change auto tuning response level setting 3 Set auto tuning to OFF and make gain adjustment manually 4 Encoder faulty r Checking method When the servo motor shaft is rotated slowly with the servo off the cumulative feedback pulses should vary in proportion to the rotary angle If the indication skips or returns midway the encoder is faulty Change the servo motor 8 TROUBLESHOOTING Alarm Code CN1B 19 pin CN1A 18 pin CN1A Name 19 pin Definition Cause Action 1 0 1 Error excessive Droop pulse value of the deviation counter exceeded 80k pulses Acceleration deceleration time constant is too small Increase the acceleration deceleration time constant Torque limit value parameter No 28 is too small Increase the torque limit
240. g characteristic when friction is large 0 Normal 1 Friction is large Auto tuning selection 0 Interpolation axis control speed loop only 1 Executed for both position and speed loops 2 No 0102 0001h to 0215h P S Electronic gear Command pulse multiplying factor numerator Used to set the multiplier of the command pulse input Command pulse input CMX Position command CMX fi CDV LITA CDV CMX Note Set in the range of 1 50 50 CDV The setting of the number of input pulses per servo motor revolution can be changed by the following formula HC MF series 8192 pulses rev CDV 8192 cux pulse rev Wrong setting will rotate the AN CAUTION servo motor at unexpectedly high speed leading to injury 2 34 1 to 32767 2 OPERATION Name and Function Initial Value Setting Range Basic parameters Electronic gear Command pulse multiplying factor denominator Used to set the divisor of the command pulse input 1 1 to 32767 In position range Used to set the droop pulse range in which the in position INP signal will be output 0 to 10000 Position loop gain 1 Used to set the gain of position loop 1 Increase the gain to improve trackability in response to the position command 4 to 1000 Position command acceleration deceleration time constant Position smoothing Used to set the time constant of a low
241. g method when regeneration occurs continuously in vertical motion applica tions or when it is desired to make an in depth selection of the regenerative brake option a Regenerative energy calculation Use the following table to calculate the regenerative energy Formulas for Calculating Torque and Energy in Operation 2 Torque applied to servo motor N m Energy J Friction JL Jm No 1 0 1047 torque elie a T 9 55 x 10 Tea Tu Tr E 2 1 1 2 Tu TF E2 0 1047 No Te t nbio1 eoue equn Tu JL Jm No 1 0 1047 tf 1 cycle 9 55 x 10 Tea Tu Tr Es 2 No Ts T Psat x No Up Ts Tu E4 0 Not regenerative peeds 10j0u Paias Down J Jy No 1 0 1047 5 e e ju e LICET Ts 9 55 x 10 Te Tu Te Es 2 No Ts TPsa2 Tpsa Tpsdi Tpsa2 Driving 6 Te 2 Tu 4 Tr Ee 0 1047 No Teets d gt T JL i 1 Tuite IE 2 N TeT anbio pereiqueo Ps sss musto cote Sum total of regenerative energies Sum total of negative energies in 1 to 8 Regenerative 4 C 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 am plifier in the regenerative mode Servo Amplifier _ Inverse Efficiency Capacitor Charging J MR J2 10A 1 MR J2 20A 1
242. h BC12084 032 reen yellow Eart With connector 1 172160 9 203 118in BC12103 With end insulated round AMP make crimping terminal 1 25 4 10 78 10 SPECIFICATIONS Model Braking Force Reduction Gear oz in Model Reduction Ratio Inertia Moment WK oz in HC MF73BG2 340 05 08 1 5 6 00 HC MF73BG2 340 BK4 09B 08MEKA 1 9 6 04 HC MF73BG2 340 BK5 20B 08MEKA 1 20 6 24 HC MF73BG2 Model 340 BK5 29B 08MEKA 1 29 5 66 Variable Dimensions in Reduction LF LG LH LK L LR KL Ratio HC MF73BG2 1 5 HC MF73BG2 1 9 HC MF73BG2 1 20 Caution plate HC MF73BG2 Brake lead Encoder cable 11 8in ith connector 1 172169 9 2 0 32 11 8in Motor plate Opposite side Rotation direction Pee Power supply lead 4 AWG19 11 8in AMP make With ei nd insulated round crimping terminal 1 25 4 10 79 With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth 1 29 Unit in For reverse rotation command For forward rotation command P threads depth R BC12085 10 SPECIFICATIONS 2 HC MF UE series 1 Standard Without electromagnetic brake without reduction gear
243. he servo amplifier The trouble ALM signal is on when there is no alarm i e in the normal state When this signal is switched off at occurrence of an alarm the output of the controller should be stopped by the sequence program When connecting the personal computer together with monitor outputs 1 2 use the maintenance junction card MR J2CN3TM Refer to Section 6 1 4 This length applies to the command pulse train input in the differential line driver system Though the command pulse train input may be in the open collector system we recommend the differential line driver system which is less affected by external noises The length is 2m 6 5ft or less in the open collector System The connection method changes with the servo motor series Refer to Section 3 2 2 A single phase 230V power supply may be used with the servo amplifier of MR J2 70A or less Connect the power supply to L1 and L2 terminals and leave L3 open MEMORANDUM 2 5 2 OPERATION 2 1 2 Speed control mode For single phase 100V power supply Make up a sequence which CAUTION switches off the MC at alarm occurrence or emergency stop Servo amplifier MR A1 Power supply Single phase 100VAC Make up a sequence which CAUTION switches off the MC at alarm occurrence or emergency stop Servo amplifi NFB Power supply OQ O OTO 3 phase 200 230VAC O Oto or
244. hing on the forward us di reverse rotation selection signal rotation RS1 RS2 the servo motor cw starts rotating For the torque generation direction refer to 3 in Section 3 1 3 First set the limit speed to low speed and check the rotation direction etc If the servo motor does not run as expected recheck the input signals On the status display monitor check the servo motor speed load ratios etc When machine operation check is over confirm automatic operation with the host controller or the like Operation is suspended and stopped by Stop 1 Servo on signal off The base circuit is shut off and the servo motor coasts 2 Alarm occurrence When an alarm occurs the base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop 3 Emergency stop signal The base circuit is shut off and the dynamic off brake is operated to bring the servo motor to a sudden stop The display shows A E6 2 17 2 OPERATION 2 3 Display and operation 2 3 1 Display flowchart Use the display 4 digit 7 segment LED on the front panel of the servo amplifier for status display parameter setting etc Set the parameters before operation diagnose an alarm confirm external i i sequences and or confirm the operation status Press the m pe UP Or pown button once to move to the next screen In the position control mode switching power on displays the symbol C
245. ication Already packed Grease lubrication Already packed Lubrication Recommended greas 50 100W 200 to 600W SUMICO LUBRICANT MOLY PS GREASE No 2 PYRONOC UNIVERSAL No 000 NIPPON PETRQLEUM LDR101BJ American Oil Center Research Output shaft rotating Servo motor shaft and reduction gear output shaft rotate in the same direction For the HA FF053G1 1 30 and HA FF3G1 1 30 how Servo motor shaft and reduction gear output shaft rotate in the same direction direction ever the servo motor shaft and reduction gear output shaft rotate in the opposite directions With electromagnetic brake Avai Backlash 40 minutes to 1 5 Within 3 minutes Permissible load inertia moment ratio when converting into the servo motor shaft 5 times or less Permissible speed at servo motor shaft 3000 r min The actual reduction ratios of the servo motors with reduction gears designed for general industrial machines are as listed below I Servo Motor Nominal HA FF053G1 HA FF13G1 HA FF23G1 HA FF33G1 HA FF43G1 HA FF63G1 Reduction Ratio 1 5 9 44 57 280 19 94 10 49 1 10 3 29 39 400 39 376 243 2401 1 30 144 4205 1 30 11 329 27 784 10 11 10 SPECIFICATIONS 4 HC SF series s For General Industrial Machines For Precision Applications Reduction Gear Series HC SFI 1G1 H HC SF G2 Mounting method As in 1 in thi
246. ier at or above the contamination level 2 set forth in IEC664 For this purpose install the servo amplifier in a control box which is protected against water oil car bon dust dirt etc IP54 4 Power supply 1 Operate the servo amplifier to meet the requirements of the overvoltage category Il set forth in IEC664 For this purpose a reinforced insulating transformer conforming to the IEC or EN Standard should be used in the power input section 2 When supplying interface power from external use a 24VDC power supply which has been insulation reinforced in I O 7 Servo motor 5 Grounding 1 To prevent an electric shock always connect the protective earth PE terminals marked of the servo amplifier to the protective earth PE of the control box 2 Do not connect two ground cables to the same protective earth PE terminal as shown at right below Always connect the cables to the terminals one to one e o PE terminals 3 If a leakage current breaker is used to prevent an electric shock the protective earth PE terminals of the servo amplifier must be connected to the corresponding earth terminals 6 Wiring 1 The cables to be connected to the terminal block of the servo amplifier must have crimping terminals provided with insulating tubes to prevent contact with adjacent terminals S Crimping terminal G lt Insulating tube lt Cable 2 When the se
247. ifier when the servo am plifier is operated at the ambient temperature of 40 C 104 F under rated load 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 9 CHARACTERISTICS 9 3 Electromagnetic brake characteristics The electromagnetic brake is designed to hold a load Do not use it for N CAUTION biskino The characteristics of the electromagnetic brake provided for the servo motor with electromagnetic brake are indicated below Though the brake lining may rattle during low speed operation it poses no functional problem Though the brake lining may rattle during operation it poses no functional problem A leakage magnetic flux will occur at the shaft end of the servo motor equipped with electromagnetic brake 1 Characteristics Table 9 2 Electromagnetic Brake Characteristics Servo Motor HC MF Series HA FF Series 053B 23B 0538 238 43B SIB 1218103018 52B to 152B 202B to 352B Item 13B 43B 13B 33B 63B 53B to 1538 2028 352B to 203B Note 1 Type Spring loaded safety brake Note 4 Rated voltage 24VDC Rated current at 20 A 0 22 0 31 0 46 Excitation coil resistance at 20 78 52 Capacity W I 7 4 11 34 ON current A 0 2 0 3 I 0 4 OFF current A 0 06 0 1 0 2 Static friction torque Nem 2 4 1 18 2 3 8 3 43 1 6 8 ozein 340 167 1176 6108
248. imit Voltage Reference Rating Range voltage immunity immunity value VinA AC Vma DC V A J A V pF V Note 220 14 1 25 360 300 8 Soo time 198 to 242 Note 1 time 8 x 20us Example ERZV10D221 Matsushita Electric TNR 12G221K Marcon Electronics Outline drawing mm in ERZ C10DK221 4 7 1 0 0 19 0 04 Vinyl tube Crimping terminal 90 8 0 03 for M4 screw 30 0 1 18 or more 6 19 6 OPTIONS AND AUXILIARY EQUIPMENT 6 2 6 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 sig nals 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 fre quencies If peripheral devices malfunction due to noises produced by the servo amplifier noise suppression measures must be taken The measures will vary slightly with the routes of noise transmission 1 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 c
249. imiting torque TLC TLC SG are connected when the torque generated by the servo motor reaches the torque set to internal torque limit 1 or analog torque limit 2 In position INP PF SG are connected when the number of droop pulses in the deviation counter falls within the preset in position range parameter No 5 When the in position range setting is large PF SG may remain connected during low speed operation Servo on SON Alarm Droop pulses In position range In position INP OFF 3 Ready RD ON Servo on SON OFF Yes Alarm No 80ms or less 10ms or less 10ms or less Ready RD 3 19 3 WIRING 4 Pulse train input Encoder pulses can be input in any of three different forms and are available in positive or negative logic Use parameter No 21 to set the command pulse train form The arrow or i inthe following table indicates the timing of importing the pulse train Pulse Train Form For Forward Rotation For Reverse Rotation Parameter No 21 Forward rotation pulse train Reverse rotation pulse train Pulse train sign Negative logic A phase pulse train B phase pulse train Forward rotation pulse train Pulse train sign Positive logic A phase pulse train B
250. ion 2 3 3 Switch on forward rotation start ST1 or reverse rotation start ST2 Servo motor does not rotate Call the status display and check the input voltage of the analog speed command Analog speed command is OV Section 2 3 2 Call the external I O signal display and check the ON OFF status of the input signal LSP LSN ST1 or ST2 is off 1 Section 2 3 3 Check the internal speed commands 1 to 3 parameters No 8 to 10 Set value is 0 Check the internal torque limit 1 parameter No 28 Set value is 0 3 Section 2 3 5 Gain adjustment Rotational ripples speed fluctuations are large at low speed Make gain adjustment in the following procedure 1 Increase the auto tuning response level 2 Repeat acceleration and deceleration several times to complete auto tuning Gain adjustment fault Section 2 4 Large load inertia moment causes the servo motor to oscillate side to side Make gain adjustment in the following procedure If the servo motor may be run with safety repeat acceleration and deceleration several times to complete auto tuning Gain adjustment fault Section 2 4 8 TROUBLESHOOTING 8 1 3 Torque control mode Start Up Sequence Fault Investigation Possible Cause Refer To Power on LED is not lit LED flickers Not improved if connectors CN1A CN1B and CN2 are disconnected
251. ion control mode When an alarm occurs the home position is lost When resuming operation after resetting the alarm make a return to home position g 3 WIRING 3 7 Servo motor with electromagnetic brake 1 Make up the electromagnetic brake operation circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop signal Shut off by servo on signal OFF Shut off by emergency stop alarm or electromagnetic brake signal signal EMG AN CAUTION Servo motor ET ya RA EMG O O Y o Electromagnetic MES p 24VDC brake 2 The electromagnetic brake is provided for holding the motor shaft Do not use it for ordinary braking Note the following when the servo motor equipped with electromagnetic brake is used for applica tions requiring a brake to hold the motor shaft vertical lift applications 1 Set O11 in parameter No 1 to make the electromagnetic brake interlock signal MBR valid Note that this will make the zero speed signal ZSP unavailable 2 Do not share the 24VDC power supply between the interface and electromagnetic brake Always use the power supply designed exclusively for the electromagnetic brake 3 The brake will operate when the power 24VDC switches off 4 Turn off the servo on signal after the servo motor has stopped 1 Connection diagram Servo amplifier Servo motor RA Emergency stop o olo
252. ircuit terminal block D L _ L 1 L11 Regenerative brake option C Note The HA FFLIC UE series have Cannon connectors Refer to Section 3 2 2 Servo motor 1 16 1 INTRODUCTION 1 4 2 MR J2 200A or more Options and Auxiliary Equipment Refer To 3 phase AC200 230V power supply No fuse breaker LJ NEB or fuse B s Magnetic contactor AS sete Je Of 5c IE o e C 3591 2 lt w No fuse breaker Section 6 2 2 Magnetic contactor Section 6 2 2 Set up software Regenerative brake option Section 6 1 5 Section 6 1 1 Cables Section 6 2 1 Power factor improving reactors Servo amplifier 1 Section 6 2 3 Positioning unit Junction terminal block To CN3 Power factor VEE Personal improring 44 eleg rr t Set reactors 12 k URE Q doa n A ape m FR BAL INIA IA IAIN JN Sour U lt wu Bet Hf Pee ats fv N P 1 17 Regenerative brake option CHAPTER 2 OPERATION This chapter gives basic connection examples and operation procedures 2 1 Standard connection examples 2 1 1 Position control mode 2 1 2 Speed control mode 2 1 3 Torque control mode 2 2 Operation 2 2 1 Pre operation checks 2 2 2 Start up 2 3 Display and operation 2 3 1 Display flowchart 2 3 2 Status display 2 3 3 Diagnostic mode 2 3 4 Ala
253. is recommended to use the machine so that the unbalanced torque is 7096 or less of the rated torque 1 MR J2 10A to MR J2 100A a HC MF series 1000 HA FF series 300W or more HC SF series HC RF series 100 During stop Operation time s 0 50 150 200 250 300 Load ratio 96 b HA FF series 1000 200W or less 100 During rotation 10 Operation time s During stop 0 50 100 150 200 250 300 Load ratio 9 CHARACTERISTICS 2 MR J2 200A and MR J2 350A HC SF Series 1000 HC RF Series HC UF Series kE S During rotation gt During stop Operation time s 0 50 100 150 200 250 300 Load ratio 96 9 CHARACTERISTICS 9 2 Losses generated in the servo amplifier 1 Amount of heat generated by the servo amplifier Table 9 1 indicates servo amplifiers power supply capacities and losses generated under rated load For thermal design of an enclosure use the values in Table 9 1 in consideration for the worst operating conditions The actual amount of generated heat will be intermediate between values at rated torque and zero torque 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 9 1 Power Supply Capacity and Generated Heat Per Servo Amplifier at Rated Output N
254. is section or equiva lent This connector may be used for the EN Standard UL C UL Standard but is not waterproof Encode Cable Connector Servo Motor Servo Motor Side Housing Connector pins Cable clamp Conn ector AMP AMP AMP Toa Denki Kogyo HC MF 2 B UE HA FEC B 172169 9 1 172161 9 170363 1 MTI 0002 HC UF13 to 73 B 2 HA FFC UE series Use of the waterproof connector would not improve the degree of ingress protection IP54 of the HA FFLIC B UE 1 Non waterproof UL C UL Standard compliant a When using cable type cables For power supply connection Cable Cable Plug clamp Cable Plug clamp Cable i Ak Servo Motor DPlug Daiichi Denshi Kogyo Cable clamp Side Connector Type Model Daiichi Denshi Kogyo Servo Motor Straight MS3106B14S 2S C B UE CE05 2A14S 2PD B MS3057 6A Angle MS3108B14S 2S For encoder connection Cable Cable Plug clamp Cable Plug clamp Cable DPlug Daiichi Denshi Kogyo Cable clamp Type Model Daiichi Denshi Kogyo Servo Motor Servo Motor Side Connector Straight MS3106B20 29S HA FFLIC B UE MS3102A20 29P MS3057 12A Angle MS3108B20 29S 3 WIRING For brake connection DC Servo Motor able Connector
255. ished OFF Input signals K lt Output signals T amm mm i RD CN 1 A 19 Ready LNP CN 1 A 18 In position ZSP CN 1 B 19 Zero speed TLC CN 1 B 6 Limiting torque DO1 CN 1 B 4 In position ALM CN 1 B 18 Trouble OP CN 1 A 14 Encoder Z phase pulse b Speed control mode r ST2 CN 1 B 9 Reverse rotation start r ST1 CN 1 B 8 Forward rotation start r SP2 CN 1 B 7 Speed selection 2 r SP1 CN 1 A 8 Speed selection 1 r RES CN 1 B 14 Reset SON CN 1 B 5 Servo on _ LSN CN 1 B 17 External emergency stop Emergency stop EMG CN 1 B 15 LSP CN 1 B 16 Forward rotation stroke end JJ t Lit ON Extinguished OFF Lt NI Input signals immi m Output signals RD CN 1 A 19 Ready SA CN 1 A 18 Limiting speed ZSP CN 1 B 19 Zero speed TLC CN 1 B 6 Limiting torque DO1 CN 1 B 4 In position ALM CN 1 B 18 Trouble OP CN 1 A 14 Encoder Z phase pulse c Torque control mode r RS1 CN 1 B 9 Forward rotation selection r RS2 CN 1 B 8 Reverse rotation selection r SP2 CN 1 B 7 Speed selection 2 SP1 CN 1 A 8 Speed selection 1 r RES CN 1 B 14 Reset r SON CN 1 B 5 Servo on EMG CN 1 B 15 Emergency stop Lit ON t Extinguished OFFF R Input signals Output signals KAA mm KAA 4 D CN 1 A 1
256. l 1 25 4 Red Phase U White Phase V Black Phase W Encoder cable 0 3m Green yellow Earth BC12077 ith connector 1 9 9 BC12097 E AMP make 10 29 10 SPECIFICATIONS Reduction Gear Reduction Moment Model Ratio J X10 kg m Model HC MF23BG2 BK1 05B 02MEKA 1 5 0 191 HC MF23BG2 BK2 09B 02MEKA 1 9 0 208 HC MF23BG2 BK3 20B 02MEKA 1 20 0 357 HC MF23BG2 29 02 1 29 0 276 Variable Dimensions Model LG LH LK L LR HC MF23BG2 8 60 23 55 HC MF23BG2 10 74 33 75 HC MF23BG2 10 85 35 85 HC MF23BG2 10 85 35 85 Unit mm For reverse rotation command N Rotation direction For forward rotation command Motor plate Opposite side Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V BC12078 Black Phase W With connector 1 172169 9 Green yellow Earth BC1 2098 AMP make 10 30 10 SPECIFICATIONS Reduction Gear Reduction Inertia Moment Model Ratio J X10 kg m Model HC MF43BG2 BK2 05B 04MEKA 1 5 0 295 HC MF43BG2 BK3 09B 04MEKA 1 9 0 323 HC MF43BG2 BK4 20B 04MEKA 1 20 0 426 HC MF43BG2 BK4 29B 04MEKA 1 29 0 338 Variable Dimensions Reduction Ratio Model LG LH LK L LR HC MF43BG2 10 74 33 75 1 5 HC MF43BG2
257. lationship between limit value and servo motor gener ated torque is shown in Fig 3 1 A relationship between the applied voltage of the analog torque limit TLA and the torque limit value of the servo motor is shown in Fig 3 2 Generated torque limit values will vary about 5 relative to the voltage depending on products At the voltage of less than 0 05V generated torque may vary as it may not be limited sufficiently Therefore use this function at the voltage of 0 05V or more A Max torque Generated torque Torque limit value 96 0 ot i 0 100 0 0 05 10 Torque limit value TLA applied voltage V Fig 3 1 Torque Limit Value vs Fig 3 2 TLA Applied Voltage vs Generated Torque Torque Limit Value b Connection diagram Connect as shown in Fig 3 3 Servo amplifier Japan Resistor RRS10 or equivalent Fig 3 3 Connection Example 3 18 3 WIRING c Torque limit signal TL and valid torque limit Use the torque limit signal TL to select the torque limit made valid by internal torque limit 1 or analog torque limit TLA as indicated in Table 3 1 Table 3 1 TL and Valid Torque Limit Value Across TL SG Valid Torque Limit Value Open Internal torque limit 1 parameter No 28 Analog torque limit TLA if analog torque limit TLA internal torque limit 1Internal torque limit 1 TL1 if analog torque limit TLA internal torque limit 1 d L
258. m TUV plate Top Motor plate MS3102A20 29P Encoder connector 1 95 M Power supply connector CE05 2A14S 2PD B D17 Note 1 For the pin outs of the power supply and encoder connectors refer to 3 Section 3 2 3 2 For horizontal installation it is recommended to face the power supply and encoder connectors down HA FF18C UE Unit in W WK oziin Output Inertia Moment Weight 90 31 01 97 i 5 39 e 18 1 81 0 47 0 1 0 98 Bottom F 2 Caution plate English Tp Oil seal Bottom 10207B 9 i 1 26 Ee Y Top Motor plate TUV plate 3 LH 1 10 79 2 62 RI Y Encoder connector MS3102A20 29P Power supply connector CE05 2A14S 2PD B D17 Note 1 For the pin outs of the power supply and encoder connectors refer to 3 Section 3 2 3 2 For horizontal installation it is recommended to face the power supply and encoder connectors down 10 90 HA FF053C UE Unit in 2 13 2 72 Output Inertia Moment Weight W WK oz in HA FF13C UE 100 10 SP
259. mergency stop EMG 3 WIRING c Alarm occurrence Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake Servo motor speed 10ms l NET N Base circuit 9 OFF Electromagnetic Invalid ON Electromagnetic brake brake interlock MBR v JiqtOFF operation delay time No ON Trouble ALM Yes OFF d Both main and control circuit power supplies off Dynamic brake Dynamic brake Electromagnetic brake Electromagnetic brake 10ms Note NEN CEDE l 15 to 100ms gt l l ON Base circuit Electromagnetic Invalid ON E waa dec RN brake interlock MBR Valid OFF Electromagnetic brake No ON 1 operation delay time Trouble ALM Note 2 Yes OFF Servo motor speed di Main circuit ON power Control circuit OFF Note Changes with the operating status e Only main circuit power supply off control circuit power supply remains on Dynamic brake Dynamic brake x Electromagnetic brake Electromagnetic brake 10ms Servo motor speed Note 1 NS 15msormdre ON Base circuit OFF 110ms or less Electromagnetic nvalid ON gt brake interlock Valid OFF i MBR Electromagnetic brake No ON operation delay time Trouble ALM Note 2 Yes OFF ON Main circuit power supply OFF Note 1 Changes with the operating status 2
260. n max HC MF13G2 BK1 09B 01MEKA 1 9 0 39 3 min max HC MF13G2 BK2 20B 01MEKA 1 20 0 66 3 min max HC MF13G2 BK2 29B 01MEKA 1 29 0 52 3 min max Variable Dimensions in Reduction Ratio Model LF LG LH LK L LR KL HC MF13G2 1 5 HC MF13G2 1 9 HC MF13G2 1 20 HC MF13G2 1 29 Unit in For reverse rotation command Rotation direction N For forward rotation command La L LR 4 0lZ Motor plate Opposite side Bottom T ET Power supply lead 4 AWG19 118in With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W x Green yellow Earth BC12077 9 9 BC12097 ith connector 1 AMP make 10 71 10 SPECIFICATIONS Reduction Gear Reduction Moment Model Ratio WK oz in Model HC MF23G2 BK1 05B 02MEKA 1 5 1 04 HC MF23G2 BK2 09B 02MEKA 1 9 1 14 HC MF23G2 BK3 20B 02MEKA 1 20 1 95 HC MF23G2 BK3 29B 02MEKA 1 29 1 51 Variable Dimensions in Model in LF LG LH LK L LR KL HC MF23G2 HC MF23G2 HC MF23G2 HC MF23G2 Unit in For reverse rotation command N Rotation direction For forward rotation command Motor plate Opposite side Power supply lead 4 AWG19 11 8in With end insulated round crimping
261. n the decimal points in the upper 3 digits are lit The value rounded off is displayed in x 0 1r min Droop pulses Cumulative command pulses Command pulse frequency 9999 to 9999 The number of droop pulses in the deviation counter is displayed When the value exceeds 9999 it begins with zero When the servo motor is rotating in the reverse direction the decimal points in the upper 3 digits are lit The number of pulses to be displayed is the value obtained before it is multiplied by the electronic gear The position command input pulses are counted and displayed As this value is displayed before it is multiplied by the electronic gear CMX CDV it may not match the cumulative feedback pulses Press the button to reset the display value to zero When the servo motor is rotating in the reverse direction the decimal points in the upper 3 digits are lit The frequency of the position command input pulses is displayed This value is displayed before it is multiplied by the electronic gear CMX CDV When the servo motor is rotating in the reverse direction the decimal points in the upper 3 digits are lit Analog speed command voltage Analog speed limit voltage Analog speed command voltage or analog speed limit voltage is displayed Analog speed command 10 00 10 00V Analog speed limit 0 10 00V Analog torque command voltage Analog torque limit voltage Analog torque command voltage or analog torq
262. n this section 3 Torque limit in speed control mode As in 1 1 in this section 3 WIRING 4 Speed limit in torque control mode a Speed limit value and speed The speed is limited to the limit value set in parameter No 8 internal speed limit 1 or the value set in the applied voltage of the analog speed limit VLA A relationship between the analog speed limit VLA applied voltage and the servo motor speed is as in 3 a 3 in this section b Connection diagram Generally connect as shown in Fig 3 16 When a precision speed command is required refer to 3b 3 in this section Servo amplifier Japan Resistor RRS10 or equivalent Fig 3 16 Connection Example c Speed selection 1 SP1 and speed limit value Use speed selection 1 SP1 to select between the speed set to the internal speed limit 1 and the speed set to the analog speed limit VLA as indicated in Table 3 10 When the internal speed limit 1 is used to command the speed the speed does not vary with the ambient temperature Table 3 10 SP1 and Speed Limit Value Across SP1 SG Speed Command Value Open Analog speed limit VLA Short Internal speed limit 1 parameter No 8 d Limiting speed VLC As in 3 d 3 in this section 5 Torque control in torque control mode As in 1 3 in this section 6 Torque limit in torque control mode As in 2 3 in this section 3 30 3 WIRING 6 Torque position control change mode
263. nal marked of the servo amplifier to the protective earth PE of the control box Connect the diode in the correct direction If it is connected re versely the servo amplifier will be faulty and will not output sig nals disabling the emergency stop and other protective circuits The emergency stop switch must be installed When using the regenerative brake option always remove the lead from across D P CN1A CN1B CN2 and CN3 have the same shape Wrong con NOTICE nection of the connectors will lead to a fault The sum of currents that flow in the external relays should be 80mA max If it exceeds 80mA supply interface power from ex ternal When starting operation always connect the external emergency stop signal EMG and forward reverse rotation stroke end signal LSN LSP with SG Normally closed contacts The pins with the same signal name are connected in the servo amplifier The trouble ALM signal is on when there is no alarm i e in the normal state When this signal is switched off at occurrence of an alarm the output of the controller should be stopped by the sequence pro gram MEMORANDUM When connecting the personal computer together with monitor outputs 1 2 use the maintenance junction card MR J2CN3TM Refer to Section 6 1 4 TLA can be used by setting any of parameters No 43 to 48 to make TL available The connection method changes with the servo motor series Refer to Section 3
264. nd but it is not a fault Refer to Section 10 3 for the installation orientation of the servo motor with reduction gear 7 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 In any application where the servo motor moves the cables should be free from excessive stress When using the servo motor in an application where the servo motor itself may cause a movement design the cable so that the service life of the bent part of the cable comes within the service life of the bent part of the detector cable Fix the encoder cable and power cable of the servo motor 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 The flexing lives of the cables are shown below In actuality provide a little allowance for these values For installation on a machine where the servo motor will move the flexing radius should be made as large as possible 1 x 108 a 5x107 1x107 5 x 106 a Long flexing life encoder cabl MR JCCBL OM H seuin BURE MR JHSCBLI M H 1 x 108 5 x 105 b Standard encoder cable MR JCCBLLM L MR JHSCBLUIM L 1 10 5x 104 1 x 104 b 5 x 103 1 x 108 4 7 10 20 40 70 100 200 Flexing radius mm Not
265. nd crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth 10 64 0 38 60min max Unit in For reverse rotation command H For forward rotation command Rotation direction 4 20 276 12 559 M4 threads BC12067 BC12087 10 SPECIFICATIONS Variable Model Dimensions in L KL HC MF23G1 6 02 4 04 K9005 1 5 19 96 1 36 HC MF23G1 6 81 4 83 K9012 1 12 25 288 1 60 HC MF23G1 6 81 4 83 K9020 1 20 253 5000 1 45 Reduction Reduction Ratio Inertia Moment Gear Model Actual Reduction Ratio WK oz in Unit in For reverse rotation command N Rotation direction For forward rotation command 2 913 713 543 Motor plate Opposite side 03 228 Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25 4 Red Phase U With connector 1 172169 9 White Phase V BC12068 i AMP make Black Phase W BC1 2088 Green yellow Earth Variable Model Dimensions lb L KL HC MF43G1 7 01 4 95 K9005 1 5 19 96 1 62 HC MF43G1 7 80 5 73 K9012 1 12 25 288 1 85 Reduction Reduction Ratio Inertia Moment Gear Model Actual Reduction Ratio WK oz in Unit in For reverse rotation command Rotation direction For forward rotation command g 2 913 0 3 543 Motor plate Opposite sid
266. ndows 3 1 95 LJ Note 5 8 Positioning unit FX 1GM PIPIS R 15m 49ft or less Note 3 7 External emergency stop Servo on Reset A Proportion control rt Torque limit ili iko abd E Note 7 Forward rotation stroke end gt LE ER A AA ax i m me er Reverse rotation stroke end ris 1e lilii 2 ioko Reading in both directions Plate sb P 10m 32ft or less Do not connect when external power supply is used Note 2 6 me i Note 9 Trouble LM 3 Zero speed Encoder Z phase pulse differential line driver N no Limiting torque Encoder A phase pulse differential line driver 4 Oo 2 D Upper limit setting CR lt TBR Encoder B phase pulse differential line driver Analog torque limit pe Hine Control common 10V max torque aa j EINER Encoder Z phase pulse open collector d Sp t 2m 6 5ft or less SD Plate 2 OPERATION Note 1 To prevent an electric shock always connect the protective earth PE terminal terminal marked D of the servo amplifier to the protective earth PE of the control box Connect the diode in the correct direction If it is connected re versely the servo amplifier will be faulty and will not output sig NCAUTION nals disabling the emergency stop and other protective circuits The emergency stop switch must be installed When using the regenerative brake option always remove the lea
267. nector Conduit Side Connector Daiichi Denshi Kogyo Maker Size Model Modell ID RCC 102RL MS14F Nippon Flex RCC 103RL MS14F VF 03 10 6 Straight RCC 104RL MS14F VF 04 MSA 10 14 FCV10 MSA 12 14 FCV12 RCC 302RL MS14F VF 02 Nippon Flex RCC 303RL MS14F VF 03 RCC 304RL MS14F VF 04 MAA 10 14 FCV10 MAA 12 14 FCV12 Conduit Connector UPlug Servo Motor Daiwa Dengyo CE05 2A14S 2PD B CE05 6A14S 2SD 8 Daiwa Dengyo 3 WIRING For encoder connection Conduit DPlug Conduit Connector Conduit CA Conduit Connector DPlug 4 Servo Motor CDPlug Conduit Connector Conduit Servo Motor sige Connector Daiichi Denshi Kogyo Maker Size Model RCC 104RL MS20F RCC 106RL MS20F MSA 16 20 Nippon Flex Straight Daiwa Dengyo MSA 22 20 MS3102A20 29P MS3106A20 29S D190 RCC 304RL MS20F RCC 306RL MS20F MAA 16 20 MAA 22 20 Nippon Flex Daiwa Dengyo For brake connection Conduit Plug Conduit Connector Conduit Conduit Connector OPlug 4 Servo Motor Plug Conduit Connector Conduit Servo Motor Side Connector Daiichi Denshi Kogyo Type Maker Model Model Nippon Flex RCC 102RL MS10F VF 02 Straight Daiwa Dengyo MSA 10 10 FCV10 MS3102A
268. negative polarity in Table 3 4 Deletion of servo motor shape Addition of HC UF3000r min series Addition of HC UF2000r min series Deletion of selection of the cable plug Addition of connectors used for servo motor wiring Deletion of fuse models Addition of data for MR J2 200C 350C Addition of HC SF81 to 301 HC SF103 to 353 HC UF72 to 202 HC UF13 to 73 Addition of HC SF81 to 301 HC SF103 to 353 HC UF72 to 202 HC UF13 to 73 Addition of HC SF81 to 301 HC SF103 to 353 Addition of HC UF series REVISIONS The manual number is given on the bottom left of the back cover Print Data Manual Number Revision May 2000 IB NA 67286 E Addition of compliance to EC directive 1 1 2 3 Addition of 2 Cautions for appliance 1 Servo amplifier and servo motor to be used to EC directive Addition of 6 3 UL C UL Standard 1 Addition of servo amplifier and servo motor to be used UL C UL Standard 4 Change in flange table UL C UL Standard 2 Addition of optional parts and peripheral devices Section 1 1 2 1 Change in rating name plate Section 2 3 5 4 Change of parameter detail description No 2 initial value to 0002 Addition of some text to parameter No 47 Addition of some text to parameter No 48 Chapter 3 Addition of caution drawing Section 3 1 2 4 Change to emergency stop Section 3 1 2 42 Change in max pulse width of detector Z phase pulse to 400 Section 3 1 3 6 Addition to figure of timing chart for swit
269. ngle per pulse in position Friction coefficient Circle ratio 3 14 Number of feedback pulses in pulse rev position control mode pps control mode pps feed in position control mode Acceleration time constant of frequency command in position control mode Deceleration time constant of pulse frequency command in position control mode rad s s rad s s position control mode mm pulse mm pulse control mode mm pulse position control mode s s s s mm pulse motor in 1 cycle control mode degree pulse Euler constant 2 718278 Feed per servo motor revolution mm rev 11 SELECTION 11 2 Position resolution and electronic gear setting Position resolution travel per pulseA 2 is determined by travel per servo motor revolution AS and the number of encoder feedback pulses Pt and is represented by Equation 11 1 Age 28 11 1 b LL LLL 11 1 A Travel per pulse mm AS Travel per servo motor revolution mm rev Pt Number of feedback pulses pulse rev Note As these values depend on the servo motor series confirm them in the specifications Since A has the relationship represented by Equation 11 1 its value is fixed in the control system after the drive system and encoder have been determined However travel per command pulse can be set as desired using the parameters Command CMX Deviation pulse train fO CDV i count
270. nsulated round crimping Wis Phase V 12072 r terminal 1 25 4 Black Phase W BC12092 5 7 Encoder cable 11 8in Greenyelow Earth With connector 1 172169 9 AMP make 10 67 10 SPECIFICATIONS Variable Model Dimensions in L KL HC MF23BG1 6 65 4 04 K9005 1 5 19 96 1 58 HC MF23BG1 7 36 4 23 K9012 1 12 25 288 1 82 HC MF23BG1 7 36 4 23 K9020 1 20 253 5000 1 67 Reduction Reduction Ratio Inertia Moment Gear Model Actual Reduction Ratio WK oz in Unit in For reverse rotation command Rotation direction amp For forward rotation command L 4 40 354 Motor plate Opposite side 02 441 jill 9 0 7287 Hp Caution plate 555 EH M 0 390 E Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25 4 Brake lead 2 0 3 11 8in With end insulated round Red Phase U R crimping terminal 1 25 4 White Phase V BC12073 Encoder cable 11 8in Black Phase W BC120793 With connector 1 172169 9 Green yellow Earth AMP make Variable Model Dimensions in L KL HC MF43BG1 827 4 95 184 K9005 1 5 19 96 1 88 9 7 HC MF43BG1 5 73 184 K9012 1 12 25 288 2 12 11 0 Braking Force Reduction Reduction Ratio Inertia Moment Weight oz in Gear Model Actual Reduction Ratio WK oz in Ib Unit in For reverse rotation command
271. o in suppressing high frequency leakage current zero phase current especially within 0 5MHz to 5MHz band Connection Diagram Outline Drawing Unit mm Unit in Wind the three phase wires by the equal number of rg BLF MR J2 350A times in the same direction and connect the filter to the power supply side and output side of the servo amplifier The effect of the filter on the power supply side is higher as the number of winds is larger The number of turns is generally four If the wires are too thick to be wound use two or more filters and make the total number of turns as mentioned above On the output side the number of turns must be four or less Do not wind the grounding wire together with the three phase wires The filter effect will decrease Use a separate wire for grounding 180 7 09 Example 1 NFB MG o MR J2 200A or less Power supply 110 4 33 95 3 74 2 05 0 20 Example 2 NFB Power 5 supply Line noise 4 filter Two filters are used Total number of turns 4 5 Radio noise filter FR BIF for the input side only This filter is effective in suppressing noises radiated from the power supply side of the servo amplifier especially in 10MHz and lower radio frequency bands The FR BIF is designed for the input only Connection Diagram Outline Drawing Unit mm Unit in Make the connection cables as short as possible Leakage current
272. ode set any of parameters No 43 to 48 to make TL available When the analog torque limit TLA is valid torque is limited in the full servo motor output torque range Apply 0 to 10 VDC across TLA LG Connect the positive terminal of the power supply to TLA Maximum torque is generated at 10 V Refer to 1 1 in Section 3 1 3 Resolution 10 bit Analog input Analog torque command Used to control torque in the full servo motor output torque range Apply 8 to 8VDC across TC LG Maximum torque is generated at 8V Refer to 1 1 in Section 3 1 3 Resolution 10 bit Analog speed command Apply 10 to 10VDC across VC LG Speed set in parameter No 25 is provided at 10V Refer to 1 2 in Section 3 1 3 Resolution 12 bit or equivalent Analog input Analog speed limit Apply 10 to 10VDC across VLA LG Speed set in parameter No 25 is provided at 10V Refer to 1 3 in Section 3 1 3 Resolution 12 bit or equivalent Forward rotation pulse train Reverse rotation pulse train Note 1 Refer to Section 3 1 4 2 P Position control mode S Speed control mode T Torque control mode Used to enter a command pulse train In the open collector system max input frequency 200kpps Forward rotation pulse train across PP SG Reverse rotation pulse train across NP SG In the differential receiver system max input frequency 400kpps Forward rotation pulse train across PG
273. oise can be prevented by installing a data line filter onto the encoder cable etc Example Data line filter ZCAT3035 1330 TDK ESD SR 25 Tokin Impedance specifications ZCAT3035 1330 Unit mm Unit in Impedance O 10 to 100MHZ 100 to 500MHZ 80 150 93921 1 34 0 04 Loop for fixing the 34 1 cable band m The above impedances are reference 1 34 0 04 e 3 values and not guaranteed values 1 1850 04 Product name Lot number Outline drawing ZCAT3035 1330 2 Surge suppressor The recommended surge suppressor for installation to an AC relay AC valve AC elec tromagnetic brake or the like near the servo amplifier is shown below Use this product or equivalent EK jm TO Relay Surge suppressor O O Ny Surge suppressor Surge suppressor This distance should be short within 20cm 0 79 in Ex 972A 2003 504 11 Matsuo Electric Co Ltd 200VAC rating Rated Voltage AC V Test Voltage ACI V Across T C 1 000 1 to 5s Outline Drawing Unit mm Unit in Blue vinyl cord 200 7 87 or more Vinyl sheath Red vinyl cord 48 1 5 1 89 0 06 1841 5 0 7140 06 6 0 24 0 12 200 7 87 or more Note that a diode should be installed to a DC relay DC valve or the like Maximum voltage Not less than 4 times the drive voltage
274. omagnetic interference which may be caused by electronic equipment used near the servo amplifier Use the servo amplifier with the specified servo motor The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking For such reasons as service life and mechanical structure e g where a ballscrew 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 o A A A A A 5 Corrective actions N CAUTION When it is assumed that a hazardous condition may take place at the occur due to a power AX failure or a product fault use a servo motor with electromag lt gt netic brake or an external brake mechanism for the purpose of prevention Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals but also by an external emergency stop signal Contacts must be Circuit must be open when servo opened during is off or when an emergency stop alarm trouble is present Servo motor RAI EMG o 24VDC Electromagnetic brake When any alarm has occurred eliminate its cause ensure safety then reset the alarm before restarting operation When power is restored after an instantaneous power failure keep away from the ma chine because the machine may be restarted suddenly design the machine so that it
275. on 0 Switched on off by external input 1 Switched on automatically in servo amplifier No need of external wiring Input signal selection 1 Used to assign the control mode changing signal input pins and to set the clear signal gt Control change signal LOP in put pin assignment Used to set the control mode change signal input connector pins Note that this parameter is made valid when parameter No 0 is set to select the position spe ed speed torque or torque posi tion change mode Set Value Connector Pin No CN1B 5 14 CN1A 8 CN1B 7 CN1B 8 CN1B 9 Clear signal CR selection 0 Droop pulses are cleared on the leading edge 1 Always cleared while on 2 OPERATION Name and Function Initial Value Setting Range Control Mode Expansion parameters Input signal selection 2 CN1B pin 5 This parameter is unavailable when parameter No 42 is set to assign the control change signal LOP to CN 1B pin 5 MEMORANDUM Allows any input signal to be assigned to CN1B pin 5 Note that the setting digit and assigned signal differ according to the control mode Position control mode i but signals of Speed control CN1B pin 5 mode selected Torque control mode Signals that may be assigned in each control mode are indicated below by their s
276. on of the surge absorber refer to Sec tion 6 2 5 28V AC El 100V AC 100V AC Rr Electromagnetic OF Switch ae fo or brake 200V AC l 200V AC I Switch T VAR X Bi gi 11 b Electromagnetic T Transformer brake HF Rectifier o 0 4 VAR Surge absorber ae Switch 24V DC VAR l pec c Fig 9 2 Connection Examples 3 Coasting distance At an emergency stop the servo motor will decelerate to a stop in the pattern shown in Fig 9 4 Here the maximum coasting distance during fast feed Lmax will be the area shown with the diagonal line in the figure and can be calculated approximately with Equation 9 2 The effect of the load torque is greater near the stopping area When the load torque is large the servo motor will stop faster than the value obtained in the equation Emergency stop Brake current i Fig 9 3 Coasting Distance at Emergency Stop 9 8 9 CHARACTERISTICS Lmax Where Lmax Maximum coasting distance Vo Machine s fast feed speed ti Delay time of control section t2 Braking delay time of brake Note t3 Braking time is JL Jm No 9 55 x 104 TL 0 8TB JL Load inertia moment converted into equivalent value on servo motor shaft JM Servo motor inertia moment No Servomotor speed during fast feed
277. onment so that ambient temperature is 0 to 40 C Servo motor is overloaded 1 Reduce load 2 Review operation pattern 3 Use servo motor that provides larger output Thermal protector in encoder is faulty Change servo motor Overload 1 Load exceeded overload protection characteristic of servo amplifier Load ratio 30095 2 55 or more Load ratio 20095 100s or more Servo amplifier is used in excess of its continuous output current 1 Reduce load 2 Review operation pattern 3 Use servo motor that provides larger output Servo system is instable and hunting Repeat acceleration deceleration to execute auto tuning Change auto tuning response level setting Set auto tuning to OFF and make gain adjustment manually 3 Machine struck something 8 10 Review operation pattern Install limit switches 8 TROUBLESHOOTING Alarm Code CN1B CN1A CN1A 19 18 pin 19 pin Name Definition Cause Action 0 1 1 Overload 1 Wrong connection of servo motor Servo amplifier s output terminals U V W do not match servo motor s input terminals U V W Connect correctly 5 Encoder faulty r Checking method When the servo motor shaft is rotated slowly with the servo off the cumulative feedback pulses should vary in proportion to the rotary angle If the indication skips or r
278. onnected Change the servo amplifier Encoder error 2 Communication error occurred between encoder and servo amplifier Encoder connector disconnected 2 Encoder cable faulty wire breakage or short Connect correctly Repair or change the cable Motor output ground fault Ground fault occurred at servo motor outputs U V W phases of servo amplifier Power input wires and servo motor output wires are in contact at main circuit terminal block TE1 Connect correctly The servo motor power line cover is deteriorated and causes earthing Replace the line The main circuit of the servo amplifier is broken Investigating method Disconnect the U V and W power lines from the servo amplifier and turn on the servo motor A 24 still occurs Replace the servo amplifier Absolute position erase Absolute position data in error 1 Reduced voltage of super capacitor in encoder After leaving the alarm occurring for a few minutes switch power off then on again Ensure to make home position return again 2 Battery voltage low 3 Battery cable or battery is faulty Change battery Ensure to make home position return again Power was switched on for the first time in the absolute position detection system Super capacitor of the absolute position encoder is not charged After leaving the alarm occurring for a few minutes swi
279. ontinuous rated torque KW s 34 13 41 8 116 55 2 11 7 18 1 Note 7 J kg cm 0 03 0 088 0 143 0 35 0 50 Inertia moment WK oz in 0 16 0 48 0 78 1 91 2 73 Recommended ratio of load inertia moment to servo motor shaft inertia moment Note 6 Maximum torque 30 times or less 10 times or less Note 4 Servo amplifier built in Regenerative fegenerativebrake resistor brake duty MR RB032 30W 3000 600 950 Note 5 Note 5 1010 Note 5 320 times min MR RB12 30W Note 5 2400 3200 Note 3 Power supply capacity kVA 0 0 5 0 9 1 3 0 3 0 3 0 5 0 7 Rated current A 15 28 5 1 0 6 1 1 1 3 1 9 Maximum current A 5 0 9 0 18 1 8 3 3 3 9 5 7 Speed position detector Encoder resolution 8192 pulses rev Accessories Encoder Encoder V ring Totally enclosed self cooled Structure protection type IP44 with the Totally enclosed self cooled protection type IP44 exception of through shaft portion Note8 Note 2 Environmental conditions Refer to 1 Section 4 2 0 4 053 0 99 1 45 30 13 15 23 26 42 48 Note 7 Weight 10 SPECIFICATIONS Servo Motor HC SF 1000r min Series HC SF 2000r min Series Middle inertia middle capacity Middle inertia middle capacity Item 81 121 201 301 52 102 152 202 352
280. ontrol 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 4 2 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 3 Techniques for noises radiated by the servo amplifier that cause peripheral devices to mal function Noises produced by the servo amplifier are classified into those radiated from the cables connected to the servo amplifier and its main circuits input and output circuits those in duced 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 ie Noises transmitted Noise radiated directly by servo amplifier in the air P from servo amplifier Route 1 Noise radiated from the power supply cable Route 2 Noise radiated from servo motor cable Ro
281. orque limit TLA set any of parameters No 43 to 48 to make the torque limit TL available EB 3 WIRING 3 Torque control mode 1 Torque control a Torque command and generated torque A relationship between the applied voltage of the analog torque command TC and the torque generated by the servo motor is shown in Fig 3 7 Generated torque limit values will vary about 5 relative to the voltage depending on products Generated torque may vary at the voltage of 0 05V to 0 05V Table 3 4 shows the torque generation directions determined by the forward rotation selection RS1 and reverse ro tation selection RS2 when the analog torque command TC is used CCW direction Max torque i Note Torque 8 0 05 CCW direction LS Reverse rotation 4005 8 TC applied voltage V CW direction Max torque Note Note Set using parameter No 26 Fig 3 7 Torque Control Level RS1 ON Table 3 4 Torque Generation Directions Rotation Direction Analog torque command TC polarity OV polarity No torque No torque CCW forward rotation in driving mode reverse rotation in regenerative mode CW reverse rotation in driving mode forward rotation in regenerative mode No torque CW reverse rotation in driving mode forward rotation in regenerative mode No torque b Connection diagram Connect as shown in Fig 3 8 Servo amplifier
282. ors used Use the following models of servo amplifiers and servo motors Servo amplifier series MR J2 10A to MR J2 350A Servo motor series HC KF UE HC MF UE HC SF HC RF HC UF 2 Installation Install a fan of 100CFM air flow 10 16 cm 4 in above the servo amplifier or provide cooling of at least equivalent capability 3 Short circuit rating Having been subjected to UL s short circuit test with an AC circuit whose peak current is limited to 5000A max this servo amplifier complies with this circuit 4 Flange Mount the servo motor on a flange which has the following size or produces an equivalent or higher heat dissipation effect Flange Size Servo Motor mm UE HA FF C UE HC SF HC RF HC UF 150x150x6 053 13 053 13 13 250 250 6 23 23 33 23 81 250 250 x 12 43 43 63 5210152 103 to 203 43 53 to 153 300 x 300 x 12 73 73 121 to 301 300 x 300 x 20 202 352 203 353 550 x 550 x 30 72 152 650 x 650 x 35 301 202 5 Capacitor discharge time The capacitor discharge time is as listed below To ensure safety do not touch the charging section for 10 minutes after power off Servo Amplifier Discharge Time min MR J2 10A 1 20A 1 MR J2 40A 1 60A MR J2 70A 350A 6 Options and auxiliary equipment Use products which conform to the UL
283. ote 1 Power Note 2 Servo Amplifier Generated Heat Area Required for Servo Amplifier Servo Motor Supply At rated torque With servo off Heat Dissipation Capacity kVA W W m ft HC MF053 13 0 3 25 15 0 5 5 4 MR J2 10A 1 HA FF053 13 0 3 25 15 0 5 5 4 HC UF13 0 3 25 15 0 5 5 4 HC MF23 0 5 25 15 0 5 5 4 MR J2 20A 1 HA FF23 0 5 25 15 0 5 5 4 HC UF23 0 5 25 15 0 5 5 4 HC MF43 0 9 35 15 0 7 7 5 HA FF33 0 7 35 15 0 7 7 5 HA FF43 0 9 35 15 0 7 7 5 HC UF43 0 9 35 15 0 7 7 5 HA FF63 1 1 40 15 0 8 8 6 MR J2 60A HC SF52 1 0 40 15 0 8 8 6 HC SF53 1 0 40 15 1 0 10 8 HC MF73 1 3 50 15 1 0 10 8 HC UF72 73 1 3 50 15 1 10 8 HC SF81 1 7 50 15 1 10 8 HC SF102 103 1 7 50 15 10 8 HC SF121 2 1 90 20 19 4 HC SF201 3 5 90 20 19 4 HC SF152 153 2 5 90 20 19 4 MR J2 200A HC SF202 203 3 5 90 20 19 4 HC RF103 1 7 90 20 19 4 HC RF153 2 5 90 20 19 4 HC UF152 2 5 90 20 19 4 HC SF301 5 352 353 HC RF203 HC UF202 MR J2 40A 1 MR J2 70A MR J2 100A o O O 2 350 Note 1 Note that the power supply capacity will vary according the power supply impedance 2 Heat generated during regeneration is not included in the servo amplifier generated heat To calculate heat generated by the regenerative brake option use Equation 6 1 in Sec tion 6 1 1 9 CHARACTERISTICS 2 Heat di
284. otor power supply terminals U V W of the servo amplifier are not shorted to the power input terminals L1 L2 L3 of the servo amplifier 4 The servo amplifier and servo motor are grounded securely 5 When the regenerative brake option is used the lead has been removed across D P of the control circuit terminal block Also twisted cables are used for its wiring 6 When stroke end limit switches are used the sig nals across LSP SG and LSN SG are on during op eration 7 24VDC or higher voltages are not applied to the pins of connectors CN1A and CN1B 8 SD and SG of connectors CN1A and CN1B are not shorted 9 The wiring cables are free from excessive force Single phase 230V 50 60Hz Single phase 100 to 120V 50 60Hz 2 Environment Signal cables and power cables are not shorted by wire offcuts metallic dust or the like 3 Machine 1 The screws in the servo motor installation part and shaft to machine connection are tight 2 The servo motor and the machine connected with the servo motor can be operated Servo amplifier Servo amplifier 2 10 2 OPERATION 2 2 2 Start up NWARNING Do not operate the switches with wet hands You may get an electric shock 1 Before starting operation check the parameters Some machines may perform unexpected operation NCAUTION 2 During power on or soon after power off do not touch the servo ampli
285. ows 3 1 95 Note that a serial mouse is not used Printer Which can be used with Windows 3 1 95 MR CPC98CBL3M MR CPCATCBL3M Communication gable When these cannot be used refer to Section 6 1 2 and fabricate Note Windows is a trade mark of Microsoft Corporation 2 Configuration diagram Servo amplifier Personal computer UO ve WO Communication cable CN2 Servo motor OD To RS 232C connector 6 16 6 OPTIONS AND AUXILIARY EQUIPMENT 6 2 Auxiliary equipment The auxiliary equipment used must be those indicated in this section or equivalent To comply with the EN Standard or UL C UL Standard use the auxiliary equipment which conform to the corre sponding standard 6 2 1 Cables Servo Amplifier Note 1 Cables mm Note 3 Crimping Terminal Model L L243 111 121 U V W Q P C D B1 B2 Model Tool MR J2 10A 1 MR J2 20A 1 1 25 Note 2 MR J2 40A 1 2 1 25 AWG16 2 1 25 32959 47387 MR J2 60A AWG14 AWG16 AWG14 AWG16 MR J2 70A 2 AWG14 MR J2 100A MR J2 200A 3 5 AWG12 3 5 AWG12 32968 59239 MR J2 350A 5 5 AWG10 5 5 AWG10 Note 1 The cables are based on the 600V vinyl cables The cables U V W in the table assume that the distance between the servo motor and servo amplifier is 30m or less 2 Twist the cables for connection of the
286. pass filter in response to the position command Example When a command is given from a synchro nizing detector synchronous operation can be started smoothly if started during line operation Synchronizing detector p m rvom Servo amplifier Servo motor IN 4 Without time constant setting a N With time Servo motor constant setting speed ON t Start 0 to 20000 Internal speed command 1 Used to set speed 1 of internal speed commands Internal speed limit 1 Used to set speed 1 of internal speed limits 0 to instan taneous per missible speed Internal speed command 2 Used to set speed 2 of internal speed commands Internal speed limit 2 Used to set speed 2 of internal speed limits 0 to instan taneous per missible speed 2 OPERATION Initial Setting Control Name and Function Value Range Mode Internal speed command 3 1000 S Used to set speed 3 of internal speed commands 0 to instan taneous per missible speed Internal speed limit 3 Used to set speed 3 of internal speed limits Basic parameters Acceleration time constant 0 to 20000 Used to set the acceleration time required to reach the rated speed from zero speed in response to the analog speed command and internal speed commands 1 to 3 If the preset command speed is lower than the rated speed acceleration deceleration time will be shorter Speed Zero s
287. peed selection 1 Speed reached Speed selection 2 Trouble Proportion control Warning Forward rotation start Battery warning Reverse rotation start Encoder Z phase pulse open collector Torque limit selection Electromagnetic brake interlock Reset Emergency stop Encoder Z phase pulse differential line driver Control change Analog speed command Encoder A phase pulse differential line driver Analog speed limit Analog torque limit Encoder B phase pulse differential line driver Analog torque command Analog Monitor output 1 Forward rotation selection Analog Monitor output 2 Reverse rotation selection I F internal power supply Forward reverse rotation pulse train Digital I F power supply input Open collector power input Digital I F common DC15V power supply Limiting torque Control common Shield 3 WIRING 4 Signal explanations In the Control Mode field of the table Denotes that the signal may be used in the initial setting status A Denotes that the signal may be used by setting the corresponding parameter among parameters No 1 and 43 to 49 The pin No in the connector pin No column is the number under initial status 1 Input signals Connec y o Signal Symbol tor Pin Functions Applications Division No Note 1 Servo on CN1B Connect SON SG to switch on the bas
288. pesc Parameter Parameter No 11 setting No 12 setting Example Set 3000 3s to accelerate the HC MF series servo motor rated speed 3000r min from Or min to 1000 r min in 1 second Deceleration time constant Used to set the deceleration time required to reach zero speed from the rated speed in response to the analog speed command and internal speed commands 1 to 3 S pattern acceleration deceleration time constant 0 to 1000 Used to smooth start stop of the servo motor peeds 1010uJ 0A49S Zero ft speed S bi kW Time STA STC STC STB STC TC STA Acceleration time constant parameter No 11 STB Deceleration time constant parameter No 12 STC S pattern acceleration deceleration time con stant parameter No 13 2 36 2 OPERATION Name and Function Initial Value Setting Range Basic parameters Torque command time constant Used to set the constant of a low pass filter in response to the torque command Torque Torque command M After iei filtered TQC TQC TQC Torque command time constant 0 0 to 20000 N For manufacturer setting Must not be change Communication baudrate selection alarm history clear Used to select the communication baudrate for use of the set up software and to clear the alarm history Selection of baudrate for RS 232C 0 9600 bps 1 19200 bps L Alarm hi
289. phase pulse train 3 20 3 WIRING a Open collector system Servo amplifier VDD DC24V Approx 1 2kQ NP yA Approx 1kQ The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains parameter No 21 has been set to 0010 The waveforms in the table on the preceding page are voltage waveforms of PP and NP based on SG Their relationships with transistor ON OFF are as follows Forward rotation pulse train form ow OFF transistor Reverse rotation pulse train transistor OFF ON OFF 4 ON OFF aba ON b Differential line driver system Servo amplifier NEM The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains parameter No 21 has been set to 0010 In the differential line driver system the waveforms in the table on the preceding page are as follows The waveforms of PP PG NP and NG are waveforms based on the ground of the differential line driver Forward rotation pulse train iu 1 PG Reverse rotation pulse train NG 3 WIRING 2 Speed control mode1 1 Speed setting a Speed command and speed The servo motor is run at the speeds s
290. r provides output signals and displays the status as if the servo motor is running actually in response to the external input signal This function can be used to make a sequence check on the host positioning unit etc For more information refer to 2 3 in this section Software version Low Indicates the version of the software Software version High Indicates the system number of the software Automatic VC offset If offset voltages in the analog circuits inside and outside the servo amplifier cause the servo motor to rotate slowly at the analog speed command VC or analog speed limit VLA of OV this function automatically makes zero adjustment of offset voltages Press 9 once set the first digit numerical value to 1 using the button or and press again to make the automatic VC offset function valid When this function is executed the automatically offset value is set to parameter No 29 If the input voltage of VC or VLA is 0 4V or higher this function cannot be used 2 20 2 OPERATION 1 External I O signal display The ON OFF states of the digital I O signals connected to the servo amplifier can be con firmed 1 Operation Call the display screen shown after power on L e Press MODE once pas x LI Press UP once mi eeeeeeee External I O signal display screen Nor 7
291. r screw J42 a Single phase AC T 230V goes ror I 8 i Servo amplifier MR J2 0A1 k FR BAL R nici X Single phase AC olo SOOM Li 100 120V Servo amplifier Model Dimensions mm in Model D E MR J2 10 1 20A 1 FR BAL 0 4K 120 45 4 72 1 77 MR J2 40A 1 FR BAL 0 75K 120 57 4 72 2 24 2 60 70 FR BAL 1 5K 145 55 5 71 2 17 MR J2 100A FR BAL 2 2K 145 75 5 71 2 95 MR J2 200A FR BAL 3 7K 200 70 7 87 2 76 6 2 4 Relays MR J2 350A FR BAL 7 5K 200 100 7 87 3 94 The following relays should be used with the interfaces Interface Selection Example Relay used especially for switching on off analog input com mand and digital input command interface DI 1 signals To prevent defective contacts use a relay for small signal twin contacts Ex OMRON type G2A MY Relay used for digital output signals interface DO 1 Small relay with 12VDC or 24VDC of 40mA or less Ex OMRON type MY 6 18 6 OPTIONS AND AUXILIARY EQUIPMENT 6 2 5 Surge absorbers A surge absorber is required for the electromagnetic brake Use the following surge absorber or equivalent Insulate the wiring as shown in the diagram Maximum Rating Static Maximum Capacity Varistor Voltage Permissible circuit Surge Energy L
292. r is not optional 0 45 2 HC MF HA FF encoder junction connector Nippon AMP make Model Unit mm Housing 1 172161 9 Unit in Connector pin 170359 1 wiring to the connector Crimping tool 755330 1 MEMORANDUM For the crimping tool contact Nippon 14 0 55 23 7 0 93 The crimping tool is required for 16 0 63 10 103 10 SPECIFICATIONS 3 Servo motor encoder side plugs a Connectors Daiichi Denshi Kogyo make CE05 6A14S 2SD B N 3 20UNEF 2B threads 20UNEF 2A threads CL1 Unit mm Unit in foe E D terminal In X 3 E oo ji 5 6 0 22 24 0 94 Unit mm Scd Unit in Model A W 7 85 0 31 or more CE05 6A22 23SD B BSS 13 s 18UNEF 2B 13 16 18UNEF 2A CE05 6A24 10SD B BSS 11 2 18UNEF 2B 17he 18UNEF 2A CE05 6A32 17SD B BSS 2 18UNS 2S 13 4 18UNS 2A 10 104 10 SPECIFICATIONS D or less A Y or more Unit mm Unit in W CE05 8A22 23SD B BAS 13 s 18UNEF 2B 13 16 18UNEF 2A CE05 8A24 10SD B BAS 11 2 18UNEF 2B 17 16 18UNEF 2A CE05 8A32 17SD B BAS 2 18UNS 2B 13 4 18UNS 2A Gasket J A Unit mm Unit in A MS3106A10SL 45 D190 5 s 24U MS3106A14S 2S D190 7 s 20U 106A20S 295 D190 11 4 18UNEF 2B 106 225 235
293. r s ladder program error 2 Mis wiring of SON signal Switch on main circuit power Correct program Connect correctly CHAPTER 9 CHARACTERISTICS This chapter provides various characteristics and data of the servo Overload protection characteristics Losses generated in the servo amplifier Electromagnetic brake characteristics Dynamic brake characteristics Vibration rank INTRODUCTION CHAPTER 1 OPERATION CHAPTER 2 WIRING CHAPTER 3 CHAPTER 4 INSTALLATION ABSOLUTE POSITION DETECTION SYSTEM CHAPTER 5 OPTIONS AND AUXILIARY EQUIPMENT CHAPTER 6 INSPECTION CHAPTER 7 TROUBLESHOOTING CHAPTER 8 CHARACTERISTICS CHAPTER 9 SPECIFICATIONS CHAPTER 10 SELECTION CHAPTER 11 9 CHARACTERISTICS 9 1 Overload protection characteristics An electronic thermal relay is built in the servo amplifier to protect the servo motor and servo amplifier from overloads The operation characteristics of the electronic thermal relay are shown below Overload 1 alarm A 50 occurs if overload operation performed is above the electronic thermal relay protection curve shown below Overload 2 alarm A 51 occurs if the maximum cur rent flew continuously for several seconds due to machine collision etc Use the equipment on the left hand side area of the continuous or broken line in the graph In a machine like the one for vertical lift application where unbalanced torque will be produced it
294. rated from the machine Smaller gear noise Decrease the set value of the response level Note Settling time indicates a period of time from when the command pulse value is zeroed to when the servo motor comes to a stop 2 4 2 Manual gain adjustment In most machines gains can be adjusted automatically by auto tuning In the following cases however the gains should be adjusted manually Manual Gain Adjustment Is Required When Phenomenon Adjustment Procedure The machine vibrates at a resonance frequency The servo motor shaft vibrates at a high frequency 10Hz or more a When the machine generates large noise and vibrates the motion of the servo motor shaft is invisible b When the response increased by auto increases The servo motor shaft vibrates at a Adjustment 1 level tuning setting is vibration Adjustment 2 The servo motor vibrates on a machine low Adjustment 3 whose ratio of load inertia moment to servo motor inertia moment is 20 or more times frequency 5Hz or less a When vibration occurs the lateral vibration of the servo motor shaft is visible b The ratio of load inertia moment to servo motor inertia moment is extremely large The settling time provided by auto tuning should be further decreased Adjustment 4 The position control gain of each axis should be set to the same for interpolation operation with two or more axes Adjustm
295. re that the servo motor runs Test operation Refer to 3 in Section 2 3 3 Set the required parameters Refer to Section 2 3 5 Parameter setting The servo amplifier and servo motor need not be set in parameters as they are set automatically Setting example Parameter Set Value Description No 0 0004 Control mode Torque Regenerative brake option Not used Electromagnetic brake interlock signal Not used Internal speed command 1 1000r min Internal speed command 2 1500r min Internal speed command 3 2000r min Acceleration time constant 115 Deceleration time constant 0 55 S pattern acceleration deceleration time constant Os not used Torque command time constant 25 Internal torque limit 1 Controlled to 5096 output 2 16 2 OPERATION When the servo on signal SON is switched on the servo amplifier is Servo on ready to operate Check the external sequence on the diagnostic display Checking procedure Power on Y LI Press MODE once Y nr Switch SON on Y 4 e This display appears O HII when SON switches on By selecting speeds analog Start speed command internal speed LS commands 1 to 3 with the speed Forward lt selection 1 signal SP1 and OW N speed selection 2 signal SP2 and switc
296. reads Ld L LL Caution plate TOSS IT Power supply lead 4 AWG19 0 3m depth 8 Brake lead With end insulated round crimping terminal 1 25 4 20303m Red Phase U With end insulated round crimping terminal 1 25 4 White Phase V BC12071 Black Phase W BC1 2091 Encoder cable 0 3m Green yellow Earth With connector 1 172169 9 AMP make Variable Braking Force Reduction Reduction Inertia Moment Nem Gear Ratio J X10 kg m Dimensions Backlash L KL 169 89 0 32 K6505 1 5 9 44 0 069 60min max 187 0 32 K6512 1 12 49 576 0 091 60min max 187 0 32 K6520 1 20 25 484 0 073 60min max Unit mm For reverse rotation command Rotation direction For forward rotation command Motor plate Opposite side Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Brake lead 233 03m Red Phase U With end insulated round crimping White Phase V 12072 terminal 1 25 4 Black Phase W BC12092 DN Encoder cals Green yellow Earth With connector 1 172169 9 AMP make 10 25 10 SPECIFICATIONS Variable Model Dimensions L KL HC MF23BG1 185 102 6 K9005 1 5 19 96 0 289 HC MF23BG1 205 122 6 K9012 1 12 25 288 0 333 HC MF23BG1 205 122 6 K9020 1 20 253 5000 0 306 Reduction Reduction Ratio Inertia Moment Gear Model Actual Reduction Ratio J X 10 kg m
297. regenerative brake option P C 3 Used with the UL C UL Standard compliant models AMP make 6 2 2 No fuse breakers fuses magnetic contactors Ensure to use one circuit breaker and electromagnetic contactor for each servo amplifier When using a fuse in place of the circuit breaker use a fuse of the rating specified in this section Servo Amplifier No Fuse Breaker s agnete Class Current A Voltage V ontactor MR J2 10A 1 NF30 type 5A K5 10 MR J2 20A NF30 type 5A K5 10 MR 2 40A 20A1 NF30 type 10A K5 15 S N10 MR J2 60A 40A1 NF30 type 15A K5 20 MR J2 70A NF30 type 15A K5 20 red MR J2 100A NF30 type 15A K5 25 MR 2 200A NF30 type 20A K5 40 S N18 MR J2 350A NF30 type 30A K5 70 S N20 6 17 6 OPTIONS AND AUXILIARY EQUIPMENT 6 2 3 Power factor improving reactors The input power factor is improved to about 90 For use with a single phase power supply it may be slightly lower than 90 Terminal block Specification number Serial number Servo amplifier J2 NFB 0 0 u Single phase AC lt i My e 2 200 230V OjO 5 0 o ea D mounting Sero amplifie
298. resistor Note 4 MR RBO032 30W 36 Regenerative MR RB12 100W brake duty MR RB32 300W times min 24 82 24 860 710 MR RB30 300W 250 70 42 3270 2580 2130 MR RB50 500W 410 110 70 5450 4300 3550 Note 3 Power supply capacity 1 0 1 7 2 5 3 5 5 5 1 8 2 5 3 5 Rated current 3 2 5 3 8 6 10 4 16 4 6 1 8 8 14 Maximum current 9 6 15 9 25 8 31 2 49 2 18 4 23 4 37 Speed position detector Encoder resolution 16384 pulses rev Encoder resolution 16384 pulses rev Accessories Encoder oil seal Encoder oil seal Totally enclosed self cooled Totally enclosed self cooled protection type IP65 protection type IP65 Structure Note 2 Environmental conditions Refer to 1 Section 4 2 Refer to 1 Section 4 2 50 70 90 12 19 39 50 62 8 6 Note 7 Weight 10 4 10 SPECIFICATIONS Servo Motor HC UF 2000r min Series HC UF 3000r min Series Pancake type middle capacity Pancake type small capacity Item 72 152 202 13 23 43 Note9 73 TR MR J2 70A 200A 350A 10A 20A 40A 70 Note 1 Rated output kW 0 75 1 5 2 0 0 1 0 2 0 4 0 75 Continuous Rated torque Nem 3 58 716 9 55 0 32 0 64 13 24 running duty ozsin 507 1015 1353 45 91 184 3
299. revent an electric shock The cables should not be damaged stressed loaded or pinched Otherwise you may get an electric shock 2 To prevent fire note the following N CAUTION Do not install the servo amplifier servo motor and regenerative brake resistor on or near combustibles Otherwise a fire may cause When the servo amplifier has become faulty switch off the main servo amplifier power side Continuous flow of a large current may cause a fire When a regenerative brake resistor is used use an alarm signal to switch main power off Otherwise a regenerative brake transistor fault or the like may overheat the regenerative brake resistor causing a fire 3 To prevent injury note the following N CAUTION Only the voltage specified in the Installation guide should be applied to each terminal Otherwise a burst damage etc may occur Connect the terminals correctly to prevent a burst damage etc Ensure that polarity is correct Otherwise a burst damage etc may occur During power on or for some time after power off do not touch the servo amplifier fins regenerative brake resistor servo motor etc Their temperatures may be high and you may get burnt 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 A AN A AN A AN A AN AN AN A N
300. rizontal installation it is recommended to face the power supply and encoder connectors down 10 91 KL 0 12 Power supply connector i HA FF23C UE HA FF33C UE HA FF43C UE HA FF63C UE Y L 1 57 Caution plate lt gt English 11 85 TRE 1 38 sje E 4 0 98 0 20 2 0 Rem 9 L ES Top e 2 LA sol on 6 seal d MET afa 161 4 S17308B NW 26 Top Bott A i kawsa i Moto r plate TUV plate Lu Encoder connector 1 732 MS3102A20 29P 00 63 MB threads depth 0 79 Section AA ut Variable Dimensions L KL Inertia Moment WK oz in HA FF43C UE 5 33 HA FF63C UE 6 56 10 SPECIFICATIONS 2 With electromagnetic brake HA FF053CB UE Unit in 6 10 we 18 1 85 Motor plate 0 471 0 1 Caution plate Opposite side 0 98 4 00 18 Sa 8 1 Aw i L sl Top Bottom Te o ts meee Noi seal I GM10204B l t 5 ei 161 01 26 101 19 5 T V plate Top 1 Li Ll ry if 140 m
301. rm mode 2 3 5 Parameter mode 2 4 Adjustments 2 4 1 Auto tuning 2 4 2 Manual gain adjustment 2 4 3 Slight vibration suppression control INTRODUCTION CHAPTER 1 OPERATION CHAPTER 2 WIRING CHAPTER 3 INSTALLATION CHAPTER 4 ABSOLUTE POSITION DETECTION SYSTEM CHAPTER 5 OPTIONS AND AUXILIARY EQUIPMENT CHAPTER 6 INSPECTION CHAPTER 7 TROUBLESHOOTING CHAPTER 8 CHARACTERISTICS CHAPTER 9 SPECIFICATIONS CHAPTER 10 SELECTION CHAPTER 11 2 OPERATION 2 1 Standard connection examples N CAUTION Always follow the instructions in Chapter 3 2 1 1 Position control mode 1 Connection with the FX 1GM For single phase 100V power supply Make up a sequence which N CAUTION switches off the MC at alarm occurrence or emergency stop Servo amplifier NEB gn ET ower supply Single phase 100VAC Make up a sequence which CAUTION switches off the MC at alarm occurrence or emergency stop Servo amplifier NEB pep UAE Power supply OTO ph 200 230VA 3 phase 2 30VAC O E Oro Note 13 1 phase 230VAC O Note 4 gt Note 12 Regenerative I brake option D 5O P To be shut off when servo o signal switches off or alarm signal is given Signal F 1 PEE VRDY VEND ONG YA OMS5 Encoder cable Option Personal computer Note 5 8 10 dows dd s Note 14 CN3 Communication cable Wi
302. romagnetic brake Electromagnetic Brake Without With 3 Rated speed Speed r min 2000 3000 Rated Output W 100 200 400 1 INTRODUCTION 1 1 3 Combination with servo motor The following table lists combinations of servo amplifiers and servo motors The same combinations apply to the models with electromagnetic brakes the models with reduction gears the EN Standard compliant models and UL C UL Standard compliant models Servo Motors Servo Amplifier Howe AREE HC SFL Note HC RF HC UFL Note 1000r min 2000r min 3000r min 2000r min 3000r min MR J2 10A 1 053 13 053 13 18 MR J2 20A 1 23 23 23 MR J2 40A 1 43 33 43 43 MR J2 60A 63 52 53 MR J2 70A 73 72 73 MR J2 100A 81 102 103 MR J2 200A 121 201 152 202 153 203 103 153 152 MR J2 350A 301 352 353 203 202 Note The HC UF73 HC SF203 HC SF353 may not be connected depending on the production timing of the servo amplifier Please contact us 1 INTRODUCTION d applications 1 2 Parts identification an amplifier 1 2 1 Servo 1 MR J2 200A or less 1 INTRODUCTION Name Application Refer To Battery holder Contains the battery for absolute position data backup Chapter
303. rque N m wo 20 Short duration operation region Continuous operation region 500 1000 Speed r min HC SF102 15 Z 3 Short duration s operation region 10 5 Continuous operation region 1000 2000 3000 Speed r min HC SF352 60 S Short duration s operation region F 40 20 Continuous operation region 1000 2000 Speed r min 10 7 HC SF201 60 E o 3 40 Short duration operation region 20 0 500 1000 Speed r min HC SF152 24 E Short duration operation region o Continuous operation region 1000 2000 3000 Speed r min 10 SPECIFICATIONS HC SF53 6 z 5 s Short duration operation region 4 2 1000 2000 3000 Speed r min HC SF203 21 z 2 Short duration operation region 14 Continuous operation region 1000 2000 3000 Speed r min 4 HC RF series HC RF103 9 Short duration operation region Torque N m o Continuous operation region 1000 2000 3000 4000 Speed r min HC SF103 12 m Short duration operation region Torque N m Continuous operation region 1000 2000 3000 Speed r min HC SF353 39 Z Short duration g operation region i 2
304. rvo motor has a power supply lead use a fixed terminal block to connect it with the servo amplifier Do not connect cables directly K J 1 Terminal block 3 Use the servo motor side power connector which complies with the EN Standard The EN Standard compliant power connector sets are available from us as options 7 Auxiliary equipment and options 1 The no fuse breaker and magnetic contactor used should be the EN or IEC Standard compli ant products of the models described in Section 6 2 1 2 The sizes of the cables described in Section 6 2 2 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 3 Use the EMC filter for noise reduction The radio noise filter FR BIF is not needed 8 Servo motor For outline dimension drawings not shown contact Mitsubishi 9 Performing EMC tests When EMC tests are run on a machine device into which the servo amplifier has been installed it must conform to the electromagnetic compatibility immunity emission standards after it has satisfied the operating environment electrical equipment specifications For the other EMC Directive guidelines on the servo amplifier refer to the EMC INSTALLA TION GUIDELINES IB NA 67310 CONFORMANCE WITH UL C UL STANDARD 1 Servo amplifiers and servo mot
305. s section Flange mounting Mounting direction As in 1 in this section In any directions As in 1 in this section Grease lubrication Already packed Lubrication LDR101BJ of American Oil Center Recommended As in 2 in this section grease Research make Output shaft rotating direction Opposite direction to the servo motor shaft Same direction as the servo motor shaft With electromagnetic brake Available 3 minutes or less at reduction gear output Backlash 40 minutes to 2 at reduction gear output shaft haft sha Permissible load inertia moment ratio a 4 times or less 5 times or less when converting into the servo motor shaft Permissible speed 0 5 to 1 5kW 3000 r min 2000 r min at servo motor shaft 2 to 3 5kW 2500 r min 1 Lubrication of reduction gears for general industrial machines Oil lubrication cannot be used in applications where the servo motor will move Specify grease lubrication For grease lubrication the reduction gear is already grease packed For oil lubrication pack the reduction gear with oil on the customer side Mounting Shaft in Any Direction Shaft Horizontal Shaft Downward Shaft Upward Direction Reduction gear model CNHM CNVM CHHM CHVM CVHM CVVM CWHM CWVM Reduction gear leg type flange type leg type flange type leg type flange type leg type flange type frame No 4105 Grease Grease 4
306. screw Opposite side 200W or more Earth terminal M3 screw Opposite side 100W or less Bottom Motor plate Top Power supply cable VCTF 3 1 25 0 5m With end insulated round crimping terminal 1 25 4 Encoder cable 0 3m Red Phase U With connector 172169 9 White Phase V AMP make Black Phase W Note a Reduction Reduction Inertia Note Variable Dimensions Note Weight Ratio Gear Model Moment J X 10 kg m LF LG LK LL LR kg M2 05B 0 11 23 15 _ 0 128 2 33 6 75 30 4 Ed 0125 33 6 75 30 4 65 8092 wis 0123 33 6 75 30 4 28 vas REMES 0 120 a 87 35 5 85 ws S 0 160 33 6 75 4 23 1 1 10 0160 AT eR 87 35 9 64 PUER 115 MES ibis 41 87 35 5 BM4 25B 0 29 125 o1MES 0 308 61 55 t U MES 553 41 35 sa mo oues 0 778 61 55 Ls E MES 075 61 55 HA FF33 5 meei os 61 55 s 110 PES WA 61 55 HA FF43 BM4 05B 1 293 15 _o4mes 1 643 61 55 Note Values in parentheses are those for the servo motors with electromagnetic brakes 10 45 10 SPECIFICATIONS LL Caution plate Earth terminal M3 screw Opposite side 200W or more Earth terminal M3 screw Opposite side 100W or less Servo Motor
307. sed to output 24VDC for input interface supply 3 Connect with COM to use this power supply Permissible current 80mA Digital I F power COM CN1A Used to input 24VDC for input interface supply input 9 Connect the positive terminal of the 24VDC external power CN1B supply 13 Connect with VDD to use the internal power supply 24VDC 10 Open collector OPC CN1A When inputting a pulse train in the open collector system ololo power input 11 supply this terminal with the positive power of 24VDC Digital I F common SG 1 Common terminal for VDD and COM Pins are connected 10 internally 20 Separated from LG CN1B 10 20 DC15V power P15R CN1A Used to output 15VDC Available as power for TC TLA VC supply 4 VLA CN1B Permissible current 30mA 11 Control common LG CN1A Common terminal for TLA TC VC VLA FPA FPB OP 1 MO1 MO2 and P15R CN1B Pins are connected internally 1 CN3 1 3 5 11 13 15 Shield SD Plate Connect the external conductor of the shield cable Note 1 Refer to Section 3 1 4 2 P Position control mode S Speed control mode T Torque control mode 3 17 3 WIRING 3 1 3 Detailed information on 1 0 signals 1 Position control mode 1 Torque limit a Torque limit and generated torque By setting parameter No 28 internal torque limit 1 torque is always limited to the maxi mum value during operation A re
308. servo motors with electromagnetic brakes 2 Nominal reduction ratios For actual reduction ratios refer to Section 10 3 HA FF23 B G1 215 Earth terminal M8 screw Opposite side Caution plate Power supply cable VCTF 3 1 25 0 5m With end insulated round crimping Red Phase U White Phase V Black Phase W Encoder cable 0 3m With connector 172169 9 AMP make Servo Motor Model 32 5 9130js7 erminal 1 25 4 Note 2 Reduction Ratio Section AA Reduction Gear Model M6 screw depth 10 Unit mm 4 210 Note 1 Inertia Moment J X 10 kg m 1 5 HA FF23 B G1 1 10 GR S 20 0 373 0 502 0 373 0 502 0 37 0 50 Note 1 Values in parentheses are those for the servo motors with electro magnetic brakes 10 3 10 43 2 Nominal reduction ratios For actual reduction ratios refer to Section 10 SPECIFICATIONS HA FF33 B G1 HA FF43 B G1 Unit mm 4 910 LL Earth terminal M3 screw Opposite side Caution plate Power supply cable 3 1 25 0 5m With end insulated round crimping terminal 1 25 4 Encoder cable 0 3m Red Phase U With connector 172169 9 White Phase V AMP make Black Phase W Section AA Note 2 Reduction Note 1 Note 1 Variable RR a Reduction Gear Inertia Moment Dimensions Ratio Model
309. site side m Power supply lead 4 AWG19 0 3m ith end insulated round crimping terminal 1 25 4 Red Phase U depth R White Phase V Black Phase W Green yellow Earth Encoder cable 0 3m With end insulated round BC12083 With connector 1 172169 9 crimping terminal 1 25 4 BC12102 AMP make 10 35 10 SPECIFICATIONS Braking Force Reduction Gear Reduction Inertia Moment N m Model Ratio J X10 kg m Model HC MF43BG2 1 3 BK2 05B 04MEKA 1 5 0 344 HC MF43BG2 1 3 BK3 09B 04MEKA 1 9 0 372 HC MF43BG2 1 3 BK4 20B 04MEKA 1 20 0 475 HC MF43BG2 1 3 BK4 29B 04MEKA 1 29 0 386 Variable Dimensions Model LG LH LK L LR HC MF43BG2 10 74 33 75 HC MF43BG2 10 85 35 85 HC MF43BG2 12 40 HC MF43BG2 12 40 Unit mm For reverse rotation command Rotation direction For forward rotation command Motor plate Opposite side Power supply lead 4 AWG19 0 3m With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Brake lead BC12084 2 0 7 0 3m raeriyellow 12103 Witi connector 1 172169 8 With end insulated round AMP make crimping terminal 1 25 4 10 36 10 SPECIFICATIONS Braking Force Reduction Gear Reduction Inertia Moment N m Model Ratio J X10 kg m Mod
310. splay monitor check the servo motor speed load ratios etc When machine operation check is over confirm automatic opera tion with the host controller or the like This servo amplifier has the real time auto tuning function under model adaptive control Therefore starting servo operation auto matically makes gain adjustment Using parameter No 2 response level setting can be adjusted to provide the optimum tuning ac cording to machine rigidity Operation is suspended and stopped by Stop 1 Servo on signal off The base circuit is shut off and the servo motor coasts 2 Stroke end signal off The servo motor comes to a sudden stop and is servo locked The servo motor is allowed to run in the opposite direction 3 Alarm occurrence When an alarm occurs the base circuit is shut off and the dynamic brake is oper ated to bring the servo motor to a sud den stop 4 Emergency stop signal The base circuit is shut off and the dy off namic brake is operated to bring the servo motor to a sudden stop The display shows A E6 2 15 2 OPERATION 4 Torque control mode Disconnect the servo motor from the machine make sure that it operates properly and recon nect it with the machine 1 Switch off the servo on signal Power on SON 2 When power NFB is switched on the display shows U torque com mand voltage In the test operation mode make su
311. sponse to load disturbance Higher setting increases the response level but is liable to generate vibration and or noise 1 to 500 Speed loop gain 1 Normally this parameter setting need not be changed Higher setting increases the response level but is liable to generate vibration and or noise 20 to 5000 Speed loop gain 2 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 2 44 20 to 8000 2 OPERATION Name and Function Initial Value Setting Range Control Mode Expansion parameters Speed integral compensation Used to set the constant of integral compensation 20 1 to 1000 Speed differential compensation Used to set the differential compensation value 0 to 1000 For manufacturer setting Must not be change Input signal automatic ON selection Used to set automatic ON of SON LSP and LSN 0 Servo on signal SON input selection 0 Switched on off by external input 1 Switched on automatically in servo amplifier No need of external wiring Forward rotation stroke end signal LSP input selection 0 Switched on off by external input 1 Switched on automatically in servo amplifier No need of external wiring Reverse rotation stroke end signal LSN input selecti
312. ssible radial load 2 When using a pulley sprocket or timing belt select a diameter that will fit into the permissible radial load 3 Do not use a rigid coupling as it may ap ply excessive bending load to the shaft leading to shaft breakage Servo motor 4 Double end stud coe 4 INSTALLATION Garbo Motor Radlal load Note For the symbols in the table refer to N Ib the following diagram 053 13 0 88 19 8 23 43 2 245 55 1 H Radial load 73 6 392 88 2 053 2 108 243 m Ee m uie 13 2 118 126 5 Thrust load 23 33 2 176 39 6 43 63 6 323 72 7 L Distance from flange mounting surface to 81 980 220 load center 121 to 301 2058 463 52 to 152 2 980 220 5 202 352 2058 463 0 53 to 153 980 220 203 353 2058 463 103 to 203 8 686 1543 72 152 637 143 202 882 198 5 Protection from oil and water 1 The HC MF HA FF series servo motor is not waterproof IP44 Do not subject the servo motor to oil and water Oil or water Servo Motor Series Protection HC FF IP44 HC SF HA RF IP65 Servo motor 4 INSTALLATION 2 When the gear box is mounted horizontally the oil level in the gear box should always be lower than the oil seal lip on the servo motor shaft If it is higher than the oil seal lip oil will enter the servo motor leading to
313. ssipation area for enclosed servo amplifier The enclosed control box hereafter called the control box which will contain the servo ampli fier should be designed to ensure that its temperature rise is within 10 C at the ambient tem perature 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 calcu lated by Equation 9 1 c P 9 1 Outside Inside where A Heat dissipation area m P Loss generated in the control box W AT Difference between internal and am bient temperatures C Air flow K Heat dissipation coefficient 5 to 6 When calculating the heat dissipation area with Fig 9 1 Temperature Distribution in Equation 9 1 assume that P is the sum of all Enclosure losses generated in the enclosure Refer to Table 9 1 for heat generated by the servo am plifier A indicates the effective area for heat dissipation but if the enclosure is directly in stalled on an insulated wall that extra amount must be added to the enclosure s surface area The required heat dissipation area will vary wit the conditions in the enclosure If convection in the enclosure is poor and heat builds up effective heat dissipation will not be possible Therefore arrangement of the equipment in the enclosure and the use of a fan should be considered Table 9 1 lists the enclosure dissipation area for each servo ampl
314. stop release the corresponding button c Status display Press CDE to display the servo status during test operation The display data is the same as in the status display in Section 2 3 2 d Termination of jog feed To terminate the jog feed switch power off once or call the and press eer for more than 2s 2 screen using 2 25 2 OPERATION 2 Motor less operation Without connection of the servo motor the servo amplifier can provide output signals and display the status as if the servo motor is running actually in response to the external input signal This function can be used to make a sequence check on the host positioning unit etc Switch off the servo on signal a Mode change Call the display screen shown after power on L Press MODE once LI e Press UP five times d e Press SET for more than 2 seconds d When this screen is displayed motor less operation can be performed Flickers in the test operation mode b Operation method As in ordinary operation provide the start signal c Status display Press ia BE to shift to the status display screen on which the status of servo motor rotation is indicated in simulative value The display data is the same as in the status display in Section 2 3 2 d Termination of motor less operation To terminate the motor less operation switch power off 2 26
315. story clear 0 Invalid 1 Valid When alarm history clear is made valid the alarm history is cleared at next power on After the alarm history is cleared the setting is automatically made invalid reset to 0 2 OPERATION Initial Setting Control Value Range Mode Name and Function Analog monitor output 0100 0000h 5 Used to set the signal output for analog monitor to OAOAh 0 0 Analog monitor CH1 output selectionThe set values and their definitions are as in analog monitor CH2 Basic parameters Analog monitor CH2 output selection 0 Servo motor speed 8V max speed 1 Torque 8V max torque 2 Servo motor speed 8V max speed Torque 8V max torque Current command output 8V max current command ommand pulse frequency 8 400kpps roop pulses 1 1 10V 128 pulses roop pulses 1 16 10V 2048 pulses roop pulses 1 64 10V 8192 pulses roop pulses 1 256 10V 32768 pulses 10 Droop pulses 1 1024 10V 131072 pulses e o gt 2 38 2 OPERATION Initial Setting Control Name and Function Value Range Mode Status display selection 0000 0000h P S T Used to select the status display shown at power on to 001Ch Basic parameters Selection of status display at power on Cumulative feedback pulses Servo motor speed Droop pulses
316. struction manual Servo Motor Connection Diagram Servo amplifier Servo motor HC MF053 B UE to 73 B UE HA FF053 B to 63 B HC UF13 B to 73 B Lolo ort agnata To be shut off when servo on signal switches off or by alam signal Encorder cable Encorder Note 1 To prevent an electric shock always connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the control box 2 This circuit applies to the servo motor with electromagnetic brake 3 For the HA FF series connect the ground cable to the earth terminal of the servo motor Servo amplifier Servo motor Note 1 HA FF053 B UE to 63 B UE HC SF121 B to 301 B B1 H Note 2 HC SF202 B 352 B NEN HC SF203 353 B efo PA B2 magnetic HC UF202 24VDC l To be shut off when servo on signal switches off or by alam signal Encorder cable Encorder Note 1 To prevent an electric shock always connect the protective earth PE terminal of the servo amplifier to the protective earth PE of the control box 2 This circuit applies to the servo motor with electromagnetic brake Servo amplifier Servo motor Note 1 HC SF81 s HC SF52 HC SF53 i 24VDC B1
317. t gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt Note 0 OFF 1 ON Setting of warning WNG output Select the connector pin to output warning The old signal before selection will be unavailable Set Value Connector Pin No Not output CN1A 19 CN1B 18 CN1A 18 CN1B 19 CN1B 6 Setting of battery warning BWNG output Select the connector pin to output battery warning The old signal before selection will be unavailable Set this function as in the second digit of this parameter 2 OPERATION 2 4 Adjustments 2 4 1 Auto tuning In general machines gains are automatically adjusted by auto tuning As the corresponding pa rameter is factory set to make auto tuning valid merely running the servo motor will automatically set the optimum gains for the machine without special operation or setting However if you are not satisfied with machine motions during operation change and adjust the response level setting parameter No 2 of auto tuning in the following procedure Actual Machine Motion Ideal Machine Motion Parameter No 2 Setting Method Settling time is long Note Shorter settling time Increase the set value of the response level Overshoot occurs at a stop Less overshoot Decrease the set value of the response level Select large friction in machine selection Gear noise is gene
318. t 50 to output maximum torque x 50 100 at the TC of 8V 0 to 1000 Encoder output pulses Used to set the number of output pulses per encoder revolution output by the servo amplifier 5 to 16384 Internal torque limit 1 Set this parameter to limit servo motor generated torque on the assumption that the maximum torque is 100 When 0 is set torque is not produced When analog monitor output is used to output torque this set value is the maximum output voltage 8V Internal torque limit 1 Set this parameter to limit servo motor generated torque on the assumption that the maximum torque is 100 When 0 is set torque is not produced Across TL SG Torque Limit Internal torque limit 1 Parameter No 28 Torque limit relationship Valid torque limit Analog torque limit lt internal torque limit 1 Analog torque limit Analog torque limit gt internal torque limit 1 Internal torque limit 1 When analog monitor output is used to output torque this set value is the maximum output voltage 8V 0 to 100 2 OPERATION Name and Function Initial Value Setting Range Expansion parameters Analog speed command offset Used to set the offset voltage of the analog speed command VC When automatic VC offset is used the automatically offset value is set to this parameter See section 2 3 3 The initial value is the value provided by the automati
319. t in regene rative brake resistor or regenerat ive brake option Checking method Call the status display and check regenerative load ratio 1 Reduce frequency of positioning 2 Change regenerative brake option for the one with larger capacity 3 Reduce load Overload warning There is a possibility that over load alarm 1 or 2 may occur Load increased to 85 or more of overload alarm 1 or 2 occurrence level r Cause checking method Refer to A 50 51 Refer to A 50 51 Absolute position counter warning Absolute position encoder pulses faulty 1 Noise entered the encoder Take noise suppress ion measures Encoder faulty Change servo motor ABS time out warning Absolute position data transfer fault Programmable controller s ladder program error Correct program Mis wiring of CN1B 9 pin CN1B 6 pin Connect correctly Servo emergency stop EMG SG are open External emergency stop was made valid EMG SG were opened After ensuring safety reset emergency stop Main circuit off warning ABS servo on warning Servo on signal SON was switched on with main circuit power off Servo on signal SON was not switched on within 1s after servo amplifier went into absolute position data transfer mode 8 13 Servo on signal SON was switched on with main circuit power off 1 Programmable controlle
320. t in regenera MR RB032 MR RB12 MR RB32 MR RB30 MR RB50 tive brake resistor 400 400 400 130 130 MR J2 10A 1 Without 30 MR J2 20A 1 30 MR J2 40A 1 30 MR J2 60A 30 MR J2 70A 30 MR J2 100A 30 MR J2 200A MR J2 350A a Note These values indicate the regenerative powers caused by the resister not the rated powers 2 Selection of the regenerative brake option 1 Simple selection method In horizontal motion applications select the regenerative brake option as described below When the servo motor is run without load in the regenerative mode from the running speed to a stop the permissible duty is as indicated in the standard specifications Section 10 1 For the servo motor with a load the permissible duty changes according to the inertia mo ment of the load and can be calculated by the following formula 2 times minute permissible duty for servo motor with no load value indicated in Section 10 1 rated speed Permissible duty met running speed where m load inertia moment servo motor inertia moment From the permissible duty find whether the regenerative brake option is required or not Permissible duty number of positioning times n1 times minute Select the regenerative brake option out of the combinations in 1 in this section 6 OPTIONS AND AUXILIARY EQUIPMENT 2 To make selection according to regenerative energy Use the followin
321. t is to be used in places where it is subjected to oil and or water such as on machine field sites optional features apply to the equipment Please contact The power supply capacity depends on the power supply impedance The regenerative brake duty indicated is the permissible duty when the servo motor run ning without load at the rated speed is decelerated to a stop When a load is connected the value in the table is multiplied by 1 m 1 where m load inertia moment motor inertia moment At the speed higher than the rated the permissible number of times is in inverse proportion to the square of running speed rated speed When the running speed varies frequently or when the regenerative mode continues as in vertical feed calculate regenerative heat generated during operation Provisions must be made to keep this gen erated heat below the permissible value If the effective torque is within the rated torque range there are no restrictions on the regenerative duty If the load inertia moment ratio exceeds the indicated value please consult us When the servo motor is equipped with reduction gear or electromagnetic brake refer to the corresponding outline dimension drawing For the EN Standard and UL C UL Standard com pliant models please consult us Except for the shaft through portion and connector HC UF73 HC SF203 and HC SF353 may not be connected depending on the production period of the servo amplifier For details
322. t restart after instantaneous power failure servo lock at a stop in speed control mode and slight vibration suppression control 0 Slight vibration suppression control Used to suppress vibration at a stop 0 Invalid 1 Valid Restart after instantaneous power failure If the input power supply voltage had reduced in the speed control mode to stop the servo motor due to the undervoltage alarm A 10 but the supply voltage has return ed to normal the servo motor can be restarted by merely switching on the start signal without resett ing the alarm 0 Invalid 1 Valid Stop time servo lock selection The shaft can be servo locked to remain still at a stop in the speed control mode 0 Valid 1 Invalid 2 40 2 OPERATION Initial Setting Control Name and Function Value Range Mode Function selection 3 Command pulse selection 0000 0000h P Used to select the input form of the pulse train input signal to Refer to Section 3 3 1 4 0012h Command pulse train input form 0 Forward reverse rotation pulse train 1 Signed pulse train 2 A B phase pulse train Expansion parameters Pulse train logic selection 0 Positive logic 1 Negative logic Input Waveform Command Pulse Train Form Forward rotation Reverse rotation Forward rotation pulse train Reverse rotation pulse train Set
323. t when external 10m 32ft or less x 4 MO1 power supply is used Pat wor Ost 3 Monitor output Note 2 6 ee a AH 1 meter Note 9 Trouble Reading jin botn directions Plate SD Zero speed dito us 0 lt N p 6 pe e gt Limiting speed Upper limit setting J Analog torque command 8V max torque T u Upper limit setting E LG Analog speed command 0 to 10V rated speed ie 2m 6 51 or less 1 3 Encoder Z phase pulse differential line driver Encoder A phase pulse differential line driver Encoder B phase pulse differential line driver Control common Encoder Z phase pulse open collector 2m 6 5ft or less For notes refer to page 2 6 2 OPERATION Note 1 To prevent an electric shock always connect the protective earth NWARNING PE terminal terminal marked QD of the servo amplifier to the protective earth PE of the control box Connect the diode in the correct direction If it is connected re versely the servo amplifier will be faulty and will not output sig nals disabling the emergency stop and other protective circuits The emergency stop switch must be installed NCAUTION When using the regenerative brake option always remove the lead from across D P CN1A CN1B CN2 and CN3 have the same shape Wrong con NOTICE nection of the connectors will ead to a f
324. tch power off then on again Home position setting must be made again Regenerative error The permissible regenerative power of the built in regenerative brake resistor or regenerative brake option is exceeded Wrong setting of parameter No 0 Set correctly Built in regenerative brake resistor or regenerative brake option is not connected Connect correctly High duty operation or continuous regenerative operation caused the permissible regenerative power of the regenerative brake option to be exceeded Checking method Call the status display and check the regenerative load ratio Reduce the frequency of positioning Use the regenerative brake option of larger capacity 3 Reduce the load 4 Power supply voltage increased to 260V or more Review power supply Regenerative transistor fault 5 Regenerative transistor faulty L Checking method 1 The regenerative brake option has overheated abnormally 2 The alarm occurs after removal of the built in regenerative brake resistor or regenerative brake option Change the servo amplifier 6 Built in regenerative brake resistor or regenerative brake option faulty Change servo amplifier or regenerative brake option 8 TROUBLESHOOTING Alarm Code CN1B 19 pin CN1A CN1A 18 19 pin Name Definition Cause Action 1 0 1
325. ten Cable Opening Control circuit terminal block 3 WIRING 3 1 2 Signal connectors 1 Signal arrangement All connectors are half pitch connectors Molex 52986 2011 or equivalent CN1A and CN1B signals change with the control mode Refer to 2 in this section MITSUBISHI MELSERVO J2 The connector frames are connected with the PE terminal inside the servo amplifier MEMORANDUM The connector pin outs shown above are viewed from the cable connector wiring section side 3 WIRING 2 CN1A and CN1B signal assignment Connector Signal Input Output Note 1 1 0 Pin assignment Note 2 Symbols of I O Signals in Control Modes P S S S T T LG LG LG LG NP X PP X P15R P15R LZ LZ LZ LZ LZ LA LA LA LA LA LB LB LB LB LB CR SP1 Note 3 SP1 SP1 SP1 Note 3 SP1 SP1 CR COM COM COM COM COM SG SG SG SG SG OPC X X OPC NG X PG X OP LZR LAR LBR INP SA SA RD RD RD RD SG SG SG SG LG LG LG LG XNC VC VC VLA VLA VLA X VDD DO1 VDD DO1 VDD DO1 VDD DO1 VDD DO1 SON SON SON SON SON TLC TLC TLC VLC VLC VLC TLC LOP SP2 LOP SP2 LOP PC ST1 Note 4JST1 ST1 RS2 Note 4 RS2 RS2 PC
326. terminal 1 25 4 Red Phase U White Phase V Black Phase W BC 1208 Green yellow Earth AMP make 10 72 10 SPECIFICATIONS Reduction Gear Reduction Inertia Moment Model Ratio WK oz in Model HC MF43G2 BK2 05B 04MEKA 1 5 1 61 HC MF43G2 BK3 09B 04MEKA 1 9 1 77 HC MF43G2 BK4 20B 04MEKA 1 20 2 33 HC MF43G2 BK4 29B 04MEKA 1 29 1 85 Variable Dimensions in Reduction Ratio Model LF LG LH LK L LR KL HC MF43G2 1 3 1 5 HC MF43G2 1 9 HC MF43G2 1 20 HC MF43G2 1 29 Unit in For reverse rotation command Rotation direction iWwuu For forward rotation command Motor plate Opposite side Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Encoder cable 11 8in Black Phase W BC12079 With connector 1 172169 9 Green yellow Earth BC12099 AMP make 10 73 10 SPECIFICATIONS Reduction Gear Reduction Moment Model Ratio WK oz in Model HC MF73G2 05 08 1 5 5 32 HC MF73G2 BK4 09B 08MEKA 1 9 5 36 HC MF73G2 BK5 20B 08MEKA 1 20 5 55 HC MF73G2 BK5 29B 08MEKA 1 29 4 97 Variable Dimensions in Model in LF LG LH LK L LR KL HC MF73G2 HC MF73G2 HC MF73G2 HC MF73G2
327. th end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W BC12031 Green yellow Earth BC12034 Encoder cable 11 8in With connctor 1 172169 9 AMP make Variable Model Dimensions in L KL HC MF23 3 92 1 93 0 48 HC MF43 4 90 0 06 0 78 Inertia Moment WK oz in Unit in 02 362 L 1 181 Motor plate Opposite side 4 00 228 U Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth Encoder cable 11 8in With connector 1 172169 9 AMP make BC12032 BC12035 10 61 10 SPECIFICATIONS Inertia Moment WK oz in Unit in 13 228 5 591 1 575 Motor plate 0 315 0 118 Opposite side Caution plate Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25 4 Red Phase U Encoder cable 11 8in White Phase V With connector 1 172169 9 Black Phase W BC12033 AMP make Green yellow Earth 2 With electromagnetic brake Variable Model Dimensions in L KL HC MFO053B 4 31 1 16 45 32 0 12 HC MF13B 4 90 1 75 45 32 0 18 Braking Force Inertia Moment oz in WK oz in Unit in Motor plate B 2 90 177 Opposite side Power supply lead 4 AWG19 11 8in With end insulated round crimping terminal 1 25
328. the diode is not connected as shown the servo amplifier will be damaged If the diode is not connected as shown the servo amplifier will be damaged 3 32 3 WIRING 2 Lamp load For use of internal power supply For use of external power supply Servo amplifier Servo amplifier Do not connect VDD COM 3 Pulse train input interface DI 2 1 Open collector system Interface example For use of internal power supply For use of external power supply Servo amplifier Do not connect VDD COM Servo amplifier Max input pulse frequency 200kpps VDD 24VDC About 1 2kQ Max input pulse pore frequency 200kpps About 1 2kQ Note COM of CN1A and COM of CN1B are connected in the servo amplifier When connecting VDD and OPC VDD and COM may be connected at CN1A and OPC and COM connected at CN1B Conditions of the input pulse tc j tHL tLH tHL lt 0 2us PP tc gt 2us 0 9 tF gt 3us 0 1 tc tLH H4 F 2 3 WIRING 2 Differential line driver system Interface example Conditions of the input pulse Servo amplifier Max input pulse te tHL pau frequency 400kpps tF 3us 0 9 PP PG 0 1 Am26LS3 Dpeeseees PG NG APProx 1000 tc tLH X p u tF PP NP SD NP NG i 4 Encoder pulse output DO 2 1 Open collector system Interface example Ma
329. this section 4 Torque limit in torque control mode As in 2 3 in this section 5 Torque limit in position control mode As in 1 1 in this section 3 WIRING 3 1 4 Interfaces The details of the interfaces refer I O Division in the table to the signals indicated in Section 3 1 2 4 are given below Refer to the following and connect the interfaces with the external equip ment 1 Digital input interface DI 1 Give a signal with a relay or open collector transistor Source input is also possible Refer to 7 in this section For use of internal power supply For use of external power supply Servo amplifier Do not connect VDD COM Servo amplifier 24VDC VDD 24VDC R Approx 4 7kQ 2AVDC 200mA or more R Approx 4 79 COM For a transistor SON etc Approx 5 pp oe sm YA SON etc i N Switch TR Vces 1 0V S100uA 2 Digital output interface DO 1 A lamp relay or photocoupler can be driven Provide a diode D for an inductive load or an inrush current suppressing resistor R for a lamp load Permissible current 40mA or less inrush current 100mA or less 1 Inductive load For use of internal power supply For use of external power supply Servo amplifier Servo amplifier Do not connect VDD COM 24VDC VDD COMo If
330. tic brake Inertia Moment Model dh WK oz in zi Unit in 4 35 2 165 4 be 06 93 Moter plate 251440 12 10 Opposite side i 2 M6 screw Bottom otto E d L Top z Oil seal S30457B 3 21 Motor flange direction Encoder connector MS3102A20 29P 4 90 53 mounting hole Use hexagon socket head cap screw Power supply connector CE05 2A22 23P Power supply connector layout CE05 2A22 23P 2695911 Inertia Moment Model 2 2 WK oz in HC UF152 j 120 831 Unit in 06 93 4 724 2 165 051 0 12 Moter plate Opposite side 530457 Encoder connector MS3102A20 29P 7 Power supply connector Earth CE05 2A22 23P 4 00 53 mounting hole Use hexagon socket head cap screw Power supply connector layout CE05 2A22 23P 2695912 10 98 10 SPECIFICATIONS Variable Output Inertia Moment Dimensions 2 2 kW WK oz in Unit in HC UF202 4 646 1 673 208 856 Motor plate Opposite side 2 M8 screw Oil seal 40608B 3 Motor flange direction Encoderieonnector 4 00 53 mounting hole MS3102A20 29P Use hexagon socket head cap screw a Power supply connector Power supply connector layout CE05 2A24 10P CE05 2A24 10P
331. tions 6 1 1 Regenerative brake options 6 1 2 Cable connectors 6 1 3 Junction terminal block 6 1 4 Maintenance junction card 1 5 Set up software 6 2 Auxiliary equipment 2 No fuse breakers fuses magnetic contactors 8 Power factor improving reactors 4 Relays 5 Surge absorbers 6 Noise reduction techniques 7 Leakage current breaker 8 Battery MR BAT A6BAT 9 Setting potentiometers for analog inputs INTRODUCTION CHAPTER 1 OPERATION CHAPTER 2 CHAPTER 3 WIRING INSTALLATION CHAPTER 4 ABSOLUTE POSITION DETECTION SYSTEM 5 OPTIONS AND AUXILIARY EQUIPMENT CHAPTER 6 INSPECTION CHAPTER 7 TROUBLESHOOTING CHAPTER 8 CHARACTERISTICS CHAPTER 9 SPECIFICATIONS CHAPTER 10 SELECTION CHAPTER 11 6 OPTIONS AND AUXILIARY EQUIPMENT Before connecting any option or auxiliary equipment make sure that the charge lamp is off more than 10 minutes after power off then confirm the voltage with a tester or the like Otherwise you may get an electric shock A CAUTION Use the specified auxiliary equipment and options Unspecified ones may lead to a fault or fire 6 1 Dedicated options 6 1 1 Regenerative brake options The specified combinations of regenerative brake options and servo am A CAUTION plifiers may only be used Otherwise a fire may occur 1 Combination and regenerative power Note Regenerative Power W Servo Amplifier Model Buil
332. tions and this must be fully taken into consideration During vertical drive the unbalanced torque Tu will become 11 7 11 SELECTION 11 6 Load torque equations Typical load torque equations are indicated below Load Torque Equations Linear movement Mechanism 1 Servo motor Z2 Equation F F AS 2x 105 xem 2 10 TL F Force in the axial direction of the machine in linear motion N F in Equation 11 15 is obtained with Equation 11 16 when the table is moved for example as shown in the left diagram F Fe ue W g Fo 11 16 Fc Force applied in the axial direction of the moving part N Fa Tightening force of the table guide surface N W Full weight of the moving part kg Rotary movement 21 22 Servo motor TL Tr Load friction torque converted into equivalent value on servo motor shaft N m Vertical movement Servo motor Es Counter weight During rise TL Tu TF During fall TL 2 Tr Friction torque of the moving part N m Wi W2 g W1 12 g AS T m 77 u W1 2 g AS 2x 10 nen TF Wi Weight of load kg We Weight of counterweight kg 11 8 11 SELECTION 11 7 Load inertia moment equations Typical load inertia moment equations are indicated below Load Inertia Moment Equations Type Mechanism Axis of rotation is on the c
333. to set the mechanical origin The state of ON OFF of encoder Z phase pulse signal OP can be confirmed by using external I Q signal display function When a general positioning unit is used the sequence of events is as shown in Fig 11 1 Zeroing speed V1 Deceleration started by actuator signal Creep speed V2 Actuator signal Zero pulse signal OFF l When determining the ON duration of the actuator consider the deceleration time so Clear signal that the speed reaches the creep speed LI Considering the variations of the About 15ms actuator signal adjust the actuator So that it switches off near the center of the High of the zero pulse signal Fig 11 1 Zeroing Using the Actuator 1 When determining the ON duration of the actuator consider the delay time of the control section and the deceleration time so that the creep speed is attained If the actuator signal switches off during deceleration precise home position return cannot be performed Travel distance gained after Travel distance L1 in the chart can be obtained by Zeroing speed V detecting the zeroing dog until Equation 11 28 the creep speed is reached L ON duration of the actuator LD mm must be longer than L1 obtained by Equation 11 28 as indicated in Equation 11 29 Creep speed V2 2 1 1 V2 1 Li Ve edo 1 8 eem MES 11 28 Deceleration time ta 50 120 vi 60 Control
334. ue limit voltage is displayed Analog torque command 10 00 10 00V Analog torque limit 0 10 00V Regenerative load ratio The ratio of regenerative power to permissible regenerative power is displayed in As the permissible regenerative power depends on whether there is the regenerative brake option or not set parameter No 0 correctly Effective load ratio The continuous effective load torque is displayed When rated torque is generated this value is 10096 The effective value for the past 15 seconds is displayed Peak load ratio The maximum torque generated during acceleration deceleration etc is When rated torque is generated this value is 10096 The peak torque for the past 15 seconds is displayed Within one revolution position Position within one revolution is displayed in encoder pulses When the value exceeds 9999 it begins with 0 Counted when it is rotated counterclockwise ABS counter Travel value from the home position 0 in the absolute position detection system is displayed in terms of the absolute position detector s counter value Load inertia moment ratio The estimated ratio of the load inertia moment to the servo motor shaft inertia moment is displayed 2 19 2 OPERATION 2 3 3 Diagnostic mode Sequence Display Description Not ready Indicates that the servo amplifier is being initialized or an alarm has
335. uit Install a data line filter Refer to Section 6 2 6 1 CMX 2 When P CDV During operation the servo on signal SON or forward reverse rotation stroke end signal was switched off or the clear signal CR and the reset signal RES switched on Cause C If a malfunction may occur due to much noise increase the input filter setting parameter No 1 3 When M Mechanical slip occurred between the servo motor and machine Cause B 8 TROUBLESHOOTING 8 1 2 Speed control mode Start Up Sequence Fault Investigation Possible Cause Refer To Power on LED is not lit LED flickers Not improved if connectors CN1A CN1B and CN2 are disconnected 1 Power supply voltage fault 2 Servo amplifier faulty Improved when connectors CN1A and CN1B are disconnected Power supply of CN1 cabling is shorted Improved when connector CN2 is disconnected 1 Power supply of encoder cabling is shorted 2 Encoder is faulty Alarm occurs Refer to Section 8 2 and remove cause Section 8 2 Switch on servo on signal Alarm occurs Refer to Section 8 2 and remove cause Section 8 2 Servo motor shaft is free 1 Check the display to see if the servo amplifier is ready to operate Check the external I O signal indication to see if the servo on SON signal is ON Wiring mistake 2 24VDC power is not supplied to COM 1 Sect
336. und crimping terminal 1 25 4 Red Phase U Encoder cable 11 8in Brake lead 2 0 3 11 8in White Phase V 69 With end insulated round Black Phase W AMP make crimping terminal 1 25 4 Greenyyellow Earth BC12075 10 69 10 SPECIFICATIONS 4 With reduction gear for precision application a Without electromagnetic brake Variable Reduction Gear Model Model Dimensions in L KL Reduction Ratio Inertia Moment WK oz in Backlash HC MF053G2 5 12 3 07 BK1 05B ASMEKA 1 5 0 36 3 min max HC MF053G2 5 75 3 70 BK1 09B ASMEKA 1 9 0 33 3 min max HC MF053G2 5 75 3 70 BK1 20B ASMEKA 1 20 0 38 3 min max HC MF053G2 BK1 29B ASMEKA 5 75 3 70 1 29 0 31 3 min max Unit in For reverse rotation command yD Rotation direction For forward rotation command 2 382 02 756 0 315 0 256 0 906 Motor plate Opposite side 4 00 260 Power supply lead 4 AWG19 0 3m11 8in With end insulated round crimping termin Red Phase U White Phase V Black Phase W Encoder cable 11 8in Green yellow Earth With connector 172169 9 AMP make 10 70 depth 0 315 al 1 25 4 BC12076 BC12096 10 SPECIFICATIONS Reduction Gear Reduction Inertia Moment Model Ratio WK oz in Model Backlash HC MF13G2 BK1 05B 01MEKA 1 5 0 43 3 mi
337. und crimping terminal 1 25 4 Red Phase U White Phase V Black Phase W Green yellow Earth 0 787 BC07606A 10 SPECIFICATIONS 3 HA FF series 1 Standard FF053 HA FF13 Unit in LL 1 18 12 13 Caution plate Earth terminal M3 screw 0 24 Opposite side Motor plate Power supply cable VCTF 3 0 02 19 7in With end insulated round crimping terminal0 05 4 Red Phase U Encoder cable 11 8in White Phase V With connector 172169 9 Black Phase W AMP make Inertia Variable Moment Dimensions WK oz in LL Servo Motor Model HA FF053 0 342 4 17 HA FF13 0 519 HA FF23 to HA FF63 Unit in Caution plate 91 85 Power supply cable VCTF 3 0 05 19 7in With end insulated round crimping terminal 0 05 4 08 Red Phase U White Phase V Black Phase W Section AA gt AS Encoder cable 11 8in With connector 172169 9 AMP make Inertia Variable Dimensions Moment WK oz in LL LR LZ H Q P screw depth R 10 83 10 SPECIFICATIONS 2 With electromagnetic brake HA FF053B HA FF13B Unit in 4 00 18 LL 1 18 Earth terminal M3 screw 0 24 Opposite side Brake cable 2 0 02 19 7in With end insulated round crimping terminal 0 0
338. uration operation region Continuous operation region 1000 2000 3000 4000 4500 Speed r min 10 9 10 SPECIFICATIONS 10 3 Servo motors with reduction gears Servo motors are available with reduction gears designed for 1 general industrial machines and 2 precision applications Servo motors with electromagnetic brakes are also available 1 Manufacturing range of servo motor with reduction gear Servo motors with reduction gears that may be manufactured are indicated by symbols G1 H G2 in the following table G1 H and G2 are symbols appended to the servo motor models Refer to 2 2 in Section 1 1 Reduction Gear Series 1 For General Industrial Machines 2 For Precision Applications Reduction ratio Note Note Note Note Servo motor 1 10 1 1 1 12 1 17 1 20 1 29 1 30 1 35 1 5 1 9 1 10 1 15 1 20 1 25 1 29 1 45 HC MF053 G1 G1 G2 G2 G2 HA FF053 G1 G2 G2 G2 G2 HA FF13 G1 G2 G2 G2 G2 HA FF23 G1 G2 G2 G2 HA FF33 Gi G2 G2 HA FF43 G1 G2 HC SF52 G2 HC SF352 G2 HC RF103 G2 Note Reduction ratios for general industrial machines are nominal values For actual reduction ratios refer to 2 and 3 in this section 2 HC MF series For General Industrial Machines For
339. ute 3 Magnetic induction Routes 4 and 5 noise J Static induction noise T Route 6 Noises transmitted through electric channels Noise transmitted through power supply cable Route 7 Noise sneaking from grounding cable due to Route 8 leakage current 6 20 6 OPTIONS AND AUXILIARY EQUIPMENT i Instrument Receiver Noise Transmission Route Servo motori SM h 2 When measuring instruments receivers sensors etc which handle weak signals and malfunction due to noise and or their signal cables are contained in a control box together with the servo amplifier or run near the servo amplifier such devices may malfunction due to noises transmitted through the air The following techniques are required 1 Provide maximum clearance between easily affected devices and the servo amplifier 2 Provide maximum clearance between easily affected signal cables and the I O cables of the servo amplifier 3 Avoid laying the power lines I O 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
340. w 73 notes 8 Note 9 Trouble ma ALM 18 KUFANA Zeiospeed iH Encoder Z phase pulse differential line driver Limiting torque 9 TLC gi Encoder A phase pulse differential line driver Upper limit setting 3 m n eem 11 ere Encoder B phase pulse differential line driver Analog torque limit DV iua Control common 10V max current OP E Encoder Z phase pulse open collector 2m 6 5ft or less 2 OPERATION Note 1 To prevent an electric shock always connect the protective earth NWARNING PE terminal terminal marked QD of the servo amplifier to the 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 emergency stop and other protective cir cuits The emergency stop switch must be installed When using the regenerative brake option always remove the lead from across D P CN1A CN1B CN2 and CN3 have the same shape Wrong NOTICE connection of the connectors will lead to a fault The sum of currents that flow in the external relays should be 80mA max If it exceeds 80mA supply interface power from external When starting operation always connect the external emergency stop signal EMG and forward reverse rotation stroke end signal LSN LSP with SG Normally closed contacts The pins with the same signal name are connected in t
341. warning A 92 or battery warning A 9F has occurred When there is no battery warning BWNG SG are disconnected within 1 second after power on DO 1 Alarm code Note 1 Refer to Section 3 1 4 To use this signal set 1 in parameter NOTICE qw 45 This signal is output when an alarm occurs When there is no alarm respective ordinary signals RD INP SA ZSP are output Alarm codes and alarm names are listed below Note Alarm Code Alarm CN1B CN1A CN1A Name 2 Display 19 Pin 18 Pin 19 Pin 8888 Watchdog 11 Board error 1 12 Memory error 1 13 Clock error 15 Memory error 2 17 Board error 2 18 Board error 3 37 Parameter error 8bE RS 232C error 30 Regenerative error 33 Overvoltage 10 Undervoltage 46 Motor overheat 50 Overload 1 51 Overload 2 24 Motor output ground fault 32 Acceleration 31 Overspeed 35 Command pulse frequency alarm 52 Error excessive 16 Encoder error 1 gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt gt 20 Encoder error 2 gt 25 Absolute position erase Note 0 Each pin and SG are disconnected OFF 1 Each pin and SG are connected ON 2 P Position control mode S Speed control mode T Torque control mode 3 15
342. ways use twisted cables of max 5m length for connection with the servo amplifier N CAUTION Always remove the lead from across P D Selection of regenerativ brake option 0 Not used 2 MR RB 032 3 MR RB 12 4 MR RB 32 5 MR RB 30 6 MR RB 50 Servo amplifier Regenerative brake option DO J 0 is x Ye C CO f 5m 16 4 ft max Note Make up a sequence which will switch off the magnetic contactor MC when abnormal heating occurs G3 G4 Thermal protector terminals Abnormal heating will dis connect G3 G4 6 OPTIONS AND AUXILIARY EQUIPMENT 4 Outline drawing 1 MR RB032 MR RB12 Unit mm in LA 6 0 24 mounting hole 12 0 47 144 5 67 12 0 47 e ed Regenerative Regenerative Resistance Variable Dimensions Brake Option Power W LA LB Lc 30 119 15 RB032 17 18 0 59 4 69 40 15 169 MR RB12 100 1 57 0 59 6 65 6 OPTIONS AND AUXILIARY EQUIPMENT 2 MR RB32 MR RB30 Unit mm in 79 7 05 150 5 91 Terminal block 10 318 12 52 100 3 94 Regenerative Resistance Weight Brake Option W kg Ib MR RB32 300 40 2 9 6 4 MR RB30 300 13 2 9 6 4 3 MR RB50 Unit mm in 7 X 14 slot Terminal block 7 0 28
343. wer For single phase 230VAC connect the power supply to L1 L2 and leave L3 open Servo amplifier MR J2 10A MR J2 100A MR J2 10A1 Power supply to 70A to 350A to 40A1 3 phase 200 to 230VAC 50 60Hz 11 12 03 Note Single phase 230VAC 50 60Hz L1 L2 Single phase 100 to 120VAC 50 60Hz L1 L2 Note Cannot be used for combination with the servo motor HC SF52 L1 L2 L3 Main circuit power supply Control circuit power input terminals Supply L11 and L21 with the following power Servo amplifier MR J2 10A MR J2 10A1 Control circuit power supply Power supply to 350A to 40A1 Single phase 200 to 230VAC 50 60Hz L11 L21 Single phase 100 to 120VAC 50 60Hz L11 L21 L11 and L21 should be in phase with L1 and L2 respectively Regenerative brake option connection terminals C and D are factory connected Regenerative brake option When using the regenerative brake option always remove wiring from across P D and connect the regenerative brake option across P C Servo motor power output terminals Connect to the servo motor power supply terminals U V W Do not connect Ground terminal Protective earth PE Connect this terminal to the protective earth PE terminals of the servo motor and control box for grounding Servo motor output 3 How to use the control circuit terminal block Phoenix Contact make 1 Termination of the cables Solid wire After the she
344. x output current 35mA Servo amplifier Servo amplifier 5 to 24VDC EE Photocoupler OP LG SD 2 Differential line driver system Interface example Max output current 35mA Servo amplifier Servo amplifier 261532 or equivalent High speed photocoupler Output signal waveform Servo motor CCW rotation LAR T LB LBR 1 2 LZ T LZR Off 400us or more OP On LZ signal varies 3 8T on its leading edge 3 34 3 WIRING 5 Analog input 6 Analog output Input impedance Output 10V 10 12KQ Max 1mA Servo amplifier Servo amplifier 415VDC MO1 10kQ MO2 lt Reading in one or Upper limit setting 2kQ both directions d LG Approx LG 1mA meter TEL 10kQ ae E sp sol 7 Source input interface When using the input interface of source type all DI 1 input signals are of source type Source output cannot be provided For use of internal power supply For use of external power supply Servo amplifier Servo amplifier SG SG Approx 4 7kQ COM COM R Approx 4 7kQ Note For a transistor SON etc SON etc PA Approx 5mA PA 24VDC 200 TR Vces 1 0V Iceo 1004A Note This also applies to the use of the external power supply 3 WIRIN
345. ylinder 7 1 center SEXpT DD adie dE D Da 8 01 02 Cylinder material density kg cm gom Oylinder length cm Cylinder outside diameter cm Cylinder inside diameter 1 Cylinder weight kg Reference data material density Iron 7 8 x10 kg cm3 Axis of rotation Aluminum 2 7 x 103 kg cm Copper 8 96 x 10 kg cm3 Cylinder Axis of rotation is off the cylinder center R Axis of rotation Lo R Square block weight kg b R Left diagram cm Axis of rotation W NM ILLA Y Bor n 2 z N 10 Servo motor Object which moves linearly Speed of object moving linearly mm min Moving distance of object moving linearly per servo motor revolution mm rev Object weight kg 2 D Jue 2 2 n JP Pulley inertia moment kg cm2 aie D Pulley diameter cm W Object weight kg No N JL Jtt J21 J22 031 JB Ni Ni Converted load JA JB Inertia moments of loads A kg cm J11 to J31 Inertia moments kg cm Nito Ns Speed of each shaft r min 11 9 11 SELECTION 11 8 Precautions for zeroing To return the system to the home position use a zeroing dog or actuator The method and precautions for setting the mechanical origin are given below In the following zeroing an actuator and the zero pulse signal encoder Z phase pulse OP of a servo motor encoder are used
346. ymbols Diagonally shaded area indicates invalid setting Note Control Mode Set Value P Note P Position control mode S Speed control mode T Torque control mode 2 46 0111 0000h to 0999h 2 OPERATION Initial Settin Control Class No Symbol Name and Function Value Unit Ronde Mode 44 DI3 Input signal selection CN1B pin 14 0222 0000h P S T Em to Allows any input signal to be assigned to CN1B pin 14 0999h E The assignable signals and setting method are the s same as in input signal selection 2 parameter No 43 c o D 0 di Position control mode Input signals of Speed control CN1B pin 14 mode selected Torque control mode This parameter is unavailable when parameter No 42 is set to MEMORANDUM assign the control change signal LOP to CN1B pin 14 45 014 Input signal selection 4 CN1A pin 8 0665 0000h P S T to Allows any input signal to be assigned to CN1A pin 8 0999h The assignable signals and setting method are the same as in input signal selection 2 parameter No 43 0 Position contr l m qe Input signals of Speed control CN1A pin 8 mode selected Torque control mode This parameter is unavailable when parameter No 42 is set to MEMORANDUM assign the control change signal LOP to CN1 A

MR-J2-A - Specifications And Installation Guide IB(NA

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